diff profile

# profile
profile 3

set fw_p_pitch = 30
set fw_i_pitch = 30
set fw_d_pitch = 30
set fw_ff_pitch = 30
set fw_p_roll = 30
set fw_i_roll = 30
set fw_d_roll = 30
set fw_p_yaw = 30
set fw_i_yaw = 30
set fw_ff_yaw = 30
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.500
set nav_fw_pos_z_p = 30
set nav_fw_pos_z_d = 30
set nav_fw_pos_xy_p = 30
set roll_rate = 30
set pitch_rate = 30
set yaw_rate = 3

# diff profile

# profile
profile 3

set fw_p_pitch = 30
set fw_i_pitch = 30
set fw_d_pitch = 30
set fw_ff_pitch = 30
set fw_p_roll = 30
set fw_i_roll = 30
set fw_d_roll = 30
set fw_p_yaw = 30
set fw_i_yaw = 30
set fw_ff_yaw = 30
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.500
set nav_fw_pos_z_p = 30
set nav_fw_pos_z_d = 30
set nav_fw_pos_xy_p = 30
set roll_rate = 30
set pitch_rate = 30
set yaw_rate = 3

# diff profile

# profile
profile 3

set fw_p_pitch = 30
set fw_i_pitch = 30
set fw_d_pitch = 30
set fw_ff_pitch = 30
set fw_p_roll = 30
set fw_i_roll = 30
set fw_d_roll = 30
set fw_p_yaw = 30
set fw_i_yaw = 30
set fw_ff_yaw = 30
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.500
set nav_fw_pos_z_p = 30
set nav_fw_pos_z_d = 30
set nav_fw_pos_xy_p = 30
set roll_rate = 30
set pitch_rate = 30
set yaw_rate = 3

# diff profile

# profile
profile 3

set fw_p_pitch = 30
set fw_i_pitch = 30
set fw_d_pitch = 30
set fw_ff_pitch = 30
set fw_p_roll = 30
set fw_i_roll = 30
set fw_d_roll = 30
set fw_p_yaw = 30
set fw_i_yaw = 30
set fw_ff_yaw = 30
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.500
set nav_fw_pos_z_p = 30
set nav_fw_pos_z_d = 30
set nav_fw_pos_xy_p = 30
set roll_rate = 30
set pitch_rate = 30
set yaw_rate = 3

# diff profile

# profile
profile 3

set fw_p_pitch = 30
set fw_i_pitch = 30
set fw_d_pitch = 30
set fw_ff_pitch = 30
set fw_p_roll = 30
set fw_i_roll = 30
set fw_d_roll = 30
set fw_p_yaw = 30
set fw_i_yaw = 30
set fw_ff_yaw = 30
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.500
set nav_fw_pos_z_p = 30
set nav_fw_pos_z_d = 30
set nav_fw_pos_xy_p = 30
set roll_rate = 30
set pitch_rate = 30
set yaw_rate = 3

# diff profile

# profile
profile 3

set fw_p_pitch = 30
set fw_i_pitch = 30
set fw_d_pitch = 30
set fw_ff_pitch = 30
set fw_p_roll = 30
set fw_i_roll = 30
set fw_d_roll = 30
set fw_p_yaw = 30
set fw_i_yaw = 30
set fw_ff_yaw = 30
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.500
set nav_fw_pos_z_p = 30
set nav_fw_pos_z_d = 30
set nav_fw_pos_xy_p = 30
set roll_rate = 30
set pitch_rate = 30
set yaw_rate = 3

# profile 1
profile 1

# diff profile

# profile
profile 1

set fw_p_pitch = 10
set fw_i_pitch = 10
set fw_d_pitch = 10
set fw_ff_pitch = 10
set fw_p_roll = 10
set fw_i_roll = 10
set fw_d_roll = 10
set fw_p_yaw = 10
set fw_ff_yaw = 10
set max_angle_inclination_rll = 100
set dterm_lpf_hz = 10
set fw_loiter_direction = YAW
set fw_turn_assist_pitch_gain =  0.500
set nav_fw_pos_z_p = 10
set nav_fw_pos_xy_p = 10
set roll_rate = 10
set pitch_rate = 10
set yaw_rate = 1

