Current Behavior

If you have switched on autolaunch the elevator is moving down. Then you rais the throttle to idle speed and parallel the elevator is moving upwards (slow)

If you now throw the wing to early it get crashed (I did this several times because I did not realise the ruders are moving during throttle moving)

If you now alrady throw because motor is finished the aircraft is going deeply down to the earth. We could not reproduce our autolaunch with the wing until we find out this. Some times it went fast to the earth sometimes it starts very well. If we always wait now until the ruder are finished all starts are working well.

I did a Video. Why is the ruder moving up during movement of throttle up.

https://github.com/iNavFlight/inav/assets/18383738/b3aaa46a-abf1-4c2f-895f-7c0b5b6b80fd

Steps to Reproduce

Start Autolaunch
move Up throttle from low to idle
Elevator is moving upwards very slow maybe idle is already reached and moving of elevator is not finshed.

Expected behavior

Start Autolaunch
move Up throttle from low to idle
Elevator is moving upwards very slow (don´t know why)
Motor starts at idle if Elevator is finished

Additional context

FC Board name and vendor: Speedybee Wing 405 V3
INAV version string:

diff

# version
# INAV/SPEEDYBEEF405WING 6.1.1 Jun 13 2023 / 12:28:36 (42ced253)
# GCC-10.2.1 20201103 (release)

# start the command batch
batch start

# resources

# Mixer: motor mixer

mmix reset

mmix 0  1.000  0.000  0.000  0.000

# Mixer: servo mixer
smix reset

smix 0 1 0 80 0 -1
smix 1 1 1 85 0 -1
smix 2 2 0 -90 0 -1
smix 3 2 1 95 0 -1
smix 4 3 6 100 0 -1

# Outputs [servo]
servo 1 1000 2000 1468 100
servo 2 1000 2000 1546 -100
servo 3 1037 1980 1665 -100

# safehome

# features
feature MOTOR_STOP
feature GPS
feature PWM_OUTPUT_ENABLE
feature FW_LAUNCH
feature FW_AUTOTRIM

# beeper

# blackbox
blackbox NAV_ACC
blackbox NAV_POS
blackbox NAV_PID
blackbox MAG
blackbox ACC
blackbox ATTI
blackbox RC_DATA
blackbox RC_COMMAND
blackbox MOTORS
blackbox -GYRO_RAW
blackbox -PEAKS_R
blackbox -PEAKS_P
blackbox -PEAKS_Y

# Receiver: Channel map
map TAER

# Ports
serial 3 1 115200 115200 0 115200
serial 4 33554432 115200 115200 0 115200

# LEDs

# LED color

# LED mode_color

# Modes [aux]
aux 0 0 2 900 1500
aux 1 1 1 900 1300
aux 2 2 1 1300 1700
aux 3 12 0 1300 1700
aux 4 11 0 900 1200
aux 5 10 3 900 1200
aux 6 3 3 900 1200
aux 7 13 4 1650 2100

# Adjustments [adjrange]

# Receiver rxrange

# temp_sensor

# Mission Control Waypoints [wp]
#wp 0 invalid

# OSD [osd_layout]
osd_layout 0 0 46 0 H
osd_layout 0 1 12 0 H
osd_layout 0 2 0 0 V
osd_layout 0 3 8 6 V
osd_layout 0 4 8 6 V
osd_layout 0 7 2 19 V
osd_layout 0 9 1 2 H
osd_layout 0 11 40 1 V
osd_layout 0 12 13 19 V
osd_layout 0 13 39 9 H
osd_layout 0 14 2 18 V
osd_layout 0 15 21 19 V
osd_layout 0 20 6 1 V
osd_layout 0 21 6 0 V
osd_layout 0 22 26 7 V
osd_layout 0 23 29 19 V
osd_layout 0 25 51 8 H
osd_layout 0 26 46 0 H
osd_layout 0 28 28 18 V
osd_layout 0 30 13 15 V
osd_layout 0 31 7 18 V
osd_layout 0 32 39 0 V
osd_layout 0 85 39 9 V
osd_layout 0 86 1 1 H
osd_layout 0 87 6 2 V
osd_layout 0 109 20 18 V
osd_layout 0 110 22 18 H
osd_layout 0 111 21 18 H
osd_layout 0 112 13 18 V

