# version
# Betaflight / MATEKF405 (MKF4) 3.5.1 Sep  8 2018 / 05:31:25 (d9fb5ca13) MSP API: 1.40

board_name MATEKF405
manufacturer_id 

# name
name Bicopter

# resources
resource MOTOR 2 B08
resource MOTOR 3 NONE
resource MOTOR 4 NONE
resource MOTOR 5 NONE
resource MOTOR 6 NONE
resource MOTOR 7 NONE
resource SERVO 1 C07
resource SERVO 2 C08

# mixer
mixer BI
mmix 0  1.000  1.000  0.000  0.000
mmix 1  1.000 -1.000  0.000  0.000

# servo
servo 4 1100 1900 1520 100 -1
servo 5 1100 1900 1520 100 -1

# servo mix
smix 0 2 2 100 0 0 100 0
smix 1 2 1 -100 0 0 100 0
smix 2 3 2 100 0 0 100 0
smix 3 3 1 100 0 0 100 0


# feature
feature -TELEMETRY
feature -OSD
feature -ANTI_GRAVITY

# beeper

# beacon
beacon RX_LOST

# map
map TAER1234

# serial

# led

# color

# mode_color

# aux
aux 0 0 0 1700 2100 0 0
aux 1 1 2 1300 1700 0 0
aux 2 2 2 900 1300 0 0

# adjrange

# rxrange

# vtx

# rxfail

# master
set gyro_lowpass_type = BIQUAD
set gyro_lowpass_hz = 90
set gyro_lowpass2_type = BIQUAD
set gyro_notch1_hz = 50
set gyro_notch1_cutoff = 30
set acc_trim_pitch = -6
set acc_calibration = -78,28,5
set mag_hardware = NONE
set blackbox_p_ratio = 64
set dshot_idle_value = 500
set motor_pwm_protocol = DSHOT600
set failsafe_switch_mode = STAGE2
set align_board_yaw = 270
set servo_center_pulse = 1520
set servo_pwm_rate = 250
set servo_lowpass_hz = 40
set small_angle = 30
set deadband = 9
set yaw_deadband = 9
set pid_process_denom = 1
set runaway_takeoff_prevention = OFF

# profile
profile 0

set dterm_lowpass_type = BIQUAD
set dterm_notch_hz = 260
set vbat_pid_gain = ON
set anti_gravity_gain = 1000
set iterm_windup = 50
set throttle_boost = 0
set p_pitch = 60
set i_pitch = 45
set d_pitch = 60
set p_roll = 45
set i_roll = 20
set d_roll = 15
set p_yaw = 40
set i_yaw = 20
set d_yaw = 60
set f_yaw = 0

# rateprofile
rateprofile 0

set roll_srate = 50
set pitch_srate = 50
set yaw_srate = 50