# 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 FLYDRAGONF722_V2_2
board_design RTFL
manufacturer_id FDRC
mcu_id 0011000e3432500220393650
signature 

# name: OMP M7 O

# resources
resource ADC_BEC 1 NONE
resource ADC_BUS 1 NONE

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

# serial
serial 1 1024 115200 57600 0 115200

# servo
servo 1 758 -300 300 214 214 500 20 2
servo 2 755 -300 300 214 214 500 20 3
servo 3 779 -300 300 214 214 500 20 2
servo 4 768 -300 300 214 214 800 0 0

# mixer input
mixer input SR -1125 1125 870
mixer input SP -1125 1125 -870
mixer input SY -1792 1250 490
mixer input SC -1250 1250 930

# aux
aux 0 0 0 1950 2060 0 0
aux 1 0 0 900 900 0 0
aux 2 0 0 900 900 0 0
aux 3 0 0 900 900 0 0
aux 4 0 0 900 900 0 0
aux 5 0 0 900 900 0 0
aux 6 0 0 900 900 0 0
aux 7 0 0 900 900 0 0
aux 8 0 0 900 900 0 0
aux 9 0 0 900 900 0 0
aux 10 0 0 900 900 0 0
aux 11 0 0 900 900 0 0
aux 12 0 0 900 900 0 0
aux 13 0 0 900 900 0 0
aux 14 0 0 900 900 0 0
aux 15 0 0 900 900 0 0
aux 16 0 0 900 900 0 0
aux 17 0 0 900 900 0 0
aux 18 0 0 900 900 0 0
aux 19 0 0 900 900 0 0

# master
set gyro_lpf1_static_hz = 150
set gyro_lpf2_static_hz = 0
set dyn_notch_count = 2
set dyn_notch_q = 40
set acc_calibration = -1,17,32,1
set baro_hardware = NONE
set blackbox_mode = ARMED
set blackbox_rate_denom = 32
set blackbox_log_rssi = OFF
set blackbox_log_servos = OFF
set min_throttle = 1100
set max_throttle = 1940
set use_unsynced_pwm = ON
set motor_pwm_rate = 140
set motor_poles = 10,8,8,8
set main_rotor_gear_ratio = 13,120
set tail_rotor_gear_ratio = 22,110
set align_board_yaw = 180
set bat_capacity = 4400
set vbat_max_cell_voltage = 440
set current_meter = ESC
set battery_meter = ESC
set battery_cell_count = 12
set vbec_scale = 0
set vbus_scale = 0
set vext_scale = 0
set ibata_scale = 0
set tail_center_trim = 158
set swash_pitch_limit = 1833
set swash_geo_correction = -20
set gov_mode = MODE1
set gov_spoolup_time = 165
set gov_tracking_time = 60
set gov_pwr_filter = 10
set gov_rpm_filter = 18
set gov_ff_filter = 100
set rc_deflection = 500
set rc_arm_throttle = 1010
set rc_min_throttle = 1020
set rc_max_throttle = 2000
set rc_smoothness = 40
set rc_threshold = 70,70,70,100
set deadband = 3
set crsf_flight_mode_reuse = GOV_ADJFUNC
set crsf_gps_ground_speed_reuse = ESC_TEMP
set crsf_gps_altitude_reuse = HEADSPEED
set crsf_gps_sats_reuse = MCU_TEMP
set telemetry_enable_pitch = ON
set telemetry_enable_roll = ON
set ledstrip_brightness = 20
set debug_mode = GOVERNOR
set esc_sensor_protocol = HOBBYWINGV5
set gyro_rpm_filter_bank_rpm_source = 10,11,12,12,13,14,21,22,0,0,0,0,0,0,0,0
set gyro_rpm_filter_bank_rpm_ratio = 10000,10000,9975,10025,10000,10000,10000,10000,0,0,0,0,0,0,0,0
set gyro_rpm_filter_bank_rpm_limit = 1000,1000,1000,1000,1000,1000,2400,2400,0,0,0,0,0,0,0,0
set gyro_rpm_filter_bank_notch_q = 50,50,40,40,50,50,50,48,0,0,0,0,0,0,0,0
set name = OMP M7 O
set position_baro_alt_lpf = 25
set position_vario_lpf = 25

