Sub250 1s Nanofly16 1.6 inch Freestyle 完全レビュー！②【機体整備＆FC設定編】

2022年08月18日

海外通販新製品レビュー Sub250 U100g Toothpick 改造 FCセッティング

やりたい事が沢山あり過ぎて中々一つの事に集中出来ませんね🤣
ｱﾚもｺﾚもとやりたい事全部に手を出すから収拾つかなくなっちゃってます😝　まぁｿﾚが楽しいから良いんですけどー🙄

他の方達からは実際のフライトレビュー動画等が続々と公開されている様ですが、ﾜﾀｸｼはいつもの様にマイペースでｗ　別にﾜﾀｸｼ自身は販売が目的なのでは無く、どんな機体なのか？を詳しく見て頂く為にレビューを引き受けさせて頂いておりますので。いや、勿論沢山売れてくれた方がメーカー様からの評判もよくなるでしょうし、日本で機体が沢山売れてブランドの人気も出てくれれば、今後も日本のドローン事情に合わせた機体をバシバシ投入してくれるかも知れないので、結果的にﾜﾀｸｼは嬉しい展開になって行くのですけれども😁だからやっぱり出来れば沢山売れて欲しいですね！　でも、その為にレビュー内容を盛ったりする事は無いので安心して下さい😉良いﾓﾝは良い、悪いﾓﾝは悪い、ﾜﾀｸｼの個人的な目線で公平に評価させて頂いております😤

そう言えば、レビューをしているとたまに『商品を売りたいからって良いところばかり見せてるんでしょ～？』とか『メーカーや販売店側に忖度して盛ってない～？』とか疑いを持つ方がいらっしゃる様なんですけど、そんな事をする為にこんな面倒なレビュー記事とか書くと思います？　袖の下や底の高くなったお菓子箱なんかで大判小判を沢山頂けるって言うなら考えなくもない？ですけどﾈ😏　
大人なら少し考えればわかる事だと思うけど、もしﾜﾀｸｼが評価を捻じ曲げて誇大広告気味に盛り盛りで「コレは良いﾓﾝですよ～！」「奥さん、是非買って下さい～🙏」なんて言ったところで、それで得られる売り上げなんてたかが知れているでしょうし、嘘ばっか書いて信用失くす事の方がその後の事を考えたらデメリット大き過ぎでしょうに🥴

誤解や妄想している人が居るとｱﾚなので一応念の為に言っておきますけど、メーカーや販売店さんからも「良い感じに紹介して！」とか「広告費だしますから🙏」なんていう指示は一切無いんですからね😅　ﾜﾀｼｬインフルエンサーでも無ければ政治家でもありませんから😗　本当にただ製品を試させて頂いて、意見をフィードバックしているだけ。何方かと言うと一般消費者の中の本当に只のパンピーテスター的なポジション🙄　あ、それでももしﾜﾀｸｼに「ギャラを払ってでも都合の良い記事を書いて頂きたい！」「真実を隠して良い所だけ宣伝して！報酬はそれなりにお出しします♡」なんつー奇特な業者様がいらっしゃいましたら、逆にいつでもギャラの額を具体的に提示した上でﾜﾀｸｼにオファー下さいwww 絶対売れないと思いますけどwww

何もメリットなんて無いんだから、自分が使ってみて『悪い』と思ったのなら本当に他の人に薦めるワケなんて無いｯしょ。ﾜﾀｸｼがもし仮に記事での紹介で売り上げを上げてアフィ収入を増やしまくりたい！ってんなら、売れ筋で本当に良い製品だけを一点見付けてそれだけを鬼推ししまくった方が効率良いし断然そうするっｽわ😬

あーまた話が脱線しまくった💦
そんなこんなでテストフライトには中々行けない（なんせ暑いから…😏）んですけれど、イケる時にすぐイケる様機体の整備だけは万全に済ませておきましょー！って事で、今回は粛々と整備とFCセッティングを済ませて行きます～🙏

Sub250 1s Nanofly16 1.6 inch Freestyle Quadcopter

【クーポンコード：drone4blog】の入力で5％OFFになります。
・『【Sub250】🎉NEWブランドのU100g 1SなNEW機体が今夜遂に正式発表🎊【Nanofly16】』
・『Sub250 1s Nanofly16 1.6 inch Freestyle 完全レビュー！①【Unbox編】』

◇ この記事の目次 ◇

・機体整備-ブザー追加-
・FC設定-工場出荷時のストック設定-
・FC設定-主な設定-
・ESC設定-Bluejay-
・FC設定後のdiff all
・最後に

機体整備-ブザー追加-

用意した部材はこんな感じ。

先日3Dプリンターで作ったブザー固定用パーツも用意してみたんですけれど、スペース的に必要無かったので結局使いませんでした。

ブザー配線はFCのこの部分へハンダ付け。

キャノピーを外した方が作業がし易いです。

ってなワケでサクッと装着完了。

ブザーの固定はキャノピーの裏部分にある謎の出っ張り？に極細結束バンドで固定しました。

プロペラを装着したら完成～🙌

このフォルムが堪らない🤤

一応体重も量っておきますか。

バッテリー無しの素の体重。TPU製のバッテリーホルダーパーツも装着済みです。

此方が推奨Battery（1S-380mAh）も込みの体重。

約40gﾁｮｲってところｯｽな。計算通り👍

▶目次にもどる

FC設定-工場出荷時のストック設定-

インストールされていたファームは『Betaflight / GEPRC_F411_SX1280 (GEPC) 4.3.0』でした。おぉ…やっぱりGEPRC製FC🤭ターゲットはGEPRCのSMART16と同じですね👀　インストールされたバージョンもほぼ最新に近いBF4.3.0でした。ELRSに正式対応しているバージョンです👍

