INAV 2.5 настройка для квадрокоптера, айнав на дальнолет 5" 7"

Объясняю как настроить с нуля все функции в inav 2.5, и как проще обновиться с inav 2.4 и более ранних версий. Бонус - Dart 250g в облаках
Как прошить айнав: https://youtu.be/_c_YPDhsxHE
Калибровка акселерометра и компаса: https://youtu.be/gc4pw-ePT4Y
Настройка ОСД: https://youtu.be/DBl_O1xMrZ8
Мой телеграмм https://t.me/areyouro_fpv
Железо для квада:
полетник: https://www.banggood.com/custlink/DvmmBjUt8R
gps: https://www.banggood.com/custlink/vv3v4YVWsl
Jumper t18 http://lddy.no/kouc
Страница проекта айнав: https://github.com/iNavFlight/inav/releases
areyouroo
мой дифф
diff

# version
# INAV/MATEKF405 2.5.0 May 9 2020 / 15:05:07 (272de567d)
# GCC-9.2.1 20191025 (release) [ARM/arm-9-branch revision 277599]

# start the command batch
batch start

# resources

# mixer

mmix reset

mmix 0 1.000 -1.000 1.000 1.000
mmix 1 1.000 -1.000 -1.000 -1.000
mmix 2 1.000 1.000 1.000 -1.000
mmix 3 1.000 1.000 -1.000 1.000

# servo mix

# servo

# logic

# gvar

# gf

# feature
feature -TELEMETRY
feature GPS
feature PWM_OUTPUT_ENABLE

# beeper

# map

# serial
serial 3 2 115200 115200 0 115200

# led

# color

# mode_color

# aux
aux 0 0 0 1700 2100
aux 1 1 1 1300 1700
aux 2 3 1 1700 2100
aux 3 11 2 1300 1700
aux 4 10 2 1700 2100
aux 5 42 6 1700 2100

# adjrange

# rxrange

# temp_sensor

# wp
#wp 0 invalid

# osd_layout
osd_layout 0 0 23 1 V
osd_layout 0 1 13 1 V
osd_layout 0 2 0 0 V
osd_layout 0 4 8 6 H
osd_layout 0 7 13 9 V
osd_layout 0 9 1 3 H
osd_layout 0 11 2 8 V
osd_layout 0 12 1 10 V
osd_layout 0 13 25 5 V
osd_layout 0 14 18 1 V
osd_layout 0 15 25 6 V
osd_layout 0 16 8 11 H
osd_layout 0 20 3 0 V
osd_layout 0 21 16 0 V
osd_layout 0 22 14 11 V
osd_layout 0 23 24 8 V
osd_layout 0 24 13 3 V
osd_layout 0 26 25 7 V
osd_layout 0 28 23 10 V
osd_layout 0 30 1 12 V
osd_layout 0 31 4 1 V
osd_layout 0 32 13 2 V
osd_layout 0 33 1 7 V
osd_layout 0 34 10 3 H
osd_layout 0 35 2 9 V
osd_layout 0 40 24 9 V
osd_layout 0 50 12 4 H
osd_layout 0 87 1 8 H
osd_layout 0 105 5 6 V
osd_layout 1 0 26 0 V
osd_layout 1 1 12 0 V
osd_layout 1 7 13 11 V
osd_layout 1 10 21 3 V
osd_layout 1 16 2 7 V
osd_layout 1 17 2 8 V
osd_layout 1 18 2 9 V
osd_layout 1 30 1 12 V
osd_layout 1 53 12 1 V
osd_layout 1 56 2 10 V
osd_layout 1 62 4 3 V
osd_layout 1 63 4 4 V
osd_layout 1 105 23 1 V

# master
set looptime = 500
set gyro_hardware_lpf = 256HZ
set gyro_lpf_hz = 100
set gyro_lpf_type = PT1
set gyro_stage2_lowpass_hz = 160
set gyro_stage2_lowpass_type = PT1
set dynamic_gyro_notch_enabled = ON
set dynamic_gyro_notch_q = 200
set dynamic_gyro_notch_min_hz = 80
set acc_hardware = MPU6000
set acczero_x = 62
set acczero_y = -6
set acczero_z = -337
set accgain_x = 4093
set accgain_y = 4054
set accgain_z = 4031
set align_mag = CW90FLIP
set mag_hardware = QMC5883
set magzero_x = 122
set magzero_y = -128
set magzero_z = -110
set baro_hardware = BMP280
set pitot_hardware = NONE
set min_check = 1050
set rssi_channel = 16
set motor_pwm_rate = 2000
set motor_pwm_protocol = MULTISHOT
set throttle_idle = 8.000
set failsafe_procedure = RTH
set model_preview_type = 3
set small_angle = 180
set applied_defaults = 2
set gps_sbas_mode = EGNOS
set mc_airmode_type = THROTTLE_THRESHOLD
set nav_extra_arming_safety = OFF
set nav_auto_speed = 800
set nav_manual_speed = 700
set nav_rth_altitude = 5000
set nav_mc_hover_thr = 1450

# profile
profile 1

set mc_p_pitch = 54
set mc_i_pitch = 60
set mc_d_pitch = 39
set mc_p_roll = 46
set mc_i_roll = 50
set mc_d_roll = 33
set mc_p_yaw = 45
set mc_i_yaw = 70
set dterm_lpf_hz = 90
set dterm_lpf_type = PT1
set dterm_lpf2_type = PT1
set use_dterm_fir_filter = OFF
set yaw_lpf_hz = 30
set dterm_setpoint_weight = 0.800
set mc_iterm_relax = RPY
set d_boost_factor = 1.500
set d_boost_max_at_acceleration = 5000.000
set d_boost_gyro_delta_lpf_hz = 65
set antigravity_gain = 2.000
set antigravity_accelerator = 5.000
set rc_expo = 75
set rc_yaw_expo = 75
set roll_rate = 50
set pitch_rate = 50
set yaw_rate = 40

# battery_profile
battery_profile 1
# end the command batch
batch end

#

Видео INAV 2.5 настройка для квадрокоптера, айнав на дальнолет 5" 7" канала areyouroo