# diff all

# version
# Rotorflight / STM32F7X2 (S7X2) 4.3.0 May 15 2024 / 09:06:57 (05570fe) 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 001e00433532510839323431
signature 

# name: M4 MAX Jonas W

# feature
feature RX_SERIAL
feature TELEMETRY
feature GOVERNOR
feature ESC_SENSOR
feature FREQ_SENSOR
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 -1183 1183 620
mixer input SP -1183 1183 -620
mixer input SY -1833 1500 -450
mixer input SC -1333 1333 860

# 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 = 117,12,35,1
set mag_hardware = NONE
set serialrx_provider = CRSF
set blackbox_mode = ARMED
set blackbox_rate_denom = 2
set blackbox_log_attitude = ON
set blackbox_log_acc = ON
set blackbox_log_alt = ON
set blackbox_log_vbec = ON
set blackbox_log_vbus = ON
set min_throttle = 1000
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 swash_pitch_limit = 1833
set swash_geo_correction = -5
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 gov_handover_throttle = 30
set rc_deflection = 511
set rc_arm_throttle = 1005
set rc_min_throttle = 1015
set rc_max_throttle = 2000
set rc_smoothness = 20
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 esc_sensor_protocol = OMPHOBBY
set gyro_rpm_filter_bank_rpm_source = 11,12,14,16,21,22,0,0,0,0,0,0,0,0,0,0
set gyro_rpm_filter_bank_rpm_ratio = 10000,10000,10000,10000,10000,10000,0,0,0,0,0,0,0,0,0,0
set gyro_rpm_filter_bank_rpm_limit = 1500,1500,1500,1500,6000,6000,0,0,0,0,0,0,0,0,0,0
set gyro_rpm_filter_bank_notch_q = 50,45,50,50,30,45,0,0,0,0,0,0,0,0,0,0
set name = M4 MAX Jonas W

profile 0

# profile 0
set pitch_p_gain = 60
set pitch_i_gain = 110
set pitch_d_gain = 80
set pitch_f_gain = 135
set pitch_b_gain = 10
set pitch_o_gain = 40
set roll_p_gain = 60
set roll_i_gain = 110
set roll_d_gain = 40
set roll_f_gain = 135
set roll_b_gain = 10
set roll_o_gain = 40
set yaw_p_gain = 150
set yaw_i_gain = 350
set yaw_d_gain = 100
set yaw_ccw_stop_gain = 75
set yaw_precomp_cutoff = 4
set yaw_cyclic_ff_gain = 1
set error_decay_time_cyclic = 150
set iterm_relax_cutoff = 5,5,5
set gov_max_throttle = 50

profile 1

# profile 1
set pitch_p_gain = 80
set pitch_i_gain = 115
set pitch_d_gain = 60
set pitch_f_gain = 115
set pitch_b_gain = 10
set pitch_o_gain = 40
set roll_p_gain = 80
set roll_i_gain = 115
set roll_d_gain = 30
set roll_f_gain = 115
set roll_b_gain = 10
set roll_o_gain = 40
set yaw_p_gain = 90
set yaw_i_gain = 150
set yaw_d_gain = 50
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 iterm_relax_cutoff = 5,5,6
set gov_max_throttle = 65

profile 2

# profile 2
set pitch_p_gain = 100
set pitch_i_gain = 140
set pitch_d_gain = 60
set pitch_f_gain = 110
set pitch_b_gain = 10
set pitch_o_gain = 40
set roll_p_gain = 100
set roll_i_gain = 140
set roll_d_gain = 30
set roll_f_gain = 110
set roll_b_gain = 10
set roll_o_gain = 40
set yaw_p_gain = 85
set yaw_i_gain = 150
set yaw_d_gain = 50
set yaw_ccw_stop_gain = 60
set yaw_precomp_cutoff = 4
set yaw_cyclic_ff_gain = 1
set yaw_collective_ff_gain = 20
set error_decay_time_cyclic = 150
set iterm_relax_cutoff = 5,5,6
set gov_max_throttle = 75

profile 3

# profile 3
set pitch_p_gain = 100
set pitch_i_gain = 120
set pitch_d_gain = 60
set pitch_f_gain = 110
set pitch_b_gain = 10
set pitch_o_gain = 40
set roll_p_gain = 100
set roll_i_gain = 120
set roll_d_gain = 30
set roll_f_gain = 110
set roll_b_gain = 10
set roll_o_gain = 40
set yaw_p_gain = 40
set yaw_d_gain = 25
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 iterm_relax_cutoff = 5,5,7
set gov_max_throttle = 27

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 0

rateprofile 0

# rateprofile 0
set roll_rc_rate = 17
set pitch_rc_rate = 17
set yaw_rc_rate = 21
set collective_rc_rate = 56
set roll_srate = 25
set pitch_srate = 25
set yaw_srate = 57
set collective_srate = 56

rateprofile 1

# rateprofile 1
set roll_rc_rate = 20
set pitch_rc_rate = 20
set yaw_rc_rate = 21
set collective_rc_rate = 52
set roll_srate = 29
set pitch_srate = 29
set yaw_srate = 60
set collective_srate = 52

rateprofile 2

# rateprofile 2
set roll_rc_rate = 19
set pitch_rc_rate = 19
set yaw_rc_rate = 21
set collective_rc_rate = 48
set roll_srate = 29
set pitch_srate = 29
set yaw_srate = 60
set collective_srate = 48

rateprofile 3

# rateprofile 3
set roll_rc_rate = 19
set pitch_rc_rate = 19
set yaw_rc_rate = 21
set collective_rc_rate = 52
set roll_srate = 29
set pitch_srate = 29
set yaw_srate = 60
set collective_srate = 52

rateprofile 4

rateprofile 5

# restore original rateprofile selection
rateprofile 0

# save configuration
save
#