# diff profile

# profile
profile 1

set fw_p_pitch = 10
set fw_i_pitch = 10
set fw_d_pitch = 10
set fw_ff_pitch = 10
set fw_p_roll = 10
set fw_i_roll = 10
set fw_d_roll = 10
set fw_p_yaw = 10
set fw_ff_yaw = 10
set max_angle_inclination_rll = 100
set dterm_lpf_hz = 10
set fw_loiter_direction = YAW
set fw_turn_assist_pitch_gain =  0.500
set nav_fw_pos_z_p = 10
set nav_fw_pos_xy_p = 10
set roll_rate = 10
set pitch_rate = 10
set yaw_rate = 1

# diff profile

# profile
profile 1

set fw_p_pitch = 10
set fw_i_pitch = 10
set fw_d_pitch = 10
set fw_ff_pitch = 10
set fw_p_roll = 10
set fw_i_roll = 10
set fw_d_roll = 10
set fw_p_yaw = 10
set fw_ff_yaw = 10
set max_angle_inclination_rll = 100
set dterm_lpf_hz = 10
set fw_loiter_direction = YAW
set fw_turn_assist_pitch_gain =  0.500
set nav_fw_pos_z_p = 10
set nav_fw_pos_xy_p = 10
set roll_rate = 10
set pitch_rate = 10
set yaw_rate = 1

# profile 2
profile 2

# diff profile

# profile
profile 2

set fw_p_pitch = 20
set fw_i_pitch = 20
set fw_d_pitch = 20
set fw_ff_pitch = 20
set fw_p_roll = 20
set fw_i_roll = 2
set fw_d_roll = 20
set fw_p_yaw = 20
set fw_i_yaw = 20
set fw_ff_yaw = 20
set max_angle_inclination_rll = 200
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.500
set nav_fw_pos_z_p = 20
set nav_fw_pos_z_d = 20
set nav_fw_pos_xy_p = 20
set yaw_rate = 2

# diff profile

# profile
profile 2

set fw_p_pitch = 20
set fw_i_pitch = 20
set fw_d_pitch = 20
set fw_ff_pitch = 20
set fw_p_roll = 20
set fw_i_roll = 2
set fw_d_roll = 20
set fw_p_yaw = 20
set fw_i_yaw = 20
set fw_ff_yaw = 20
set max_angle_inclination_rll = 200
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.500
set nav_fw_pos_z_p = 20
set nav_fw_pos_z_d = 20
set nav_fw_pos_xy_p = 20
set yaw_rate = 2

# diff profile

# profile
profile 2

set fw_p_pitch = 20
set fw_i_pitch = 20
set fw_d_pitch = 20
set fw_ff_pitch = 20
set fw_p_roll = 20
set fw_i_roll = 2
set fw_d_roll = 20
set fw_p_yaw = 20
set fw_i_yaw = 20
set fw_ff_yaw = 20
set max_angle_inclination_rll = 200
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.500
set nav_fw_pos_z_p = 20
set nav_fw_pos_z_d = 20
set nav_fw_pos_xy_p = 20
set yaw_rate = 2

# diff all

# version
# INAV/MATEKF405SE 5.1.0 Jul 30 2022 / 09:07:11 (8c521adb)
# GCC-10.2.1 20201103 (release)

# start the command batch
batch start

# reset configuration to default settings
defaults noreboot

# resources

# mixer

mmix reset

mmix 0  1.000  0.000  0.000  0.000

# servo mixer
smix reset

smix 0 1 0 50 0 -1
smix 1 1 1 50 0 -1
smix 2 2 0 -50 0 -1
smix 3 2 1 50 0 -1

# servo
servo 1 1000 2000 1498 -110
servo 2 1000 2000 1548 110
servo 3 500 2500 1500 100

# safehome
safehome 0 1 507885584 -11805666
safehome 1 1 515612952 -20152083

# feature
feature MOTOR_STOP
feature GPS
feature LED_STRIP
feature BLACKBOX
feature PWM_OUTPUT_ENABLE
feature FW_AUTOTRIM

# beeper

# blackbox
blackbox -NAV_ACC
blackbox NAV_POS
blackbox NAV_PID
blackbox MAG
blackbox ACC
blackbox ATTI
blackbox RC_DATA
blackbox RC_COMMAND
blackbox MOTORS

# map

# serial
serial 0 1 115200 115200 0 115200
serial 1 262144 115200 115200 0 115200
serial 2 64 115200 115200 0 115200
serial 3 2 115200 115200 0 115200
serial 4 2048 115200 115200 0 115200

