Home Forums Everything about the Tricopter V4 F3FC & iNav experiences

This topic contains 163 replies, has 22 voices, and was last updated by  Marlon 1 year, 1 month ago.

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  • #37206

    Waltec
    Participant

    Thanks for the feedback. I’ve probably dragged this forum off topic so I apologize to the group at large.

    I don’t want anyone to think I’m not appreciative of the inexpensive FC hardware, the developers’ efforts and programming prowess or, creative designed like David’s or what my copters are currently achieving. The question behind the question was really, “…am I screwing anything up and am I the reason for not achieving Phantom 4 level performance?”.

    What you’ve confirmed is what I believed/suspected that Phantom 4 level performance (the only prosumer copter I’ve witnessed first hand) takes $1,500, plain and simple. What was nagging me was whether I could invest about $1,200 worth of labor and get close to that same performance. The answer is probably no but I believe others could get a lot closer on $1,200 worth of labor than I could :).

    One thing about this hobby (I’m probably 3 years into intermediate level copter building) is that there’s always something minor I’m missing or some hardware incompatibility that I’m not aware of. Case in point, You’ll see that I messaged you directly on RCGroups because I have a nagging external magnetometer problem (in Inav but I’m sure it would happen in other forks) that the interweb tells me could be caused by any of 3 or 4 things. I believe you are on to something with the suspicion about pull up resistors. The problem is I know far more about Pull Ups than I do pull up resistors.

    In any event, thanks for the insight.

    #37207

    Waltec
    Participant

    DaveL,

    Thanks for the video. Great performance on defaults. My next retrofit is a tri with a SP F3 replacing an APM. Your video was pretty motivating. Hopefully the key isn’t the Revo.

    #37210

    wilco1967
    Participant

    Hi Waltec,
    I just sent you a PM (actually two) via RCG about the I2C issues… hope that helps.

    You are right, this homebuild stuff can sometimes be complex, and may not be for everyone. But I like tinkering with these things and learn a bid while doing so… Thats just as much fun as the actual flying…..

    I think my ratio of thinkering to flying is probably in excess of 10:1 😉

    Personally, I would NEVER buy a phantom / Inspire or similar ready build…. Sure they work great out of the box, and perhaps have better GPS hold than my iNav copter. But for me, they feel like they fly like a barn door…. (Only tried a phantom 3 once for a minute or so, and didn’t like the feel of it)….
    And even more important (for me) is, with a home build, I can pretty much repair everything for very little cost…. a Inspire is not only costing a lot more to buy, but is costing you also a small fortune for every crash (and even an Inspire will crash sooner or later).

    #37228

    Marlon
    Participant

    Never say never…

    At times you WILL get frustrated and wish the whole thing would crash right into a trash bin! I see you guys left me behind… even read about problems I ran into and warned about with iNav 1.6 RC1. But my question where never even met! But it’s good… anyways nowadays my money goes elsewhere. The software limitations is just too much for me. Making this a sad money pit with little results! And at times the forum support is choosey… but meh it’s all good.

    It’s sad that the software “we” use ain’t even CLOSE to DJI or other less expensive drones out there. But then you hear about yeahhh all the hard work going into iNav bla bla bla. Well they need to work HARDER! I want the tricopter to outperform ANY DJI drone… but hahahahaha I think it’s doing a better job on the shelve.

    The Tricopter should have it’s own firmware SONAR OSD GPS STEADY within a centimeter accurate!!! Instead of jerking around with these inav onav olaf peanut jar firmwares!!!

    I’M OUT!

    #37663

    Rob McKenzie
    Participant

    Hey Guys,

    I have finally gotten my gps installed on the v4 with iNav flashed to it.

    It is working awesome!!

    I set he PIDs to the triflight suggested ones for the v4 electronics kit.

    One question I have is how would I get the two pwm servo outputs working with iNav for a two axis gimbal.

    I have tried a few things and even put the CRO on the signal wires and don’t have a signal out when servo_tilt is enabled and configured.

    Also, I had a look into the code regarding incorporating the tail tune, feedback features from triflight and it appears iNav is running a runtime tune on the tail so if anyone has any suggestions.

