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

# logic

# feature
feature MOTOR_STOP
feature GPS
feature PWM_OUTPUT_ENABLE
feature FW_LAUNCH

# beeper

# map

# serial
serial 1 2 115200 57600 0 115200
serial 30 32 115200 38400 0 115200

# led

# color

# mode_color

# aux
aux 0 0 0 1800 2050
aux 1 1 1 1300 1700
aux 2 3 3 1300 2050
aux 3 9 3 1700 2050
aux 4 8 1 1750 2050
aux 5 10 1 950 1200
aux 6 27 5 1600 2050
aux 7 18 2 1800 2050
aux 8 32 4 1300 1700

# adjrange

# rxrange

# temp_sensor

# wp
#wp 0 invalid

# osd_layout
osd_layout 0 0 1 2 V
osd_layout 0 1 24 1 V
osd_layout 0 3 0 0 V
osd_layout 0 4 0 0 V
osd_layout 0 6 23 0 V
osd_layout 0 7 13 13 V
osd_layout 0 9 1 2 H
osd_layout 0 11 24 2 V
osd_layout 0 12 24 4 V
osd_layout 0 13 2 7 V
osd_layout 0 14 1 12 V
osd_layout 0 15 22 7 V
osd_layout 0 20 20 14 H
osd_layout 0 21 20 13 H
osd_layout 0 22 14 11 V
osd_layout 0 23 1 1 V
osd_layout 0 24 12 0 H
osd_layout 0 26 23 9 V
osd_layout 0 28 23 1 H
osd_layout 0 29 23 14 H
osd_layout 0 30 1 15 V
osd_layout 0 34 10 0 V
osd_layout 0 35 1 13 V
osd_layout 0 37 24 5 V
osd_layout 0 40 1 14 V
osd_layout 0 46 1 4 H
osd_layout 0 49 1 12 H
osd_layout 0 97 17 14 V
osd_layout 1 0 1 2 V
osd_layout 1 1 24 0 V
osd_layout 1 3 8 6 V
osd_layout 1 7 12 13 V
osd_layout 1 11 25 2 V
osd_layout 1 13 0 7 V
osd_layout 1 15 25 7 V
osd_layout 1 22 14 11 V
osd_layout 1 23 1 0 V
osd_layout 1 30 2 15 V
osd_layout 1 41 11 5 V
osd_layout 1 42 6 7 V

# master
set looptime = 2000
set gyro_hardware_lpf = 98HZ
set gyro_lpf_hz = 35
set acc_hardware = MPU6000
set acczero_x = 37
set acczero_y = -26
set acczero_z = -129
set accgain_x = 4109
set accgain_y = 4065
set accgain_z = 4046
set mag_hardware = NONE
set baro_hardware = BMP280
set pitot_hardware = NONE
set rssi_channel = 12
set failsafe_procedure = RTH
set align_board_yaw = 900
set current_meter_scale = 423
set platform_type = AIRPLANE
set model_preview_type = 8
set small_angle = 180
set imu_acc_ignore_rate = 10
set gps_sbas_mode = AUTO
set gps_ublox_use_galileo = ON
set nav_position_timeout = 0
set nav_land_slowdown_minalt = 1000
set nav_land_slowdown_maxalt = 1500
set nav_rth_climb_first = OFF
set nav_rth_allow_landing = NEVER
set nav_rth_altitude = 6000
set nav_fw_bank_angle = 30
set nav_fw_loiter_radius = 7000
set nav_fw_launch_thr = 1600
set osd_time_alarm = 20
set osd_alt_alarm = 300
set osd_dist_alarm = 2000
set osd_coordinate_digits = 8

# profile
profile 3

set fw_i_pitch = 10
set fw_i_roll = 8
set max_angle_inclination_rll = 500
set max_angle_inclination_pit = 500
set fw_iterm_throw_limit = 300
set tpa_rate = 20
set roll_rate = 30

# battery_profile
battery_profile 1

set battery_capacity = 1800
set battery_capacity_warning = 540
set battery_capacity_critical = 360

# 