# led

# color

# mode_color

# aux
aux 0 0 0 900 1500
aux 1 1 1 1525 1625
aux 2 12 1 1950 2075
aux 3 45 1 1675 1775
aux 4 53 1 1225 1325
aux 5 11 1 1375 1475
aux 6 10 1 900 1025
aux 7 28 1 1825 1925
aux 8 21 0 1350 1450
aux 9 54 0 1125 1250
aux 10 36 3 1400 1700
aux 11 19 2 1600 1800
aux 12 42 2 1200 1400
aux 13 43 2 1400 1600
aux 14 44 2 1800 2100

# adjrange
adjrange 0 0 4 1025 1075 32 5
adjrange 1 0 4 1075 1125 33 5
adjrange 2 0 4 1125 1175 56 5
adjrange 3 0 4 1175 1225 52 5
adjrange 4 0 4 1225 1275 35 5
adjrange 5 0 4 1275 1325 54 5
adjrange 6 0 4 1325 1375 55 5
adjrange 7 0 4 1375 1425 14 5
adjrange 8 0 4 1425 1475 15 5
adjrange 9 0 4 1475 1525 16 5
adjrange 10 0 4 1525 1575 10 5
adjrange 11 0 4 1575 1625 11 5
adjrange 12 0 4 1625 1675 12 5
adjrange 13 0 4 1675 1725 18 5
adjrange 14 0 4 1725 1775 19 5
adjrange 15 0 4 1775 1825 20 5
adjrange 16 0 4 1825 1875 36 5
adjrange 17 0 4 1875 1925 39 5
adjrange 18 0 4 1925 1975 40 5
adjrange 19 0 4 1975 2025 41 5

