Hier mein aktueller CLI Dump. Das ist noch nicht optimal - aber es funktioniert bereits beeindruckend.
Die wichtigste Änderung war für meinen Tri die Senkung von set p_level von 20 auf 16.
Die wichtigste Änderung war für meinen Tri die Senkung von set p_level von 20 auf 16.
Code:
# version
# INAV/NAZE 1.2.0 Sep 7 2016 / 11:26:35 (6cc415a)
# pflags
# Persistent config flags: 0x00000001
# dump master
# mixer
mixer TRI
mmix reset
smix reset
# feature
feature -RX_PPM
feature -VBAT
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -FAILSAFE
feature -SONAR
feature -TELEMETRY
feature -CURRENT_METER
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DISPLAY
feature -ONESHOT125
feature -BLACKBOX
feature -CHANNEL_FORWARDING
feature -TRANSPONDER
feature -AIRMODE
feature -SUPEREXPO
feature -VTX
feature -RX_NRF24
feature -SOFTSPI
feature RX_PPM
feature MOTOR_STOP
feature GPS
feature BLACKBOX
# beeper
beeper GYRO_CALIBRATED
beeper RX_LOST
beeper RX_LOST_LANDING
beeper DISARMING
beeper ARMING
beeper ARMING_GPS_FIX
beeper BAT_CRIT_LOW
beeper BAT_LOW
beeper GPS_STATUS
beeper RX_SET
beeper ACC_CALIBRATION
beeper ACC_CALIBRATION_FAIL
beeper READY_BEEP
beeper MULTI_BEEPS
beeper DISARM_REPEAT
beeper ARMED
beeper SYSTEM_INIT
beeper ON_USB
# map
map AETR1234
# serial
serial 0 1 115200 38400 0 115200
serial 1 2 115200 57600 0 115200
set looptime = 2000
set i2c_overclock = OFF
set gyro_sync = OFF
set gyro_sync_denom = 16
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set rssi_channel = 0
set rssi_scale = 30
set rssi_ppm_invert = OFF
set rc_smoothing = ON
set input_filtering_mode = OFF
set min_throttle = 1064
set max_throttle = 1850
set min_command = 1000
set servo_center_pulse = 1500
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 1000
set motor_pwm_rate = 400
set servo_pwm_rate = 300
set disarm_kill_switch = ON
set auto_disarm_delay = 5
set small_angle = 25
set reboot_character = 82
set gps_provider = UBLOX
set gps_sbas_mode = EGNOS
set gps_dyn_model = AIR_1G
set gps_auto_config = ON
set gps_auto_baud = ON
set inav_accz_unarmedcal = ON
set inav_use_gps_velned = ON
set inav_gps_delay = 200
set inav_gps_min_sats = 6
set inav_w_z_baro_p = 0.350
set inav_w_z_gps_p = 0.200
set inav_w_z_gps_v = 0.500
set inav_w_xy_gps_p = 1.000
set inav_w_xy_gps_v = 2.000
set inav_w_z_res_v = 0.500
set inav_w_xy_res_v = 0.500
set inav_w_acc_bias = 0.010
set inav_max_eph_epv = 1000.000
set inav_baro_epv = 100.000
set nav_disarm_on_landing = ON
set nav_use_midthr_for_althold = OFF
set nav_extra_arming_safety = ON
set nav_user_control_mode = ATTI # CRUISE
set nav_position_timeout = 5
set nav_wp_radius = 100
set nav_max_speed = 600
set nav_max_climb_rate = 500
set nav_manual_speed = 2000 # 500
set nav_manual_climb_rate = 500
set nav_landing_speed = 350
set nav_land_slowdown_minalt = 500
set nav_land_slowdown_maxalt = 2000
set nav_emerg_landing_speed = 500
set nav_min_rth_distance = 500
set nav_rth_tail_first = OFF
set nav_rth_alt_mode = AT_LEAST
set nav_rth_altitude = 1000
set nav_mc_bank_angle = 30
set nav_mc_hover_thr = 1500
set nav_mc_auto_disarm_delay = 2000
set nav_fw_cruise_thr = 1400
set nav_fw_min_thr = 1200
set nav_fw_max_thr = 1700
set nav_fw_bank_angle = 20
set nav_fw_climb_angle = 20
set nav_fw_dive_angle = 15
set nav_fw_pitch2thr = 10
set nav_fw_roll2pitch = 75
set nav_fw_loiter_radius = 5000
set serialrx_provider = SPEK1024
set spektrum_sat_bind = 0
set telemetry_switch = OFF
set telemetry_inversion = OFF
set frsky_default_lattitude = 0.000
set frsky_default_longitude = 0.000
set frsky_coordinates_format = 0
set frsky_unit = IMPERIAL
set frsky_vfas_precision = 0
set hott_alarm_sound_interval = 5
set battery_capacity = 0
set vbat_scale = 110
set vbat_max_cell_voltage = 43
set vbat_min_cell_voltage = 33
set vbat_warning_cell_voltage = 35
set current_meter_scale = 400
