Tiny Whoop製作のログ（手順メモ）
まとめ
実際に機体を製作してチューニングする試行錯誤をそのままメモして公開。雑な文章で、正確性は怪しいですが、とりあえずメモ書きです。
- パーツの選択
- FCの初期化 bf3.2.2
- BF設定、レシーバー、モード
- 送信機のモデル設定
- モーター搭載、チェック
- アーミング
- ホバリング、設定調整
- モーター、ブレークイン
- アングルモード、チェック
- アクロモード、small_angle
ここからの記述は、実際に機体をパーツから組み上げて、ソフトの設定をし、テスト飛行で確認するまでの時系列の流れをメモしたものです。
実際の試行錯誤、トラブルをそのまま記述しているので、よくある答えだけをまとめたものではありません。
ややこしい手順は、ベテランでも忘れたり、間違えたりしますので、どうやってリカバリーするかも、参考になると思います。
記述漏れ、その他、無意識にやる基本作業もあるため、この説明を忠実にやっても、できるとは限りません。
USER MANUALS
Go to BETAFPV Support Freshdesk for F3 Brushed Flight Controller
パーツの選択
- FC Betafpv f3ボードのカメラ組み立て済みAIO（現時点で最強）
- 社外６１５フレーム
- 内蔵ＲＸが使えるFrsky Taranis ｘ７
- バッテリー HV PH2.0コネクタ 260MA
BFのデフォルト確認
impulseRCのドライバ設定ソフトで、デバイス認識させる
ドライバインストール前、PC内部で1分ぐらい動いていいるみたいなので、すぐに認識しない。
ＣＬＩでdumpして、設定をテキストで確認。
3.2からなのか、DFUモードにならず
【初心者挫折ポイント】
FCの初期化フラッシュ
comモードからflashを選択
BFFF3のファームを選択3.2.2
インストールは成功
※ここまで約10分問題なし
※初心者は、最初のUSB接続で認識しないか、COMからFLASHに進めないかもしれない
【初心者挫折ポイント】
bf設定
MMWのbf3.2の2017年10月以降のアップデート情報は、こちら
FCの倒立はしないので、それ以外のコードをコピーペーストしてsave。
【初心者挫折ポイント】
ＧＵＩのメニューで設定してもよいが、最適な設定を知らないなら、ベテランの公開している設定値をＣＬＩのコマンドで実行して書き換えるのがベスト。
※ただし、間違ったら、ｴﾗｲｺﾄﾆﾅﾘﾏｽｶﾞ｡｡｡
BF設定、レシーバー、モード
確認
基本設定からのチューニング
送信機のモデル設定
FRSKYの場合、モデルを新規で作成。
D8にしてbind
ここで、ちょっと壁。
FCのお尻のボタンを押したまま、バッテリーを接続する。そして、送信機のBINDボタンを押す。アラームがなり、バインドできる、ハズ。何回も、やり直して確認。
betaflightのレシーバーで、つながったかを確認する。
ランプ点滅が点灯に変わる（たぶん・・・）
つながったら、スロットルなどのスティック操作に反応するようになる。
【初心者挫折ポイント】
Channel map ステックと動作のマッチングは、送信機毎にことなるので、スロットルのステックで、レシーバーのスロットルになるか、確認する。（その他全部確認）
スティックエンドの調整
つぎに、スティックのエンドポイントの調整をする。
エンドポイントとは、最小と最大の値を、スティック操作の最小と最大に調整することです。
ennd point 1010 max 1990
stick min 1020 stick max 1980
送信機毎にことなり、めったにやらない作業なので、手順は忘れるものです。
下記の動画が参考になります。※ファームのアップデートで送信機のメニューが一部変わっています。
モーター搭載、チェック
CW、CCWのモーター正転、逆転を確認して取り付ける。
BFのMOTORメニューで１こづつ回転方向を確認しながら、回転をあげて、回転方向を確認する。
プロペラを外してやるのが絶対の常識だが、TINYだと左手で機体が浮上しないように抑えてやっても、大丈夫。
※間違って、前回にしたら、ぶっ飛び、怪我するの得注意。自己責任で。
【トラブル対応】
回転方向が全部、逆になってる！モーターのメーカーごとに正転、逆転のケーブルの色などがことなるので、普通に真逆で取り付けて、プロペラが逆回転になる。間違ったら、モーターの配置を逆にして解決。
モーターの最低回転を調整する
モーターの回転が問題なければ、実際に、送信機でアームしてホバリングさせてみる。
初心者には難しいかもしれませんが、そっと浮かして見れた問題ないか、問題あるかは確認できます。
【トラブル対策】
スロットルを入れたら、いきなり転がって、機体がのたうち回る、とか。AIRモードはオフ、アングルモードで再度テスト。
プロペラが逆ではないか。
BFでモーター回転方向をリバース（INVERT）させてないか。
２０１７年時点のドローン行j回の常識は、INVERTさせるほうが良いということになり、BFも切り替えスイッチを導入しました。
モーター回転方向は逆転させる INVERTにする。
INVERTだと、プロペラが平泳ぎの手の書き方と同じようになります。
前から来た空気を機体の外に向かって書き出すイメージ。
2017年以前の標準は、逆で内側に空気の流れを集める回転方向でした。
微妙に、操縦特性は変わります。5インチだと、雑草に突っ込んだときに、正転だとカメラに草がドット集まったのですが、逆転だと外に書き出すのでレンズが汚れにくくなります。その代わり、機体の横にあるUSBポートが、草のゴミまみれになり、接触不良の原因になります。
※USBポートの穴をふさぐためのスペシャルパーツはこちら
BFのモード設定
MODE設定は、ブラシモーターで非力なタイニーならではの設定もあると思います。
5インチのフルサイズのサーバーだと、アクロで飛ばすのが前提です。
しかし、タイニーはアングルモードで水平を自動制御させるのが一般的かもしれません。
タイニーでレースをする人には、アクロモードが絶対良いと思うひとも多いと思います。ぶつかって、即墜落になることだけ克服できれば、スピードもでて、思いのままに操縦できるアクロが良いのは当然です。
モード設定する内容の必須は以下の3つです。
- アーム・モード
- アングルモード
- プリアーム・モード
BF3.2から、安全のため二段階アーミングのためのスイッチがモード化されました。これは、アームスイッチだけでは、アームしないようにするものです。プリアームのスイッチをオンにしてから、アームスイッチをオンにしないとモーターは回転しません。
pid設定
FC、つまりフライトコントローラーの制御機能は、PID設定を調整することで、最適な操縦性がえられるようになります。
デフォルト、いわゆる元の基本設定は、初心者でも扱える設定なので、動きが遅く、上級者にはかえって操縦しづらいので、飛行スタイル似合わせて調整が必要です。