profile 0

# profile 0
set pitch_p_gain = 98
set pitch_i_gain = 120
set pitch_d_gain = 46
set pitch_f_gain = 105
set pitch_b_gain = 10
set pitch_o_gain = 27
set roll_p_gain = 35
set roll_i_gain = 120
set roll_d_gain = 5
set roll_f_gain = 105
set roll_o_gain = 27
set yaw_p_gain = 97
set yaw_i_gain = 181
set yaw_b_gain = 12
set yaw_f_gain = 15
set pitch_d_cutoff = 20
set pitch_b_cutoff = 20
set pitch_gyro_cutoff = 60
set roll_d_cutoff = 20
set roll_b_cutoff = 20
set roll_gyro_cutoff = 60
set yaw_d_cutoff = 35
set yaw_b_cutoff = 35
set yaw_gyro_cutoff = 150
set yaw_ccw_stop_gain = 65
set yaw_precomp_cutoff = 20
set yaw_precomp_filter_type = PT3
set yaw_cyclic_ff_gain = 15
set yaw_collective_ff_gain = 46
set yaw_collective_dynamic_decay = 30
set cyclic_cross_coupling_gain = 17
set cyclic_cross_coupling_ratio = 3
set error_limit = 35,35,45
set offset_limit = 50,50
set error_decay_time_cyclic = 150
set iterm_relax_cutoff = 15,12,12
set rescue_flip_gain = 40
set rescue_level_gain = 30
set rescue_pull_up_time = 5
set rescue_climb_time = 20
set rescue_flip_time = 10
set rescue_pull_up_collective = 400
set rescue_climb_collective = 300
set rescue_hover_collective = 200
set rescue_max_sp_rate = 250
set rescue_max_sp_accel = 2000
set gov_headspeed = 2200
set gov_gain = 25
set gov_f_gain = 20

profile 1

# profile 1
set pitch_d_gain = 0
set pitch_o_gain = 0
set roll_d_gain = 0
set roll_o_gain = 0
set yaw_d_gain = 0
set yaw_precomp_cutoff = 0
set yaw_collective_ff_gain = 40
set cyclic_cross_coupling_gain = 0
set error_limit = 15,15,45
set error_decay_time_cyclic = 18
set error_decay_limit_cyclic = 20
set offset_charge_curve = 0,100,100,100,90,80,68,60,54,49,45,42,39,37,35,33
set rescue_flip_gain = 40
set rescue_level_gain = 30
set rescue_pull_up_time = 5
set rescue_climb_time = 20
set rescue_flip_time = 10
set rescue_pull_up_collective = 400
set rescue_climb_collective = 300
set rescue_hover_collective = 200
set rescue_max_sp_rate = 250
set rescue_max_sp_accel = 2000
set gov_gain = 50

profile 2

# profile 2
set pitch_d_gain = 0
set pitch_o_gain = 0
set roll_d_gain = 0
set roll_o_gain = 0
set yaw_d_gain = 0
set yaw_precomp_cutoff = 0
set yaw_collective_ff_gain = 40
set cyclic_cross_coupling_gain = 0
set error_limit = 15,15,45
set error_decay_time_cyclic = 18
set error_decay_limit_cyclic = 20
set offset_charge_curve = 0,100,100,100,90,80,68,60,54,49,45,42,39,37,35,33
set rescue_flip_gain = 40
set rescue_level_gain = 30
set rescue_pull_up_time = 5
set rescue_climb_time = 20
set rescue_flip_time = 10
set rescue_pull_up_collective = 400
set rescue_climb_collective = 300
set rescue_hover_collective = 200
set rescue_max_sp_rate = 250
set rescue_max_sp_accel = 2000
set gov_gain = 50

