{"action":"created","issue":{"url":"https://api.github.com/repos/betaflight/betaflight/issues/1040","repository_url":"https://api.github.com/repos/betaflight/betaflight","labels_url":"https://api.github.com/repos/betaflight/betaflight/issues/1040/labels{/name}","comments_url":"https://api.github.com/repos/betaflight/betaflight/issues/1040/comments","events_url":"https://api.github.com/repos/betaflight/betaflight/issues/1040/events","html_url":"https://github.com/betaflight/betaflight/issues/1040","id":172018966,"number":1040,"title":"Backflip/Frontflip on takeoff, mode dependent.","user":{"login":"friszky","id":21029221,"avatar_url":"https://avatars.githubusercontent.com/u/21029221?v=3","gravatar_id":"","url":"https://api.github.com/users/friszky","html_url":"https://github.com/friszky","followers_url":"https://api.github.com/users/friszky/followers","following_url":"https://api.github.com/users/friszky/following{/other_user}","gists_url":"https://api.github.com/users/friszky/gists{/gist_id}","starred_url":"https://api.github.com/users/friszky/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/friszky/subscriptions","organizations_url":"https://api.github.com/users/friszky/orgs","repos_url":"https://api.github.com/users/friszky/repos","events_url":"https://api.github.com/users/friszky/events{/privacy}","received_events_url":"https://api.github.com/users/friszky/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/betaflight/betaflight/labels/Bug","name":"Bug","color":"fc2929"},{"url":"https://api.github.com/repos/betaflight/betaflight/labels/Testing%20Required","name":"Testing Required","color":"fef2c0"}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":16,"created_at":"2016-08-18T22:49:48Z","updated_at":"2016-08-30T21:35:05Z","closed_at":null,"body":"Quad performs a mode-dependent frontflip or backoff on takeoff. In angle or horizon mode, I get a backflip. Raising throttle slowly, in horizon or angle mode, front motors go very high as soon as craft is off the ground. Raising throttle slowly, in acro mode, back motors go very high as soon as craft is off the ground. \r\n\r\nRelevant hardware is 4x racerstar 30a ESC, with BLheli_S 16.2, XNOVA RM2204-2300, Motolab Cyclone, Frsky XSR.\r\n\r\nPropellers checked, motors checked, ESC settings checked, several times. PIDs reset to default just in case. CLI dump is as follows:\r\n\r\n# version\r\n# BetaFlight/MOTOLAB 3.0.0 Aug 12 2016 / 10:45:21 (9ee9987)\r\n\r\n# name\r\nname TANGO\r\n\r\n# mixer\r\nmixer QUADX\r\nmmix reset\r\nmmix 0 1.000 -1.000 0.783 -1.000\r\nmmix 1 1.000 -1.000 -0.783 1.000\r\nmmix 2 1.000 1.000 0.783 1.000\r\nmmix 3 1.000 1.000 -0.783 -1.000\r\nsmix reset\r\n\r\n# feature\r\nfeature -RX_PPM\r\nfeature -VBAT\r\nfeature -INFLIGHT_ACC_CAL\r\nfeature -RX_SERIAL\r\nfeature -MOTOR_STOP\r\nfeature -SERVO_TILT\r\nfeature -SOFTSERIAL\r\nfeature -GPS\r\nfeature -FAILSAFE\r\nfeature -SONAR\r\nfeature -TELEMETRY\r\nfeature -CURRENT_METER\r\nfeature -3D\r\nfeature -RX_PARALLEL_PWM\r\nfeature -RX_MSP\r\nfeature -RSSI_ADC\r\nfeature -LED_STRIP\r\nfeature -DISPLAY\r\nfeature -OSD\r\nfeature -BLACKBOX\r\nfeature -CHANNEL_FORWARDING\r\nfeature -TRANSPONDER\r\nfeature -AIRMODE\r\nfeature -SUPEREXPO_RATES\r\nfeature VBAT\r\nfeature RX_SERIAL\r\nfeature FAILSAFE\r\nfeature TELEMETRY\r\nfeature BLACKBOX\r\nfeature AIRMODE\r\nfeature SUPEREXPO_RATES\r\n\r\n# beeper\r\nbeeper GYRO_CALIBRATED\r\nbeeper RX_LOST\r\nbeeper RX_LOST_LANDING\r\nbeeper DISARMING\r\nbeeper ARMING\r\nbeeper ARMING_GPS_FIX\r\nbeeper BAT_CRIT_LOW\r\nbeeper BAT_LOW\r\nbeeper GPS_STATUS\r\nbeeper RX_SET\r\nbeeper ACC_CALIBRATION\r\nbeeper ACC_CALIBRATION_FAIL\r\nbeeper READY_BEEP\r\nbeeper MULTI_BEEPS\r\nbeeper DISARM_REPEAT\r\nbeeper ARMED\r\nbeeper SYSTEM_INIT\r\nbeeper ON_USB\r\n\r\n# map\r\nmap TAER1234\r\n\r\n# serial\r\nserial 20 1 115200 57600 0 115200\r\nserial 0 64 115200 57600 0 115200\r\nserial 1 32 115200 57600 0 115200\r\nserial 2 1 115200 57600 0 115200\r\n\r\n# led\r\nled 0 0,0::C:0\r\nled 1 0,0::C:0\r\nled 2 0,0::C:0\r\nled 3 0,0::C:0\r\nled 4 0,0::C:0\r\nled 5 0,0::C:0\r\nled 6 0,0::C:0\r\nled 7 0,0::C:0\r\nled 8 0,0::C:0\r\nled 9 0,0::C:0\r\nled 10 0,0::C:0\r\nled 11 0,0::C:0\r\nled 12 0,0::C:0\r\nled 13 0,0::C:0\r\nled 14 0,0::C:0\r\nled 15 0,0::C:0\r\nled 16 0,0::C:0\r\nled 17 0,0::C:0\r\nled 18 0,0::C:0\r\nled 19 0,0::C:0\r\nled 20 0,0::C:0\r\nled 21 0,0::C:0\r\nled 22 0,0::C:0\r\nled 23 0,0::C:0\r\nled 24 0,0::C:0\r\nled 25 0,0::C:0\r\nled 26 0,0::C:0\r\nled 27 0,0::C:0\r\nled 28 0,0::C:0\r\nled 29 0,0::C:0\r\nled 30 0,0::C:0\r\nled 31 0,0::C:0\r\n\r\n# color\r\ncolor 0 0,0,0\r\ncolor 1 0,255,255\r\ncolor 2 0,0,255\r\ncolor 3 30,0,255\r\ncolor 4 60,0,255\r\ncolor 5 90,0,255\r\ncolor 6 120,0,255\r\ncolor 7 150,0,255\r\ncolor 8 180,0,255\r\ncolor 9 210,0,255\r\ncolor 10 240,0,255\r\ncolor 11 270,0,255\r\ncolor 12 300,0,255\r\ncolor 13 330,0,255\r\ncolor 14 0,0,0\r\ncolor 15 0,0,0\r\n\r\n# mode_color\r\nmode_color 0 0 1\r\nmode_color 0 1 11\r\nmode_color 0 2 2\r\nmode_color 0 3 13\r\nmode_color 0 4 10\r\nmode_color 0 5 3\r\nmode_color 1 0 5\r\nmode_color 1 1 11\r\nmode_color 1 2 3\r\nmode_color 1 3 13\r\nmode_color 1 4 10\r\nmode_color 1 5 3\r\nmode_color 2 0 10\r\nmode_color 2 1 11\r\nmode_color 2 2 4\r\nmode_color 2 3 13\r\nmode_color 2 4 10\r\nmode_color 2 5 3\r\nmode_color 3 0 8\r\nmode_color 3 1 11\r\nmode_color 3 2 4\r\nmode_color 3 3 13\r\nmode_color 3 4 10\r\nmode_color 3 5 3\r\nmode_color 4 0 7\r\nmode_color 4 1 11\r\nmode_color 4 2 3\r\nmode_color 4 3 13\r\nmode_color 4 4 10\r\nmode_color 4 5 3\r\nmode_color 5 0 9\r\nmode_color 5 1 11\r\nmode_color 5 2 2\r\nmode_color 5 3 13\r\nmode_color 5 4 10\r\nmode_color 5 5 3\r\nmode_color 6 0 6\r\nmode_color 6 1 10\r\nmode_color 6 