# defaults for SkyRocket streaming GPS board BRD_TYPE 21 BRD_IO_ENABLE 0 BRD_PWM_COUNT 4 MOT_PWM_TYPE 3 MOT_PWM_MIN 1000 MOT_PWM_MAX 2000 RC_SPEED 16000 # TERRAIN_ENABLE 0 # toy mode setup TMODE_ENABLE 1 TMODE_MODE1 5 TMODE_MODE2 2 TMODE_ACTION1 2 TMODE_ACTION2 1 TMODE_ACTION3 18 TMODE_ACTION4 0 TMODE_ACTION5 0 TMODE_ACTION6 0 TMODE_FLAGS 23 TMODE_TMIN 0.9 # LEDs. pin54 is green, pin55 is red RELAY_PIN 54 RELAY_PIN2 55 RELAY_DEFAULT 1 AHRS_ORIENTATION 12 COMPASS_EXTERNAL 1 COMPASS_ORIENT 10 COMPASS_USE2 0 COMPASS_USE3 0 COMPASS_OFFS_MAX 2000 COMPASS_DIA_X 1.20 COMPASS_DIA_Y 1.11 COMPASS_DIA_Z 0.89 COMPASS_ODI_X -0.051 COMPASS_ODI_Y 0.141 COMPASS_ODI_Z 0.091 # battery setup BATT_MONITOR 3 BATT_VOLT_PIN 4 BATT_VOLT_MULT 0.8485 # motor compensation COMPASS_MOTCT 3 COMPASS_PMOT_EN 1 COMPASS_PMOT_EXP 0.65 COMPASS_LEARN 2 BRD_SER1_RTSCTS 0 BRD_SER2_RTSCTS 0 BRD_SAFETYENABLE 0 SERIAL0_PROTOCOL 2 SERIAL1_BAUD 625000 SERIAL1_PROTOCOL 2 SERIAL2_BAUD 115 SERIAL2_PROTOCOL 2 # radio setup BRD_RADIO_TYPE 1 BRD_RADIO_PROT 1 BRD_RADIO_PPSCH 8 BRD_RADIO_SIGCH 9 BRD_RADIO_TPPSCH 10 BRD_RADIO_TSIGCH 11 BRD_RADIO_TELEM 1 BRD_RADIO_ABTIME 10 BRD_RADIO_ABLVL 25 RSSI_TYPE 2 RSSI_CHANNEL 8 RSSI_CHAN_LOW 0 RSSI_CHAN_HIGH 200 # non-standard motor ordering SERVO1_FUNCTION 36 SERVO2_FUNCTION 33 SERVO3_FUNCTION 34 SERVO4_FUNCTION 35 # H class quad FRAME_CLASS 1 FRAME_TYPE 1 # enable EK2 EK2_ENABLE 1 EK2_CHECK_SCALE 150 # EK3 disabled for flight AHRS_EKF_TYPE 2 EK3_ENABLE 0 #EK3_CHECK_SCALE 120 #EK3_ACC_BIAS_LIM 1.0 #EK3_ABIAS_P_NSE 0.01 #EK3_MAG_CAL = 0 # setup EK2 limits EK2_CHECK_SCALE 120 EK2_ALT_M_NSE 2.0 # fence FENCE_TYPE 3 FENCE_ENABLE 0 FENCE_RADIUS 100 FENCE_ALT_MAX 50 FENCE_MARGIN 3 # arming ARMING_CHECK 32767 DISARM_DELAY 8 # IMU INS_FAST_SAMPLE 1 INS_GYRO_FILTER 20 LOG_BITMASK 65534 INS_NOTCH_ENABLE 1 INS_NOTCH_ATT 30 INS_NOTCH_BW 60 INS_NOTCH_FREQ 80 # rate controllers ANGLE_MAX 3500 ATC_ACCEL_R_MAX 160000 ATC_ACCEL_P_MAX 160000 ATC_ACCEL_Y_MAX 54000 ATC_ANG_PIT_P 8.0 ATC_ANG_RLL_P 8.0 ATC_ANG_YAW_P 7.16 ATC_RAT_PIT_D 0.0069 ATC_RAT_PIT_FILT 10 ATC_RAT_PIT_FLTD 10 ATC_RAT_PIT_IMAX 0.5 ATC_RAT_PIT_I 0.0834 ATC_RAT_PIT_P 0.0834 ATC_RAT_RLL_D 0.007 ATC_RAT_RLL_FILT 10 ATC_RAT_RLL_FLTD 10 ATC_RAT_RLL_I 0.0966 ATC_RAT_RLL_P 0.0966 ATC_RAT_RLL_IMAX 0.5 ATC_RAT_YAW_P 0.6887 ATC_RAT_YAW_I 0.0689 ATC_RAT_YAW_IMAX 0.3 ATC_RAT_YAW_D 0.0 ATC_RAT_YAW_FILT 4.5125 ATC_RAT_YAW_FLTE 4.5125 ATC_SLEW_YAW 3250 ATC_THR_MIX_MAN 4 ATC_THR_MIX_MAX 0.9 # tuning ACRO_RP_EXPO 0.3 ACRO_RP_P 8 ACRO_YAW_P 4 # flight modes FLTMODE_CH 0 FLTMODE1 2 FLTMODE2 2 FLTMODE3 2 FLTMODE4 2 FLTMODE5 2 FLTMODE6 2 # failsafes FS_THR_ENABLE 1 BATT_LOW_VOLT 3.43 BATT_FS_LOW_ACT 2 FS_GCS_ENABLE 0 # baro TCAL_ENABLED 2 TCAL_BARO_EXP 1.2 # landing LAND_SPEED_HIGH 350 # logging LOG_BACKEND_TYPE 2 LOG_FILE_BUFSIZE 1 # voltages MOT_BAT_VOLT_MAX 4.2 MOT_BAT_VOLT_MIN 3.3 MOT_THST_HOVER 0.3514 MOT_THST_EXPO -0.56 MOT_SPIN_ARM 0.03 MOT_SPIN_MIN 0.03 MOT_SPIN_MAX 1.0 MOT_SPOOL_TIME 0 MOT_HOVER_LEARN 1 # control inputs PILOT_THR_BHV 3 PILOT_ACCEL_Z 400 PILOT_SPEED_DN 500 RC_FEEL_RP 50 RC1_MIN 1000 RC1_MAX 2000 RC2_MIN 1000 RC2_MAX 2000 RC3_MIN 1000 RC3_MAX 2000 RC4_MIN 1000 RC4_MAX 2000 RC3_TRIM 1500 RTL_ALT 400 GND_EFFECT_COMP 1 # deadzones, with auto-trim RC1_DZ 15 RC2_DZ 15 RC3_DZ 15 RC4_DZ 15 # pos control PSC_POSXY_P 0.7 PSC_VELXY_I 0.3 PSC_VELXY_P 0.6 PSC_VELXY_FLTE 1.0 WPNAV_LOIT_JERK 4000 WPNAV_LOIT_MAXA 800 WPNAV_LOIT_MINA 250 WPNAV_LOIT_SPEED 800 WPNAV_SPEED 750 RTL_SPEED 600 # GPS GPS_NAVFILTER 6 GPS_SAVE_CFG 2 GPS_TYPE 2 GPS_HDOP_GOOD 160 # throw mode THROW_NEXTMODE 5