【PID】は、自分が目指す飛行スタイルをしているパイロットのPID設定を真似するのが一番近道だと思います。
下手に、自分が飛ばしやすい設定から入ると、下手くそが固定化して、上達しません。
設定が間違っていると、正しい飛ばし方をしても、まともに飛ばせないので、機体のモーター、FC、プロペラ、重要などの仕様をきっちり同じ機体で飛ばしている上級者の設定を調べて、その設定でやるのが良いです。
タイニーならではの数値
ヨーのPが5インチとくらべて2倍になってます。
その他も、非力なブラシモーターは、ブラシレスモーターと同じような数値とは大きくことなるようです。
20171202 FPV-X v0.5
# Betaflight / BETAFLIGHTF3 (BFF3) 3.2.2 Nov 11 2017 / 00:21:21 (77782e602) MSP API: 1.36
name FPV-X
resource BEEPER 1 C15
resource MOTOR 1 A06
resource MOTOR 2 A07
resource MOTOR 3 B08
resource MOTOR 4 B09
resource MOTOR 5 B00
resource MOTOR 6 B01
resource MOTOR 7 A03
resource MOTOR 8 A02
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 B07
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 A08
resource SERIAL_TX 1 A09
resource SERIAL_TX 2 A02
resource SERIAL_TX 3 B10
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_TX 11 B01
resource SERIAL_TX 12 NONE
resource SERIAL_RX 1 A10
resource SERIAL_RX 2 A03
resource SERIAL_RX 3 B11
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 SERIAL_RX 11 B00
resource SERIAL_RX 12 NONE
resource LED 1 NONE
resource LED 2 NONE
resource LED 3 NONE
resource RX_BIND 1 NONE
resource RX_BIND_PLUG 1 NONE
resource SPI_SCK 1 B03
resource SPI_SCK 2 B13
resource SPI_SCK 3 NONE
resource SPI_MISO 1 B04
resource SPI_MISO 2 B14
resource SPI_MISO 3 NONE
resource SPI_MOSI 1 B05
resource SPI_MOSI 2 B15
resource SPI_MOSI 3 NONE
resource ESCSERIAL 1 B07
resource CAMERA_CONTROL 1 NONE
resource ADC_BATT 1 A04
resource ADC_RSSI 1 B02
resource ADC_CURR 1 A05
resource ADC_EXT 1 NONE
mixer QUADX
mmix reset
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
smix reset
feature -RX_PPM
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -SONAR
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 -SOFTSPI
feature -ESC_SENSOR
feature -ANTI_GRAVITY
feature -DYNAMIC_FILTER
feature RX_SERIAL
feature TELEMETRY
feature RSSI_ADC
feature OSD
beeper GYRO_CALIBRATED
beeper RX_LOST
beeper RX_LOST_LANDING
beeper DISARMING
beeper ARMING
beeper ARMING_GPS_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
map TAER1234
serial 20 1 115200 57600 0 115200
serial 0 0 115200 57600 0 115200
serial 1 64 115200 57600 0 115200
serial 2 0 115200 57600 0 115200
led 0 0,0::C:0
led 1 0,0::C: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 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 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 9
mode_color 5 1 11
mode_color 5 2 2
mode_color 5 3 13
mode_color 5 4 10
mode_color 5 5 3
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 0 0 0 1400 2100
aux 1 1 1 1350 2100
aux 2 13 2 1275 1675
aux 3 28 1 900 1650
aux 4 36 2 1250 1675
aux 5 0 0 900 900
aux 6 0 0 900 900
aux 7 0 0 900 900
aux 8 0 0 900 900
aux 9 0 0 900 900
aux 10 0 0 900 900
aux 11 0 0 900 900
aux 12 0 0 900 900
aux 13 0 0 900 900
aux 14 0 0 900 900
aux 15 0 0 900 900
aux 16 0 0 900 900
aux 17 0 0 900 900
aux 18 0 0 900 900
aux 19 0 0 900 900
adjrange 0 0 0 900 900 0 0
adjrange 1 0 0 900 900 0 0
adjrange 2 0 0 900 900 0 0
adjrange 3 0 0 900 900 0 0
adjrange 4 0 0 900 900 0 0
