# 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

# resources
resource MOTOR 1 B06
resource SERVO 1 B04
resource SERVO 2 B05
resource SERVO 3 B00
resource SERVO 4 B03
resource PPM 1 A03
resource SERIAL_TX 1 A09
resource SERIAL_TX 3 B11
resource SERIAL_TX 4 A01
resource SERIAL_TX 6 C07
resource SERIAL_RX 1 A10
resource SERIAL_RX 2 A03
resource SERIAL_RX 3 B10
resource SERIAL_RX 4 A00
resource SERIAL_RX 6 C06
resource I2C_SCL 1 B08
resource I2C_SDA 1 B09
resource LED 1 C14
resource LED 2 C15
resource SPI_SCK 1 A05
resource SPI_SCK 2 B13
resource SPI_MISO 1 A06
resource SPI_MISO 2 B14
resource SPI_MOSI 1 A07
resource SPI_MOSI 2 B15
resource ADC_BEC 1 C01
resource ADC_BUS 1 C02
resource FLASH_CS 1 B12
resource GYRO_EXTI 1 A15
resource GYRO_CS 1 A04
resource FREQ 1 A02

# timer
timer A00 AF2
# pin A00: TIM5 CH1 (AF2)
timer A01 AF2
# pin A01: TIM5 CH2 (AF2)
timer A02 AF2
# pin A02: TIM5 CH3 (AF2)
timer A03 AF3
# pin A03: TIM9 CH2 (AF3)
timer A08 AF1
# pin A08: TIM1 CH1 (AF1)
timer A09 AF1
# pin A09: TIM1 CH2 (AF1)
timer A10 AF1
# pin A10: TIM1 CH3 (AF1)
timer B00 AF2
# pin B00: TIM3 CH3 (AF2)
timer B01 AF2
# pin B01: TIM3 CH4 (AF2)
timer B03 AF1
# pin B03: TIM2 CH2 (AF1)
timer B04 AF2
# pin B04: TIM3 CH1 (AF2)
timer B05 AF2
# pin B05: TIM3 CH2 (AF2)
timer B06 AF2
# pin B06: TIM4 CH1 (AF2)
timer C06 AF3
# pin C06: TIM8 CH1 (AF3)
timer C07 AF3
# pin C07: TIM8 CH2 (AF3)

# dma
dma ADC 1 0
# ADC 1: DMA2 Stream 0 Channel 0
dma pin A02 0
# pin A02: DMA1 Stream 0 Channel 6
dma pin A08 0
# pin A08: DMA2 Stream 6 Channel 0
dma pin B00 0
# pin B00: DMA1 Stream 7 Channel 5
dma pin B01 0
# pin B01: DMA1 Stream 2 Channel 5
dma pin B03 0
# pin B03: DMA1 Stream 6 Channel 3
dma pin B04 0
# pin B04: DMA1 Stream 4 Channel 5
dma pin B05 0
# pin B05: DMA1 Stream 5 Channel 5
dma pin B06 0
# pin B06: DMA1 Stream 0 Channel 2

# 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
#