# Programming: logic

# Programming: global variables

# Programming: PID controllers

# master
set gyro_main_lpf_hz = 25
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 30
set gyro_zero_y = -17
set gyro_zero_z = 2
set ins_gravity_cmss =  980.428
set acc_hardware = ICM42605
set acczero_x = -3
set acczero_y = -8
set acczero_z = 22
set accgain_x = 4100
set accgain_y = 4103
set accgain_z = 4094
set align_mag = CW0FLIP
set mag_hardware = NONE
set baro_hardware = SPL06
set serialrx_halfduplex = OFF
set motor_pwm_protocol = STANDARD
set failsafe_procedure = RTH
set align_board_pitch = -4
set platform_type = AIRPLANE
set model_preview_type = 8
set small_angle = 180
set ahrs_inertia_comp_method = ADAPTIVE
set applied_defaults = 4
set gps_sbas_mode = AUTO
set gps_ublox_use_galileo = ON
set deadband = 1
set yaw_deadband = 1
set airmode_type = STICK_CENTER_ONCE
set nav_wp_radius = 5000
set nav_wp_max_safe_distance = 500
set nav_rth_allow_landing = FS_ONLY
set nav_rth_altitude = 7000
set nav_rth_home_altitude = 3000
set nav_fw_bank_angle = 55
set nav_fw_loiter_radius = 3000
set fw_loiter_direction = YAW
set nav_fw_launch_max_angle = 180
set nav_fw_launch_motor_delay = 100
set nav_fw_launch_spinup_time = 5
set nav_fw_launch_timeout = 8000
set nav_fw_launch_max_altitude = 8000
set nav_fw_launch_climb_angle = 35
set osd_video_system = BFHDCOMPAT
set osd_camera_fov_h = 122
set osd_camera_fov_v = 93
set osd_hud_radar_disp = 3
set name = FUNJET
set pilot_name = MW
set tz_offset = 60
set tz_automatic_dst = EU

# profile
profile 1

set fw_p_pitch = 20
set fw_i_pitch = 5
set fw_d_pitch = 4
set fw_ff_pitch = 110
set fw_p_roll = 24
set fw_i_roll = 3
set fw_d_roll = 7
set fw_ff_roll = 45
set fw_p_yaw = 20
set fw_i_yaw = 0
set fw_ff_yaw = 100
set max_angle_inclination_rll = 550
set max_angle_inclination_pit = 550
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.300
set nav_fw_pos_z_p = 35
set nav_fw_pos_xy_p = 85
set d_boost_min =  1.000
set d_boost_max =  1.000
set rc_expo = 25
set rc_yaw_expo = 30
set roll_rate = 40
set pitch_rate = 10
set yaw_rate = 3

# battery_profile
battery_profile 1

set vbat_min_cell_voltage = 255
set vbat_warning_cell_voltage = 270
set battery_capacity = 4500
set battery_capacity_warning = 1350
set battery_capacity_critical = 900
set throttle_idle =  5.000
set nav_fw_launch_thr = 1800
set nav_fw_launch_idle_thr = 1200

# save configuration
save

# end the command batch
batch end

#

Feb 05 '24 17:02 druckgott

We could potentially move the elevators into position while the throttle is low.

As you saw, with autolaunch, the throttle should be raised to allow the motor to idle before the throw. As opposed to during the throw. Launch idle is the throttle value before you throw it, often before you pick the airplane up, and maybe set down the radio. So for most cases, the 1.5 seconds or so it takes to spin the motor to idle and raise the elevators isn't an issue.

Feb 05 '24 19:02 sensei-hacker

Does anyone see any potential issues with raising the elevator after autolaunch is enabled, before the throttle is raised?

Feb 05 '24 19:02 sensei-hacker

We have this issue because another Person is throwing the Modelle and we did Not realize this and thro it right after Motor was speed up 🙈

Feb 05 '24 20:02 druckgott

its expected behavior. as soon as you throttle up, the Integral gets active so INAV tries to stabilize the pitch angle but the plane is not moving. AFAIK the I-Term does not fully wind up though as there is a protection so its kind of a pre-control for the initial throw. No reason to worry about.