adjrange 5 0 0 900 900 0 0
adjrange 6 0 0 900 900 0 0
adjrange 7 0 0 900 900 0 0
adjrange 8 0 0 900 900 0 0
adjrange 9 0 0 900 900 0 0
adjrange 10 0 0 900 900 0 0
adjrange 11 0 0 900 900 0 0
adjrange 12 0 0 900 900 0 0
adjrange 13 0 0 900 900 0 0
adjrange 14 0 0 900 900 0 0
rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000
vtx 0 0 0 0 900 900
vtx 1 0 0 0 900 900
vtx 2 0 0 0 900 900
vtx 3 0 0 0 900 900
vtx 4 0 0 0 900 900
vtx 5 0 0 0 900 900
vtx 6 0 0 0 900 900
vtx 7 0 0 0 900 900
vtx 8 0 0 0 900 900
vtx 9 0 0 0 900 900
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
set align_gyro = DEFAULT
set gyro_lpf = OFF
set gyro_sync_denom = 1
set gyro_lowpass_type = PT1
set gyro_lowpass_hz = 90
set gyro_notch1_hz = 400
set gyro_notch1_cutoff = 300
set gyro_notch2_hz = 200
set gyro_notch2_cutoff = 100
set moron_threshold = 48
set align_acc = DEFAULT
set acc_hardware = AUTO
set acc_lpf_hz = 10
set acc_trim_pitch = 0
set acc_trim_roll = 0
set mid_rc = 1500
set min_check = 1020
set max_check = 1980
set rssi_channel = 0
set rssi_scale = 41
set rssi_invert = OFF
set rc_interp = AUTO
set rc_interp_ch = RP
set rc_interp_int = 19
set fpv_mix_degrees = 0
set max_aux_channels = 14
set serialrx_provider = SBUS
set sbus_inversion = ON
set spektrum_sat_bind = 0
set spektrum_sat_bind_autoreset = ON
set airmode_start_throttle = 1350
set rx_min_usec = 885
set rx_max_usec = 2115
set input_filtering_mode = OFF
set blackbox_p_ratio = 32
set blackbox_device = SDCARD
set blackbox_on_motor_test = OFF
set blackbox_record_acc = ON
set min_throttle = 1060
set max_throttle = 2000
set min_command = 1000
set dshot_idle_value = 450
set use_unsynced_pwm = ON
set motor_pwm_protocol = BRUSHED
set motor_pwm_rate = 16000
set motor_pwm_inversion = OFF
set thr_corr_value = 0
set thr_corr_angle = 800
set failsafe_delay = 4
set failsafe_off_delay = 10
set failsafe_throttle = 1000
set failsafe_kill_switch = OFF
set failsafe_throttle_low_delay = 100
set failsafe_procedure = DROP
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 0
set gimbal_mode = NORMAL
set bat_capacity = 200
set vbat_max_cell_voltage = 44
set vbat_full_cell_voltage = 41
set vbat_min_cell_voltage = 29
set vbat_warning_cell_voltage = 31
set vbat_hysteresis = 1
set current_meter = ADC
set battery_meter = ADC
set vbat_detect_cell_voltage = 30
set use_vbat_alerts = ON
set use_cbat_alerts = OFF
set cbat_alert_percent = 10
set vbat_cutoff_percent = 100
set vbat_scale = 110
set ibata_scale = 220
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 = 0
set yaw_motors_reversed = ON
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
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 accxy_deadband = 40
set accz_deadband = 40
set acc_unarmedcal = ON
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set small_angle = 25
set auto_disarm_delay = 5
set disarm_kill_switch = ON
set gyro_cal_on_first_arm = OFF
set alt_hold_deadband = 40
set alt_hold_fast_change = ON
set deadband = 5
set yaw_deadband = 10
set yaw_control_reversed = OFF
