# version
# Betaflight / STM32F7X2 (S7X2) 4.3.0 Feb 25 2021 / 13:23:20 (bc4372588) MSP API: 1.44
# config: manufacturer_id: IFRC, board_name: IFLIGHT_F722_TWING, version: bc19b7dc, date: 2020-04-01T04:37:12Z

# start the command batch
batch start

board_name IFLIGHT_F722_TWING
manufacturer_id IFRC

# name: iFlight SL5

# feature
feature -SOFTSERIAL
feature -OSD
feature GPS
feature TELEMETRY
feature LED_STRIP
feature ESC_SENSOR

# serial
serial 0 64 115200 57600 0 115200
serial 1 0 115200 57600 0 115200
serial 3 2 115200 57600 0 115200
serial 4 1024 115200 57600 0 115200

# mixer
mixer CUSTOM
mmix 0  1.000 -1.000  0.843 -1.000
mmix 1  1.000 -1.000 -0.843  1.000
mmix 2  1.000  1.000  0.843  1.000
mmix 3  1.000  1.000 -0.843 -1.000

# beacon
beacon RX_LOST
beacon RX_SET

# led
led 0 0,0:S:G:12
led 1 1,0:S:AW:0
led 2 2,0:S:AW:0
led 3 3,0:S:AW:12
led 4 12,0:N:C:6
led 5 13,0:N:C:6
led 6 14,0:N:C:6
led 7 15,0:N:C:6

# mode_color
mode_color 6 0 3
mode_color 6 1 12
mode_color 6 7 12

# aux
aux 0 0 0 900 1300 0 0
aux 1 1 2 1700 2100 0 0
aux 2 2 2 1300 1700 0 0
aux 3 5 3 1700 2100 0 0
aux 4 13 1 1700 2100 0 0
aux 5 31 3 900 1300 0 0

# master
set dyn_notch_width_percent = 0
set dyn_notch_q = 250
set acc_trim_pitch = 8
set acc_trim_roll = 1
set acc_calibration = 38,-41,-2,1
set align_mag = CW270FLIP
set mag_align_pitch = 1800
set mag_align_yaw = 2700
set min_check = 1000
set max_check = 2000
set rssi_scale = 200
set serialrx_provider = FPORT
set serialrx_inverted = ON
set serialrx_halfduplex = ON
set blackbox_sample_rate = 1/16
set dshot_idle_value = 450
set dshot_bidir = ON
set small_angle = 180
set gps_provider = UBLOX
set gps_sbas_mode = EGNOS
set gps_auto_baud = ON
set gps_ublox_use_galileo = ON
set yaw_deadband = 5
set gyro_2_align_yaw = 900
set name = iFlight SL5

profile 0

# profile 0
set anti_gravity_gain = 5000
set feedforward_transition = 20
set iterm_rotation = ON
set throttle_boost = 10
set p_pitch = 60
set i_pitch = 107
set d_pitch = 50
set f_pitch = 113
set p_roll = 55
set i_roll = 101
set d_roll = 46
set f_roll = 107
set p_yaw = 59
set i_yaw = 107
set f_yaw = 107
set level_limit = 75
set d_min_roll = 30
set d_min_pitch = 33
set ff_interpolate_sp = AVERAGED_2
set ff_smooth_factor = 25
set dyn_idle_min_rpm = 21
set simplified_pids_mode = RPY
set simplified_master_multiplier = 120
set simplified_pd_gain = 110

rateprofile 0

# rateprofile 0
set rates_type = ACTUAL
set roll_rc_rate = 16
set pitch_rc_rate = 16
set yaw_rc_rate = 16
set roll_expo = 50
set pitch_expo = 50
set yaw_expo = 45
set roll_srate = 80
set yaw_srate = 55

# end the command batch
batch end