# diff all
###WARNING: NO CUSTOM DEFAULTS FOUND###

# version
# Rotorflight / STM32F7X2 (S7X2) 4.3.0-20240711B Jul 11 2024 / 10:03:45 (11e141c) MSP API: 12.6

# start the command batch
batch start

# reset configuration to default settings
defaults nosave

board_name NEXUS_F7
board_design F7A1
manufacturer_id RDMS
mcu_id 001d00443033510932323536
signature 

# name: M4 Jonas W

# feature
feature RX_SERIAL
feature TELEMETRY
feature GOVERNOR
feature ESC_SENSOR
feature FREQ_SENSOR
feature DYN_NOTCH
feature RPM_FILTER

# serial
serial 0 1024 115200 57600 0 115200
serial 3 64 115200 57600 0 115200

# servo
servo 1 1500 -500 500 500 500 333 0 3
servo 2 1500 -500 500 500 500 333 0 3
servo 3 1500 -500 500 500 500 333 0 3
servo 4 750 -250 250 250 250 560 0 0

# mixer input
mixer input SR -1166 1166 600
mixer input SP -1166 1166 -600
mixer input SY -1833 1542 -440
mixer input SC -1333 1333 760

# map
map AECR1T23

# aux
aux 0 0 0 1900 2100 0 0

# adjfunc
adjfunc 0 1 1 900 2100 1 900 2100 900 2100 0 1 4
adjfunc 1 2 1 900 2100 1 900 2100 900 2100 0 1 4

# master
set gyro_lpf1_static_hz = 150
set gyro_lpf2_static_hz = 0
set acc_calibration = -56,12,33,1
set mag_bustype = I2C
set mag_i2c_device = 2
set mag_hardware = NONE
set baro_bustype = I2C
set baro_i2c_device = 1
set baro_hardware = AUTO
set serialrx_provider = CRSF
set blackbox_mode = ARMED
set blackbox_device = SPIFLASH
set blackbox_rate_denom = 2
set blackbox_log_alt = ON
set blackbox_log_vbec = ON
set blackbox_log_vbus = ON
set min_throttle = 1000
set dshot_bitbang = OFF
set use_unsynced_pwm = ON
set motor_pwm_rate = 333
set motor_poles = 42,8,8,8
set tail_rotor_gear_ratio = 22,99
set bat_capacity = 2000
set vbat_max_cell_voltage = 435
set vbat_full_cell_voltage = 435
set vbat_min_cell_voltage = 300
set vbat_warning_cell_voltage = 330
set current_meter = ESC
set battery_meter = ESC
set battery_cell_count = 6
set vbec_scale = 1000
set vbec_divider = 160
set vbus_scale = 1000
set vbus_divider = 320
set tail_center_trim = -92
set swash_pitch_limit = 1833
set swash_geo_correction = -30
set wiggle_frequency = 4
set gov_mode = PASSTHROUGH
set gov_startup_time = 0
set gov_spoolup_time = 0
set gov_tracking_time = 0
set gov_recovery_time = 0
set gov_autorotation_timeout = 300
set gov_autorotation_bailout_time = 1
set gov_autorotation_min_entry_time = 0
set gov_lost_headspeed_timeout = 100
set rc_deflection = 511
set rc_arm_throttle = 1005
set rc_min_throttle = 1015
set rc_max_throttle = 2000
set pid_process_denom = 4
set report_cell_voltage = ON
set crsf_flight_mode_reuse = GOVERNOR
set crsf_att_yaw_reuse = BEC_VOLTAGE
set crsf_gps_heading_reuse = THROTTLE
set crsf_gps_ground_speed_reuse = ESC_TEMP
set crsf_gps_altitude_reuse = HEADSPEED
set crsf_gps_sats_reuse = PROFILE
set telemetry_enable_acc_z = ON
set telemetry_enable_pitch = ON
set telemetry_enable_roll = ON
set telemetry_enable_heading = ON
set telemetry_enable_altitude = ON
set telemetry_enable_ground_speed = ON
set telemetry_enable_esc_current = ON
set telemetry_enable_esc_voltage = ON
set telemetry_enable_adjustment = ON
set pwr_on_arm_grace = 5
set esc_sensor_protocol = OMPHOBBY
set flash_spi_bus = 2
set gyro_1_bustype = SPI
set gyro_1_spibus = 1
set gyro_1_sensor_align = CW90
set gyro_1_align_yaw = 900
set gyro_rpm_filter_bank_rpm_source = 11,11,12,12,14,16,21,22,0,0,0,0,0,0,0,0
set gyro_rpm_filter_bank_rpm_ratio = 9980,10020,9975,10025,10000,10000,10000,10000,0,0,0,0,0,0,0,0
set gyro_rpm_filter_bank_rpm_limit = 1500,1500,1500,1500,1500,1500,6000,6000,0,0,0,0,0,0,0,0
set gyro_rpm_filter_bank_notch_q = 50,50,40,40,50,50,30,45,0,0,0,0,0,0,0,0
set name = M4 Jonas W
set position_baro_alt_lpf = 250
set position_vario_lpf = 100