2 1\r\nmode_color 6 3 0\r\nmode_color 6 4 0\r\nmode_color 6 5 2\r\nmode_color 6 6 3\r\nmode_color 6 7 6\r\nmode_color 6 8 0\r\nmode_color 6 9 0\r\nmode_color 6 10 0\r\n\r\n# aux\r\naux 0 0 0 1300 2100\r\naux 1 1 1 1700 2100\r\naux 2 1 2 1200 2100\r\naux 3 2 1 900 1300\r\naux 4 12 3 1800 2100\r\naux 5 0 0 900 900\r\naux 6 0 0 900 900\r\naux 7 0 0 900 900\r\naux 8 0 0 900 900\r\naux 9 0 0 900 900\r\naux 10 0 0 900 900\r\naux 11 0 0 900 900\r\naux 12 0 0 900 900\r\naux 13 0 0 900 900\r\naux 14 0 0 900 900\r\naux 15 0 0 900 900\r\naux 16 0 0 900 900\r\naux 17 0 0 900 900\r\naux 18 0 0 900 900\r\naux 19 0 0 900 900\r\n\r\n# adjrange\r\nadjrange 0 0 0 900 900 0 0\r\nadjrange 1 0 0 900 900 0 0\r\nadjrange 2 0 0 900 900 0 0\r\nadjrange 3 0 0 900 900 0 0\r\nadjrange 4 0 0 900 900 0 0\r\nadjrange 5 0 0 900 900 0 0\r\nadjrange 6 0 0 900 900 0 0\r\nadjrange 7 0 0 900 900 0 0\r\nadjrange 8 0 0 900 900 0 0\r\nadjrange 9 0 0 900 900 0 0\r\nadjrange 10 0 0 900 900 0 0\r\nadjrange 11 0 0 900 900 0 0\r\nadjrange 12 0 0 900 900 0 0\r\nadjrange 13 0 0 900 900 0 0\r\nadjrange 14 0 0 900 900 0 0\r\n\r\n# rxrange\r\nrxrange 0 1000 2000\r\nrxrange 1 1000 2000\r\nrxrange 2 1000 2000\r\nrxrange 3 1000 2000\r\n\r\n# servo\r\nservo 0 1000 2000 1500 90 90 100 -1\r\nservo 1 1000 2000 1500 90 90 100 -1\r\nservo 2 1000 2000 1500 90 90 100 -1\r\nservo 3 1000 2000 1500 90 90 100 -1\r\nservo 4 1000 2000 1500 90 90 100 -1\r\nservo 5 1000 2000 1500 90 90 100 -1\r\nservo 6 1000 2000 1500 90 90 100 -1\r\nservo 7 1000 2000 1500 90 90 100 -1\r\n\r\n# rxfail\r\nrxfail 0 a\r\nrxfail 1 a\r\nrxfail 2 a\r\nrxfail 3 a\r\nrxfail 4 h\r\nrxfail 5 h\r\nrxfail 6 h\r\nrxfail 7 h\r\nrxfail 8 h\r\nrxfail 9 h\r\nrxfail 10 h\r\nrxfail 11 h\r\nrxfail 12 h\r\nrxfail 13 h\r\nrxfail 14 h\r\nrxfail 15 h\r\nrxfail 16 h\r\nrxfail 17 h\r\n\r\n# master\r\nset mid_rc = 1500\r\nset min_check = 1100\r\nset max_check = 1900\r\nset rssi_channel = 0\r\nset rssi_scale = 30\r\nset rc_interpolation = AUTO\r\nset rc_interpolation_interval = 19\r\nset rssi_ppm_invert = OFF\r\nset input_filtering_mode = OFF\r\nset roll_yaw_cam_mix_degrees = 0\r\nset max_aux_channels = 6\r\nset debug_mode = NONE\r\nset min_throttle = 1050\r\nset max_throttle = 2000\r\nset min_command = 1000\r\nset servo_center_pulse = 1500\r\nset 3d_deadband_low = 1406\r\nset 3d_deadband_high = 1514\r\nset 3d_neutral = 1460\r\nset 3d_deadband_throttle = 50\r\nset use_unsynced_pwm = OFF\r\nset motor_pwm_protocol = MULTISHOT\r\nset motor_pwm_rate = 400\r\nset servo_pwm_rate = 50\r\nset disarm_kill_switch = ON\r\nset gyro_cal_on_first_arm = OFF\r\nset auto_disarm_delay = 5\r\nset small_angle = 25\r\nset fixedwing_althold_dir = 1\r\nset reboot_character = 82\r\nset serialrx_provider = SBUS\r\nset sbus_inversion = ON\r\nset spektrum_sat_bind = 0\r\nset spektrum_sat_bind_autoreset = 1\r\nset telemetry_switch = OFF\r\nset