QuadKitchen- GPS Hybrid Drone Build - Part 4 of 4 - Flight test and systems check.. BAM

3D Lock Tape -
Diff Dump Inav -
version
# INAV/MATEKF722 1.9.1 Apr 21 2018 / 13:43:00 (03a5c1922)
# resources
# mixer
# servo mix
# servo
# feature
feature -TX_PROF_SEL
feature -CURRENT_METER
feature GPS
feature LED_STRIP
feature AIRMODE
feature PWM_OUTPUT_ENABLE
# beeper
# map
map TAER
# name
name MOKA Drone
# serial
serial 1 2 115200 9600 0 115200
serial 2 32 115200 38400 0 115200
serial 3 64 115200 38400 0 115200
# led
led 0 7,7::G:0
# color
# mode_color
mode_color 6 6 9
# aux
aux 0 0 1 1700 2100
aux 1 1 0 900 1675
aux 2 3 0 900 1700
aux 3 9 0 900 1300
aux 4 8 3 1700 2100
# adjrange
# rxrange
# master
set looptime = 2000
set gyro_sync = ON
set gyro_hardware_lpf = 188HZ
set gyro_lpf_hz = 90
set gyro_notch1_hz = 200
set gyro_notch1_cutoff = 100
set acc_hardware = MPU6500
set acczero_x = 72
set acczero_y = 7
set acczero_z = 7
set accgain_y = 4090
set accgain_z = 4075
set align_mag = CW90FLIP
set mag_hardware = HMC5883
set magzero_x = 6
set magzero_y = -117
set magzero_z = 66
set baro_hardware = BMP280
set pitot_hardware = NONE
set motor_pwm_rate = 2000
set motor_pwm_protocol = MULTISHOT
set failsafe_procedure = RTH
set align_board_yaw = 1800
set vbat_max_cell_voltage = 420
set small_angle = 180
set deadband = 10
set yaw_deadband = 20
set nav_use_midthr_for_althold = ON
set nav_auto_speed = 600
set nav_auto_climb_rate = 1000
set nav_manual_speed = 1000
set nav_manual_climb_rate = 400
set nav_rth_altitude = 1500
set nav_mc_bank_angle = 65
set osd_video_system = 2
set osd_units = IMPERIAL
set osd_main_voltage_pos = 2420
set osd_rssi_pos = 23
set osd_flytimer_pos = 2402
set osd_flymode_pos = 2412
set osd_throttle_pos = 65
set osd_artificial_horizon_pos = 200
set osd_horizon_sidebars_pos = 200
set osd_gps_sats_pos = 2104
set osd_gps_lon_pos = 2386
set osd_gps_lat_pos = 2369
set osd_home_dist_pos = 2082
set osd_altitude_pos = 2136
set osd_ontime_flytime_pos = 375
set osd_heading_graph_pos = 2091
# profile
profile 1
set mc_p_pitch = 63
set mc_i_pitch = 52
set mc_d_pitch = 22
set mc_p_roll = 50
set mc_i_roll = 42
set mc_d_roll = 20
set mc_p_yaw = 70
set max_angle_inclination_rll = 800
set max_angle_inclination_pit = 800
set dterm_lpf_hz = 80
set dterm_notch_hz = 200
set dterm_notch_cutoff = 100
set rc_yaw_expo = 40
set roll_rate = 100
set pitch_rate = 100
set yaw_rate = 90uu
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