profile 3

# profile 3
set pitch_d_gain = 0
set pitch_o_gain = 0
set roll_d_gain = 0
set roll_o_gain = 0
set yaw_d_gain = 0
set yaw_precomp_cutoff = 0
set yaw_collective_ff_gain = 40
set cyclic_cross_coupling_gain = 0
set error_limit = 15,15,45
set error_decay_time_cyclic = 18
set error_decay_limit_cyclic = 20
set offset_charge_curve = 0,100,100,100,90,80,68,60,54,49,45,42,39,37,35,33
set rescue_flip_gain = 40
set rescue_level_gain = 30
set rescue_pull_up_time = 5
set rescue_climb_time = 20
set rescue_flip_time = 10
set rescue_pull_up_collective = 400
set rescue_climb_collective = 300
set rescue_hover_collective = 200
set rescue_max_sp_rate = 250
set rescue_max_sp_accel = 2000
set gov_gain = 50

profile 4

# profile 4
set pitch_d_gain = 0
set pitch_o_gain = 0
set roll_d_gain = 0
set roll_o_gain = 0
set yaw_d_gain = 0
set yaw_precomp_cutoff = 0
set yaw_collective_ff_gain = 40
set cyclic_cross_coupling_gain = 0
set error_limit = 15,15,45
set error_decay_time_cyclic = 18
set error_decay_limit_cyclic = 20
set offset_charge_curve = 0,100,100,100,90,80,68,60,54,49,45,42,39,37,35,33
set rescue_flip_gain = 40
set rescue_level_gain = 30
set rescue_pull_up_time = 5
set rescue_climb_time = 20
set rescue_flip_time = 10
set rescue_pull_up_collective = 400
set rescue_climb_collective = 300
set rescue_hover_collective = 200
set rescue_max_sp_rate = 250
set rescue_max_sp_accel = 2000
set gov_gain = 50

profile 5

# profile 5
set pitch_d_gain = 0
set pitch_o_gain = 0
set roll_d_gain = 0
set roll_o_gain = 0
set yaw_d_gain = 0
set yaw_precomp_cutoff = 0
set yaw_collective_ff_gain = 40
set cyclic_cross_coupling_gain = 0
set error_limit = 15,15,45
set error_decay_time_cyclic = 18
set error_decay_limit_cyclic = 20
set offset_charge_curve = 0,100,100,100,90,80,68,60,54,49,45,42,39,37,35,33
set rescue_flip_gain = 40
set rescue_level_gain = 30
set rescue_pull_up_time = 5
set rescue_climb_time = 20
set rescue_flip_time = 10
set rescue_pull_up_collective = 400
set rescue_climb_collective = 300
set rescue_hover_collective = 200
set rescue_max_sp_rate = 250
set rescue_max_sp_accel = 2000
set gov_gain = 50

# restore original profile selection
profile 0

rateprofile 0

# rateprofile 0
set roll_rc_rate = 19
set pitch_rc_rate = 19
set yaw_rc_rate = 43
set collective_rc_rate = 56
set roll_srate = 27
set pitch_srate = 27
set yaw_srate = 56
set collective_srate = 56
set roll_response = 10
set pitch_response = 10

rateprofile 1

# rateprofile 1
set roll_response = 20
set pitch_response = 20
set yaw_response = 10
set collective_response = 20

rateprofile 2

# rateprofile 2
set roll_response = 20
set pitch_response = 20
set yaw_response = 10
set collective_response = 20

rateprofile 3

# rateprofile 3
set roll_response = 20
set pitch_response = 20
set yaw_response = 10
set collective_response = 20

rateprofile 4

# rateprofile 4
set roll_response = 20
set pitch_response = 20
set yaw_response = 10
set collective_response = 20

rateprofile 5

# rateprofile 5
set roll_response = 20
set pitch_response = 20
set yaw_response = 10
set collective_response = 20

# restore original rateprofile selection
rateprofile 0

# save configuration
save
#