# rxrange

# temp_sensor

# wp
#wp 0 invalid

# osd_layout
osd_layout 0 0 27 0 V
osd_layout 0 1 12 0 H
osd_layout 0 2 0 0 V
osd_layout 0 3 8 6 V
osd_layout 0 4 8 6 V
osd_layout 0 7 26 1 V
osd_layout 0 8 12 0 V
osd_layout 0 9 1 9 H
osd_layout 0 10 7 15 V
osd_layout 0 11 1 1 V
osd_layout 0 12 1 4 H
osd_layout 0 13 2 7 V
osd_layout 0 14 23 0 V
osd_layout 0 15 24 7 V
osd_layout 0 19 6 1 H
osd_layout 0 22 15 15 V
osd_layout 0 23 17 15 V
osd_layout 0 26 24 8 V
osd_layout 0 28 23 15 V
osd_layout 0 29 20 14 V
osd_layout 0 31 22 1 V
osd_layout 0 33 1 8 V
osd_layout 0 35 5 1 V
osd_layout 0 36 4 1 H
osd_layout 0 39 1 2 H
osd_layout 0 40 1 15 V
osd_layout 0 46 23 9 H
osd_layout 0 47 23 5 H
osd_layout 0 50 2 11 H
osd_layout 0 53 0 0 V
osd_layout 0 54 5 0 V
osd_layout 0 85 2 6 V
osd_layout 0 96 24 6 H
osd_layout 0 97 1 14 V
osd_layout 0 106 1 11 V
osd_layout 0 107 1 10 V
osd_layout 0 108 11 1 H
osd_layout 0 110 16 1 V
osd_layout 0 112 10 1 V
osd_layout 0 124 23 0 H
osd_layout 1 0 27 0 H
osd_layout 1 2 0 0 V
osd_layout 1 3 8 6 V
osd_layout 1 4 8 6 V
osd_layout 1 7 7 15 V
osd_layout 1 8 11 0 H
osd_layout 1 9 1 9 H
osd_layout 1 10 7 15 H
osd_layout 1 11 7 0 V
osd_layout 1 13 2 7 V
osd_layout 1 14 23 0 H
osd_layout 1 15 23 7 V
osd_layout 1 19 6 1 H
osd_layout 1 22 15 15 V
osd_layout 1 23 17 15 V
osd_layout 1 26 24 8 V
osd_layout 1 28 23 15 V
osd_layout 1 29 20 14 H
osd_layout 1 30 1 13 V
osd_layout 1 31 22 1 H
osd_layout 1 33 1 8 V
osd_layout 1 35 12 0 V
osd_layout 1 36 4 1 H
osd_layout 1 39 1 2 H
osd_layout 1 40 1 15 V
osd_layout 1 46 23 9 H
osd_layout 1 47 23 5 H
osd_layout 1 50 2 11 H
osd_layout 1 53 0 0 H
osd_layout 1 54 1 0 V
osd_layout 1 85 2 6 V
osd_layout 1 96 24 6 H
osd_layout 1 97 1 14 H
osd_layout 1 105 12 15 V
osd_layout 1 106 1 11 H
osd_layout 1 107 1 14 V
osd_layout 1 108 11 1 H
osd_layout 1 110 23 0 V
osd_layout 1 112 17 0 V
osd_layout 1 124 23 4 V
osd_layout 1 134 7 12 H
osd_layout 1 135 19 12 H
osd_layout 2 0 27 0 H
osd_layout 2 2 0 0 V
osd_layout 2 7 7 15 V
osd_layout 2 8 11 0 H
osd_layout 2 9 1 9 H
osd_layout 2 10 7 15 H
osd_layout 2 11 7 0 H
osd_layout 2 13 7 0 V
osd_layout 2 14 23 0 H
osd_layout 2 15 24 14 V
osd_layout 2 19 6 1 H
osd_layout 2 22 15 15 V
osd_layout 2 23 17 15 V
osd_layout 2 26 24 8 H
osd_layout 2 28 23 15 V
osd_layout 2 29 20 14 H
osd_layout 2 30 1 13 V
osd_layout 2 31 22 1 H
osd_layout 2 33 1 8 H
osd_layout 2 35 12 0 H
osd_layout 2 36 4 1 H
osd_layout 2 39 1 2 H
osd_layout 2 40 1 15 V
osd_layout 2 46 23 9 H
osd_layout 2 47 23 5 H
osd_layout 2 50 2 11 H
osd_layout 2 53 0 0 H
osd_layout 2 54 1 0 V
osd_layout 2 85 12 0 V
osd_layout 2 96 24 6 H
osd_layout 2 97 1 14 H
osd_layout 2 105 12 15 V
osd_layout 2 106 1 11 H
osd_layout 2 107 1 14 V
osd_layout 2 108 11 1 H
osd_layout 2 110 23 0 V
osd_layout 2 112 17 0 V
osd_layout 2 124 23 0 H
osd_layout 3 0 26 0 V
osd_layout 3 1 1 8 H
osd_layout 3 7 10 15 V
osd_layout 3 9 23 4 H
osd_layout 3 10 1 12 H
osd_layout 3 11 11 9 V
osd_layout 3 13 7 0 V
osd_layout 3 14 22 0 V
osd_layout 3 15 17 0 V
osd_layout 3 16 1 3 V
osd_layout 3 17 1 4 V
osd_layout 3 18 1 5 V
osd_layout 3 19 6 1 H
osd_layout 3 22 15 15 V
osd_layout 3 23 17 15 V
osd_layout 3 25 28 4 H
osd_layout 3 26 19 11 V
osd_layout 3 27 6 1 V
osd_layout 3 28 23 15 V
osd_layout 3 30 1 13 V
osd_layout 3 31 24 3 H
osd_layout 3 32 1 0 V
osd_layout 3 33 3 11 V
osd_layout 3 35 16 9 V
osd_layout 3 40 1 15 V
osd_layout 3 41 24 11 V
osd_layout 3 42 24 9 V
osd_layout 3 56 14 6 V
osd_layout 3 57 8 10 H
osd_layout 3 58 7 11 H
osd_layout 3 61 16 6 H
osd_layout 3 62 16 6 H
osd_layout 3 63 21 10 V
osd_layout 3 67 22 3 V
osd_layout 3 68 22 4 V
osd_layout 3 69 22 5 V
osd_layout 3 75 1 9 V
osd_layout 3 76 1 10 V
osd_layout 3 77 11 10 V
osd_layout 3 85 12 0 V
osd_layout 3 105 7 15 V
osd_layout 3 108 7 4 H
osd_layout 3 109 7 7 H
osd_layout 3 110 22 11 H
osd_layout 3 111 23 9 H
osd_layout 3 117 1 6 V
osd_layout 3 118 11 11 V
osd_layout 3 119 14 7 V
osd_layout 3 128 27 7 V