set current_meter_offset = 0
set multiwii_current_meter_output = OFF
set current_meter_type = ADC
set align_gyro = DEFAULT
set align_acc = DEFAULT
set align_mag = CW90FLIP
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 1800
set gyro_lpf = 42HZ
set moron_threshold = 32
set imu_dcm_kp = 2500
set imu_dcm_ki = 50
set imu_dcm_kp_mag = 10000
set imu_dcm_ki_mag = 0
set pos_hold_deadband = 20
set alt_hold_deadband = 50
set yaw_motor_direction = 1
set yaw_jump_prevention_limit = 200
set tri_unarmed_servo = ON
set servo_lowpass_freq = 400
set servo_lowpass_enable = OFF
set failsafe_delay = 10
set failsafe_off_delay = 200
set failsafe_throttle = 1000
set failsafe_kill_switch = OFF
set failsafe_throttle_low_delay = 100
set failsafe_procedure = SET-THR
set rx_min_usec = 885
set rx_max_usec = 2115
set acc_hardware = 0
set baro_use_median_filter = ON
set baro_hardware = 0
set mag_hardware = 0
set blackbox_rate_num = 1
set blackbox_rate_denom = 2
set blackbox_device = SPIFLASH
set magzero_x = 18
set magzero_y = -122
set magzero_z = -15
set acczero_x = 36
set acczero_y = 47
set acczero_z = -165
set accgain_x = 4087
set accgain_y = 4085
set accgain_z = 4072
# rxfail
rxfail 0 a
rxfail 1 a
rxfail 2 a
rxfail 3 a
rxfail 4 h
rxfail 5 h
rxfail 6 h
rxfail 7 h
rxfail 8 h
rxfail 9 h
rxfail 10 h
rxfail 11 h
rxfail 12 h
rxfail 13 h
rxfail 14 h
rxfail 15 h
rxfail 16 h
rxfail 17 h
# dump profile
# profile
profile 0
# aux
aux 0 3 1 900 1700 # Blackbox
aux 1 10 1 900 1300 # POSHOLD
aux 2 22 0 900 1700 # ALTHOLD
aux 3 24 0 925 1325
aux 4 25 2 975 1975
aux 5 0 0 900 900
aux 6 0 0 900 900
aux 7 0 0 900 900
aux 8 0 0 900 900
aux 9 0 0 900 900
aux 10 0 0 900 900
aux 11 0 0 900 900
aux 12 0 0 900 900
aux 13 0 0 900 900
aux 14 0 0 900 900
aux 15 0 0 900 900
aux 16 0 0 900 900
aux 17 0 0 900 900
aux 18 0 0 900 900
aux 19 0 0 900 900
# adjrange
adjrange 0 0 0 900 900 0 0
adjrange 1 0 0 900 900 0 0
adjrange 2 0 0 900 900 0 0
adjrange 3 0 0 900 900 0 0
adjrange 4 0 0 900 900 0 0
adjrange 5 0 0 900 900 0 0
adjrange 6 0 0 900 900 0 0
adjrange 7 0 0 900 900 0 0
adjrange 8 0 0 900 900 0 0
adjrange 9 0 0 900 900 0 0
adjrange 10 0 0 900 900 0 0
adjrange 11 0 0 900 900 0 0
# rxrange
rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000
# servo
servo 0 1000 2000 1500 90 90 100 -1
servo 1 1000 2000 1500 90 90 100 -1
servo 2 1000 2000 1500 90 90 100 -1
servo 3 1000 2000 1500 90 90 100 -1
servo 4 1000 2000 1500 90 90 100 -1
servo 5 1150 1850 1500 90 90 100 -1
servo 6 1000 2000 1500 90 90 100 -1
servo 7 1000 2000 1500 90 90 100 -1
set nav_alt_p = 50
set nav_alt_i = 0
set nav_alt_d = 0
set nav_vel_p = 100
set nav_vel_i = 50
set nav_vel_d = 10
set nav_pos_p = 65
set nav_pos_i = 120
set nav_pos_d = 10
set nav_posr_p = 180
set nav_posr_i = 15
set nav_posr_d = 100
set nav_navr_p = 10
set nav_navr_i = 5
set nav_navr_d = 8
set deadband = 5
set yaw_deadband = 5
set throttle_tilt_comp_str = 0
set flaperon_throw_offset = 250
set flaperon_throw_inverted = OFF
set mode_range_logic_operator = OR
set default_rate_profile = 0
set gimbal_mode = NORMAL
set mag_declination = 160
set mag_hold_rate_limit = 90
set p_pitch = 35
set i_pitch = 25
set d_pitch = 12
set p_roll = 35
set i_roll = 25
set d_roll = 13
set p_yaw = 70
set i_yaw = 45
set d_yaw = 0
set p_level = 16
set i_level = 15
set d_level = 75
set max_angle_inclination_rll = 450
set max_angle_inclination_pit = 450
set gyro_soft_lpf_hz = 60
set acc_soft_lpf_hz = 15
set dterm_lpf_hz = 40
set yaw_lpf_hz = 30
set yaw_p_limit = 300
set iterm_ignore_threshold = 200
set yaw_iterm_ignore_threshold = 50
set rate_accel_limit_roll_pitch = 0
set rate_accel_limit_yaw = 10000
# dump rates
# rateprofile
rateprofile 0
set rc_expo = 30
set rc_yaw_expo = 20
set thr_mid = 50
set thr_expo = 0
set roll_rate = 40
set pitch_rate = 40
set yaw_rate = 50
set tpa_rate = 0
set tpa_breakpoint = 1500