メーカーのHP等にもこのFCについてのデータが殆ど無いので、一応コチラにデフォルトのdumpを掲載しておきますね。

▼ Defaultのdump allはコチラ ▼

# version
# Betaflight / GEPRC_F411_SX1280 (GEPC) 4.3.0 Jun 29 2022 / 20:55:54 (norevision) MSP API: 1.44

# start the command batch
batch start

board_name GEPRC_F411_SX1280
manufacturer_id
signature

# name: Nanofly16

# resources
resource BEEPER 1 A14
resource MOTOR 1 B08
resource MOTOR 2 A00
resource MOTOR 3 B10
resource MOTOR 4 B07
resource MOTOR 5 NONE
resource MOTOR 6 NONE
resource MOTOR 7 NONE
resource MOTOR 8 NONE
resource SERVO 1 NONE
resource SERVO 2 NONE
resource SERVO 3 NONE
resource SERVO 4 NONE
resource SERVO 5 NONE
resource SERVO 6 NONE
resource SERVO 7 NONE
resource SERVO 8 NONE
resource PPM 1 NONE
resource PWM 1 NONE
resource PWM 2 NONE
resource PWM 3 NONE
resource PWM 4 NONE
resource PWM 5 NONE
resource PWM 6 NONE
resource PWM 7 NONE
resource PWM 8 NONE
resource LED_STRIP 1 B01
resource SERIAL_TX 1 A09
resource SERIAL_TX 2 A02
resource SERIAL_TX 3 NONE
resource SERIAL_TX 4 NONE
resource SERIAL_TX 5 NONE
resource SERIAL_TX 6 NONE
resource SERIAL_TX 7 NONE
resource SERIAL_TX 8 NONE
resource SERIAL_TX 9 NONE
resource SERIAL_TX 10 NONE
resource SERIAL_RX 1 A10
resource SERIAL_RX 2 A03
resource SERIAL_RX 3 NONE
resource SERIAL_RX 4 NONE
resource SERIAL_RX 5 NONE
resource SERIAL_RX 6 NONE
resource SERIAL_RX 7 NONE
resource SERIAL_RX 8 NONE
resource SERIAL_RX 9 NONE
resource SERIAL_RX 10 NONE
resource LED 1 C14
resource LED 2 NONE
resource LED 3 NONE
resource RX_BIND 1 NONE
resource RX_BIND_PLUG 1 NONE
resource SPI_SCK 1 A05
resource SPI_SCK 2 B13
resource SPI_SCK 3 B03
resource SPI_MISO 1 A06
resource SPI_MISO 2 B14
resource SPI_MISO 3 B04
resource SPI_MOSI 1 A07
resource SPI_MOSI 2 B15
resource SPI_MOSI 3 B05
resource ESCSERIAL 1 NONE
resource CAMERA_CONTROL 1 NONE
resource ADC_BATT 1 A01
resource ADC_RSSI 1 NONE
resource ADC_CURR 1 B00
resource ADC_EXT 1 NONE
resource PINIO 1 NONE
resource PINIO 2 NONE
resource PINIO 3 NONE
resource PINIO 4 NONE
resource USB_MSC_PIN 1 NONE
resource FLASH_CS 1 A08
resource OSD_CS 1 B12
resource RX_SPI_CS 1 A15
resource RX_SPI_EXTI 1 C13
resource RX_SPI_BIND 1 B02
resource RX_SPI_LED 1 C15
resource RX_SPI_EXPRESSLRS_RESET 1 B09
resource RX_SPI_EXPRESSLRS_BUSY 1 A13
resource GYRO_EXTI 1 B06
resource GYRO_EXTI 2 NONE
resource GYRO_CS 1 A04
resource GYRO_CS 2 NONE
resource PULLUP 1 NONE
resource PULLUP 2 NONE
resource PULLUP 3 NONE
resource PULLUP 4 NONE
resource PULLDOWN 1 NONE
resource PULLDOWN 2 NONE
resource PULLDOWN 3 NONE
resource PULLDOWN 4 NONE

# timer
timer B01 AF2
# pin B01: TIM3 CH4 (AF2)
timer B08 AF2
# pin B08: TIM4 CH3 (AF2)
timer A00 AF1
# pin A00: TIM2 CH1 (AF1)
timer B10 AF1
# pin B10: TIM2 CH3 (AF1)
timer B07 AF2
# pin B07: TIM4 CH2 (AF2)

# dma
dma SPI_MOSI 1 NONE
dma SPI_MOSI 2 NONE
dma SPI_MOSI 3 NONE
dma SPI_MISO 1 NONE
dma SPI_MISO 2 NONE
dma SPI_MISO 3 NONE
dma SPI_TX 1 NONE
dma SPI_TX 2 NONE
dma SPI_TX 3 NONE
dma SPI_RX 1 NONE
dma SPI_RX 2 NONE
dma SPI_RX 3 NONE
dma ADC 1 0
# ADC 1: DMA2 Stream 0 Channel 0
dma ADC 2 NONE
dma ADC 3 NONE
dma UART_TX 1 NONE
dma UART_TX 2 NONE
dma UART_TX 3 NONE
dma UART_TX 4 NONE
dma UART_TX 5 NONE
dma UART_TX 6 NONE
dma UART_TX 7 NONE
dma UART_TX 8 NONE
dma UART_RX 1 NONE
dma UART_RX 2 NONE
dma UART_RX 3 NONE
dma UART_RX 4 NONE
dma UART_RX 5 NONE
dma UART_RX 6 NONE
dma UART_RX 7 NONE
dma UART_RX 8 NONE
dma pin B01 0
# pin B01: DMA1 Stream 2 Channel 5
dma pin B08 0
# pin B08: DMA1 Stream 7 Channel 2
dma pin A00 0
# pin A00: DMA1 Stream 5 Channel 3
dma pin B10 0
# pin B10: DMA1 Stream 1 Channel 3
dma pin B07 0
# pin B07: DMA1 Stream 3 Channel 2

# feature
feature -RX_PPM
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -RANGEFINDER
feature -TELEMETRY
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DISPLAY
feature -OSD
feature -CHANNEL_FORWARDING
feature -TRANSPONDER
feature -AIRMODE
feature -RX_SPI
feature -ESC_SENSOR
feature -ANTI_GRAVITY
feature TELEMETRY
feature LED_STRIP
feature OSD
feature AIRMODE
feature RX_SPI
feature ANTI_GRAVITY

# serial
serial 20 1 115200 57600 0 115200
serial 0 8192 115200 57600 0 115200
serial 1 0 115200 57600 0 115200

# mixer
mixer QUADX

mmix reset

# servo
servo 0 1000 2000 1500 100 -1
servo 1 1000 2000 1500 100 -1
servo 2 1000 2000 1500 100 -1
servo 3 1000 2000 1500 100 -1
servo 4 1000 2000 1500 100 -1
servo 5 1000 2000 1500 100 -1
servo 6 1000 2000 1500 100 -1
servo 7 1000 2000 1500 100 -1

# servo mixer
smix reset

# beeper
beeper GYRO_CALIBRATED
beeper RX_LOST
beeper RX_LOST_LANDING
beeper DISARMING
beeper ARMING
beeper ARMING_GPS_FIX
beeper ARMING_GPS_NO_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
beeper BLACKBOX_ERASE
beeper CRASH_FLIP
beeper CAM_CONNECTION_OPEN
beeper CAM_CONNECTION_CLOSE
beeper RC_SMOOTHING_INIT_FAIL

# beacon
beacon RX_LOST
beacon RX_SET

# map
map AETR1234

# led
led 0 7,11::CTOBVIW:0
led 1 8,11::CTOBVIW:0
led 2 0,0::C:0
led 3 0,0::C:0
led 4 0,0::C:0
led 5 0,0::C:0
led 6 0,0::C:0
led 7 0,0::C:0
led 8 0,0::C:0
led 9 0,0::C:0
led 10 0,0::C:0
led 11 0,0::C:0
led 12 0,0::C:0
led 13 0,0::C:0
led 14 0,0::C:0
led 15 0,0::C:0
led 16 0,0::C:0
led 17 0,0::C:0
led 18 0,0::C:0
led 19 0,0::C:0
led 20 0,0::C:0
led 21 0,0::C:0
led 22 0,0::C:0
led 23 0,0::C:0
led 24 0,0::C:0
led 25 0,0::C:0
led 26 0,0::C:0
led 27 0,0::C:0
led 28 0,0::C:0
led 29 0,0::C:0
led 30 0,0::C:0
led 31 0,0::C:0

# color
color 0 0,0,0
color 1 0,255,255
color 2 0,0,255
color 3 30,0,255
color 4 60,0,255
color 5 90,0,255
color 6 120,0,255
color 7 150,0,255
color 8 180,0,255
color 9 210,0,255
color 10 240,0,255
color 11 270,0,255
color 12 300,0,255
color 13 330,0,255
color 14 0,0,0
color 15 0,0,0

# mode_color
mode_color 0 0 1
mode_color 0 1 11
mode_color 0 2 2
mode_color 0 3 13
mode_color 0 4 10
mode_color 0 5 3
mode_color 1 0 5
mode_color 1 1 11
mode_color 1 2 3
mode_color 1 3 13
mode_color 1 4 10
mode_color 1 5 3
mode_color 2 0 10
mode_color 2 1 11
mode_color 2 2 4
mode_color 2 3 13
mode_color 2 4 10
mode_color 2 5 3
mode_color 3 0 8
mode_color 3 1 11
mode_color 3 2 4
mode_color 3 3 13
mode_color 3 4 10
mode_color 3 5 3
mode_color 4 0 7
mode_color 4 1 11
mode_color 4 2 3
mode_color 4 3 13
mode_color 4 4 10
mode_color 4 5 3
mode_color 5 0 0
mode_color 5 1 0
mode_color 5 2 0
mode_color 5 3 0
mode_color 5 4 0
mode_color 5 5 0
mode_color 6 0 6
mode_color 6 1 10
mode_color 6 2 1
mode_color 6 3 0
mode_color 6 4 0
mode_color 6 5 2
mode_color 6 6 3
mode_color 6 7 6
mode_color 6 8 0
mode_color 6 9 0
mode_color 6 10 0
mode_color 7 0 3