# logic
logic 0 1 -1 15 1 11 0 750 0
logic 1 1 -1 37 4 0 0 5 0
logic 2 1 -1 3 4 1 0 5 0
logic 3 1 2 25 4 1 0 0 0
logic 4 1 25 1 4 1 0 5 0
logic 5 1 4 2 2 31 0 250 0
logic 6 1 4 2 2 31 0 666 0
logic 7 1 4 2 2 31 0 1000 0
logic 8 1 4 12 4 5 0 0 0
logic 9 1 -1 9 4 5 4 6 0
logic 10 1 -1 9 4 6 4 7 0
logic 11 1 -1 8 4 7 4 27 0
logic 12 1 -1 8 4 8 4 28 0
logic 13 1 12 25 0 1 0 0 0
logic 14 1 9 25 0 2 0 0 0
logic 15 1 10 25 0 3 0 0 0
logic 16 1 11 25 0 4 0 0 0
logic 18 1 -1 3 1 7 0 1350 0
logic 19 1 -1 12 4 18 0 0 0
logic 20 1 19 38 0 16 0 1000 0
logic 21 1 18 38 0 16 0 2000 0
logic 24 1 -1 1 2 34 0 1 0
logic 25 1 -1 13 2 34 0 0 0
logic 26 1 -1 1 2 34 0 0 0
logic 27 1 -1 7 4 25 4 26 0
logic 28 1 -1 7 3 0 4 29 0
logic 29 1 24 3 2 9 0 200 0
logic 30 1 24 2 2 9 0 450 0
logic 31 1 30 22 0 0 0 0 0
logic 35 1 -1 19 0 0 0 1 0
logic 36 1 -1 2 5 0 0 2 0
logic 37 1 36 19 0 1 0 1 0
logic 38 1 36 18 0 0 0 1 0
logic 39 1 -1 2 5 1 0 3 0
logic 40 1 39 18 0 1 0 1 0
logic 41 1 -1 42 5 1 0 0 0

# global vars

# programmable pid controllers

# master
set gyro_main_lpf_hz = 25
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 30
set gyro_zero_x = -34
set gyro_zero_y = 17
set gyro_zero_z = -22
set ins_gravity_cmss =  983.727
set acc_hardware = MPU6000
set acczero_x = 30
set acczero_y = -3
set acczero_z = -200
set accgain_x = 4071
set accgain_y = 4098
set accgain_z = 4062
set align_mag = CW270FLIP
set mag_hardware = NONE
set baro_hardware = BMP280
set motor_pwm_protocol = STANDARD
set failsafe_procedure = RTH
set model_preview_type = 8
set small_angle = 180
set applied_defaults = 3
set gps_provider = UBLOX7
set gps_sbas_mode = EGNOS
set gps_ublox_use_galileo = ON
set airmode_type = STICK_CENTER_ONCE
set i2c_speed = 800KHZ
set name = TEST F405W
set vtx_power = 3

# profile
profile 1

set fw_p_pitch = 10
set fw_i_pitch = 10
set fw_d_pitch = 10
set fw_ff_pitch = 10
set fw_p_roll = 10
set fw_i_roll = 10
set fw_d_roll = 10
set fw_p_yaw = 10
set fw_ff_yaw = 10
set max_angle_inclination_rll = 100
set dterm_lpf_hz = 10
set fw_loiter_direction = YAW
set fw_turn_assist_pitch_gain =  0.500
set nav_fw_pos_z_p = 10
set nav_fw_pos_xy_p = 10
set roll_rate = 10
set pitch_rate = 10
set yaw_rate = 1

# profile
profile 2

set fw_p_pitch = 20
set fw_i_pitch = 20
set fw_d_pitch = 20
set fw_ff_pitch = 20
set fw_p_roll = 20
set fw_i_roll = 2
set fw_d_roll = 20
set fw_p_yaw = 20
set fw_i_yaw = 20
set fw_ff_yaw = 20
set max_angle_inclination_rll = 200
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.500
set nav_fw_pos_z_p = 20
set nav_fw_pos_z_d = 20
set nav_fw_pos_xy_p = 20
set yaw_rate = 2

# profile
profile 3

set fw_p_pitch = 30
set fw_i_pitch = 30
set fw_d_pitch = 30
set fw_ff_pitch = 30
set fw_p_roll = 30
set fw_i_roll = 30
set fw_d_roll = 30
set fw_p_yaw = 30
set fw_i_yaw = 30
set fw_ff_yaw = 30
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.500
set nav_fw_pos_z_p = 30
set nav_fw_pos_z_d = 30
set nav_fw_pos_xy_p = 30
set roll_rate = 30
set pitch_rate = 30
set yaw_rate = 3

# battery_profile
battery_profile 1

set throttle_idle =  10.000

# battery_profile
battery_profile 2

set throttle_idle =  20.000

# battery_profile
battery_profile 3

set throttle_idle =  30.000

# restore original profile selection
profile 2
battery_profile 1

# save configuration
save