    I also couldn’t work out if in iNav we are able to set the tail servo end points and mid point in iNav itself. It’s running base settings at current which give poor porformance when the servo over tilts in flight.

    Keep up the good work and passion guys

    Rob

    #38680

    cefromthebe
    Participant

    Hey guys,

    I’ve recently flashed iNav on my Tricopter with stock electronics and the F3FC board. The firmware I used was the RCEXCPLORERF3 firmware.

    On my first flight, the tricopter was acting very weird and was uncontrollable. It first flew quite well but then, after givinig some yaw input it was uncontrollable, spun around and also gained altitude quickly. I quickly unarmed it but the copter still fell a couple of meters and crashed. I was using the Horizon mode, if it is of any relevance.

    I’ve never had any issues using cleanflight before so I guess this is iNav related. I also did all the steps one should do before flying like calibrating the accelerometer and the magnetometer.

    Sorry if this was described earlyer in this thread, I didn’t reat through all of it 🙂

    Hope somebody knows the issue, otherwise I’ll just go back to Cleanflight and do without the cool extra GPS features.

    Constantin

    #38684

    Rob McKenzie
    Participant

    Hi cefromthebe,

    From what I remember when I was getting it setup the tail might of needed different settings from the triflight values most likely due to the different way it handles yaw in iNav.
    I don’t have the settings I use on me at the moment but I can post them later today when I’m back home.

    Are you using the electronics pack with the V4?

    If you’re flying at all I take it you were able to do the compass calibration just fine.
    As the orientation of the flight controller is not standard the below is how I do the compass calibration if it helps. It helped me to have the correct orriantations writen down to follow as I did it.

    Tricopter iNav Calibration

    upside down
    right side up
    on side pointing left
    pointing down
    pointing right
    pointing up

    #38688

    cefromthebe
    Participant

    Hey,

    yeah I think I did the calibration correctly. If the malfunktion was caused by wrong PID settings, the problem should not occur in Acro mode, right?

    Constantin

    #38697

    Rob McKenzie
    Participant

    Hey mate,

    PID settings control all flight modes. Modes like that just offer features on top of the PID control loop.

    I’ll find the codes I use latter mate, they’ll help a bunch

    Rob

    #38698

    Rob McKenzie
    Participant

    Hey Constantin,

    My PID values for iNav that I’m using are as follows.

    Hope they’re able to get you up and running with it.
    Post if you have any questions.

    set mc_p_pitch = 44
    set mc_i_pitch = 26
    set mc_d_pitch = 25
    set mc_p_roll = 47
    set mc_i_roll = 30
    set mc_d_roll = 25
    set mc_p_yaw = 85
    set mc_i_yaw = 45
    set mc_d_yaw = 0
    set mc_p_level = 20
    set mc_i_level = 15
    set mc_d_level = 75
    set fw_p_pitch = 20
    set fw_i_pitch = 35
    set fw_ff_pitch = 10
    set fw_p_roll = 25
    set fw_i_roll = 35
    set fw_ff_roll = 10
    set fw_p_yaw = 50
    set fw_i_yaw = 45
    set fw_ff_yaw = 0
    set fw_p_level = 20
    set fw_i_level = 15
    set fw_d_level = 75
    set max_angle_inclination_rll = 350
    set max_angle_inclination_pit = 350
    set dterm_lpf_hz = 40
    set yaw_lpf_hz = 30
    set dterm_setpoint_weight = 0.000
    set fw_iterm_throw_limit = 165
    set dterm_notch_hz = 125
    set dterm_notch_cutoff = 90
    set pidsum_limit = 500
    set yaw_p_limit = 300
    set iterm_ignore_threshold = 200
    set yaw_iterm_ignore_threshold = 50
    set rate_accel_limit_roll_pitch = 0
    set rate_accel_limit_yaw = 10000
    set nav_mc_pos_z_p = 50
    set nav_mc_pos_z_i = 0
    set nav_mc_pos_z_d = 0
    set nav_mc_vel_z_p = 100
    set nav_mc_vel_z_i = 50
    set nav_mc_vel_z_d = 10
    set nav_mc_pos_xy_p = 65
    set nav_mc_pos_xy_i = 120
    set nav_mc_pos_xy_d = 10
    set nav_mc_vel_xy_p = 180
    set nav_mc_vel_xy_i = 15
    set nav_mc_vel_xy_d = 100
    set nav_fw_pos_z_p = 50
    set nav_fw_pos_z_i = 0
    set nav_fw_pos_z_d = 0
    set nav_fw_pos_xy_p = 75
    set nav_fw_pos_xy_i = 5
    set nav_fw_pos_xy_d = 8
    set rc_expo = 70
    set rc_yaw_expo = 25
    set thr_mid = 50
    set thr_expo = 0
    set roll_rate = 20
    set pitch_rate = 20
    set yaw_rate = 20
    set tpa_rate = 20
    set tpa_breakpoint = 1650