# aux
aux 0 0 0 1700 2100 0 0
aux 1 1 1 1700 2100 0 0
aux 2 2 1 1300 1700 0 0
aux 3 13 2 1700 2100 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

# adjrange
adjrange 0 0 0 900 900 0 0 0 0
adjrange 1 0 0 900 900 0 0 0 0
adjrange 2 0 0 900 900 0 0 0 0
adjrange 3 0 0 900 900 0 0 0 0
adjrange 4 0 0 900 900 0 0 0 0
adjrange 5 0 0 900 900 0 0 0 0
adjrange 6 0 0 900 900 0 0 0 0
adjrange 7 0 0 900 900 0 0 0 0
adjrange 8 0 0 900 900 0 0 0 0
adjrange 9 0 0 900 900 0 0 0 0
adjrange 10 0 0 900 900 0 0 0 0
adjrange 11 0 0 900 900 0 0 0 0
adjrange 12 0 0 900 900 0 0 0 0
adjrange 13 0 0 900 900 0 0 0 0
adjrange 14 0 0 900 900 0 0 0 0
adjrange 15 0 0 900 900 0 0 0 0
adjrange 16 0 0 900 900 0 0 0 0
adjrange 17 0 0 900 900 0 0 0 0
adjrange 18 0 0 900 900 0 0 0 0
adjrange 19 0 0 900 900 0 0 0 0
adjrange 20 0 0 900 900 0 0 0 0
adjrange 21 0 0 900 900 0 0 0 0
adjrange 22 0 0 900 900 0 0 0 0
adjrange 23 0 0 900 900 0 0 0 0
adjrange 24 0 0 900 900 0 0 0 0
adjrange 25 0 0 900 900 0 0 0 0
adjrange 26 0 0 900 900 0 0 0 0
adjrange 27 0 0 900 900 0 0 0 0
adjrange 28 0 0 900 900 0 0 0 0
adjrange 29 0 0 900 900 0 0 0 0

# rxrange
rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000

# vtxtable
vtxtable bands 6
vtxtable channels 8
vtxtable band 1 BOSCAM_A A CUSTOM 5865 5845 5825 5805 5785 5765 5745 5725
vtxtable band 2 BOSCAM_B B CUSTOM 5733 5752 5771 5790 5809 5828 5847 5866
vtxtable band 3 BOSCAM_E E CUSTOM 5705 5685 5665 5645 5885 5905 5925 5945
vtxtable band 4 FATSHARK F CUSTOM 5740 5760 5780 5800 5820 5840 5860 5880
vtxtable band 5 RACEBAND R CUSTOM 5658 5695 5732 5769 5806 5843 5880 5917
vtxtable band 6 BAND_D D CUSTOM 5362 5399 5436 5473 5510 5547 5584 5621
vtxtable powerlevels 3
vtxtable powervalues 25 100 200
vtxtable powerlabels 25 100 200

# vtx
vtx 0 0 0 0 0 900 900
vtx 1 0 0 0 0 900 900
vtx 2 0 0 0 0 900 900
vtx 3 0 0 0 0 900 900
vtx 4 0 0 0 0 900 900
vtx 5 0 0 0 0 900 900
vtx 6 0 0 0 0 900 900
vtx 7 0 0 0 0 900 900
vtx 8 0 0 0 0 900 900
vtx 9 0 0 0 0 900 900

