# version # Betaflight / KAKUTEF4V2 (KTV2) 4.1.0 Oct 6 2019 / 06:29:37 (c6452a55c) MSP API: 1.42 # start the command batch batch start board_name KAKUTEF4V2 # name: Tricopter LR # resources resource MOTOR 1 A03 resource MOTOR 3 B00 resource MOTOR 4 NONE resource SERVO 1 C08 resource LED_STRIP 1 NONE # mixer mixer TRI # servo servo 5 1000 1830 1434 100 -1 # beeper beeper -GYRO_CALIBRATED beeper -RX_LOST_LANDING beeper -DISARMING beeper -ARMING beeper -ARMING_GPS_FIX beeper -BAT_CRIT_LOW beeper -BAT_LOW beeper -GPS_STATUS beeper -ACC_CALIBRATION beeper -ACC_CALIBRATION_FAIL beeper -READY_BEEP beeper -DISARM_REPEAT beeper -ARMED beeper -SYSTEM_INIT beeper -ON_USB beeper -BLACKBOX_ERASE beeper -CRASH_FLIP beeper -CAM_CONNECTION_OPEN beeper -CAM_CONNECTION_CLOSE beeper -RC_SMOOTHING_INIT_FAIL # beacon beacon RX_LOST beacon RX_SET # serial serial 0 0 115200 57600 0 115200 # aux aux 0 0 1 1725 2100 0 0 aux 1 1 2 1700 2100 0 0 aux 2 13 0 1700 2100 0 0 aux 3 28 2 1300 1700 0 0 # rxfail rxfail 8 s 1000 # master set gyro_sync_denom = 2 set dyn_notch_range = LOW set dyn_notch_q = 200 set dyn_notch_min_hz = 90 set acc_calibration = 54,-49,15 set min_check = 1000 set max_check = 2000 set rssi_channel = 9 set blackbox_device = SPIFLASH set dshot_bidir = ON set motor_pwm_protocol = DSHOT300 set bat_capacity = 5000 set vbat_warning_cell_voltage = 360 set current_meter = ADC set servo_pwm_rate = 270 set pid_process_denom = 1 set osd_rssi_pos = 33 set osd_rssi_dbm_pos = 34 set osd_remaining_time_estimate_pos = 2510 set osd_flymode_pos = 2103 set osd_current_pos = 2502 set osd_craft_name_pos = 232 set osd_altitude_pos = 2096 set osd_power_pos = 2497 set osd_avg_cell_voltage_pos = 2465 set osd_esc_rpm_pos = 2422 set vcd_video_system = PAL set gyro_rpm_notch_harmonics = 1 set name = Tricopter LR profile 0 # profile 0 set vbat_pid_gain = ON set p_pitch = 70 set i_pitch = 25 set d_pitch = 15 set p_roll = 70 set i_roll = 25 set d_roll = 15 set p_yaw = 100 set i_yaw = 10 set d_min_roll = 0 set d_min_pitch = 0 rateprofile 0 # end the command batch batch end