profile 0

# profile 0
set pitch_p_gain = 55
set pitch_d_gain = 70
set pitch_f_gain = 150
set pitch_b_gain = 10
set pitch_o_gain = 30
set roll_p_gain = 55
set roll_d_gain = 70
set roll_f_gain = 150
set roll_b_gain = 10
set roll_o_gain = 30
set yaw_p_gain = 120
set yaw_i_gain = 200
set yaw_d_gain = 45
set yaw_ccw_stop_gain = 75
set yaw_precomp_cutoff = 4
set yaw_cyclic_ff_gain = 1
set error_decay_time_cyclic = 150
set error_decay_limit_cyclic = 20
set gov_max_throttle = 46

profile 1

# profile 1
set pitch_p_gain = 55
set pitch_i_gain = 115
set pitch_d_gain = 60
set pitch_f_gain = 115
set pitch_b_gain = 15
set pitch_o_gain = 40
set roll_p_gain = 55
set roll_i_gain = 115
set roll_d_gain = 45
set roll_f_gain = 115
set roll_b_gain = 15
set roll_o_gain = 40
set yaw_p_gain = 90
set yaw_i_gain = 170
set yaw_d_gain = 40
set yaw_ccw_stop_gain = 75
set yaw_precomp_cutoff = 4
set yaw_cyclic_ff_gain = 1
set yaw_collective_ff_gain = 25
set error_decay_time_cyclic = 150
set error_decay_limit_cyclic = 20
set gov_max_throttle = 62

profile 2

# profile 2
set pitch_p_gain = 30
set pitch_i_gain = 120
set pitch_d_gain = 40
set pitch_f_gain = 105
set pitch_o_gain = 40
set roll_p_gain = 30
set roll_i_gain = 120
set roll_d_gain = 30
set roll_f_gain = 105
set roll_o_gain = 40
set yaw_p_gain = 70
set yaw_i_gain = 140
set yaw_d_gain = 45
set yaw_ccw_stop_gain = 75
set yaw_precomp_cutoff = 4
set yaw_cyclic_ff_gain = 1
set yaw_collective_ff_gain = 20
set error_decay_time_cyclic = 150
set error_decay_limit_cyclic = 20
set iterm_relax_cutoff = 6,6,7
set gov_max_throttle = 70

profile 3

# profile 3
set pitch_i_gain = 120
set pitch_d_gain = 50
set pitch_f_gain = 105
set pitch_o_gain = 40
set roll_i_gain = 120
set roll_d_gain = 40
set roll_f_gain = 105
set roll_o_gain = 40
set yaw_p_gain = 70
set yaw_i_gain = 140
set yaw_d_gain = 45
set yaw_ccw_stop_gain = 75
set yaw_precomp_cutoff = 4
set yaw_cyclic_ff_gain = 1
set yaw_collective_ff_gain = 20
set error_decay_time_cyclic = 150
set error_decay_limit_cyclic = 20
set gov_max_throttle = 30

profile 4

# profile 4
set pitch_d_gain = 0
set roll_d_gain = 0
set yaw_d_gain = 0
set error_decay_time_cyclic = 18
set error_decay_limit_cyclic = 20

profile 5

# profile 5
set pitch_d_gain = 0
set roll_d_gain = 0
set yaw_d_gain = 0
set error_decay_time_cyclic = 18
set error_decay_limit_cyclic = 20

# restore original profile selection
profile 3

rateprofile 0

# rateprofile 0
set roll_rc_rate = 17
set pitch_rc_rate = 17
set yaw_rc_rate = 21
set collective_rc_rate = 60
set roll_srate = 25
set pitch_srate = 25
set yaw_srate = 57
set collective_srate = 60

rateprofile 1

# rateprofile 1
set roll_rc_rate = 17
set pitch_rc_rate = 17
set yaw_rc_rate = 21
set collective_rc_rate = 58
set roll_srate = 29
set pitch_srate = 29
set yaw_srate = 60
set collective_srate = 58

rateprofile 2

# rateprofile 2
set roll_rc_rate = 17
set pitch_rc_rate = 17
set yaw_rc_rate = 21
set collective_rc_rate = 56
set roll_srate = 29
set pitch_srate = 29
set yaw_srate = 60
set collective_srate = 56

rateprofile 3

# rateprofile 3
set roll_rc_rate = 17
set pitch_rc_rate = 17
set yaw_rc_rate = 21
set collective_rc_rate = 56
set roll_srate = 29
set pitch_srate = 29
set yaw_srate = 60
set collective_srate = 56

rateprofile 4

rateprofile 5

# restore original rateprofile selection
rateprofile 1

# save configuration
save
#