    #38703

    cefromthebe
    Participant

    Cheers, gonna try them as soon as the new booms arrive!

    #38744

    cefromthebe
    Participant

    Tricopter is now repaired and I’ve already tested your PIDs- it didn’t freak out this time, however I can see an oscilation (about 2Hz) on the yaw axic. The copter seems to not know that the servo has to be at an angle, when first armed but not lift off the servo is straight. Is there a fix to this? Gonna try all the iNav features in the near future.

    #39396

    kilwater
    Participant

    Hello there,
    I’m a new proud owner of V4, flew few times using betaflight firmware but decided to give Inav a try – for althold and rth. I found two problems – first: I cannot find a TAILTUNE option ( I chose rcexplorer firmware from the dropdown list in Inav).
    Second thing – motors don’t spin – while in MOTORS tab in Inav or when trying to take off.
    Radio controllers actions (throttle) is changing in Inav of course.
    Sorry for my english but it’s pretty hard to write a message and manage to hold my 6 months old son in the same moment:)
    Thank you in advance for any help!

    #40441

    Marlon
    Participant

    Not dead yet.

    Never gonna fly but don’t hold it against me. Anyhow I’ve kept current with the latest inav updates till 1.7.2 and yesterday I grabbed the Tri from the shelf and flashed it to latest inav 1.8.0… An then I saw something, 1 I2C error. Is there a way to see where or what is giving that error? Didn’t have any errors before. What I always do is upgrade and paste my previous CLI dump in the cli terminal… Just press enter or type save? Another thing I’ve noticed the throttle being a bit sluggish, need to calibrate?

    P.S. Till this thing can auto hover like a Hubsan x4 mini it will NEVER fly.

    Attachments:
    #40443

    Marlon
    Participant

    My cli dump from 1.7.1, maybe something in here causing the solitary error.

    ice ID received – 0x2300225633570320353133

    Setup
    Presets
    Ports
    Configuration
    Failsafe
    PID tuning
    Advanced tuning
    Receiver
    Modes
    Adjustments
    Servos
    GPS
    Motors
    OSD
    LED Strip
    Sensors
    Tethered Logging
    Blackbox
    CLI
    Note: Leaving CLI tab or pressing Disconnect will automatically send “exit” to the board. With the latest firmware this will make the controller restart and unsaved changes will be lost.

    Entering CLI Mode, type ‘exit’ to return, or ‘help’

    # dump master

    # version
    # INAV/RCEXPLORERF3 1.7.2 Jul 20 2017 / 11:41:49 (81b85de)

    # resources

    # mixer
    mixer TRI

    mmix reset

    # servo
    servo 0 1000 2000 1500 100 -1
    servo 1 1000 2000 1500 100 -1
    servo 2 1000 2000 1500 100 -1
    servo 3 1000 2000 1500 100 -1
    servo 4 1000 2000 1500 100 -1
    servo 5 1000 2000 1500 100 -1
    servo 6 1000 2000 1500 100 -1
    servo 7 1000 2000 1500 100 -1