# 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

# master
set gyro_hardware_lpf = NORMAL
set gyro_lpf1_type = PT1
set gyro_lpf1_static_hz = 150
set gyro_lpf2_type = PT1
set gyro_lpf2_static_hz = 300
set gyro_notch1_hz = 0
set gyro_notch1_cutoff = 0
set gyro_notch2_hz = 0
set gyro_notch2_cutoff = 0
set gyro_calib_duration = 125
set gyro_calib_noise_limit = 48
set gyro_offset_yaw = 0
set gyro_overflow_detect = ALL
set yaw_spin_recovery = AUTO
set yaw_spin_threshold = 1950
set gyro_to_use = FIRST
set dyn_notch_count = 1
set dyn_notch_q = 500
set dyn_notch_min_hz = 150
set dyn_notch_max_hz = 600
set gyro_lpf1_dyn_min_hz = 150
set gyro_lpf1_dyn_max_hz = 300
set gyro_lpf1_dyn_expo = 5
set gyro_filter_debug_axis = ROLL
set acc_hardware = AUTO
set acc_lpf_hz = 10
set acc_trim_pitch = 0
set acc_trim_roll = 0
set acc_calibration = -2,-13,-13,1
set mid_rc = 1500
set min_check = 1050
set max_check = 1900
set rssi_channel = 0
set rssi_src_frame_errors = OFF
set rssi_scale = 100
set rssi_offset = 0
set rssi_invert = OFF
set rssi_src_frame_lpf_period = 30
set rc_smoothing = ON
set rc_smoothing_auto_factor = 60
set rc_smoothing_auto_factor_throttle = 30
set rc_smoothing_setpoint_cutoff = 0
set rc_smoothing_feedforward_cutoff = 0
set rc_smoothing_throttle_cutoff = 0
set rc_smoothing_debug_axis = ROLL
set fpv_mix_degrees = 0
set max_aux_channels = 14
set serialrx_provider = SPEK1024
set serialrx_inverted = OFF
set spektrum_sat_bind = 0
set spektrum_sat_bind_autoreset = ON
set srxl2_unit_id = 1
set srxl2_baud_fast = ON
set sbus_baud_fast = OFF
set crsf_use_rx_snr = OFF
set crsf_use_negotiated_baud = OFF
set airmode_start_throttle_percent = 25
set rx_min_usec = 885
set rx_max_usec = 2115
set serialrx_halfduplex = OFF
set msp_override_channels_mask = 0
set rx_spi_protocol = EXPRESSLRS
set rx_spi_bus = 3
set rx_spi_led_inversion = ON
set adc_device = 1
set adc_vrefint_calibration = 0
set adc_tempsensor_calibration30 = 0
set adc_tempsensor_calibration110 = 0
set input_filtering_mode = OFF
set blackbox_sample_rate = 1/1
set blackbox_device = SPIFLASH
set blackbox_disable_pids = OFF
set blackbox_disable_rc = OFF
set blackbox_disable_setpoint = OFF
set blackbox_disable_bat = OFF
set blackbox_disable_rssi = OFF
set blackbox_disable_gyro = OFF
set blackbox_disable_acc = OFF
set blackbox_disable_debug = OFF
set blackbox_disable_motors = OFF
set blackbox_disable_gps = OFF
set blackbox_mode = NORMAL
set min_throttle = 1070
set max_throttle = 2000
set min_command = 1000
set dshot_idle_value = 900
set dshot_burst = AUTO
set dshot_bidir = ON
set dshot_bitbang = OFF
set dshot_bitbang_timer = AUTO
set use_unsynced_pwm = OFF
set motor_pwm_protocol = DSHOT300
set motor_pwm_rate = 480
set motor_pwm_inversion = OFF
set motor_poles = 12
set motor_output_reordering = 0,1,2,3,4,5,6,7
set thr_corr_value = 0
set thr_corr_angle = 800
set failsafe_delay = 15
set failsafe_off_delay = 10
set failsafe_throttle = 1000
set failsafe_switch_mode = STAGE1
set failsafe_throttle_low_delay = 100
set failsafe_procedure = DROP
set failsafe_recovery_delay = 10
set failsafe_stick_threshold = 30
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = -135
set gimbal_mode = NORMAL
set bat_capacity = 0
set vbat_max_cell_voltage = 435
set vbat_full_cell_voltage = 410
set vbat_min_cell_voltage = 330
set vbat_warning_cell_voltage = 350
set vbat_hysteresis = 1
set current_meter = ADC
set battery_meter = ADC
set vbat_detect_cell_voltage = 300
set use_vbat_alerts = ON
set use_cbat_alerts = OFF
set cbat_alert_percent = 10
set vbat_cutoff_percent = 100
set force_battery_cell_count = 0
set vbat_display_lpf_period = 30
set vbat_sag_lpf_period = 2
set ibat_lpf_period = 10
set vbat_duration_for_warning = 0
set vbat_duration_for_critical = 0
set vbat_scale = 110
set vbat_divider = 10
set vbat_multiplier = 1
set ibata_scale = 800
set ibata_offset = 0
set ibatv_scale = 0
set ibatv_offset = 0
set beeper_inversion = ON
set beeper_od = OFF
set beeper_frequency = 0
set beeper_dshot_beacon_tone = 1
set yaw_motors_reversed = OFF
set mixer_type = LEGACY
set crashflip_motor_percent = 0
set crashflip_expo = 35
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
set 3d_limit_low = 1000
set 3d_limit_high = 2000
set 3d_switched_mode = OFF
set servo_center_pulse = 1500
set servo_pwm_rate = 50
set servo_lowpass_hz = 0
set tri_unarmed_servo = ON
set channel_forwarding_start = 4
set reboot_character = 82
set serial_update_rate_hz = 100
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set small_angle = 180
set auto_disarm_delay = 5
set gyro_cal_on_first_arm = OFF
set gps_provider = NMEA
set gps_sbas_mode = NONE
set gps_sbas_integrity = OFF
set gps_auto_config = ON
set gps_auto_baud = OFF
set gps_ublox_use_galileo = OFF
set gps_ublox_mode = AIRBORNE
set gps_set_home_point_once = OFF
set gps_use_3d_speed = OFF
set gps_rescue_angle = 32
set gps_rescue_alt_buffer = 15
set gps_rescue_initial_alt = 50
set gps_rescue_descent_dist = 200
set gps_rescue_landing_alt = 5
set gps_rescue_landing_dist = 10
set gps_rescue_ground_speed = 2000
set gps_rescue_throttle_p = 150
set gps_rescue_throttle_i = 20
set gps_rescue_throttle_d = 50
set gps_rescue_velocity_p = 80
set gps_rescue_velocity_i = 20
set gps_rescue_velocity_d = 15
set gps_rescue_yaw_p = 40
set gps_rescue_throttle_min = 1100
set gps_rescue_throttle_max = 1600
set gps_rescue_ascend_rate = 500
set gps_rescue_descend_rate = 150
set gps_rescue_throttle_hover = 1280
set gps_rescue_sanity_checks = RESCUE_SANITY_ON
set gps_rescue_min_sats = 8
set gps_rescue_min_dth = 100
set gps_rescue_allow_arming_without_fix = OFF
set gps_rescue_alt_mode = MAX_ALT
set deadband = 0
set yaw_deadband = 0
set yaw_control_reversed = OFF
set pid_process_denom = 4
set runaway_takeoff_prevention = ON
set runaway_takeoff_deactivate_delay = 500
set runaway_takeoff_deactivate_throttle_percent = 20
set simplified_gyro_filter = ON
set simplified_gyro_filter_multiplier = 60
set tlm_inverted = OFF
set tlm_halfduplex = ON
set frsky_default_lat = 0
set frsky_default_long = 0
set frsky_gps_format = 0
set frsky_unit = METRIC
set frsky_vfas_precision = 0
set hott_alarm_int = 5
set pid_in_tlm = OFF
set report_cell_voltage = OFF
set ibus_sensor = 1,2,3,0,0,0,0,0,0,0,0,0,0,0,0
set mavlink_mah_as_heading_divisor = 0
set telemetry_disabled_voltage = OFF
set telemetry_disabled_current = OFF
set telemetry_disabled_fuel = OFF
set telemetry_disabled_mode = OFF
set telemetry_disabled_acc_x = OFF
set telemetry_disabled_acc_y = OFF
set telemetry_disabled_acc_z = OFF
set telemetry_disabled_pitch = OFF
set telemetry_disabled_roll = OFF
set telemetry_disabled_heading = OFF
set telemetry_disabled_altitude = OFF
set telemetry_disabled_vario = OFF
set telemetry_disabled_lat_long = OFF
set telemetry_disabled_ground_speed = OFF
set telemetry_disabled_distance = OFF
set telemetry_disabled_esc_current = ON
set telemetry_disabled_esc_voltage = ON
set telemetry_disabled_esc_rpm = ON
set telemetry_disabled_esc_temperature = ON
set telemetry_disabled_temperature = OFF
set telemetry_disabled_cap_used = ON
set ledstrip_visual_beeper = OFF
set ledstrip_visual_beeper_color = WHITE
set ledstrip_grb_rgb = GRB
set ledstrip_profile = STATUS
set ledstrip_race_color = ORANGE
set ledstrip_beacon_color = WHITE
set ledstrip_beacon_period_ms = 500
set ledstrip_beacon_percent = 50
set ledstrip_beacon_armed_only = OFF
set ledstrip_brightness = 100
set osd_units = METRIC
set osd_warn_arming_disable = ON
set osd_warn_batt_not_full = ON
set osd_warn_batt_warning = ON
set osd_warn_batt_critical = ON
set osd_warn_visual_beeper = ON
set osd_warn_crash_flip = ON
set osd_warn_esc_fail = ON
set osd_warn_core_temp = ON
set osd_warn_rc_smoothing = ON
set osd_warn_fail_safe = ON
set osd_warn_launch_control = ON
set osd_warn_no_gps_rescue = ON
set osd_warn_gps_rescue_disabled = ON
set osd_warn_rssi = OFF
set osd_warn_link_quality = OFF
set osd_warn_rssi_dbm = OFF
set osd_warn_over_cap = OFF
set osd_rssi_alarm = 20
set osd_link_quality_alarm = 80
set osd_rssi_dbm_alarm = -60
set osd_cap_alarm = 2200
set osd_alt_alarm = 100
set osd_distance_alarm = 0
set osd_esc_temp_alarm = -128
set osd_esc_rpm_alarm = -1
set osd_esc_current_alarm = -1
set osd_core_temp_alarm = 70
set osd_ah_max_pit = 20
set osd_ah_max_rol = 40
set osd_ah_invert = OFF
set osd_logo_on_arming = OFF
set osd_logo_on_arming_duration = 5
set osd_tim1 = 2560
set osd_tim2 = 2561
set osd_vbat_pos = 2433
set osd_rssi_pos = 234
set osd_link_quality_pos = 234
set osd_link_tx_power_pos = 234
set osd_rssi_dbm_pos = 234
set osd_tim_1_pos = 234
set osd_tim_2_pos = 2455
set osd_remaining_time_estimate_pos = 234
set osd_flymode_pos = 2105
set osd_anti_gravity_pos = 234
set osd_g_force_pos = 234
set osd_throttle_pos = 337
set osd_vtx_channel_pos = 2081
set osd_crosshairs_pos = 205
set osd_ah_sbar_pos = 206
set osd_ah_pos = 78
set osd_current_pos = 406
set osd_mah_drawn_pos = 234
set osd_motor_diag_pos = 234
set osd_craft_name_pos = 2442
set osd_display_name_pos = 234
set osd_gps_speed_pos = 234
set osd_gps_lon_pos = 234
set osd_gps_lat_pos = 234
set osd_gps_sats_pos = 234
set osd_home_dir_pos = 234
set osd_home_dist_pos = 234
set osd_flight_dist_pos = 234
set osd_compass_bar_pos = 234
set osd_altitude_pos = 234
set osd_pid_roll_pos = 234
set osd_pid_pitch_pos = 234
set osd_pid_yaw_pos = 234
set osd_debug_pos = 234
set osd_power_pos = 234
set osd_pidrate_profile_pos = 234
set osd_warnings_pos = 14665
set osd_avg_cell_voltage_pos = 353
set osd_pit_ang_pos = 234
set osd_rol_ang_pos = 234
set osd_battery_usage_pos = 234
set osd_disarmed_pos = 234
set osd_nheading_pos = 234
set osd_up_down_reference_pos = 205
set osd_nvario_pos = 234
set osd_esc_tmp_pos = 234
set osd_esc_rpm_pos = 234
set osd_esc_rpm_freq_pos = 234
set osd_rtc_date_time_pos = 234
set osd_adjustment_range_pos = 234
set osd_flip_arrow_pos = 234
set osd_core_temp_pos = 234
set osd_log_status_pos = 234
set osd_stick_overlay_left_pos = 234
set osd_stick_overlay_right_pos = 234
set osd_stick_overlay_radio_mode = 2
set osd_rate_profile_name_pos = 234
set osd_pid_profile_name_pos = 234
set osd_profile_name_pos = 234
set osd_rcchannels_pos = 234
set osd_camera_frame_pos = 35
set osd_efficiency_pos = 234
set osd_total_flights_pos = 234
set osd_stat_rtc_date_time = OFF
set osd_stat_tim_1 = OFF
set osd_stat_tim_2 = ON
set osd_stat_max_spd = ON
set osd_stat_max_dist = OFF
set osd_stat_min_batt = ON
set osd_stat_endbatt = OFF
set osd_stat_battery = OFF
set osd_stat_min_rssi = ON
set osd_stat_max_curr = ON
set osd_stat_used_mah = ON
set osd_stat_max_alt = OFF
set osd_stat_bbox = ON
set osd_stat_bb_no = ON
set osd_stat_max_g_force = OFF
set osd_stat_max_esc_temp = OFF
set osd_stat_max_esc_rpm = OFF
set osd_stat_min_link_quality = OFF
set osd_stat_flight_dist = OFF
set osd_stat_max_fft = OFF
set osd_stat_total_flights = OFF
set osd_stat_total_time = OFF
set osd_stat_total_dist = OFF
set osd_stat_min_rssi_dbm = OFF
set osd_profile = 1
set osd_profile_1_name = -
set osd_profile_2_name = -
set osd_profile_3_name = -
set osd_gps_sats_show_hdop = OFF
set osd_displayport_device = AUTO
set osd_rcchannels = -1,-1,-1,-1
set osd_camera_frame_width = 24
set osd_camera_frame_height = 11
set osd_stat_avg_cell_value = OFF
set osd_framerate_hz = 12
set osd_menu_background = TRANSPARENT
set system_hse_mhz = 8
set task_statistics = ON
set debug_mode = GYRO_SCALED
set rate_6pos_switch = OFF
set cpu_overclock = 108MHZ
set pwr_on_arm_grace = 5
set enable_stick_arming = OFF
set vtx_band = 1
set vtx_channel = 1
set vtx_power = 1
set vtx_low_power_disarm = OFF
set vtx_softserial_alt = OFF
set vtx_freq = 5865
set vtx_pit_mode_freq = 0
set vtx_halfduplex = ON
set vcd_video_system = AUTO
set vcd_h_offset = 0
set vcd_v_offset = 0
set max7456_clock = NOMINAL
set max7456_spi_bus = 2
set max7456_preinit_opu = OFF
set displayport_msp_col_adjust = 0
set displayport_msp_row_adjust = 0
set displayport_msp_serial = -1
set displayport_msp_attrs = 0,0,0,0
set displayport_msp_use_device_blink = OFF
set displayport_max7456_col_adjust = 0
set displayport_max7456_row_adjust = 0
set displayport_max7456_inv = OFF
set displayport_max7456_blk = 0
set displayport_max7456_wht = 2
set esc_sensor_halfduplex = OFF
set esc_sensor_current_offset = 0
set led_inversion = 0
set camera_control_mode = HARDWARE_PWM
set camera_control_ref_voltage = 330
set camera_control_key_delay = 180
set camera_control_internal_resistance = 470
set camera_control_button_resistance = 450,270,150,68,0
set camera_control_inverted = OFF
set pinio_config = 1,1,1,1
set pinio_box = 255,255,255,255
set usb_hid_cdc = OFF
set usb_msc_pin_pullup = ON
set flash_spi_bus = 2
set rcdevice_init_dev_attempts = 6
set rcdevice_init_dev_attempt_interval = 1000
set rcdevice_protocol_version = 0
set rcdevice_feature = 0
set gyro_1_bustype = SPI
set gyro_1_spibus = 1
set gyro_1_i2cBus = 0
set gyro_1_i2c_address = 0
set gyro_1_sensor_align = CW90
set gyro_1_align_roll = 0
set gyro_1_align_pitch = 0
set gyro_1_align_yaw = 900
set gyro_2_bustype = SPI
set gyro_2_spibus = 0
set gyro_2_i2cBus = 0
set gyro_2_i2c_address = 0
set gyro_2_sensor_align = CW0
set gyro_2_align_roll = 0
set gyro_2_align_pitch = 0
set gyro_2_align_yaw = 0
set mco2_on_pc9 = OFF
set expresslrs_domain = ISM2400
set expresslrs_rate_index = 0
set expresslrs_switch_mode = HYBRID
set expresslrs_model_id = 255
set scheduler_relax_rx = 1
set scheduler_relax_osd = 1
set timezone_offset_minutes = 0
set rpm_filter_harmonics = 3
set rpm_filter_q = 500
set rpm_filter_min_hz = 100
set rpm_filter_fade_range_hz = 50
set rpm_filter_lpf_hz = 150
set stats_min_armed_time_s = -1
set stats_total_flights = 0
set stats_total_time_s = 0
set stats_total_dist_m = 0
set name = Nanofly16
set display_name = -
set position_alt_source = DEFAULT
set position_alt_gps_min_sats = 10
set position_alt_baro_fallback_sats = 7
set box_user_1_name = -
set box_user_2_name = -
set box_user_3_name = -
set box_user_4_name = -

