diff

# version
# INAV/MATEKF411 2.2.1 Jul  3 2019 / 22:50:30 (a6d847482)
# GCC-8.2.1 20181213 (release) [gcc-8-branch revision 267074]

# resources

# mixer
mmix 0  1.000  0.000  0.000  0.000

# servo mix
smix 0 3 0 50 0 -1
smix 1 3 1 50 0 -1
smix 2 4 0 50 0 -1
smix 3 4 1 -50 0 -1

# servo
servo 3 1000 2000 1483 -100
servo 4 1000 2000 1519 -100

# logic

# feature
feature MOTOR_STOP
feature GPS
feature PWM_OUTPUT_ENABLE

# beeper

# map

# serial
serial 1 2 115200 38400 0 115200

# led

# color

# mode_color

# aux
aux 0 0 0 1500 2050
aux 1 1 1 1300 1650
aux 2 3 3 1300 2050
aux 3 9 3 1700 2050
aux 4 8 1 1700 2050
aux 5 10 1 975 1250
aux 6 27 5 1700 2050
aux 7 18 2 1375 2100
aux 8 32 4 1300 1700
aux 9 33 4 1700 2100

# adjrange

# rxrange

# temp_sensor

# wp
#wp 0 invalid

# osd_layout
osd_layout 0 0 0 1 V
osd_layout 0 1 24 1 V
osd_layout 0 6 23 0 V
osd_layout 0 7 13 13 V
osd_layout 0 9 0 3 V
osd_layout 0 11 24 3 V
osd_layout 0 12 23 4 V
osd_layout 0 13 2 7 V
osd_layout 0 14 0 13 V
osd_layout 0 15 24 7 V
osd_layout 0 22 14 2 V
osd_layout 0 23 0 0 V
osd_layout 0 24 12 1 H
osd_layout 0 26 24 8 V
osd_layout 0 28 23 11 H
osd_layout 0 30 1 15 V
osd_layout 0 33 0 4 V
osd_layout 0 34 10 0 V
osd_layout 0 35 0 14 H
osd_layout 0 40 0 14 V
osd_layout 0 41 0 11 V
osd_layout 0 42 0 10 V
osd_layout 0 46 0 2 H
osd_layout 0 97 17 14 V
osd_layout 1 0 1 2 V
osd_layout 1 1 22 1 V
osd_layout 1 2 0 0 V
osd_layout 1 3 8 6 V
osd_layout 1 4 8 6 V
osd_layout 1 7 13 13 V
osd_layout 1 11 22 2 V
osd_layout 1 13 1 7 V
osd_layout 1 15 25 7 V
osd_layout 1 22 14 10 V
osd_layout 1 23 1 1 V
osd_layout 1 30 0 15 V
osd_layout 1 31 0 12 V
osd_layout 1 40 0 11 H
osd_layout 1 43 0 0 V
osd_layout 1 45 0 0 V
osd_layout 2 0 1 2 V
osd_layout 2 2 0 0 V
osd_layout 2 3 8 6 V
osd_layout 2 4 8 6 V
osd_layout 2 7 12 13 V
osd_layout 2 13 1 7 V
osd_layout 2 15 25 7 V
osd_layout 2 22 14 11 V
osd_layout 2 23 1 1 V
osd_layout 2 30 1 15 V
osd_layout 2 32 22 1 V
osd_layout 2 44 0 0 V
osd_layout 2 97 17 14 V

# master
set looptime = 2000
set gyro_hardware_lpf = 98HZ
set gyro_lpf_hz = 40
set acc_hardware = MPU6000
set acczero_x = 108
set acczero_y = -31
set acczero_z = -292
set accgain_x = 4066
set accgain_y = 4081
set accgain_z = 3980
set mag_hardware = NONE
set baro_hardware = BMP280
set pitot_hardware = NONE
set rssi_channel = 16
set motor_pwm_rate = 50
set failsafe_procedure = RTH
set align_board_pitch = -15
set align_board_yaw = 1800
set current_meter_scale = 423
set platform_type = AIRPLANE
set model_preview_type = 8
set fw_min_throttle_down_pitch = 10
set small_angle = 180
set imu_acc_ignore_rate = 10
set gps_sbas_mode = AUTO
set gps_ublox_use_galileo = ON
set nav_land_slowdown_minalt = 1000
set nav_rth_climb_first = OFF
set nav_rth_allow_landing = NEVER
set nav_rth_altitude = 5000
set nav_fw_cruise_thr = 1350
set nav_fw_bank_angle = 30
set nav_fw_launch_thr = 1500
set nav_fw_launch_spinup_time = 300
set osd_time_alarm = 20
set osd_dist_alarm = 1500
set osd_crosshairs_style = AIRCRAFT

# profile
profile 1

set mc_p_pitch = 6
set mc_i_pitch = 9
set mc_d_pitch = 52
set mc_p_roll = 6
set mc_i_roll = 6
set mc_d_roll = 49
set mc_p_yaw = 6
set mc_i_yaw = 10
set mc_d_yaw = 60
set mc_i_level = 5
set fw_p_pitch = 12
set fw_i_pitch = 22
set fw_ff_pitch = 100
set fw_p_roll = 12
set fw_i_roll = 22
set fw_ff_roll = 100
set fw_p_yaw = 13
set fw_i_yaw = 25
set fw_ff_yaw = 120
set max_angle_inclination_rll = 500
set max_angle_inclination_pit = 400
set nav_mc_pos_z_p = 40
set nav_mc_vel_z_p = 0
set nav_mc_vel_z_i = 0
set nav_mc_vel_z_d = 0
set nav_mc_pos_xy_p = 75
set nav_mc_vel_xy_p = 0
set nav_mc_vel_xy_i = 0
set nav_mc_vel_xy_d = 0
set tpa_rate = 20
set roll_rate = 18
set pitch_rate = 12
set yaw_rate = 10

# battery_profile
battery_profile 1

set vbat_min_cell_voltage = 280
set vbat_warning_cell_voltage = 330
set battery_capacity = 2000
set battery_capacity_warning = 300
set battery_capacity_critical = 200

# 