    # servo mix
    smix reset

    # feature
    feature -RX_PPM
    feature -VBAT
    feature -RX_SERIAL
    feature -MOTOR_STOP
    feature -SERVO_TILT
    feature -SOFTSERIAL
    feature -GPS
    feature -TELEMETRY
    feature -CURRENT_METER
    feature -3D
    feature -RX_PARALLEL_PWM
    feature -RX_MSP
    feature -RSSI_ADC
    feature -LED_STRIP
    feature -DASHBOARD
    feature -BLACKBOX
    feature -CHANNEL_FORWARDING
    feature -TRANSPONDER
    feature -AIRMODE
    feature -SUPEREXPO
    feature -VTX
    feature -RX_SPI
    feature -SOFTSPI
    feature -PWM_SERVO_DRIVER
    feature -PWM_OUTPUT_ENABLE
    feature -OSD
    feature RX_PPM
    feature VBAT
    feature GPS
    feature TELEMETRY
    feature CURRENT_METER
    feature LED_STRIP
    feature PWM_OUTPUT_ENABLE

    # beeper
    beeper RUNTIME_CALIBRATION
    beeper HW_FAILURE
    beeper RX_LOST
    beeper RX_LOST_LANDING
    beeper DISARMING
    beeper ARMING
    beeper ARMING_GPS_FIX
    beeper BAT_CRIT_LOW
    beeper BAT_LOW
    beeper GPS_STATUS
    beeper RX_SET
    beeper ACTION_SUCCESS
    beeper ACTION_FAIL
    beeper READY_BEEP
    beeper MULTI_BEEPS
    beeper DISARM_REPEAT
    beeper ARMED
    beeper SYSTEM_INIT
    beeper ON_USB
    beeper LAUNCH_MODE

    # map
    map AETR1234

    # name
    name –

    # serial
    serial 20 1 115200 38400 0 115200
    serial 0 0 115200 38400 0 115200
    serial 1 1 115200 38400 0 115200
    serial 2 2 115200 57600 0 115200

    # led
    led 0 0,0::C:0
    led 1 0,0::C:0
    led 2 0,0::C:0
    led 3 0,0::C:0
    led 4 0,0::C:0
    led 5 0,0::C:0
    led 6 0,0::C:0
    led 7 0,0::C:0
    led 8 0,0::C:0
    led 9 0,0::C:0
    led 10 0,0::C:0
    led 11 0,0::C:0
    led 12 0,0::C:0
    led 13 0,0::C:0
    led 14 0,0::C:0
    led 15 0,0::C:0
    led 16 0,0::C:0
    led 17 0,0::C:0
    led 18 0,0::C:0
    led 19 0,0::C:0
    led 20 0,0::C:0
    led 21 0,0::C:0
    led 22 0,0::C:0
    led 23 0,0::C:0
    led 24 0,0::C:0
    led 25 0,0::C:0
    led 26 0,0::C:0
    led 27 0,0::C:0
    led 28 0,0::C:0
    led 29 0,0::C:0
    led 30 0,0::C:0
    led 31 0,0::C:0

    # color
    color 0 0,0,0
    color 1 0,255,255
    color 2 0,0,255
    color 3 30,0,255
    color 4 60,0,255
    color 5 90,0,255
    color 6 120,0,255
    color 7 150,0,255
    color 8 180,0,255
    color 9 210,0,255
    color 10 240,0,255
    color 11 270,0,255
    color 12 300,0,255
    color 13 330,0,255
    color 14 0,0,0
    color 15 0,0,0

    # mode_color
    mode_color 0 0 1
    mode_color 0 1 11
    mode_color 0 2 2
    mode_color 0 3 13
    mode_color 0 4 10
    mode_color 0 5 3
    mode_color 1 0 5
    mode_color 1 1 11
    mode_color 1 2 3
    mode_color 1 3 13
    mode_color 1 4 10
    mode_color 1 5 3
    mode_color 2 0 10
    mode_color 2 1 11
    mode_color 2 2 4
    mode_color 2 3 13
    mode_color 2 4 10
    mode_color 2 5 3
    mode_color 3 0 8
    mode_color 3 1 11
    mode_color 3 2 4
    mode_color 3 3 13
    mode_color 3 4 10
    mode_color 3 5 3
    mode_color 4 0 7
    mode_color 4 1 11
    mode_color 4 2 3
    mode_color 4 3 13
    mode_color 4 4 10
    mode_color 4 5 3
    mode_color 5 0 9
    mode_color 5 1 11
    mode_color 5 2 2
    mode_color 5 3 13
    mode_color 5 4 10
    mode_color 5 5 3
    mode_color 6 0 6
    mode_color 6 1 10
    mode_color 6 2 1
    mode_color 6 3 0
    mode_color 6 4 0
    mode_color 6 5 2
    mode_color 6 6 3
    mode_color 6 7 6
    mode_color 6 8 0
    mode_color 6 9 0
    mode_color 6 10 0