profile 0

# profile 0
set profile_name = -
set dterm_lpf1_dyn_min_hz = 63
set dterm_lpf1_dyn_max_hz = 127
set dterm_lpf1_dyn_expo = 5
set dterm_lpf1_type = PT1
set dterm_lpf1_static_hz = 63
set dterm_lpf2_type = PT1
set dterm_lpf2_static_hz = 127
set dterm_notch_hz = 199
set dterm_notch_cutoff = 150
set vbat_sag_compensation = 0
set pid_at_min_throttle = ON
set anti_gravity_mode = SMOOTH
set anti_gravity_threshold = 250
set anti_gravity_gain = 3500
set acc_limit_yaw = 0
set acc_limit = 0
set crash_dthreshold = 50
set crash_gthreshold = 400
set crash_setpoint_threshold = 350
set crash_time = 500
set crash_delay = 0
set crash_recovery_angle = 10
set crash_recovery_rate = 100
set crash_limit_yaw = 200
set crash_recovery = OFF
set iterm_rotation = OFF
set iterm_relax = RP
set iterm_relax_type = SETPOINT
set iterm_relax_cutoff = 15
set iterm_windup = 85
set iterm_limit = 400
set pidsum_limit = 500
set pidsum_limit_yaw = 400
set yaw_lowpass_hz = 100
set throttle_boost = 5
set throttle_boost_cutoff = 15
set acro_trainer_angle_limit = 20
set acro_trainer_lookahead_ms = 50
set acro_trainer_debug_axis = ROLL
set acro_trainer_gain = 75
set p_pitch = 44
set i_pitch = 87
set d_pitch = 43
set f_pitch = 106
set p_roll = 40
set i_roll = 79
set d_roll = 40
set f_roll = 97
set p_yaw = 40
set i_yaw = 79
set d_yaw = 0
set f_yaw = 97
set angle_level_strength = 50
set horizon_level_strength = 50
set horizon_transition = 75
set level_limit = 55
set horizon_tilt_effect = 75
set horizon_tilt_expert_mode = OFF
set abs_control_gain = 0
set abs_control_limit = 90
set abs_control_error_limit = 20
set abs_control_cutoff = 11
set use_integrated_yaw = OFF
set integrated_yaw_relax = 200
set d_min_roll = 37
set d_min_pitch = 40
set d_min_yaw = 0
set d_max_gain = 37
set d_max_advance = 20
set motor_output_limit = 100
set auto_profile_cell_count = 0
set launch_control_mode = NORMAL
set launch_trigger_allow_reset = ON
set launch_trigger_throttle_percent = 20
set launch_angle_limit = 0
set launch_control_gain = 40
set thrust_linear = 0
set transient_throttle_limit = 0
set feedforward_transition = 0
set feedforward_averaging = OFF
set feedforward_smooth_factor = 60
set feedforward_jitter_factor = 5
set feedforward_boost = 15
set feedforward_max_rate_limit = 90
set dyn_idle_min_rpm = 0
set dyn_idle_p_gain = 50
set dyn_idle_i_gain = 50
set dyn_idle_d_gain = 50
set dyn_idle_max_increase = 150
set level_race_mode = OFF
set simplified_pids_mode = RPY
set simplified_master_multiplier = 90
set simplified_i_gain = 110
set simplified_d_gain = 140
set simplified_pi_gain = 100
set simplified_dmax_gain = 20
set simplified_feedforward_gain = 90
set simplified_pitch_d_gain = 95
set simplified_pitch_pi_gain = 105
set simplified_dterm_filter = ON
set simplified_dterm_filter_multiplier = 85