set pid_process_denom = 2
set tlm_switch = OFF
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 = IMPERIAL
set frsky_vfas_precision = 0
set hott_alarm_int = 5
set pid_in_tlm = OFF
set report_cell_voltage = OFF
set ledstrip_visual_beeper = OFF
set sdcard_dma = OFF
set osd_units = METRIC
set osd_rssi_alarm = 20
set osd_cap_alarm = 2200
set osd_alt_alarm = 100
set osd_ah_max_pit = 20
set osd_ah_max_rol = 40
set osd_tim1 = 2560
set osd_tim2 = 513
set osd_vbat_pos = 2412
set osd_rssi_pos = 2105
set osd_tim_1_pos = 54
set osd_tim_2_pos = 2454
set osd_flymode_pos = 2073
set osd_throttle_pos = 2049
set osd_vtx_channel_pos = 377
set osd_crosshairs = 200
set osd_ah_sbar = 200
set osd_ah_pos = 200
set osd_current_pos = 2433
set osd_mah_drawn_pos = 353
set osd_craft_name_pos = 2092
set osd_gps_speed_pos = 218
set osd_gps_lon_pos = 82
set osd_gps_lat_pos = 65
set osd_gps_sats_pos = 51
set osd_home_dir_pos = 302
set osd_home_dist_pos = 303
set osd_compass_bar_pos = 42
set osd_altitude_pos = 2400
set osd_pid_roll_pos = 423
set osd_pid_pitch_pos = 455
set osd_pid_yaw_pos = 487
set osd_debug_pos = 1
set osd_power_pos = 321
set osd_pidrate_profile_pos = 345
set osd_warnings_pos = 2442
set osd_avg_cell_voltage_pos = 76
set osd_pit_ang_pos = 2080
set osd_rol_ang_pos = 65
set osd_battery_usage_pos = 2440
set osd_disarmed_pos = 2315
set osd_nheading_pos = 311
set osd_nvario_pos = 279
set osd_esc_tmp_pos = 82
set osd_esc_rpm_pos = 83
set osd_stat_max_spd = OFF
set osd_stat_max_dist = OFF
set osd_stat_min_batt = ON
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 = OFF
set osd_stat_endbatt = ON
set osd_stat_bb_no = OFF
set osd_stat_tim_1 = ON
set osd_stat_tim_2 = ON
set task_statistics = ON
set debug_mode = NONE
set pwr_on_arm_grace = 0
set vtx_halfduplex = ON
set vcd_video_system = 2
set vcd_h_offset = 0
set vcd_v_offset = 0
set max7456_clock = DEFAULT
set displayport_msp_col_adjust = 0
set displayport_msp_row_adjust = 0
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 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
profile 0
set dterm_lowpass_type = BIQUAD
set dterm_lowpass = 100
set dterm_notch_hz = 260
set dterm_notch_cutoff = 160
set vbat_pid_gain = OFF
set pid_at_min_throttle = ON
set anti_gravity_threshold = 350
set anti_gravity_gain = 1000
set setpoint_relax_ratio = 100
set dterm_setpoint_weight = 100
set acc_limit_yaw = 100
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_windup = 50
set iterm_limit = 150
set pidsum_limit = 500
set pidsum_limit_yaw = 400
set yaw_lowpass = 0
set p_pitch = 80
set i_pitch = 80
set d_pitch = 30
set p_roll = 80
set i_roll = 80
set d_roll = 30
set p_yaw = 180
set i_yaw = 45
set d_yaw = 0
set p_alt = 50
set i_alt = 0
set d_alt = 0
set p_level = 25
set i_level = 50
set d_level = 50
set p_vel = 55
set i_vel = 55
set d_vel = 75
set level_limit = 90
set horizon_tilt_effect = 75
set horizon_tilt_expert_mode = OFF
rateprofile 0
set rc_rate = 100
set rc_rate_yaw = 100
set rc_expo = 0
set rc_expo_yaw = 0
set thr_mid = 50
set thr_expo = 0
set roll_srate = 70