    # aux
    aux 0 0 2 1900 2100
    aux 1 1 0 1875 2100
    aux 2 2 0 1400 1600
    aux 3 3 1 1400 1600
    aux 4 9 1 1400 1600
    aux 5 8 1 900 1100
    aux 6 11 1 900 1100
    aux 7 18 3 1900 2100
    aux 8 0 0 900 900
    aux 9 0 0 900 900
    aux 10 0 0 900 900
    aux 11 0 0 900 900
    aux 12 0 0 900 900
    aux 13 0 0 900 900
    aux 14 0 0 900 900
    aux 15 0 0 900 900
    aux 16 0 0 900 900
    aux 17 0 0 900 900
    aux 18 0 0 900 900
    aux 19 0 0 900 900

    # adjrange
    adjrange 0 0 0 900 900 0 0
    adjrange 1 0 0 900 900 0 0
    adjrange 2 0 0 900 900 0 0
    adjrange 3 0 0 900 900 0 0
    adjrange 4 0 0 900 900 0 0
    adjrange 5 0 0 900 900 0 0
    adjrange 6 0 0 900 900 0 0
    adjrange 7 0 0 900 900 0 0
    adjrange 8 0 0 900 900 0 0
    adjrange 9 0 0 900 900 0 0
    adjrange 10 0 0 900 900 0 0
    adjrange 11 0 0 900 900 0 0

