# defaults for SkyRocket streaming GPS board
#BRD_TYPE 21
#BRD_IO_ENABLE 0
MOT_PWM_TYPE 3
MOT_PWM_MIN 1000
MOT_PWM_MAX 2000
RC_SPEED 16000
#TERRAIN_ENABLE 0

# toy mode setup
TMODE_ENABLE 2
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   15
TMODE_TMIN    0.9

# LEDs. pin0 is green, pin1 is red
RELAY_PIN 0
RELAY_PIN2 1
RELAY_DEFAULT 1

AHRS_ORIENTATION 2
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    9
BATT_VOLT_MULT   1

# 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_BAUD     115
SERIAL0_PROTOCOL 2
SERIAL1_BAUD     625000
SERIAL1_PROTOCOL 2
SERIAL2_PROTOCOL -1
SERIAL4_PROTOCOL -1
SERIAL5_PROTOCOL -1

# radio setup
BRD_RADIO_TYPE 2
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  35
SERVO2_FUNCTION  33
SERVO3_FUNCTION  34
SERVO4_FUNCTION  36

# H class quad
FRAME_CLASS 1
FRAME_TYPE 1

# enable EK2
EK2_ENABLE 1

# 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

# arming
ARMING_CHECK 32767
DISARM_DELAY   8

# IMU
INS_FAST_SAMPLE 0
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_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_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_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
FS_BATT_ENABLE         2
FS_BATT_VOLTAGE      3.4
FS_GCS_ENABLE          0

# baro
TCAL_ENABLED           2
TCAL_BARO_EXP        1.2

# landing
LAND_SPEED_HIGH      150

# 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_VELZ_MAX       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
# pos control
PSC_POSXY_P           0.7
PSC_VELXY_I           0.3
PSC_VELXY_P           0.6
PSC_VELXY_FILT        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

# enable pixart optical flow
FLOW_TYPE            2
