fixed wing inav dump Nuri

Er fliegt jetzt doch ganz gut. Das GPS ist ein BN880 mit BAUD=57600, RATE=5Hz, PROT=UBLOX, SBAAS=EGNOS, Model=4G AIR fest eingestellt (so wie in den Manuals oft empfohlen).

Daher hier mal der Dump:

# dump

# version
 # INAV/NAZE 1.2.1 Sep 24 2016 / 10:42:31 (36954a8)
 # pflags
 # Persistent config flags: 0x00000000
 # dump master

# mixer
 mixer FLYING_WING
 mmix reset
 smix reset

# feature
 feature -RX_PPM
 feature -VBAT
 feature -INFLIGHT_ACC_CAL
 feature -RX_SERIAL
 feature -MOTOR_STOP
 feature -SERVO_TILT
 feature -SOFTSERIAL
 feature -GPS
 feature -FAILSAFE
 feature -SONAR
 feature -TELEMETRY
 feature -CURRENT_METER
 feature -3D
 feature -RX_PARALLEL_PWM
 feature -RX_MSP
 feature -RSSI_ADC
 feature -LED_STRIP
 feature -DISPLAY
 feature -ONESHOT125
 feature -BLACKBOX
 feature -CHANNEL_FORWARDING
 feature -TRANSPONDER
 feature -AIRMODE
 feature -SUPEREXPO
 feature -VTX
 feature -RX_NRF24
 feature -SOFTSPI
 feature RX_PPM
 feature MOTOR_STOP
 feature SOFTSERIAL
 feature GPS
 feature FAILSAFE
 feature TELEMETRY

# beeper
 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

# map
 map TAER1234

# serial
 serial 0 1 115200 38400 0 115200
 serial 1 2 115200 57600 0 115200
 serial 30 4 115200 38400 0 115200
 serial 31 0 115200 38400 0 115200

set looptime = 2000
 set i2c_overclock = OFF
 set gyro_sync = OFF
 set gyro_sync_denom = 2
 set mid_rc = 1500
 set min_check = 1100
 set max_check = 1900
 set rssi_channel = 0
 set rssi_scale = 30
 set rssi_ppm_invert = OFF
 set rc_smoothing = ON
 set input_filtering_mode = OFF
 set min_throttle = 1000
 set max_throttle = 1850
 set min_command = 1000
 set servo_center_pulse = 1500
 set 3d_deadband_low = 1406
 set 3d_deadband_high = 1514
 set 3d_neutral = 1460
 set 3d_deadband_throttle = 1000
 set motor_pwm_rate = 400
 set servo_pwm_rate = 50
 set disarm_kill_switch = ON
 set auto_disarm_delay = 5
 set small_angle = 180
 set reboot_character = 82
 set gps_provider = UBLOX
 set gps_sbas_mode = AUTO
 set gps_dyn_model = AIR_1G
 set gps_auto_config = ON
 set gps_auto_baud = ON
 set inav_accz_unarmedcal = ON
 set inav_use_gps_velned = ON
 set inav_gps_delay = 200
 set inav_gps_min_sats = 5
 set inav_w_z_baro_p =  0.350
 set inav_w_z_gps_p =  0.200
 set inav_w_z_gps_v =  0.500
 set inav_w_xy_gps_p =  1.000
 set inav_w_xy_gps_v =  2.000
 set inav_w_z_res_v =  0.500
 set inav_w_xy_res_v =  0.500
 set inav_w_acc_bias =  0.010
 set inav_max_eph_epv =  1000.000
 set inav_baro_epv =  100.000
 set nav_disarm_on_landing = OFF
 set nav_use_midthr_for_althold = OFF
 set nav_extra_arming_safety = ON
 set nav_user_control_mode = ATTI
 set nav_position_timeout = 5
 set nav_wp_radius = 100
 set nav_max_speed = 300
 set nav_max_climb_rate = 500
 set nav_manual_speed = 500
 set nav_manual_climb_rate = 200
 set nav_landing_speed = 200
 set nav_land_slowdown_minalt = 500
 set nav_land_slowdown_maxalt = 2000
 set nav_emerg_landing_speed = 500
 set nav_min_rth_distance = 500
 set nav_rth_tail_first = OFF
 set nav_rth_alt_mode = AT_LEAST
 set nav_rth_altitude = 1000
 set nav_mc_bank_angle = 30
 set nav_mc_hover_thr = 1500
 set nav_mc_auto_disarm_delay = 2000
 set nav_fw_cruise_thr = 1400
 set nav_fw_min_thr = 1200
 set nav_fw_max_thr = 1750
 set nav_fw_bank_angle = 33
 set nav_fw_climb_angle = 20
 set nav_fw_dive_angle = 15
 set nav_fw_pitch2thr = 10
 set nav_fw_roll2pitch = 75
 set nav_fw_loiter_radius = 5000
 set serialrx_provider = SPEK1024
 set spektrum_sat_bind = 0
 set telemetry_switch = OFF
 set telemetry_inversion = ON
 set frsky_default_lattitude =  0.000
 set frsky_default_longitude =  0.000
 set frsky_coordinates_format = 0
 set frsky_unit = IMPERIAL
 set frsky_vfas_precision = 0
 set hott_alarm_sound_interval = 5
 set battery_capacity = 0
 set vbat_scale = 110
 set vbat_max_cell_voltage = 43
 set vbat_min_cell_voltage = 33
 set vbat_warning_cell_voltage = 35
 set current_meter_scale = 400
 set current_meter_offset = 0
 set multiwii_current_meter_output = OFF
 set current_meter_type = ADC
 set align_gyro = DEFAULT
 set align_acc = DEFAULT
 set align_mag = DEFAULT
 set align_board_roll = 0
 set align_board_pitch = 30
 set align_board_yaw = 0
 set gyro_lpf = 42HZ
 set moron_threshold = 32
 set imu_dcm_kp = 2500
 set imu_dcm_ki = 50
 set imu_dcm_kp_mag = 10000
 set imu_dcm_ki_mag = 0
 set pos_hold_deadband = 20
 set alt_hold_deadband = 50
 set yaw_motor_direction = 1
 set yaw_jump_prevention_limit = 200
 set tri_unarmed_servo = ON
 set servo_lowpass_freq = 400
 set servo_lowpass_enable = OFF
 set failsafe_delay = 10
 set failsafe_off_delay = 200
 set failsafe_throttle = 1000
 set failsafe_kill_switch = OFF
 set failsafe_throttle_low_delay = 100
 set failsafe_procedure = RTH
 set rx_min_usec = 885
 set rx_max_usec = 2115
 set acc_hardware = 0
 set baro_use_median_filter = ON
 set baro_hardware = 0
 set mag_hardware = 0
 set blackbox_rate_num = 1
 set blackbox_rate_denom = 1
 set blackbox_device = SERIAL
 set magzero_x = 0
 set magzero_y = 0
 set magzero_z = 0
 set acczero_x = 0
 set acczero_y = 0
 set acczero_z = 0
 set accgain_x = 4096
 set accgain_y = 4096
 set accgain_z = 4096

