# version
# Betaflight / OMNIBUSF4SD (OBSD) 3.5.2 Oct  2 2018 / 11:38:56 (7735512f5) MSP API: 1.40

board_name OMNIBUSF4SD
manufacturer_id 
mcu_id 004000293536470d32353030
signature 

# reset configuration to default settings
defaults nosave

# name
name Bicopter

# resources
resource MOTOR 3 NONE
resource MOTOR 4 NONE
resource MOTOR 5 NONE
resource MOTOR 6 NONE
resource SONAR_TRIGGER 1 NONE
resource SONAR_ECHO 1 NONE

# mixer
mixer BI

# servo
servo 4 1100 1900 1530 100 -1
servo 5 1100 1900 1540 100 -1

# servo mix


# feature
feature -RX_PARALLEL_PWM
feature -ANTI_GRAVITY
feature RX_SERIAL
feature LED_STRIP

# beeper
beeper -ON_USB

# beacon
beacon RX_SET

# map

# serial
serial 0 64 115200 57600 0 115200

# led
led 0 6,15:W:AI:0
led 1 7,15:E:LI:0

# color

# mode_color
mode_color 6 0 2
mode_color 6 1 6

# aux
aux 0 0 0 1675 2100 0 0
aux 1 1 1 900 1200 0 0
aux 2 2 1 1425 1550 0 0
aux 3 27 3 900 1200 0 0
aux 4 13 3 1800 2100 0 0
aux 5 15 4 1800 2100 0 0
aux 6 26 4 900 1200 0 0
aux 7 28 1 1725 2100 0 0
aux 8 47 1 1600 2100 0 0

# adjrange

# rxrange

# vtx

# rxfail

# master
set gyro_lowpass_hz = 90
set gyro_notch1_hz = 40
set gyro_notch1_cutoff = 30
set gyro_use_32khz = ON
set acc_calibration = 94,-62,-66
set mag_hardware = NONE
set mag_declination = 2000
set mag_calibration = 83,24,64
set max_check = 1950
set rc_smoothing_type = FILTER
set serialrx_provider = SBUS
set blackbox_p_ratio = 128
set min_throttle = 1020
set motor_pwm_protocol = DSHOT1200
set motor_pwm_rate = 2000
set failsafe_throttle = 1250
set failsafe_switch_mode = STAGE2
set failsafe_procedure = AUTO-LAND
set align_board_yaw = 270
set beeper_dshot_beacon_tone = 2
set servo_pwm_rate = 250
set small_angle = 180
set deadband = 3
set yaw_deadband = 3
set pid_process_denom = 2
set osd_warn_core_temp = OFF
set osd_rssi_alarm = 0
set osd_cap_alarm = 1500
set osd_vbat_pos = 2433
set osd_tim_2_pos = 2454
set osd_ah_pos = 2126
set osd_current_pos = 2368
set osd_mah_drawn_pos = 2401
set osd_craft_name_pos = 2091
set osd_home_dir_pos = 2282
set osd_altitude_pos = 2421
set osd_battery_usage_pos = 392
set cpu_overclock = 216MHZ
set vcd_video_system = PAL

# profile
profile 0

set dterm_notch_hz = 260
set anti_gravity_gain = 1000
set feedforward_transition = 20
set smart_feedforward = ON
set iterm_relax = RP
set iterm_windup = 50
set yaw_lowpass_hz = 50
set throttle_boost = 0
set d_pitch = 38
set f_pitch = 146
set d_roll = 33
set f_roll = 127
set f_yaw = 100

# profile
profile 1

set dterm_notch_cutoff = 0
set feedforward_transition = 20
set smart_feedforward = ON
set iterm_relax = RP
set throttle_boost = 0
set p_pitch = 60
set i_pitch = 45
set d_pitch = 60
set f_pitch = 146
set p_roll = 45
set i_roll = 20
set d_roll = 15
set f_roll = 127
set p_yaw = 40
set i_yaw = 20
set d_yaw = 60
set f_yaw = 100

# profile
profile 2

set dterm_notch_cutoff = 0
set smart_feedforward = ON
set iterm_relax = RP
set throttle_boost = 0
set p_pitch = 60
set i_pitch = 45
set d_pitch = 60
set f_pitch = 146
set p_roll = 45
set i_roll = 20
set d_roll = 15
set f_roll = 127
set p_yaw = 40
set i_yaw = 20
set d_yaw = 60
set f_yaw = 100

# restore original profile selection
profile 1

# rateprofile
rateprofile 0

set thr_expo = 30
set roll_rc_rate = 155
set pitch_rc_rate = 155
set roll_expo = 25
set pitch_expo = 25
set yaw_expo = 35
set roll_srate = 73
set pitch_srate = 73
set yaw_srate = 75

# rateprofile
rateprofile 1


# rateprofile
rateprofile 2


# rateprofile
rateprofile 3


# rateprofile
rateprofile 4


# rateprofile
rateprofile 5


# restore original rateprofile selection
rateprofile 0

# save configuration
save