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@wKich
Created September 17, 2023 09:10
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inav
Entering CLI Mode, type 'exit' to return, or 'help'
# diff
# version
# INAV/JHEMCUF722 6.1.1 Jun 27 2023 / 08:58:55 (GITDIR-N)
# GCC-10.2.1 20201103 (release)
# start the command batch
batch start
# resources
# Mixer: motor mixer
mmix reset
mmix 0 1.000 -1.000 1.000 -1.000
mmix 1 1.000 -1.000 -1.000 1.000
mmix 2 1.000 1.000 1.000 1.000
mmix 3 1.000 1.000 -1.000 -1.000
# Mixer: servo mixer
smix reset
smix 0 1 17 100 0 -1
smix 1 2 18 100 0 -1
# Outputs [servo]
# safehome
# features
feature GPS
feature PWM_OUTPUT_ENABLE
# beeper
# blackbox
blackbox NAV_ACC
blackbox NAV_POS
blackbox NAV_PID
blackbox MAG
blackbox ACC
blackbox ATTI
blackbox -RC_DATA
blackbox -RC_COMMAND
blackbox -MOTORS
blackbox -GYRO_RAW
blackbox -PEAKS_R
blackbox -PEAKS_P
blackbox -PEAKS_Y
# Receiver: Channel map
# Ports
serial 4 2 115200 115200 0 115200
serial 5 33554432 115200 115200 0 115200
# LEDs
# LED color
# LED mode_color
# Modes [aux]
aux 0 0 0 1500 2100
aux 1 1 3 1500 2100
aux 2 1 2 1300 2100
aux 3 1 4 1500 2100
aux 4 11 2 1700 2100
aux 5 10 4 1500 2100
aux 6 3 2 1300 2100
aux 7 13 5 1500 2100
# Adjustments [adjrange]
# Receiver rxrange
# temp_sensor
# Mission Control Waypoints [wp]
#wp 0 invalid
# OSD [osd_layout]
osd_layout 0 0 43 2 V
osd_layout 0 1 1 16 V
osd_layout 0 7 36 0 V
osd_layout 0 9 0 15 V
osd_layout 0 11 11 17 V
osd_layout 0 12 1 17 V
osd_layout 0 14 49 2 V
osd_layout 0 15 0 0 V
osd_layout 0 20 43 0 V
osd_layout 0 21 43 1 V
osd_layout 0 22 26 2 V
osd_layout 0 23 11 1 V
osd_layout 0 28 37 17 V
osd_layout 0 30 12 13 V
osd_layout 0 34 22 0 V
osd_layout 0 35 18 17 V
osd_layout 0 40 11 0 V
osd_layout 0 85 1 1 V
osd_layout 0 96 4 7 H
osd_layout 0 109 47 17 V
osd_layout 0 110 48 16 V
osd_layout 0 112 48 15 V
osd_layout 0 142 28 17 V
# Programming: logic
# Programming: global variables
# Programming: PID controllers
# master
set looptime = 500
set gyro_main_lpf_hz = 90
set gyro_main_lpf_type = PT1
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 60
set dynamic_gyro_notch_mode = 3D
set setpoint_kalman_q = 200
set gyro_zero_y = -14
set gyro_zero_z = 5
set ins_gravity_cmss = 977.935
set acc_hardware = ICM42605
set acczero_x = -2
set acczero_y = -5
set acczero_z = -4
set accgain_x = 4087
set accgain_y = 4098
set accgain_z = 4101
set align_mag = CW90FLIP
set mag_hardware = QMC5883
set magzero_x = -450
set magzero_y = -1000
set magzero_z = -298
set maggain_x = 1392
set maggain_y = 1726
set maggain_z = 1274
set align_mag_roll = 200
set align_mag_pitch = 1800
set align_mag_yaw = 900
set baro_hardware = SPL06
set rssi_source = PROTOCOL
set serialrx_provider = CRSF
set blackbox_rate_denom = 32
set motor_pwm_protocol = DSHOT300
set failsafe_delay = 10
set failsafe_procedure = RTH
set align_board_yaw = 450
set current_meter_scale = 320
set motor_direction_inverted = ON
set model_preview_type = 3
set applied_defaults = 5
set gps_sbas_mode = EGNOS
set gps_ublox_use_galileo = ON
set deadband = 2
set yaw_deadband = 2
set airmode_type = THROTTLE_THRESHOLD
set osd_video_system = AVATAR
set i2c_speed = 800KHZ
set pilot_name = WKICH
set tz_offset = 240
# profile
profile 1
set mc_p_pitch = 44
set mc_i_pitch = 85
set mc_d_pitch = 28
set mc_i_roll = 75
set mc_d_roll = 26
set mc_p_yaw = 40
set mc_i_yaw = 80
set max_angle_inclination_rll = 400
set max_angle_inclination_pit = 400
set dterm_lpf_hz = 80
set dterm_lpf_type = PT3
set mc_iterm_relax = RPY
set d_boost_min = 0.800
set d_boost_max = 1.200
set antigravity_gain = 2.000
set antigravity_accelerator = 5.000
set smith_predictor_delay = 1.500
set tpa_rate = 20
set tpa_breakpoint = 1200
set rc_expo = 90
set rc_yaw_expo = 90
set roll_rate = 90
set pitch_rate = 90
set yaw_rate = 90
# battery_profile
battery_profile 1
set vbat_min_cell_voltage = 270
set vbat_warning_cell_voltage = 320
set battery_capacity = 8400
set throttle_idle = 5.000
# save configuration
save
# end the command batch
batch end
#
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