# diff all

# version
# INAV/ZEEZF7V2 3.0.1 Jul  4 2021 / 14:58:16 (753c4479)
# GCC-9.3.1 20200408 (release)

# start the command batch
batch start

# reset configuration to default settings
defaults noreboot

# resources

# mixer

mmix reset

mmix 0  1.000 -1.000  1.000 -1.000
mmix 1  1.000 -1.000 -1.000  1.000
mmix 2  1.000  1.000  1.000  1.000
mmix 3  1.000  1.000 -1.000 -1.000

# servo mix

# servo

# safehome

# logic
logic 0 1 -1 4 1 10 0 0 0
logic 1 1 -1 5 1 10 0 0 0
logic 2 1 -1 6 1 10 0 0 0
logic 3 1 0 25 0 3 0 0 0
logic 4 1 1 25 0 4 0 0 0
logic 5 1 2 25 0 5 0 0 0
logic 6 0 -1 12 2 17 0 0 0
logic 7 0 -1 1 1 11 0 988 0
logic 8 0 -1 1 1 11 0 1193 0
logic 9 0 -1 1 1 11 0 1398 0
logic 10 0 -1 1 1 11 0 1601 0
logic 11 0 -1 1 1 11 0 1806 0
logic 12 0 -1 1 1 11 0 2009 0
logic 13 0 -1 7 4 6 4 7 0
logic 14 0 -1 7 4 6 4 8 0
logic 15 0 -1 7 4 6 4 9 0
logic 16 0 -1 7 4 6 4 10 0
logic 17 0 -1 7 4 6 4 11 0
logic 18 0 -1 7 4 6 4 12 0
logic 19 0 13 31 0 1 0 0 0
logic 20 0 14 31 0 2 0 0 0
logic 21 0 15 31 0 3 0 0 0
logic 22 0 16 31 0 4 0 0 0
logic 23 0 17 31 0 5 0 0 0
logic 24 0 18 31 0 6 0 0 0

# gvar

# pid

# feature
feature GPS
feature PWM_OUTPUT_ENABLE

# beeper
beeper -ON_USB

# map

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

# led
led 0 8,7::CIW:0
led 1 9,7::CIW:0
led 2 8,8::CIW:0
led 3 9,8::CIW:0

# color

# mode_color

# aux
aux 0 0 1 1900 2100
aux 1 51 0 1900 2100
aux 2 1 3 1400 1600
aux 3 2 3 1900 2100
aux 4 10 4 1900 2100
aux 5 11 4 1400 1600
aux 6 52 2 1900 2100
aux 7 13 2 1400 1600

# adjrange

# rxrange

# temp_sensor

# wp
#wp 0 invalid

# osd_layout
osd_layout 0 0 26 1 H
osd_layout 0 1 13 1 H
osd_layout 0 2 0 0 V
osd_layout 0 3 8 6 V
osd_layout 0 9 24 9 V
osd_layout 0 10 22 2 V
osd_layout 0 11 25 10 V
osd_layout 0 12 1 8 V
osd_layout 0 14 1 1 V
osd_layout 0 15 1 5 V
osd_layout 0 20 19 12 V
osd_layout 0 21 1 12 V
osd_layout 0 22 15 2 V
osd_layout 0 23 1 10 V
osd_layout 0 28 1 9 V
osd_layout 0 30 1 11 V
osd_layout 0 32 13 3 V
osd_layout 0 34 11 1 V
osd_layout 0 44 0 0 V
osd_layout 0 85 25 5 V
osd_layout 0 105 24 4 H
osd_layout 0 110 23 1 V

# master
set looptime = 500
set gyro_main_lpf_hz = 100
set gyro_main_lpf_type = PT1
set dynamic_gyro_notch_enabled = ON
set dynamic_gyro_notch_q = 200
set dynamic_gyro_notch_min_hz = 80
set acc_hardware = MPU6000
set acczero_x = -126
set acczero_y = 66
set acczero_z = -14
set accgain_x = 4312
set accgain_y = 4105
set accgain_z = 4033
set align_mag = CW0
set mag_hardware = QMC5883
set magzero_x = -70
set magzero_y = -232
set magzero_z = -51
set maggain_x = 1223
set maggain_y = 1168
set maggain_z = 1077
set align_mag_roll = 300
set align_mag_pitch = 1800
set align_mag_yaw = 900
set baro_hardware = BMP280
set min_check = 1050
set serialrx_provider = CRSF
set blackbox_rate_denom = 2
set motor_pwm_rate = 16000
set motor_pwm_protocol = DSHOT600
set throttle_idle =  5.000
set failsafe_procedure = RTH
set current_meter_scale = 88
set model_preview_type = 3
set applied_defaults = 2
set gps_provider = UBLOX7
set gps_sbas_mode = AUTO
set gps_ublox_use_galileo = ON
set airmode_type = THROTTLE_THRESHOLD
set nav_extra_arming_safety = OFF
set nav_rth_altitude = 3000
set osd_video_system = NTSC
set osd_crsf_lq_format = TYPE2
set i2c_speed = 800KHZ
set name = Alice
set tz_automatic_dst = USA
set vtx_smartaudio_early_akk_workaround = OFF
set vtx_band = 5
set vtx_channel = 5
set vtx_power = 4
set vtx_low_power_disarm = UNTIL_FIRST_ARM
set dshot_beeper_enabled = OFF

# profile
profile 1

set mc_p_pitch = 44
set mc_i_pitch = 60
set mc_d_pitch = 25
set mc_i_roll = 50
set mc_d_roll = 25
set mc_p_yaw = 45
set mc_i_yaw = 70
set dterm_lpf_hz = 90
set dterm_lpf_type = PT1
set dterm_lpf2_type = PT1
set yaw_lpf_hz = 30
set mc_iterm_relax = RPY
set d_boost_factor =  1.500
set d_boost_max_at_acceleration =  5000.000
set d_boost_gyro_delta_lpf_hz = 65
set antigravity_gain =  2.000
set antigravity_accelerator =  5.000
set setpoint_kalman_enabled = ON
set setpoint_kalman_q = 200
set rc_yaw_expo = 70
set roll_rate = 70
set pitch_rate = 70
set yaw_rate = 60

# profile
profile 2


# profile
profile 3


# battery_profile
battery_profile 1

set bat_cells = 6
set battery_capacity = 1800
set battery_capacity_warning = 360
set battery_capacity_critical = 270

# battery_profile
battery_profile 2


# battery_profile
battery_profile 3


# restore original profile selection
profile 1
battery_profile 1

# save configuration
save