telemetry_inversion = ON\r\nset frsky_default_lattitude =  0.000\r\nset frsky_default_longitude =  0.000\r\nset frsky_coordinates_format = 0\r\nset frsky_unit = IMPERIAL\r\nset frsky_vfas_precision = 0\r\nset frsky_vfas_cell_voltage = OFF\r\nset hott_alarm_sound_interval = 5\r\nset battery_capacity = 0\r\nset vbat_scale = 110\r\nset vbat_max_cell_voltage = 43\r\nset vbat_min_cell_voltage = 33\r\nset vbat_warning_cell_voltage = 35\r\nset vbat_hysteresis = 1\r\nset current_meter_scale = 400\r\nset current_meter_offset = 0\r\nset multiwii_current_meter_output = OFF\r\nset current_meter_type = ADC\r\nset align_gyro = DEFAULT\r\nset align_acc = DEFAULT\r\nset align_mag = DEFAULT\r\nset align_board_roll = 0\r\nset align_board_pitch = 0\r\nset align_board_yaw = 180\r\nset max_angle_inclination = 700\r\nset gyro_lpf = OFF\r\nset gyro_sync_denom = 4\r\nset gyro_lowpass_level = NORMAL\r\nset gyro_lowpass = 90\r\nset gyro_notch_hz = 0\r\nset gyro_notch_cutoff = 150\r\nset moron_threshold = 32\r\nset imu_dcm_kp = 2500\r\nset imu_dcm_ki = 0\r\nset alt_hold_deadband = 40\r\nset alt_hold_fast_change = ON\r\nset deadband = 0\r\nset yaw_deadband = 0\r\nset throttle_correction_value = 0\r\nset throttle_correction_angle = 800\r\nset yaw_control_direction = 1\r\nset yaw_motor_direction = 1\r\nset tri_unarmed_servo = ON\r\nset servo_lowpass_freq = 400\r\nset servo_lowpass_enable = OFF\r\nset airmode_activate_throttle = 1350\r\nset failsafe_delay = 10\r\nset failsafe_off_delay = 10\r\nset failsafe_throttle = 1000\r\nset failsafe_kill_switch = OFF\r\nset failsafe_throttle_low_delay = 100\r\nset failsafe_procedure = ON\r\nset rx_min_usec = 885\r\nset rx_max_usec = 2115\r\nset gimbal_mode = NORMAL\r\nset acc_hardware = AUTO\r\nset acc_lpf_hz =  10.000\r\nset accxy_deadband = 40\r\nset accz_deadband = 40\r\nset acc_unarmedcal = ON\r\nset acc_trim_pitch = 0\r\nset acc_trim_roll = 0\r\nset pid_process_denom = 2\r\nset blackbox_rate_num = 1\r\nset blackbox_rate_denom = 1\r\nset blackbox_device = SERIAL\r\nset ledstrip_visual_beeper = OFF\r\n\r\n# profile\r\nprofile 0\r\nset pid_delta_method = MEASUREMENT\r\nset yaw_p_limit = 500\r\nset dterm_lowpass_level = HIGH\r\nset dterm_lowpass = 100\r\nset dterm_notch_hz = 0\r\nset dterm_notch_cutoff = 150\r\nset vbat_pid_compensation = OFF\r\nset pid_at_min_throttle = OFF\r\nset pid_tolerance_band = 0\r\nset tolerance_band_reduction = 40\r\nset zero_cross_allowance = 2\r\nset iterm_throttle_gain = 0\r\nset pterm_setpoint_weight = 75\r\nset dterm_setpoint_weight = 120\r\nset yaw_rate_acceleration_limit = 220\r\nset rate_acceleration_limit = 0\r\nset iterm_ignore_threshold = 130\r\nset yaw_iterm_ignore_threshold = 32\r\nset yaw_lowpass = 80\r\nset pid_controller = BETAFLIGHT\r\nset p_pitch = 60\r\nset i_pitch = 60\r\nset d_pitch = 22\r\nset p_roll = 45\r\nset i_roll = 40\r\nset d_roll = 20\r\nset p_yaw = 