    # rxrange
    rxrange 0 1000 2000
    rxrange 1 1000 2000
    rxrange 2 1000 2000
    rxrange 3 1000 2000

    # master
    set looptime = 2000
    set gyro_sync = ON
    set gyro_sync_denom = 1
    set align_gyro = DEFAULT
    set gyro_hardware_lpf = 42HZ
    set gyro_lpf_hz = 60
    set moron_threshold = 32
    set gyro_notch1_hz = 0
    set gyro_notch1_cutoff = 1
    set gyro_notch2_hz = 0
    set gyro_notch2_cutoff = 1
    set vbat_adc_channel = 1
    set rssi_adc_channel = 3
    set current_adc_channel = 2
    set airspeed_adc_channel = 0
    set acc_notch_hz = 0
    set acc_notch_cutoff = 1
    set align_acc = CW180FLIP
    set acc_hardware = MPU6000
    set acc_lpf_hz = 15
    set acczero_x = 321
    set acczero_y = -80
    set acczero_z = -568
    set accgain_x = 4094
    set accgain_y = 4103
    set accgain_z = 3988
    set rangefinder_hardware = NONE
    set align_mag = CW180FLIP
    set mag_hardware = HMC5883
    set mag_declination = -1130
    set magzero_x = -64
    set magzero_y = -100
    set magzero_z = 19
    set mag_calibration_time = 30
    set baro_hardware = MS5611
    set baro_use_median_filter = ON
    set mid_rc = 1500
    set min_check = 1100
    set max_check = 1900
    set rssi_channel = 0
    set rssi_scale = 30
    set rssi_invert = OFF
    set rc_smoothing = ON
    set serialrx_provider = SBUS
    set sbus_inversion = ON
    set spektrum_sat_bind = 0
    set rx_min_usec = 885
    set rx_max_usec = 2115
    set blackbox_rate_num = 1
    set blackbox_rate_denom = 1
    set blackbox_device = SERIAL
    set min_throttle = 1150
    set max_throttle = 1850
    set min_command = 1000
    set motor_pwm_rate = 2000
    set motor_pwm_protocol = ONESHOT125
    set failsafe_delay = 5
    set failsafe_recovery_delay = 5
    set failsafe_off_delay = 200
    set failsafe_throttle = 1000
    set failsafe_throttle_low_delay = 100
    set failsafe_procedure = RTH
    set failsafe_stick_threshold = 50
    set failsafe_fw_roll_angle = -200
    set failsafe_fw_pitch_angle = 100
    set failsafe_fw_yaw_rate = -45
    set align_board_roll = 0
    set align_board_pitch = 0
    set align_board_yaw = 0
    set gimbal_mode = NORMAL
    set battery_capacity = 0
    set vbat_scale = 110
    set vbat_max_cell_voltage = 43
    set vbat_min_cell_voltage = 33
    set vbat_warning_cell_voltage = 35
    set current_meter_scale = 400
    set current_meter_offset = 0
    set multiwii_current_meter_output = ON
    set current_meter_type = ADC
    set yaw_motor_direction = 1
    set yaw_jump_prevention_limit = 200
    set 3d_deadband_low = 1406
    set 3d_deadband_high = 1514
    set 3d_neutral = 1460
    set servo_center_pulse = 1500
    set servo_pwm_rate = 50
    set servo_lpf_hz = 20
    set flaperon_throw_offset = 250
    set tri_unarmed_servo = ON
    set reboot_character = 82
    set imu_dcm_kp = 2500
    set imu_dcm_ki = 50
    set imu_dcm_kp_mag = 10000
    set imu_dcm_ki_mag = 0
    set small_angle = 25
    set fixed_wing_auto_arm = OFF
    set disarm_kill_switch = ON
    set auto_disarm_delay = 5
    set gps_provider = UBLOX
    set gps_sbas_mode = AUTO
    set gps_dyn_model = AIR_1G
    set gps_auto_config = ON
    set gps_auto_baud = ON
    set gps_min_sats = 6
    set deadband = 5
    set yaw_deadband = 5
    set pos_hold_deadband = 20
    set alt_hold_deadband = 50
    set 3d_deadband_throttle = 1000
    set fw_autotune_overshoot_time = 100
    set fw_autotune_undershoot_time = 200
    set fw_autotune_threshold = 50
    set fw_autotune_ff_to_p_gain = 10
    set fw_autotune_ff_to_i_tc = 600
    set inav_auto_mag_decl = ON
    set inav_gravity_cal_tolerance = 5
    set inav_use_gps_velned = ON
    set inav_gps_delay = 200
    set inav_reset_altitude = FIRST_ARM
    set inav_max_surface_altitude = 200
    set inav_w_z_surface_p = 3.500
    set inav_w_z_surface_v = 6.100
    set inav_w_z_baro_p = 0.350
    set inav_w_z_gps_p = 0.200
    set inav_w_z_gps_v = 0.500
    set inav_w_xy_gps_p = 1.000
    set inav_w_xy_gps_v = 2.000
    set inav_w_z_res_v = 0.500
    set inav_w_xy_res_v = 0.500
    set inav_w_acc_bias = 0.010
    set inav_max_eph_epv = 1000.000
    set inav_baro_epv = 100.000
    set nav_disarm_on_landing = OFF
    set nav_use_midthr_for_althold = OFF
    set nav_extra_arming_safety = ON
    set nav_user_control_mode = CRUISE
    set nav_position_timeout = 5
    set nav_wp_radius = 100
    set nav_wp_safe_distance = 10000
    set nav_auto_speed = 300
    set nav_auto_climb_rate = 500
    set nav_manual_speed = 500
    set nav_manual_climb_rate = 200
    set nav_landing_speed = 200
    set nav_land_slowdown_minalt = 500
    set nav_land_slowdown_maxalt = 2000
    set nav_emerg_landing_speed = 500
    set nav_min_rth_distance = 500
    set nav_rth_climb_first = ON
    set nav_rth_climb_ignore_emerg = OFF
    set nav_rth_tail_first = OFF
    set nav_rth_allow_landing = ON
    set nav_rth_alt_mode = AT_LEAST
    set nav_rth_abort_threshold = 50000
    set nav_rth_altitude = 1000
    set nav_mc_bank_angle = 30
    set nav_mc_hover_thr = 1500
    set nav_mc_auto_disarm_delay = 2000
    set nav_fw_cruise_thr = 1400
    set nav_fw_min_thr = 1200
    set nav_fw_max_thr = 1700
    set nav_fw_bank_angle = 20
    set nav_fw_climb_angle = 20
    set nav_fw_dive_angle = 15
    set nav_fw_pitch2thr = 10
    set nav_fw_loiter_radius = 5000
    set nav_fw_land_dive_angle = 2
    set nav_fw_launch_velocity = 300
    set nav_fw_launch_accel = 1863
    set nav_fw_launch_max_angle = 45
    set nav_fw_launch_detect_time = 40
    set nav_fw_launch_thr = 1700
    set nav_fw_launch_idle_thr = 1000
    set nav_fw_launch_motor_delay = 500
    set nav_fw_launch_spinup_time = 100
    set nav_fw_launch_timeout = 5000
    set nav_fw_launch_climb_angle = 10
    set telemetry_switch = OFF
    set telemetry_inversion = ON
    set frsky_default_latitude = 0.000
    set frsky_default_longitude = 0.000
    set frsky_coordinates_format = 0
    set frsky_unit = IMPERIAL
    set frsky_vfas_precision = 0
    set frsky_vfas_cell_voltage = OFF
    set hott_alarm_sound_interval = 5
    set smartport_uart_unidir = OFF
    set ibus_telemetry_type = 0
    set ltm_update_rate = NORMAL
    set ledstrip_visual_beeper = OFF
    set i2c_overclock = OFF
    set debug_mode = NONE
    set acc_task_frequency = 500
    set attitude_task_frequency = 250
    set async_mode = GYRO
    set throttle_tilt_comp_str = 0
    set input_filtering_mode = OFF
    set mode_range_logic_operator = OR
    set stats = OFF
    set stats_total_time = 0
    set stats_total_dist = 0