set pitch_srate = 70
set yaw_srate = 70
set tpa_rate = 10
set tpa_breakpoint = 1650
#
CLI # dump
デフォルト設定
# Betaflight / BETAFLIGHTF3 (BFF3) 3.2.0 Sep 28 2017 / 16:16:50 (ceb6f70) MSP API: 1.36
name BETAFPV
resource BEEPER 1 C15
resource MOTOR 1 A06
resource MOTOR 2 A07
resource MOTOR 3 B08
resource MOTOR 4 B09
resource MOTOR 5 B00
resource MOTOR 6 B01
resource MOTOR 7 A03
resource MOTOR 8 A02
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 B07
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 A08
resource SERIAL_TX 1 A09
resource SERIAL_TX 2 A02
resource SERIAL_TX 3 B10
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_TX 11 B01
resource SERIAL_TX 12 NONE
resource SERIAL_RX 1 A10
resource SERIAL_RX 2 A03
resource SERIAL_RX 3 B11
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 SERIAL_RX 11 B00
resource SERIAL_RX 12 NONE
resource LED 1 NONE
resource LED 2 NONE
resource LED 3 NONE
resource RX_BIND 1 NONE
resource RX_BIND_PLUG 1 NONE
resource SPI_SCK 1 B03
resource SPI_SCK 2 B13
resource SPI_SCK 3 NONE
resource SPI_MISO 1 B04
resource SPI_MISO 2 B14
resource SPI_MISO 3 NONE
resource SPI_MOSI 1 B05
resource SPI_MOSI 2 B15
resource SPI_MOSI 3 NONE
resource ESCSERIAL 1 B07
resource CAMERA_CONTROL 1 NONE
resource ADC_BATT 1 A04
resource ADC_RSSI 1 B02
resource ADC_CURR 1 A05
resource ADC_EXT 1 NONE
mixer QUADX
mmix reset
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
smix reset
feature -RX_PPM
feature -INFLIGHT_ACC_CAL
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -SONAR
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 -SOFTSPI
feature -ESC_SENSOR
feature -ANTI_GRAVITY
feature -DYNAMIC_FILTER
feature RX_SERIAL
feature MOTOR_STOP
feature TELEMETRY
feature OSD
beeper GYRO_CALIBRATED
beeper RX_LOST
beeper RX_LOST_LANDING
beeper DISARMING
beeper ARMING
beeper ARMING_GPS_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
map TAER1234
serial 20 1 115200 57600 0 115200
serial 0 32 115200 57600 0 115200
serial 1 64 115200 57600 0 115200
serial 2 0 115200 57600 0 115200
led 0 0,0::C:0
led 1 0,0::C: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 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 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 9
mode_color 5 1 11
mode_color 5 2 2
mode_color 5 3 13
mode_color 5 4 10
mode_color 5 5 3
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 0 0 0 1300 2100
aux 1 1 0 1300 2100
aux 2 0 0 900 900
aux 3 0 0 900 900
aux 4 0 0 900 900
aux 5 0 0 900 900
aux 6 0 0 900 900
aux 7 0 0 900 900
aux 8 0 0 900 900
aux 9 0 0 900 900
aux 10 0 0 900 900
aux 11 0 0 900 900
aux 12 0 0 900 900
aux 13 0 0 900 900
aux 14 0 0 900 900
aux 15 0 0 900 900
aux 16 0 0 900 900
aux 17 0 0 900 900
aux 18 0 0 900 900
aux 19 0 0 900 900
adjrange 0 0 0 900 900 0 0
adjrange 1 0 0 900 900 0 0
adjrange 2 0 0 900 900 0 0
adjrange 3 0 0 900 900 0 0
adjrange 4 0 0 900 900 0 0
adjrange 5 0 0 900 900 0 0
adjrange 6 0 0 900 900 0 0
adjrange 7 0 0 900 900 0 0
adjrange 8 0 0 900 900 0 0
adjrange 9 0 0 900 900 0 0
adjrange 10 0 0 900 900 0 0