profile 1

# profile 1
set profile_name = -
set dterm_lpf1_dyn_min_hz = 75
set dterm_lpf1_dyn_max_hz = 150
set dterm_lpf1_dyn_expo = 5
set dterm_lpf1_type = PT1
set dterm_lpf1_static_hz = 75
set dterm_lpf2_type = PT1
set dterm_lpf2_static_hz = 150
set dterm_notch_hz = 0
set dterm_notch_cutoff = 0
set vbat_sag_compensation = 0
set pid_at_min_throttle = ON
set anti_gravity_mode = SMOOTH
set anti_gravity_threshold = 250
set anti_gravity_gain = 3500
set acc_limit_yaw = 0
set acc_limit = 0
set crash_dthreshold = 50
set crash_gthreshold = 400
set crash_setpoint_threshold = 350
set crash_time = 500
set crash_delay = 0
set crash_recovery_angle = 10
set crash_recovery_rate = 100
set crash_limit_yaw = 200
set crash_recovery = OFF
set iterm_rotation = OFF
set iterm_relax = RP
set iterm_relax_type = SETPOINT
set iterm_relax_cutoff = 15
set iterm_windup = 85
set iterm_limit = 400
set pidsum_limit = 500
set pidsum_limit_yaw = 400
set yaw_lowpass_hz = 100
set throttle_boost = 5
set throttle_boost_cutoff = 15
set acro_trainer_angle_limit = 20
set acro_trainer_lookahead_ms = 50
set acro_trainer_debug_axis = ROLL
set acro_trainer_gain = 75
set p_pitch = 47
set i_pitch = 84
set d_pitch = 46
set f_pitch = 125
set p_roll = 45
set i_roll = 80
set d_roll = 40
set f_roll = 120
set p_yaw = 45
set i_yaw = 80
set d_yaw = 0
set f_yaw = 120
set angle_level_strength = 50
set horizon_level_strength = 50
set horizon_transition = 75
set level_limit = 55
set horizon_tilt_effect = 75
set horizon_tilt_expert_mode = OFF
set abs_control_gain = 0
set abs_control_limit = 90
set abs_control_error_limit = 20
set abs_control_cutoff = 11
set use_integrated_yaw = OFF
set integrated_yaw_relax = 200
set d_min_roll = 30
set d_min_pitch = 34
set d_min_yaw = 0
set d_max_gain = 37
set d_max_advance = 20
set motor_output_limit = 100
set auto_profile_cell_count = 0
set launch_control_mode = NORMAL
set launch_trigger_allow_reset = ON
set launch_trigger_throttle_percent = 20
set launch_angle_limit = 0
set launch_control_gain = 40
set thrust_linear = 0
set transient_throttle_limit = 0
set feedforward_transition = 0
set feedforward_averaging = OFF
set feedforward_smooth_factor = 25
set feedforward_jitter_factor = 7
set feedforward_boost = 15
set feedforward_max_rate_limit = 90
set dyn_idle_min_rpm = 0
set dyn_idle_p_gain = 50
set dyn_idle_i_gain = 50
set dyn_idle_d_gain = 50
set dyn_idle_max_increase = 150
set level_race_mode = OFF
set simplified_pids_mode = RPY
set simplified_master_multiplier = 100
set simplified_i_gain = 100
set simplified_d_gain = 100
set simplified_pi_gain = 100
set simplified_dmax_gain = 100
set simplified_feedforward_gain = 100
set simplified_pitch_d_gain = 100
set simplified_pitch_pi_gain = 100
set simplified_dterm_filter = ON
set simplified_dterm_filter_multiplier = 100

profile 2

# profile 2
set profile_name = -
set dterm_lpf1_dyn_min_hz = 75
set dterm_lpf1_dyn_max_hz = 150
set dterm_lpf1_dyn_expo = 5
set dterm_lpf1_type = PT1
set dterm_lpf1_static_hz = 75
set dterm_lpf2_type = PT1
set dterm_lpf2_static_hz = 150
set dterm_notch_hz = 0
set dterm_notch_cutoff = 0
set vbat_sag_compensation = 0
set pid_at_min_throttle = ON
set anti_gravity_mode = SMOOTH
set anti_gravity_threshold = 250
set anti_gravity_gain = 3500
set acc_limit_yaw = 0
set acc_limit = 0
set crash_dthreshold = 50
set crash_gthreshold = 400
set crash_setpoint_threshold = 350
set crash_time = 500
set crash_delay = 0
set crash_recovery_angle = 10
set crash_recovery_rate = 100
set crash_limit_yaw = 200
set crash_recovery = OFF
set iterm_rotation = OFF
set iterm_relax = RP
set iterm_relax_type = SETPOINT
set iterm_relax_cutoff = 15
set iterm_windup = 85
set iterm_limit = 400
set pidsum_limit = 500
set pidsum_limit_yaw = 400
set yaw_lowpass_hz = 100
set throttle_boost = 5
set throttle_boost_cutoff = 15
set acro_trainer_angle_limit = 20
set acro_trainer_lookahead_ms = 50
set acro_trainer_debug_axis = ROLL
set acro_trainer_gain = 75
set p_pitch = 47
set i_pitch = 84
set d_pitch = 46
set f_pitch = 125
set p_roll = 45
set i_roll = 80
set d_roll = 40
set f_roll = 120
set p_yaw = 45
set i_yaw = 80
set d_yaw = 0
set f_yaw = 120
set angle_level_strength = 50
set horizon_level_strength = 50
set horizon_transition = 75
set level_limit = 55
set horizon_tilt_effect = 75
set horizon_tilt_expert_mode = OFF
set abs_control_gain = 0
set abs_control_limit = 90
set abs_control_error_limit = 20
set abs_control_cutoff = 11
set use_integrated_yaw = OFF
set integrated_yaw_relax = 200
set d_min_roll = 30
set d_min_pitch = 34
set d_min_yaw = 0
set d_max_gain = 37
set d_max_advance = 20
set motor_output_limit = 100
set auto_profile_cell_count = 0
set launch_control_mode = NORMAL
set launch_trigger_allow_reset = ON
set launch_trigger_throttle_percent = 20
set launch_angle_limit = 0
set launch_control_gain = 40
set thrust_linear = 0
set transient_throttle_limit = 0
set feedforward_transition = 0
set feedforward_averaging = OFF
set feedforward_smooth_factor = 25
set feedforward_jitter_factor = 7
set feedforward_boost = 15
set feedforward_max_rate_limit = 90
set dyn_idle_min_rpm = 0
set dyn_idle_p_gain = 50
set dyn_idle_i_gain = 50
set dyn_idle_d_gain = 50
set dyn_idle_max_increase = 150
set level_race_mode = OFF
set simplified_pids_mode = RPY
set simplified_master_multiplier = 100
set simplified_i_gain = 100
set simplified_d_gain = 100
set simplified_pi_gain = 100
set simplified_dmax_gain = 100
set simplified_feedforward_gain = 100
set simplified_pitch_d_gain = 100
set simplified_pitch_pi_gain = 100
set simplified_dterm_filter = ON
set simplified_dterm_filter_multiplier = 100