# rxfail
 rxfail 0 a
 rxfail 1 a
 rxfail 2 a
 rxfail 3 a
 rxfail 4 s 1900
 rxfail 5 s 1900
 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

# dump profile

# profile
 profile 0

# aux
 aux 0 0 2 1300 2100
 aux 1 1 1 1300 2100
 aux 2 1 0 1700 2100
 aux 3 25 2 1300 2100
 aux 4 10 1 1300 1700
 aux 5 9 1 1700 2100
 aux 6 11 0 900 1300
 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
 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

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

# servo
 servo 0 1000 2000 1500 90 90 100 -1
 servo 1 1000 2000 1500 90 90 100 -1
 servo 2 1000 2000 1500 90 90 100 -1
 servo 3 1020 2000 1500 90 90 -80 -1
 servo 4 1020 2000 1500 90 90 80 -1
 servo 5 1000 2000 1500 90 90 100 -1
 servo 6 1000 2000 1500 90 90 100 -1
 servo 7 1000 2000 1500 90 90 100 -1

set nav_alt_p = 50
 set nav_alt_i = 0
 set nav_alt_d = 0
 set nav_vel_p = 100
 set nav_vel_i = 50
 set nav_vel_d = 10
 set nav_pos_p = 65
 set nav_pos_i = 120
 set nav_pos_d = 10
 set nav_posr_p = 180
 set nav_posr_i = 15
 set nav_posr_d = 100
 set nav_navr_p = 50
 set nav_navr_i = 5
 set nav_navr_d = 4
 set deadband = 3
 set yaw_deadband = 3
 set throttle_tilt_comp_str = 0
 set flaperon_throw_offset = 250
 set flaperon_throw_inverted = OFF
 set mode_range_logic_operator = OR
 set default_rate_profile = 0
 set gimbal_mode = NORMAL
 set mag_declination = 0
 set mag_hold_rate_limit = 90
 set p_pitch = 15
 set i_pitch = 30
 set d_pitch = 9
 set p_roll = 20
 set i_roll = 30
 set d_roll = 9
 set p_yaw = 65
 set i_yaw = 0
 set d_yaw = 0
 set p_level = 35
 set i_level = 15
 set d_level = 75
 set max_angle_inclination_rll = 400
 set max_angle_inclination_pit = 400
 set gyro_soft_lpf_hz = 60
 set acc_soft_lpf_hz = 15
 set dterm_lpf_hz = 40
 set yaw_lpf_hz = 30
 set yaw_p_limit = 300
 set iterm_ignore_threshold = 200
 set yaw_iterm_ignore_threshold = 50
 set rate_accel_limit_roll_pitch = 0
 set rate_accel_limit_yaw = 10000

# dump rates

# rateprofile
 rateprofile 0

set rc_expo = 20
 set rc_yaw_expo = 0
 set thr_mid = 50
 set thr_expo = 0
 set roll_rate = 50
 set pitch_rate = 50
 set yaw_rate = 20
 set tpa_rate = 0
 set tpa_breakpoint = 1500