Feb 14 '24 20:02 b14ckyy

Hi guys. I have the same problem and I can't find the solution. Of the 4 throws, 1 goes straight to the ground, leaning a little to the left... I don't understand why he does this. Could you help me. Thank you so much!!

Mar 17 '24 14:03 flavioyarade

Hi guys. I have the same problem and I can't find the solution. Of the 4 throws, 1 goes straight to the ground, leaning a little to the left... I don't understand why he does this. Could you help me. Thank you so much!!

If you have the same issue, you can use the same solution - throttle up to get launch idle before you throw, rather than while throwing.

A more common launch problem is people kinda drop the plane, a weak little toss, rather than THROWING it. The throw is what gives the plane its initial speed and makes the plane fly. The motor keeps it flying. So throw it like you're making it fly far, not like you're tossing something in the waste bin.

Another common issue is tossing the plane mostly UP. It then falls right back down, because that's what happens when you throw something upward. The purpose of the throw is to get the plane up to full flight speed, going forward. So throw it forward. Very slightly up is fine. Same as you see planes take off at the airport - they are going forward fast before they gently nose up.

Mar 17 '24 15:03 sensei-hacker

I have done exactly that. I throw it hard straight so that it detects the throw as soon as it leaves my hand. I do the acceleration 2 seconds before launching it. It has an idle of 1600, to ensure that it has good air flow and 2000 once it comes out of idle. I think I have done everything that is appropriate. Even so, 1 out of every 4 pitches goes to the ground... I can give you the DUMP as I have it programmed. It's a Dolphin. Thank you for your time and the prompt response, it is very helpful to me.

dump

version

INAV/SPEEDYBEEF405WING 6.1.1 Jun 13 2023 / 12:28:36 (42ced253)

GCC-10.2.1 20201103 (release)

start the command batch

batch start

resources

Mixer: motor mixer

mmix reset

mmix 0 1.000 0.000 0.000 0.000

Mixer: servo mixer

smix reset

smix 0 1 0 50 0 -1 smix 1 1 1 50 0 -1 smix 2 2 0 -50 0 -1 smix 3 2 1 50 0 -1

Outputs [servo]

servo 0 1000 2000 1500 100 servo 1 1000 2000 1504 -100 servo 2 1000 2000 1492 100 servo 3 1000 2000 1500 100 servo 4 1000 2000 1500 100 servo 5 1000 2000 1500 100 servo 6 1000 2000 1500 100 servo 7 1000 2000 1500 100 servo 8 1000 2000 1500 100 servo 9 1000 2000 1500 100 servo 10 1000 2000 1500 100 servo 11 1000 2000 1500 100 servo 12 1000 2000 1500 100 servo 13 1000 2000 1500 100 servo 14 1000 2000 1500 100 servo 15 1000 2000 1500 100

safehome

safehome 0 0 0 0 safehome 1 0 0 0 safehome 2 0 0 0 safehome 3 0 0 0 safehome 4 0 0 0 safehome 5 0 0 0 safehome 6 0 0 0 safehome 7 0 0 0

features

feature -THR_VBAT_COMP feature -VBAT feature -TX_PROF_SEL feature -BAT_PROF_AUTOSWITCH feature -MOTOR_STOP feature -SOFTSERIAL feature -GPS feature -RPM_FILTERS feature -TELEMETRY feature -CURRENT_METER feature -REVERSIBLE_MOTORS feature -RSSI_ADC feature -LED_STRIP feature -DASHBOARD feature -BLACKBOX feature -TRANSPONDER feature -AIRMODE feature -SUPEREXPO feature -VTX feature -PWM_OUTPUT_ENABLE feature -OSD feature -FW_LAUNCH feature -FW_AUTOTRIM feature VBAT feature TX_PROF_SEL feature MOTOR_STOP feature GPS feature TELEMETRY feature CURRENT_METER feature LED_STRIP feature BLACKBOX feature AIRMODE feature PWM_OUTPUT_ENABLE feature OSD feature FW_AUTOTRIM