    # profile
    profile 1

    set mc_p_pitch = 40
    set mc_i_pitch = 30
    set mc_d_pitch = 23
    set mc_p_roll = 40
    set mc_i_roll = 30
    set mc_d_roll = 23
    set mc_p_yaw = 85
    set mc_i_yaw = 45
    set mc_d_yaw = 0
    set mc_p_level = 20
    set mc_i_level = 15
    set mc_d_level = 75
    set fw_p_pitch = 5
    set fw_i_pitch = 7
    set fw_ff_pitch = 50
    set fw_p_roll = 5
    set fw_i_roll = 7
    set fw_ff_roll = 50
    set fw_p_yaw = 6
    set fw_i_yaw = 10
    set fw_ff_yaw = 60
    set fw_p_level = 20
    set fw_i_level = 5
    set fw_d_level = 75
    set max_angle_inclination_rll = 300
    set max_angle_inclination_pit = 300
    set dterm_lpf_hz = 40
    set yaw_lpf_hz = 30
    set dterm_setpoint_weight = 0.000
    set fw_iterm_throw_limit = 165
    set fw_reference_airspeed = 1000.000
    set fw_turn_assist_yaw_gain = 1.000
    set dterm_notch_hz = 0
    set dterm_notch_cutoff = 1
    set pidsum_limit = 500
    set yaw_p_limit = 300
    set iterm_ignore_threshold = 200
    set yaw_iterm_ignore_threshold = 50
    set rate_accel_limit_roll_pitch = 0
    set rate_accel_limit_yaw = 10000
    set heading_hold_rate_limit = 90
    set nav_mc_pos_z_p = 50
    set nav_mc_pos_z_i = 0
    set nav_mc_pos_z_d = 0
    set nav_mc_vel_z_p = 100
    set nav_mc_vel_z_i = 50
    set nav_mc_vel_z_d = 10
    set nav_mc_pos_xy_p = 65
    set nav_mc_pos_xy_i = 120
    set nav_mc_pos_xy_d = 10
    set nav_mc_vel_xy_p = 180
    set nav_mc_vel_xy_i = 15
    set nav_mc_vel_xy_d = 100
    set nav_fw_pos_z_p = 50
    set nav_fw_pos_z_i = 0
    set nav_fw_pos_z_d = 0
    set nav_fw_pos_xy_p = 75
    set nav_fw_pos_xy_i = 5
    set nav_fw_pos_xy_d = 8
    set rc_expo = 70
    set rc_yaw_expo = 20
    set thr_mid = 50
    set thr_expo = 0
    set roll_rate = 75
    set pitch_rate = 75
    set yaw_rate = 75
    set tpa_rate = 0
    set tpa_breakpoint = 1500

    #

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