BATT_MONITOR 4 BATT_VOLT_MULT 6.52 BATT_AMP_PERVLT 15.7 BATT_CAPACITY 5500 Q_ENABLE 1 Q_FRAME_CLASS 1 Q_TAILSIT_MOTMX 15 SERVO1_FUNCTION 33 SERVO2_FUNCTION 34 SERVO3_FUNCTION 35 SERVO4_FUNCTION 36 Q_OPTIONS 128 # RC input is SBUS on serial4 TX pin SERIAL4_PROTOCOL 23 SERIAL4_OPTIONS 8 RC1_MIN 1050 RC1_MAX 1950 RC2_MIN 1050 RC2_MAX 1950 RC3_MIN 1050 RC3_MAX 1950 RC4_MIN 1050 RC4_MAX 1950 THR_MIN 5 ARMING_RUDDER 2 ARSPD_TUBE_ORDER 0 ARSPD_USE 1 ALT_HOLD_RTL 3000 ARSPD_FBW_MAX 25 ARSPD_FBW_MIN 8 ARSPD_RATIO 1.9 LIM_ROLL_CD 4000 LIM_PITCH_MAX 4500 LIM_PITCH_MIN -3000 # setup left 3-pos switch for QHOVER, QLOITER and FBWA FLTMODE1 18 FLTMODE4 19 FLTMODE6 5 FLTMODE_CH 5 # setup a harmonic notch filter to reduce noise INS_GYRO_FILTER 30 INS_HNTCH_ATT 40 INS_HNTCH_BW 49 INS_HNTCH_ENABLE 1 INS_HNTCH_FREQ 99 INS_HNTCH_HMNCS 63 INS_HNTCH_MODE 1 INS_HNTCH_OPTS 1 INS_HNTCH_REF 0.4560 # no rudder mixing KFF_RDDRMIX 0 # reasonable attitude limits LIM_PITCH_MAX 4000 LOG_FILE_DSRMROT 1 # lower logging rate a bit to make logs faster to fetch # using a USB cable LOG_FILE_RATEMAX 50 # tuning RLL2SRV_TCONST 0.25 Q_A_ACCEL_P_MAX 40000 Q_A_ACCEL_R_MAX 20000 Q_A_ANG_PIT_P 8 Q_A_ANG_RLL_P 8 Q_A_RAT_PIT_D 0.01 Q_A_RAT_PIT_FLTD 15 Q_A_RAT_PIT_P 0.3 Q_A_RAT_PIT_SMAX 15 Q_A_RAT_RLL_D 0.015 Q_A_RAT_RLL_FLTD 15 Q_A_RAT_RLL_P 0.35 Q_A_RAT_RLL_SMAX 15 Q_A_RAT_YAW_FF 0.2 Q_A_RAT_YAW_D 0.1 Q_A_RAT_YAW_FLTD 15 Q_A_RAT_YAW_I 0.07 Q_A_RAT_YAW_P 0.7 Q_A_RAT_YAW_SMAX 15 Q_A_ACCEL_P_MAX 40000 Q_A_ACCEL_R_MAX 20000 Q_P_ACCZ_P 0.8 Q_P_POSZ_P 1.5 Q_P_VELZ_P 8.0 Q_M_THST_HOVER 0.45 Q_M_BAT_VOLT_MAX 16.8 Q_M_BAT_VOLT_MIN 13.2 Q_WP_ACCEL 250 Q_WP_ACCEL_Z 300 Q_WP_JERK 2 Q_WP_SPEED 900 Q_A_THR_MIX_MAN 2 Q_A_THR_MIX_MAX 2 Q_A_THR_MIX_MIN 0.3 # Q flight options Q_RTL_MODE 3 Q_TRANS_DECEL 2.5 # QRTL on 'D' button RC10_OPTION 4 RC_OPTIONS 32 # slow down for landing approach TECS_LAND_ARSPD 8 # 16 m/s target airspeed in auto modes TRIM_ARSPD_CM 1600 # 2nd lane tends to be better EK3_PRIMARY 1