80\r\nset i_yaw = 45\r\nset d_yaw = 20\r\nset p_alt = 50\r\nset i_alt = 0\r\nset d_alt = 0\r\nset p_level = 35\r\nset i_level = 35\r\nset d_level = 100\r\nset p_vel = 55\r\nset i_vel = 55\r\nset d_vel = 75\r\n\r\n# rateprofile\r\nrateprofile 0\r\nset rc_rate = 100\r\nset rc_rate_yaw = 100\r\nset rc_expo = 10\r\nset rc_yaw_expo = 10\r\nset thr_mid = 50\r\nset thr_expo = 0\r\nset roll_rate = 100\r\nset pitch_rate = 100\r\nset yaw_rate = 70\r\nset tpa_rate = 20\r\nset tpa_breakpoint = 1650\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/betaflight/betaflight/issues/comments/243588851","html_url":"https://github.com/betaflight/betaflight/issues/1040#issuecomment-243588851","issue_url":"https://api.github.com/repos/betaflight/betaflight/issues/1040","id":243588851,"user":{"login":"friszky","id":21029221,"avatar_url":"https://avatars.githubusercontent.com/u/21029221?v=3","gravatar_id":"","url":"https://api.github.com/users/friszky","html_url":"https://github.com/friszky","followers_url":"https://api.github.com/users/friszky/followers","following_url":"https://api.github.com/users/friszky/following{/other_user}","gists_url":"https://api.github.com/users/friszky/gists{/gist_id}","starred_url":"https://api.github.com/users/friszky/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/friszky/subscriptions","organizations_url":"https://api.github.com/users/friszky/orgs","repos_url":"https://api.github.com/users/friszky/repos","events_url":"https://api.github.com/users/friszky/events{/privacy}","received_events_url":"https://api.github.com/users/friszky/received_events","type":"User","site_admin":false},"created_at":"2016-08-30T21:35:05Z","updated_at":"2016-08-30T21:35:05Z","body":"Additionally, here is the CLI dump:\r\n\r\n# version\r\n# BetaFlight/MOTOLAB 3.0.0 Aug 27 2016 / 06:46:24 (00cad53)\r\n\r\n# name\r\nname -\r\n\r\n# mixer\r\nmixer CUSTOM\r\n\r\nmmix reset\r\n\r\nmmix 0  1.000 -1.000  0.770 -1.000\r\nmmix 1  1.000 -1.000 -0.770  1.000\r\nmmix 2  1.000  1.000  0.770  0.770\r\nmmix 3  1.000  1.000 -0.770 -1.000\r\n\r\n# servo\r\nservo 0 1000 2000 1500 90 90 100 -1\r\nservo 1 1000 2000 1500 90 90 100 -1\r\nservo 2 1000 2000 1500 90 90 100 -1\r\nservo 3 1000 2000 1500 90 90 100 -1\r\nservo 4 1000 2000 1500 90 90 100 -1\r\nservo 5 1000 2000 1500 90 90 100 -1\r\nservo 6 1000 2000 1500 90 90 100 -1\r\nservo 7 1000 2000 1500 90 90 100 -1\r\n\r\n# servo mix\r\nsmix reset\r\n\r\n\r\n\r\n# feature\r\nfeature -RX_PPM\r\nfeature -VBAT\r\nfeature -INFLIGHT_ACC_CAL\r\nfeature -RX_SERIAL\r\nfeature -MOTOR_STOP\r\nfeature -SERVO_TILT\r\nfeature -SOFTSERIAL\r\nfeature -GPS\r\nfeature -FAILSAFE\r\nfeature -SONAR\r\nfeature -TELEMETRY\r\nfeature -CURRENT_METER\r\nfeature -3D\r\nfeature -RX_PARALLEL_PWM\r\nfeature -RX_MSP\r\nfeature -RSSI_ADC\r\nfeature -LED_STRIP\r\nfeature -DISPLAY\r\nfeature -OSD\r\nfeature -BLACKBOX\r\nfeature -CHANNEL_FORWARDING\r\nfeature -TRANSPONDER\r\nfeature -AIRMODE\r\nfeature -SUPEREXPO_RATES\r\nfeature VBAT\r\nfeature RX_SERIAL\r\nfeature FAILSAFE\r\nfeature TELEMETRY\r\nfeature CURRENT_METER\r\nfeature AIRMODE\r\nfeature SUPEREXPO_RATES\r\n\r\n# beeper\r\nbeeper GYRO_CALIBRATED\r\nbeeper RX_LOST\r\nbeeper RX_LOST_LANDING\r\nbeeper DISARMING\r\nbeeper ARMING\r\nbeeper ARMING_GPS_FIX\r\nbeeper BAT_CRIT_LOW\r\nbeeper BAT_LOW\r\nbeeper GPS_STATUS\r\nbeeper RX_SET\r\nbeeper ACC_CALIBRATION\r\nbeeper ACC_CALIBRATION_FAIL\r\nbeeper READY_BEEP\r\nbeeper MULTI_BEEPS\r\nbeeper DISARM_REPEAT\r\nbeeper ARMED\r\nbeeper SYSTEM_INIT\r\nbeeper ON_USB\r\n\r\n# map\r\nmap TAER1234\r\n\r\n# serial\r\nserial 20 1 115200 57600 0 115200\r\nserial 0 64 115200 57600 0 115200\r\nserial 1 32 115200 57600 0 115200\r\nserial 2 1 115200 57600 0 115200\r\n\r\n# led\r\nled 0 0,0::C:0\r\nled 1 0,0::C:0\r\nled 2 0,0::C:0\r\nled 3 0,0::C:0\r\nled 4 0,0::C:0\r\nled 5 0,0::C:0\r\nled 6 0,0::C:0\r\nled 7 0,0::C:0\r\nled 8 0,0::C:0\r\nled 9 0,0::C:0\r\nled 10 0,0::C:0\r\nled 11 0,0::C:0\r\nled 12 0,0::C:0\r\nled 13 0,0::C:0\r\nled 14 0,0::C:0\r\nled 15 0,0::C:0\r\nled 16 0,0::C:0\r\nled 17 0,0::C:0\r\nled 18 0,0::C:0\r\nled 19 0,0::C:0\r\nled 20 0,0::C:0\r\nled 21 0,0::C:0\r\nled 22 0,0::C:0\r\nled 23 0,0::C:0\r\nled 24 0,0::C:0\r\nled 25 0,0::C:0\r\nled 26 0,0::C:0\r\nled 27 0,0::C:0\r\nled 28 0,0::C:0\r\nled 29 0,0::C:0\r\nled 30 0,0::C:0\r\nled 31 0,0::C:0\r\n\r\n# color\r\ncolor 0 0,0,0\r\ncolor 1 0,255,255\r\ncolor 2 0,0,255\r\ncolor 3 30,0,255\r\ncolor 4 60,0,255\r\ncolor 5 90,0,255\r\ncolor 6 120,0,255\r\ncolor 7 150,0,255\r\ncolor 8 180,0,255\r\ncolor 9 210,0,255\r\ncolor 10 240,0,255\r\ncolor 11 270,0,255\r\ncolor 12 300,0,255\r\ncolor 13 330,0,255\r\ncolor 14 0,0,0\r\ncolor 15 0,0,0\r\n\r\n# mode_color\r\nmode_color 0 0 1\r\nmode_color 0 1 11\r\nmode_color 0 2 2\r\nmode_color 0 3 13\r\nmode_color 0 4 10\r\nmode_color 0 5 3\r\nmode_color 1 0 5\r\nmode_color 1 1 11\r\nmode_color 1 2 3\r\nmode_color 1 3 13\r\nmode_color 1 4 10\r\nmode_color 1 5 3\r\nmode_color 2 0 10\r\nmode_color 2 1 11\r\nmode_color 2 2 4\r\nmode_color 2 3 13\r\nmode_color 2 4 10\r\nmode_color 2 5 3\r\nmode_color 3 0 8\r\nmode_color 3 1 11\r\nmode_color 3 2 4\r\nmode_color 3 3 13\r\nmode_color 3 4 10\r\nmode_color 3 5 3\r\nmode_color 4 0 7\r\nmode_color 4 1 11\r\nmode_color 4 2 3\r\nmode_color 4 3 13\r\nmode_color 4 4 10\r\nmode_color 4 5 3\r\nmode_color 5 0 9\r\nmode_color 5 1 11\r\nmode_color 5 2 2\r\nmode_color 5 3 13\r\nmode_color 5 4 10\r\nmode_color 5 5 3\r\nmode_color 6 0 6\r\nmode_color 6 1 10\r\nmode_color 6 2 1\r\nmode_color 6 3 0\r\nmode_color 6 4 0\r\nmode_color 6 5 2\r\nmode_color 6 6 3\r\nmode_color 6 7 6\r\nmode_color 6 8 0\r\nmode_color 6 9 0\r\nmode_color 6 10 0\r\n\r\n# aux\r\naux 0 0 0 1300 2100\r\naux 1 1 1 900 1200\r\naux 2 1 2 1200 2100\r\naux 3 2 