adjrange 11 0 0 900 900 0 0
adjrange 12 0 0 900 900 0 0
adjrange 13 0 0 900 900 0 0
adjrange 14 0 0 900 900 0 0
rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000
vtx 0 0 0 0 900 900
vtx 1 0 0 0 900 900
vtx 2 0 0 0 900 900
vtx 3 0 0 0 900 900
vtx 4 0 0 0 900 900
vtx 5 0 0 0 900 900
vtx 6 0 0 0 900 900
vtx 7 0 0 0 900 900
vtx 8 0 0 0 900 900
vtx 9 0 0 0 900 900
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
set align_gyro = DEFAULT
set gyro_lpf = OFF
set gyro_sync_denom = 1
set gyro_lowpass_type = PT1
set gyro_lowpass_hz = 90
set gyro_notch1_hz = 400
set gyro_notch1_cutoff = 300
set gyro_notch2_hz = 200
set gyro_notch2_cutoff = 100
set moron_threshold = 48
set align_acc = DEFAULT
set acc_hardware = AUTO
set acc_lpf_hz = 10
set acc_trim_pitch = 0
set acc_trim_roll = 0
set mid_rc = 1500
set min_check = 1050
set max_check = 1900
set rssi_channel = 0
set rssi_scale = 41
set rssi_invert = OFF
set rc_interp = AUTO
set rc_interp_ch = RP
set rc_interp_int = 19
set fpv_mix_degrees = 0
set max_aux_channels = 14
set serialrx_provider = SBUS
set sbus_inversion = ON
set spektrum_sat_bind = 0
set spektrum_sat_bind_autoreset = ON
set airmode_start_throttle = 1350
set rx_min_usec = 885
set rx_max_usec = 2115
set input_filtering_mode = OFF
set blackbox_p_ratio = 32
set blackbox_device = SDCARD
set blackbox_on_motor_test = OFF
set blackbox_record_acc = ON
set min_throttle = 1070
set max_throttle = 2000
set min_command = 1000
set dshot_idle_value = 450
set use_unsynced_pwm = ON
set motor_pwm_protocol = BRUSHED
set motor_pwm_rate = 16000
set motor_pwm_inversion = OFF
set thr_corr_value = 0
set thr_corr_angle = 800
set failsafe_delay = 4
set failsafe_off_delay = 10
set failsafe_throttle = 1000
set failsafe_kill_switch = OFF
set failsafe_throttle_low_delay = 100
set failsafe_procedure = DROP
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 0
set gimbal_mode = NORMAL
set bat_capacity = 200
set vbat_max_cell_voltage = 44
set vbat_full_cell_voltage = 41
set vbat_min_cell_voltage = 29
set vbat_warning_cell_voltage = 31
set vbat_hysteresis = 1
set current_meter = ADC
set battery_meter = ADC
set vbat_detect_cell_voltage = 30
set use_vbat_alerts = ON
set use_cbat_alerts = OFF
set cbat_alert_percent = 10
set vbat_cutoff_percent = 100
set vbat_scale = 110
set ibata_scale = 220
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 = 0
set yaw_motors_reversed = OFF
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set 3d_deadband_throttle = 50
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 accxy_deadband = 40
set accz_deadband = 40
set acc_unarmedcal = ON
set imu_dcm_kp = 2500
set imu_dcm_ki = 0
set small_angle = 25
set auto_disarm_delay = 5
set disarm_kill_switch = ON
set gyro_cal_on_first_arm = OFF
set alt_hold_deadband = 40
set alt_hold_fast_change = ON
set deadband = 0
set yaw_deadband = 0
set yaw_control_reversed = OFF
set pid_process_denom = 4
set tlm_switch = OFF
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 = IMPERIAL
set frsky_vfas_precision = 0
set hott_alarm_int = 5
