TBS-Discovery Nachbau mit Naze32

[planet]

Meine TBS-Discovery Nachbau mit Baseflight:
1270g mit Gopro u. SSG-Gimbal (ohne Lipo).
4x TBS 1000KV LR Motor
4x BulletProof 30A ESCs (2-4S compatible)
Flugzeit ca. 10 min (Lipo 4000 mAh 40C).

Alles default
Roll/Pitch rate auf 0,4
Yaw auf 0,6
RC-Rate auf 1,4

• "mixer quadx"
• "feature SERVO_TILT"
• "set gimbal_flags=2"
Digital Servos:
set servo_pwm_rate = 330
• "Save"

Afro32 CLI version 2.3 Feb 12 2015
Current assignment: AETR1234
Current mixer: QUADX
aux 0 0
aux 1 2
aux 2 4

aux 8 8

mixer QUADX
feature -PPM
feature -VBAT
feature -INFLIGHT_ACC_CAL
feature -SERIALRX
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -LED_RING
feature -GPS
feature -FAILSAFE
feature -SONAR
feature -TELEMETRY
feature -POWERMETER
feature -VARIO
feature -3D
feature -FW_FAILSAFE_RTH
feature PPM
feature VBAT
feature SERVO_TILT
map AETR1234
set looptime = 3500
set emf_avoidance = 0
set midrc = 1500
set minthrottle = 1150
set maxthrottle = 1850
set mincommand = 1000
set mincheck = 1100
set maxcheck = 1900
set deadband3d_low = 1406
set deadband3d_high = 1514
set neutral3d = 1460
set deadband3d_throttle = 50
set motor_pwm_rate = 400
set servo_pwm_rate = 330
set pwm_filter = 0
set retarded_arm = 0
set disarm_kill_switch = 1
set fw_althold_dir = 1
set reboot_character = 82
set serial_baudrate = 115200
set softserial_baudrate = 9600
set softserial_1_inverted = 0
set softserial_2_inverted = 0

set serialrx_type = 0

set vbatscale = 110
set currentscale = 400
set currentoffset = 0
set multiwiicurrentoutput = 0
set vbatmaxcellvoltage = 43
set vbatmincellvoltage = 33
set vbatwarningcellvoltage = 35
set power_adc_channel = 0
set align_gyro = 0
set align_acc = 0
set align_mag = 0
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 0
set yaw_control_direction = 1
set acc_hardware = 0
set mag_hardware = 0
set max_angle_inclination = 500
set moron_threshold = 32
set gyro_lpf = 42
set gyro_cmpf_factor = 600
set gyro_cmpfm_factor = 250
set pid_controller = 0
set deadband = 0
set yawdeadband = 0
set alt_hold_throttle_neutral = 40
set alt_hold_fast_change = 1
set throttle_correction_value = 0
set throttle_correction_angle = 800

set rc_rate = 90
set rc_expo = 65
set thr_mid = 50
set thr_expo = 0
set roll_pitch_rate = 40
set yaw_rate = 60
set tpa_rate = 0
set tpa_breakpoint = 1500

set failsafe_delay = 10
set failsafe_off_delay = 200
set failsafe_throttle = 1200
set failsafe_detect_threshold = 985

set auto_disarm_board = 5
set rssi_aux_channel = 0
set rssi_adc_channel = 0
set rssi_adc_max = 4095
set rssi_adc_offset = 0
set yaw_direction = 1
set tri_unarmed_servo = 1
set fw_roll_throw = 0.500
set fw_pitch_throw = 0.500
set fw_vector_trust = 0
set gimbal_flags = 2
set acc_lpf_factor = 4
set accxy_deadband = 40
set accz_deadband = 40
set acc_unarmedcal = 1
set small_angle = 25
set acc_trim_pitch = 0
set acc_trim_roll = 0
set baro_tab_size = 21
set baro_noise_lpf = 0.600
set baro_cf_vel = 0.985
set baro_cf_alt = 0.965
set accz_lpf_cutoff = 5.000
set mag_declination = 0

set nav_controls_heading = 1
set nav_speed_min = 100
set nav_speed_max = 300
set nav_slew_rate = 30
set p_pitch = 40 (70)
set i_pitch = 30
set d_pitch = 23
set p_roll = 40 (70)
set i_roll = 30
set d_roll = 23
set p_yaw = 85
set i_yaw = 45
set d_yaw = 0
set p_alt = 50
set i_alt = 0
set d_alt = 0
set p_level = 90
set i_level = 10
set d_level = 100
set p_vel = 120
set i_vel = 45
set d_vel = 1

set fw_climb_throttle = 1900
set fw_cruise_throttle = 1500
set fw_idle_throttle = 1300
set fw_scaler_throttle = 8
set fw_roll_comp = 1.000
set fw_rth_alt = 45