1 1800 2100\r\naux 4 3 2 1200 2100\r\naux 5 12 3 1725 2100\r\naux 6 25 1 1300 1700\r\naux 7 0 0 900 900\r\naux 8 0 0 900 900\r\naux 9 0 0 900 900\r\naux 10 0 0 900 900\r\naux 11 0 0 900 900\r\naux 12 0 0 900 900\r\naux 13 0 0 900 900\r\naux 14 0 0 900 900\r\naux 15 0 0 900 900\r\naux 16 0 0 900 900\r\naux 17 0 0 900 900\r\naux 18 0 0 900 900\r\naux 19 0 0 900 900\r\n\r\n# adjrange\r\nadjrange 0 0 0 900 900 0 0\r\nadjrange 1 0 0 900 900 0 0\r\nadjrange 2 0 0 900 900 0 0\r\nadjrange 3 0 0 900 900 0 0\r\nadjrange 4 0 0 900 900 0 0\r\nadjrange 5 0 0 900 900 0 0\r\nadjrange 6 0 0 900 900 0 0\r\nadjrange 7 0 0 900 900 0 0\r\nadjrange 8 0 0 900 900 0 0\r\nadjrange 9 0 0 900 900 0 0\r\nadjrange 10 0 0 900 900 0 0\r\nadjrange 11 0 0 900 900 0 0\r\nadjrange 12 0 0 900 900 0 0\r\nadjrange 13 0 0 900 900 0 0\r\nadjrange 14 0 0 900 900 0 0\r\n\r\n# rxrange\r\nrxrange 0 1000 2000\r\nrxrange 1 1000 2000\r\nrxrange 2 1000 2000\r\nrxrange 3 1000 2000\r\n\r\n# rxfail\r\nrxfail 0 a\r\nrxfail 1 a\r\nrxfail 2 a\r\nrxfail 3 a\r\nrxfail 4 h\r\nrxfail 5 h\r\nrxfail 6 h\r\nrxfail 7 h\r\nrxfail 8 h\r\nrxfail 9 h\r\nrxfail 10 h\r\nrxfail 11 h\r\nrxfail 12 h\r\nrxfail 13 h\r\nrxfail 14 h\r\nrxfail 15 h\r\nrxfail 16 h\r\nrxfail 17 h\r\n\r\n# master\r\nset mid_rc = 1500\r\nset min_check = 1100\r\nset max_check = 1900\r\nset rssi_channel = 0\r\nset rssi_scale = 30\r\nset rc_interpolation = AUTO\r\nset rc_interpolation_interval = 19\r\nset rssi_ppm_invert = OFF\r\nset input_filtering_mode = OFF\r\nset roll_yaw_cam_mix_degrees = 0\r\nset max_aux_channels = 6\r\nset debug_mode = NONE\r\nset min_throttle = 1070\r\nset max_throttle = 2000\r\nset min_command = 1000\r\nset servo_center_pulse = 1500\r\nset 3d_deadband_low = 1406\r\nset 3d_deadband_high = 1514\r\nset 3d_neutral = 1460\r\nset 3d_deadband_throttle = 50\r\nset use_unsynced_pwm = OFF\r\nset motor_pwm_protocol = ONESHOT125\r\nset motor_pwm_rate = 400\r\nset servo_pwm_rate = 50\r\nset disarm_kill_switch = ON\r\nset gyro_cal_on_first_arm = OFF\r\nset auto_disarm_delay = 5\r\nset small_angle = 25\r\nset fixedwing_althold_dir = 1\r\nset reboot_character = 82\r\nset serialrx_provider = SBUS\r\nset sbus_inversion = ON\r\nset spektrum_sat_bind = 0\r\nset spektrum_sat_bind_autoreset = 1\r\nset telemetry_switch = OFF\r\nset telemetry_inversion = ON\r\nset frsky_default_lattitude =  0.000\r\nset frsky_default_longitude =  0.000\r\nset frsky_coordinates_format = 0\r\nset frsky_unit = IMPERIAL\r\nset frsky_vfas_precision = 0\r\nset frsky_vfas_cell_voltage = OFF\r\nset hott_alarm_sound_interval = 5\r\nset battery_capacity = 0\r\nset vbat_scale = 110\r\nset vbat_max_cell_voltage = 43\r\nset vbat_min_cell_voltage = 33\r\nset vbat_warning_cell_voltage = 35\r\nset vbat_hysteresis = 1\r\nset current_meter_scale = 400\r\nset current_meter_offset = 0\r\nset multiwii_current_meter_output = OFF\r\nset current_meter_type = ADC\r\nset align_gyro = DEFAULT\r\nset align_acc = DEFAULT\r\nset align_mag = DEFAULT\r\nset align_board_roll = 0\r\nset align_board_pitch = 0\r\nset align_board_yaw = 180\r\nset max_angle_inclination = 700\r\nset gyro_lpf = OFF\r\nset gyro_sync_denom = 4\r\nset gyro_lowpass_level = NORMAL\r\nset gyro_lowpass = 90\r\nset gyro_notch_hz = 0\r\nset gyro_notch_cutoff = 150\r\nset moron_threshold = 32\r\nset imu_dcm_kp = 2500\r\nset imu_dcm_ki = 0\r\nset alt_hold_deadband = 40\r\nset alt_hold_fast_change = ON\r\nset deadband = 0\r\nset yaw_deadband = 0\r\nset throttle_correction_value = 0\r\nset throttle_correction_angle = 800\r\nset yaw_control_direction = 1\r\nset yaw_motor_direction = 1\r\nset tri_unarmed_servo = ON\r\nset servo_lowpass_freq = 400\r\nset servo_lowpass_enable = OFF\r\nset airmode_activate_throttle = 1350\r\nset failsafe_delay = 10\r\nset failsafe_off_delay = 10\r\nset failsafe_throttle = 1000\r\nset failsafe_kill_switch = OFF\r\nset failsafe_throttle_low_delay = 100\r\nset failsafe_procedure = DROP\r\nset rx_min_usec = 885\r\nset rx_max_usec = 2115\r\nset gimbal_mode = NORMAL\r\nset acc_hardware = AUTO\r\nset acc_lpf_hz =  10.000\r\nset accxy_deadband = 40\r\nset accz_deadband = 40\r\nset acc_unarmedcal = ON\r\nset acc_trim_pitch = 0\r\nset acc_trim_roll = 0\r\nset pid_process_denom = 1\r\nset blackbox_rate_num = 1\r\nset blackbox_rate_denom = 1\r\nset blackbox_device = SERIAL\r\nset blackbox_on_motor_test = OFF\r\nset ledstrip_visual_beeper = OFF\r\n\r\n# profile\r\nprofile 0\r\n\r\nset pid_delta_method = MEASUREMENT\r\nset yaw_p_limit = 500\r\nset dterm_lowpass_level = HIGH\r\nset dterm_lowpass = 100\r\nset dterm_notch_hz = 260\r\nset dterm_notch_cutoff = 160\r\nset vbat_pid_compensation = OFF\r\nset pid_at_min_throttle = ON\r\nset pid_tolerance_band = 0\r\nset tolerance_band_reduction = 40\r\nset zero_cross_allowance = 2\r\nset iterm_throttle_gain = 0\r\nset pterm_setpoint_weight = 80\r\nset dterm_setpoint_weight = 150\r\nset yaw_rate_accel_limit = 220\r\nset rate_accel_limit = 0\r\nset accum_threshold = 130\r\nset yaw_accum_threshold = 32\r\nset yaw_lowpass = 80\r\nset pid_controller = BETAFLIGHT\r\nset p_pitch = 60\r\nset i_pitch = 65\r\nset d_pitch = 22\r\nset p_roll = 45\r\nset i_roll = 40\r\nset d_roll = 20\r\nset p_yaw = 80\r\nset i_yaw = 45\r\nset d_yaw = 20\r\nset p_alt = 50\r\nset i_alt = 0\r\nset d_alt = 0\r\nset p_level = 50\r\nset i_level = 50\r\nset d_level = 100\r\nset p_vel = 55\r\nset i_vel = 55\r\nset d_vel = 75\r\nrateprofile 0\r\n\r\n# rateprofile\r\nrateprofile 0\r\n\r\nset rc_rate = 100\r\nset rc_rate_yaw = 100\r\nset rc_expo = 0\r\nset rc_yaw_expo = 0\r\nset thr_mid = 50\r\nset thr_expo = 0\r\nset roll_srate = 70\r\nset pitch_srate = 70\r\nset yaw_srate = 70\r\nset tpa_rate = 10\r\nset tpa_breakpoint = 1650"}}
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