# restore original profile selection
profile 0

rateprofile 0

# rateprofile 0
set rateprofile_name = -
set thr_mid = 50
set thr_expo = 0
set rates_type = ACTUAL
set quickrates_rc_expo = OFF
set roll_rc_rate = 7
set pitch_rc_rate = 7
set yaw_rc_rate = 7
set roll_expo = 0
set pitch_expo = 0
set yaw_expo = 0
set roll_srate = 67
set pitch_srate = 67
set yaw_srate = 67
set tpa_rate = 35
set tpa_breakpoint = 1750
set tpa_mode = D
set throttle_limit_type = OFF
set throttle_limit_percent = 100
set roll_rate_limit = 1998
set pitch_rate_limit = 1998
set yaw_rate_limit = 1998
set roll_level_expo = 0
set pitch_level_expo = 0

rateprofile 1

# rateprofile 1
set rateprofile_name = -
set thr_mid = 50
set thr_expo = 0
set rates_type = ACTUAL
set quickrates_rc_expo = OFF
set roll_rc_rate = 7
set pitch_rc_rate = 7
set yaw_rc_rate = 7
set roll_expo = 0
set pitch_expo = 0
set yaw_expo = 0
set roll_srate = 67
set pitch_srate = 67
set yaw_srate = 67
set tpa_rate = 65
set tpa_breakpoint = 1350
set tpa_mode = D
set throttle_limit_type = OFF
set throttle_limit_percent = 100
set roll_rate_limit = 1998
set pitch_rate_limit = 1998
set yaw_rate_limit = 1998
set roll_level_expo = 0
set pitch_level_expo = 0

rateprofile 2

# rateprofile 2
set rateprofile_name = -
set thr_mid = 50
set thr_expo = 0
set rates_type = ACTUAL
set quickrates_rc_expo = OFF
set roll_rc_rate = 7
set pitch_rc_rate = 7
set yaw_rc_rate = 7
set roll_expo = 0
set pitch_expo = 0
set yaw_expo = 0
set roll_srate = 67
set pitch_srate = 67
set yaw_srate = 67
set tpa_rate = 65
set tpa_breakpoint = 1350
set tpa_mode = D
set throttle_limit_type = OFF
set throttle_limit_percent = 100
set roll_rate_limit = 1998
set pitch_rate_limit = 1998
set yaw_rate_limit = 1998
set roll_level_expo = 0
set pitch_level_expo = 0

rateprofile 3

# rateprofile 3
set rateprofile_name = -
set thr_mid = 50
set thr_expo = 0
set rates_type = ACTUAL
set quickrates_rc_expo = OFF
set roll_rc_rate = 7
set pitch_rc_rate = 7
set yaw_rc_rate = 7
set roll_expo = 0
set pitch_expo = 0
set yaw_expo = 0
set roll_srate = 67
set pitch_srate = 67
set yaw_srate = 67
set tpa_rate = 65
set tpa_breakpoint = 1350
set tpa_mode = D
set throttle_limit_type = OFF
set throttle_limit_percent = 100
set roll_rate_limit = 1998
set pitch_rate_limit = 1998
set yaw_rate_limit = 1998
set roll_level_expo = 0
set pitch_level_expo = 0

rateprofile 4

# rateprofile 4
set rateprofile_name = -
set thr_mid = 50
set thr_expo = 0
set rates_type = ACTUAL
set quickrates_rc_expo = OFF
set roll_rc_rate = 7
set pitch_rc_rate = 7
set yaw_rc_rate = 7
set roll_expo = 0
set pitch_expo = 0
set yaw_expo = 0
set roll_srate = 67
set pitch_srate = 67
set yaw_srate = 67
set tpa_rate = 65
set tpa_breakpoint = 1350
set tpa_mode = D
set throttle_limit_type = OFF
set throttle_limit_percent = 100
set roll_rate_limit = 1998
set pitch_rate_limit = 1998
set yaw_rate_limit = 1998
set roll_level_expo = 0
set pitch_level_expo = 0

rateprofile 5

# rateprofile 5
set rateprofile_name = -
set thr_mid = 50
set thr_expo = 0
set rates_type = ACTUAL
set quickrates_rc_expo = OFF
set roll_rc_rate = 7
set pitch_rc_rate = 7
set yaw_rc_rate = 7
set roll_expo = 0
set pitch_expo = 0
set yaw_expo = 0
set roll_srate = 67
set pitch_srate = 67
set yaw_srate = 67
set tpa_rate = 65
set tpa_breakpoint = 1350
set tpa_mode = D
set throttle_limit_type = OFF
set throttle_limit_percent = 100
set roll_rate_limit = 1998
set pitch_rate_limit = 1998
set yaw_rate_limit = 1998
set roll_level_expo = 0
set pitch_level_expo = 0

# restore original rateprofile selection
rateprofile 0

# save configuration
save

取りあえずコレさえ残して置けば、変な設定変更をしてしまっても元に戻せます🙆

差分ファイルも残しておきましょ。

▼ Defaultのdiff allはコチラ ▼

フムフム🧐　コレを見るとプロフィール等は一つだけ設定済みの様です。

▶目次にもどる

FC設定-主な設定-

FCの設定自体はいつもと同じ様に進めて行きますので無駄な詳細は省略させて頂きまして、ザックリと気になる部分のみ掻い摘んで御紹介させて頂きます。

先ずはポート設定。

ここは変更する事も無くこのままでイイのですが、ELRS受信機内蔵のFCという事でPortの使用状況を残して置きたかったので。UART2にVTXのコントロール（IRC Tranp）が設定されておりました。

最近大きく表示項目が変わってしまってまだ慣れない基本設定画面。

弄る必要無いですね👀　必要な部分は全てちゃんと設定されているので変更したければ後はお好みで。（ﾜﾀｸｼは常時Airを切って、ブザー設定を少し弄ります）

PID設定。

Profile1に独自の設定値が入力されております。此方を採用しましょう。

Rateprofile。

此方はTPA値が変更されておりました。レートタイプはActualが採用されてますね。

Filter。

D値ノッチフィルターの項目のみ独自数値が入力されてます。

受信機設定。

内蔵ELRS受信機なので大方の設定はこのまま。テレメトリーはOFFにしといた方が良さそうです🙄

モード設定。

まぁいつも通りデフォルト状態では使い難いので自分設定を流し込むんですけど、ELRS受信機の場合唯一気をつけなければならないのがArmの割り当ては必ずAUX1に設定しなければならないところ。ELRS受信機を使う時はこのルールだけは忘れない様に😉

モーター設定。

今のBFはコチラからモーター回転方向設定をするのですよね。ﾜﾀｸｼは逆回転仕様にするので取りあえずココを変更しておきます（後程、ESCの設定も逆回転方向へ変更）。Defaultで双方向DSHOTの設定は済んでいる様です。

VTX設定。

おや？出力設定の最大値が200mWって…🤔（HPのスペック表記では最大値250mW出力）

LED Strip。

FC基板上に配置されたLEDの設定がしてあるようです。後付けじゃ無くFC基板上にLED Stripが配置されていると、LEDの追加で無駄に重量が増えなくて良いですよね～😃

