# diff all

# version
# Rotorflight / STM32F7X2 (S7X2) 4.5.0 Jun  2 2025 / 21:15:22 (e77d192) MSP API: 12.8

# start the command batch
batch start

# reset configuration to default settings
defaults nosave

board_name NEXUS_XR
board_design F7C5
manufacturer_id RDMS
mcu_id 004f002d3235510731303931
signature 

# name: Stratos_200

# resources
resource MOTOR 2 A15
resource SERVO 4 NONE

# feature
feature TELEMETRY
feature GOVERNOR
feature ESC_SENSOR
feature FREQ_SENSOR
feature RPM_FILTER

# serial
serial 1 1024 115200 57600 0 115200

# servo
servo 1 1457 -700 700 500 500 400 0 3
servo 2 1500 -700 700 500 500 400 0 3
servo 3 1465 -700 700 500 500 400 0 3

# mixer input
mixer input SR -1000 1000 700
mixer input SP -1000 1000 -700
mixer input SY -1000 1000 1000
mixer input SC -1000 1000 926

# aux
aux 0 0 0 945 1055 0 0
aux 1 0 0 900 900 0 0
aux 2 0 0 900 900 0 0
aux 3 0 0 900 900 0 0
aux 4 0 0 900 900 0 0
aux 5 0 0 900 900 0 0
aux 6 0 0 900 900 0 0
aux 7 0 0 900 900 0 0
aux 8 0 0 900 900 0 0
aux 9 0 0 900 900 0 0
aux 10 0 0 900 900 0 0
aux 11 0 0 900 900 0 0
aux 12 0 0 900 900 0 0
aux 13 0 0 900 900 0 0
aux 14 0 0 900 900 0 0
aux 15 0 0 900 900 0 0
aux 16 0 0 900 900 0 0
aux 17 0 0 900 900 0 0
aux 18 0 0 900 900 0 0
aux 19 0 0 900 900 0 0

# adjfunc
adjfunc 0 1 255 1500 1500 1 950 2050 1500 1500 0 1 3
adjfunc 1 2 255 1500 1500 1 960 2045 1500 1500 0 1 3
adjfunc 2 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 3 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 4 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 5 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 6 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 7 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 8 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 9 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 10 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 11 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 12 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 13 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 14 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 15 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 16 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 17 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 18 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 19 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 20 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 21 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 22 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 23 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 24 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 25 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 26 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 27 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 28 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 29 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 30 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 31 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 32 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 33 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 34 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 35 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 36 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 37 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 38 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 39 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 40 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 41 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100

# master
set gyro_lpf1_static_hz = 125
set dyn_notch_count = 2
set acc_calibration = 5,-1,8,1
set dshot_bidir = ON
set use_unsynced_pwm = OFF
set motor_pwm_protocol = DSHOT300
set motor_poles = 24,12,8,8
set align_board_yaw = 180
set bat_capacity = 750
set current_meter = ESC
set battery_meter = ESC
set battery_cell_count = 3
set tail_rotor_mode = MOTORIZED
set tail_motor_idle = 45
set swash_collective_trim = -2
set swash_pitch_limit = 2000
set swash_geo_correction = -6
set gov_mode = MODE1
set gov_startup_time = 80
set gov_spoolup_time = 80
set gov_handover_throttle = 10
set gov_pwr_filter = 20
set gov_rpm_filter = 20
set gov_tta_filter = 10
set gov_spoolup_min_throttle = 0
set crsf_telemetry_mode = CUSTOM
set crsf_telemetry_link_rate = 333
set telemetry_sensors = 3,4,5,6,7,8,42,43,46,50,60,61,88,89,90,99,95,96,15,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
set esc_sensor_protocol = HOBBYWINGV5
set esc_sensor_halfduplex = ON
set esc_sensor_pinswap = ON
set gyro_rpm_notch_source_pitch = 11,12,13,14,21,22,0,0,0,0,0,0,0,0,0,0
set gyro_rpm_notch_q_pitch = 80,30,80,60,60,50,0,0,0,0,0,0,0,0,0,0
set gyro_rpm_notch_source_roll = 11,12,13,14,21,22,0,0,0,0,0,0,0,0,0,0
set gyro_rpm_notch_q_roll = 80,30,80,60,60,50,0,0,0,0,0,0,0,0,0,0
set gyro_rpm_notch_source_yaw = 11,12,13,14,21,22,0,0,0,0,0,0,0,0,0,0
set gyro_rpm_notch_q_yaw = 80,40,80,80,60,50,0,0,0,0,0,0,0,0,0,0
set name = Stratos_200