set pid_in_tlm = OFF
set report_cell_voltage = OFF
set ledstrip_visual_beeper = OFF
set sdcard_dma = OFF
set osd_units = METRIC
set osd_rssi_alarm = 20
set osd_cap_alarm = 2200
set osd_alt_alarm = 100
set osd_ah_max_pit = 20
set osd_ah_max_rol = 40
set osd_tim1 = 2560
set osd_tim2 = 513
set osd_vbat_pos = 2403
set osd_rssi_pos = 40
set osd_tim_1_pos = 54
set osd_tim_2_pos = 2422
set osd_flymode_pos = 333
set osd_throttle_pos = 225
set osd_vtx_channel_pos = 377
set osd_crosshairs = 2248
set osd_ah_sbar = 200
set osd_ah_pos = 2248
set osd_current_pos = 385
set osd_mah_drawn_pos = 353
set osd_craft_name_pos = 2412
set osd_gps_speed_pos = 218
set osd_gps_lon_pos = 82
set osd_gps_lat_pos = 65
set osd_gps_sats_pos = 51
set osd_home_dir_pos = 302
set osd_home_dist_pos = 303
set osd_compass_bar_pos = 42
set osd_altitude_pos = 247
set osd_pid_roll_pos = 423
set osd_pid_pitch_pos = 455
set osd_pid_yaw_pos = 487
set osd_debug_pos = 1
set osd_power_pos = 321
set osd_pidrate_profile_pos = 345
set osd_warnings_pos = 2186
set osd_avg_cell_voltage_pos = 76
set osd_pit_ang_pos = 33
set osd_rol_ang_pos = 65
set osd_battery_usage_pos = 392
set osd_disarmed_pos = 2315
set osd_nheading_pos = 311
set osd_nvario_pos = 279
set osd_esc_tmp_pos = 82
set osd_esc_rpm_pos = 83
set osd_stat_max_spd = OFF
set osd_stat_max_dist = OFF
set osd_stat_min_batt = ON
set osd_stat_min_rssi = OFF
set osd_stat_max_curr = OFF
set osd_stat_used_mah = OFF
set osd_stat_max_alt = OFF
set osd_stat_bbox = OFF
set osd_stat_endbatt = ON
set osd_stat_bb_no = OFF
set osd_stat_tim_1 = ON
set osd_stat_tim_2 = ON
set task_statistics = ON
set debug_mode = NONE
set pwr_on_arm_grace = 0
set vtx_halfduplex = ON
set vcd_video_system = 0
set vcd_h_offset = 0
set vcd_v_offset = 0
set max7456_clock = DEFAULT
set displayport_msp_col_adjust = 0
set displayport_msp_row_adjust = 0
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 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
profile 0
set dterm_lowpass_type = BIQUAD
set dterm_lowpass = 100
set dterm_notch_hz = 260
set dterm_notch_cutoff = 160
set vbat_pid_gain = OFF
set pid_at_min_throttle = ON
set anti_gravity_threshold = 350
set anti_gravity_gain = 1000
set setpoint_relax_ratio = 100
set dterm_setpoint_weight = 0
set acc_limit_yaw = 100
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_windup = 50
set iterm_limit = 150
set pidsum_limit = 500
set pidsum_limit_yaw = 400
set yaw_lowpass = 0
set p_pitch = 58
set i_pitch = 50
set d_pitch = 35
set p_roll = 40
set i_roll = 40
set d_roll = 30
set p_yaw = 70
set i_yaw = 45
set d_yaw = 20
set p_alt = 50
set i_alt = 0
set d_alt = 0
set p_level = 50
set i_level = 50
set d_level = 75
set p_vel = 55
set i_vel = 55
set d_vel = 75
set level_limit = 55
set horizon_tilt_effect = 75
set horizon_tilt_expert_mode = OFF
rateprofile 0
set rc_rate = 100
set rc_rate_yaw = 100
set rc_expo = 0
set rc_expo_yaw = 0
set thr_mid = 50
set thr_expo = 0
set roll_srate = 70
set pitch_srate = 70
set yaw_srate = 70
set tpa_rate = 10
set tpa_breakpoint = 1650
#