BlackBox。

AIO-FCでは珍しい事にブラックボックス用のメモリが標準で搭載されておりました。容量は14MBですかね👀

OSDやモード設定等はﾜﾀｸｼのいつもの設定を流し込んで、FC設定は終了🙌

▶目次にもどる

ESC設定-Bluejay-

起動音から気付いておりましたがESCのファームウェアは最近流行りのBluejayファームがデフォルトで採用されておりました。

コンフィグレーターで接続しバージョンを確認してみると…

最新の0.16ですね。バージョン設定等はこのまま、先程BFで設定した様にモーターの回転方向を全て逆に設定し直して完了。

▶目次にもどる

FC設定後のdiff all

ココまでの設定を保存する為にCLI画面で『diff all』を取って置きましょう。

・▼ 設定済みの『diff all』差分バックアップはコチラ ▼

# version
# Betaflight / GEPRC_F411_SX1280 (GEPC) 4.3.0 Jun 29 2022 / 20:55:54 (norevision) MSP API: 1.44

# start the command batch
batch start

# reset configuration to default settings
defaults nosave

board_name GEPRC_F411_SX1280
signature

# name: Nanofly16

# feature
feature -TELEMETRY
feature -AIRMODE

# serial
serial 0 8192 115200 57600 0 115200

# beeper
beeper -ARMING_GPS_FIX
beeper -GPS_STATUS
beeper -READY_BEEP
beeper -ARMED
beeper -ON_USB
beeper -CAM_CONNECTION_OPEN
beeper -CAM_CONNECTION_CLOSE

# beacon
beacon RX_LOST
beacon RX_SET

# led
led 0 7,11::CTOBVIW:0
led 1 8,11::CTOBVIW:0

# aux
aux 0 0 0 1700 2100 0 0
aux 1 1 2 900 1300 0 0
aux 2 2 2 1300 1700 0 0
aux 3 27 1 1700 2100 0 0
aux 4 13 1 1700 2100 0 0
aux 5 28 2 1300 2100 0 0
aux 6 35 3 1700 2100 0 0

# vtxtable
vtxtable bands 6
vtxtable channels 8
vtxtable band 1 BOSCAM_A A CUSTOM 5865 5845 5825 5805 5785 5765 5745 5725
vtxtable band 2 BOSCAM_B B CUSTOM 5733 5752 5771 5790 5809 5828 5847 5866
vtxtable band 3 BOSCAM_E E CUSTOM 5705 5685 5665 5645 5885 5905 5925 5945
vtxtable band 4 FATSHARK F CUSTOM 5740 5760 5780 5800 5820 5840 5860 5880
vtxtable band 5 RACEBAND R CUSTOM 5658 5695 5732 5769 5806 5843 5880 5917
vtxtable band 6 BAND_D D CUSTOM 5362 5399 5436 5473 5510 5547 5584 5621
vtxtable powerlevels 3
vtxtable powervalues 25 100 200
vtxtable powerlabels 25 100 200

# master
set gyro_lpf1_static_hz = 150
set gyro_lpf2_static_hz = 300
set dyn_notch_count = 1
set dyn_notch_q = 500
set gyro_lpf1_dyn_min_hz = 150
set gyro_lpf1_dyn_max_hz = 300
set acc_calibration = -2,-13,-13,1
set rc_smoothing_auto_factor = 60
set blackbox_sample_rate = 1/1
set dshot_idle_value = 900
set dshot_bidir = ON
set motor_pwm_protocol = DSHOT300
set motor_poles = 12
set align_board_yaw = -135
set vbat_max_cell_voltage = 435
set yaw_motors_reversed = ON
set small_angle = 180
set pid_process_denom = 4
set simplified_gyro_filter_multiplier = 60
set osd_warn_esc_fail = OFF
set osd_warn_core_temp = OFF
set osd_warn_rc_smoothing = OFF
set osd_warn_fail_safe = OFF
set osd_warn_launch_control = OFF
set osd_warn_no_gps_rescue = OFF
set osd_warn_rssi = ON
set osd_warn_link_quality = ON
set osd_warn_rssi_dbm = ON
set osd_warn_over_cap = ON
set osd_rssi_alarm = 40
set osd_rssi_dbm_alarm = -102
set osd_vbat_pos = 2380
set osd_rssi_pos = 2337
set osd_link_quality_pos = 2352
set osd_rssi_dbm_pos = 2345
set osd_tim_1_pos = 2423
set osd_tim_2_pos = 2455
set osd_remaining_time_estimate_pos = 33
set osd_flymode_pos = 2393
set osd_g_force_pos = 65
set osd_throttle_pos = 2433
set osd_vtx_channel_pos = 2369
set osd_current_pos = 2400
set osd_mah_drawn_pos = 322
set osd_craft_name_pos = 2442
set osd_gps_speed_pos = 88
set osd_gps_sats_pos = 57
set osd_home_dir_pos = 46
set osd_home_dist_pos = 77
set osd_flight_dist_pos = 65
set osd_altitude_pos = 119
set osd_pidrate_profile_pos = 2081
set osd_warnings_pos = 2281
set osd_avg_cell_voltage_pos = 329
set osd_pit_ang_pos = 353
set osd_rol_ang_pos = 384
set osd_disarmed_pos = 2250
set osd_esc_tmp_pos = 354
set osd_esc_rpm_pos = 150
set osd_flip_arrow_pos = 2318
set osd_core_temp_pos = 2305
set osd_stat_max_spd = OFF
set osd_stat_bbox = OFF
set osd_stat_bb_no = OFF
set osd_stat_min_link_quality = ON
set osd_stat_min_rssi_dbm = ON
set debug_mode = GYRO_SCALED
set vtx_band = 4
set vtx_channel = 1
set vtx_power = 3
set vtx_low_power_disarm = ON
set vtx_freq = 5740
set vcd_video_system = NTSC
set name = Nanofly16

profile 0

# profile 0
set dterm_lpf1_dyn_min_hz = 63
set dterm_lpf1_dyn_max_hz = 127
set dterm_lpf1_static_hz = 63
set dterm_lpf2_static_hz = 127
set dterm_notch_hz = 199
set dterm_notch_cutoff = 150
set p_pitch = 44
set i_pitch = 87
set d_pitch = 43
set f_pitch = 106
set p_roll = 40
set i_roll = 79
set f_roll = 97
set p_yaw = 40
set i_yaw = 79
set f_yaw = 97
set d_min_roll = 37
set d_min_pitch = 40
set feedforward_smooth_factor = 60
set feedforward_jitter_factor = 5
set simplified_master_multiplier = 90
set simplified_i_gain = 110
set simplified_d_gain = 140
set simplified_dmax_gain = 20
set simplified_feedforward_gain = 90
set simplified_pitch_d_gain = 95
set simplified_pitch_pi_gain = 105
set simplified_dterm_filter_multiplier = 85

profile 1

profile 2

# restore original profile selection
profile 0

rateprofile 0

# rateprofile 0
set tpa_rate = 35
set tpa_breakpoint = 1750

rateprofile 1

rateprofile 2

rateprofile 3

rateprofile 4

rateprofile 5

# restore original rateprofile selection
rateprofile 0

# save configuration
save

因みに、SPI-ELRS受信機の場合は個別にBind作業を行わなくても、既存機体から『set expresslrs_uid = 』の数値をコピペする事で既存モデルファイルと同じくBIND済みにする事が出来ます😉

▶目次にもどる

最後に

早速、バッテリーを充電していなかったので残っていた分だけ💦部屋の中で軽く飛んでみたのですが、凄く飛行音が静かで安定した挙動の機体でしたね～👍　すぐにLow Battery表示が出ちゃったのであまり飛ばせなかったんですけど、屋外で飛ばしてみるのが楽しみになりました😃

サッサと他の機体の設定も済ませ、涼しい頃を見計らってテストフライトに臨みたいと思います😤

よろしくどうぞ～

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