profile 0

# profile 0
set pitch_i_gain = 80
set pitch_d_gain = 11
set pitch_o_gain = 60
set roll_i_gain = 80
set roll_d_gain = 5
set roll_o_gain = 60
set yaw_p_gain = 78
set yaw_i_gain = 95
set yaw_d_gain = 80
set yaw_b_gain = 20
set yaw_f_gain = 10
set pitch_d_cutoff = 18
set pitch_b_cutoff = 18
set pitch_gyro_cutoff = 100
set roll_d_cutoff = 18
set roll_b_cutoff = 18
set roll_gyro_cutoff = 100
set yaw_d_cutoff = 25
set yaw_b_cutoff = 25
set yaw_gyro_cutoff = 250
set yaw_cw_stop_gain = 110
set yaw_precomp_cutoff = 12
set yaw_cyclic_ff_gain = 0
set yaw_collective_ff_gain = 50
set yaw_inertia_precomp_cutoff = 200
set error_limit = 35,35,40
set iterm_relax_cutoff = 20,20,20
set gov_headspeed = 3700
set gov_gain = 50
set gov_tta_gain = 55
set gov_tta_limit = 95

profile 1

# profile 1
set pitch_i_gain = 85
set pitch_d_gain = 11
set pitch_o_gain = 60
set roll_i_gain = 85
set roll_d_gain = 5
set roll_o_gain = 60
set yaw_p_gain = 76
set yaw_i_gain = 95
set yaw_d_gain = 80
set yaw_b_gain = 20
set yaw_f_gain = 10
set pitch_d_cutoff = 18
set pitch_b_cutoff = 18
set pitch_gyro_cutoff = 250
set roll_d_cutoff = 18
set roll_b_cutoff = 18
set roll_gyro_cutoff = 250
set yaw_d_cutoff = 25
set yaw_b_cutoff = 25
set yaw_gyro_cutoff = 250
set yaw_cw_stop_gain = 110
set yaw_precomp_cutoff = 12
set yaw_cyclic_ff_gain = 0
set yaw_collective_ff_gain = 50
set yaw_inertia_precomp_cutoff = 200
set error_limit = 35,35,40
set iterm_relax_cutoff = 20,20,20
set gov_headspeed = 4200
set gov_gain = 50
set gov_tta_gain = 60
set gov_tta_limit = 95

profile 2

# profile 2
set pitch_i_gain = 85
set pitch_d_gain = 20
set pitch_o_gain = 60
set roll_i_gain = 85
set roll_d_gain = 5
set roll_o_gain = 60
set yaw_p_gain = 72
set yaw_i_gain = 95
set yaw_d_gain = 80
set yaw_b_gain = 20
set yaw_f_gain = 10
set pitch_d_cutoff = 18
set pitch_b_cutoff = 18
set pitch_gyro_cutoff = 250
set roll_d_cutoff = 18
set roll_b_cutoff = 18
set roll_gyro_cutoff = 250
set yaw_d_cutoff = 25
set yaw_b_cutoff = 25
set yaw_gyro_cutoff = 250
set yaw_cw_stop_gain = 130
set yaw_precomp_cutoff = 12
set yaw_cyclic_ff_gain = 0
set yaw_collective_ff_gain = 50
set yaw_inertia_precomp_cutoff = 200
set error_limit = 35,35,40
set error_decay_time_cyclic = 125
set iterm_relax_cutoff = 20,20,20
set gov_headspeed = 4800
set gov_gain = 50
set gov_tta_gain = 65
set gov_tta_limit = 95

profile 3

profile 4

profile 5

# restore original profile selection
profile 0

rateprofile 0

# rateprofile 0
set roll_rc_rate = 19
set pitch_rc_rate = 19
set yaw_rc_rate = 54
set collective_rc_rate = 46
set roll_srate = 20
set pitch_srate = 20
set yaw_srate = 58
set collective_srate = 46

rateprofile 1

# rateprofile 1
set roll_rc_rate = 19
set pitch_rc_rate = 19
set yaw_rc_rate = 54
set collective_rc_rate = 44
set roll_srate = 20
set pitch_srate = 20
set yaw_srate = 58
set collective_srate = 44

rateprofile 2

# rateprofile 2
set roll_rc_rate = 19
set pitch_rc_rate = 19
set yaw_rc_rate = 54
set collective_rc_rate = 44
set roll_srate = 20
set pitch_srate = 20
set yaw_srate = 58
set collective_srate = 44

rateprofile 3

rateprofile 4

rateprofile 5

# restore original rateprofile selection
rateprofile 0

# save configuration
save
#