beeper

beeper RUNTIME_CALIBRATION beeper HW_FAILURE 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 ACTION_SUCCESS beeper ACTION_FAIL beeper READY_BEEP beeper MULTI_BEEPS beeper DISARM_REPEAT beeper ARMED beeper SYSTEM_INIT beeper ON_USB beeper LAUNCH_MODE beeper LAUNCH_MODE_LOW_THROTTLE beeper LAUNCH_MODE_IDLE_START beeper CAM_CONNECTION_OPEN beeper CAM_CONNECTION_CLOSED

blackbox

blackbox -NAV_ACC blackbox NAV_POS blackbox NAV_PID blackbox MAG blackbox ACC blackbox ATTI blackbox RC_DATA blackbox RC_COMMAND blackbox MOTORS blackbox -GYRO_RAW blackbox -PEAKS_R blackbox -PEAKS_P blackbox -PEAKS_Y

Receiver: Channel map

map AETR

Ports

serial 20 1 115200 115200 0 115200 serial 0 64 115200 115200 0 115200 serial 1 0 115200 115200 0 115200 serial 2 2 115200 115200 0 115200 serial 3 0 115200 115200 0 115200 serial 4 33554432 115200 115200 0 115200 serial 5 1 115200 115200 0 115200

LEDs

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

LED color

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

LED mode_color

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 1

Modes [aux]

aux 0 0 0 1575 2075 aux 1 1 2 1300 1700 aux 2 2 2 1775 2100 aux 3 53 3 1300 1700 aux 4 10 3 1725 2100 aux 5 36 1 1725 2100 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 aux 20 0 0 900 900 aux 21 0 0 900 900 aux 22 0 0 900 900 aux 23 0 0 900 900 aux 24 0 0 900 900 aux 25 0 0 900 900 aux 26 0 0 900 900 aux 27 0 0 900 900 aux 28 0 0 900 900 aux 29 0 0 900 900 aux 30 0 0 900 900 aux 31 0 0 900 900 aux 32 0 0 900 900 aux 33 0 0 900 900 aux 34 0 0 900 900 aux 35 0 0 900 900 aux 36 0 0 900 900 aux 37 0 0 900 900 aux 38 0 0 900 900 aux 39 0 0 900 900

Adjustments [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 adjrange 12 0 0 900 900 0 0 adjrange 13 0 0 900 900 0 0 adjrange 14 0 0 900 900 0 0 adjrange 15 0 0 900 900 0 0 adjrange 16 0 0 900 900 0 0 adjrange 17 0 0 900 900 0 0 adjrange 18 0 0 900 900 0 0 adjrange 19 0 0 900 900 0 0

Receiver rxrange

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

temp_sensor

temp_sensor 0 0 0 0 0 0 temp_sensor 1 0 0 0 0 0 temp_sensor 2 0 0 0 0 0 temp_sensor 3 0 0 0 0 0 temp_sensor 4 0 0 0 0 0 temp_sensor 5 0 0 0 0 0 temp_sensor 6 0 0 0 0 0 temp_sensor 7 0 0 0 0 0

Mission Control Waypoints [wp]

#wp 0 invalid wp 0 0 0 0 0 0 0 0 0 wp 1 0 0 0 0 0 0 0 0 wp 2 0 0 0 0 0 0 0 0 wp 3 0 0 0 0 0 0 0 0 wp 4 0 0 0 0 0 0 0 0 wp 5 0 0 0 0 0 0 0 0 wp 6 0 0 0 0 0 0 0 0 wp 7 0 0 0 0 0 0 0 0 wp 8 0 0 0 0 0 0 0 0 wp 9 0 0 0 0 0 0 0 0 wp 10 0 0 0 0 0 0 0 0 wp 11 0 0 0 0 0 0 0 0 wp 12 0 0 0 0 0 0 0 0 wp 13 0 0 0 0 0 0 0 0 wp 14 0 0 0 0 0 0 0 0 wp 15 0 0 0 0 0 0 0 0 wp 16 0 0 0 0 0 0 0 0 wp 17 0 0 0 0 0 0 0 0 wp 18 0 0 0 0 0 0 0 0 wp 19 0 0 0 0 0 0 0 0 wp 20 0 0 0 0 0 0 0 0 wp 21 0 0 0 0 0 0 0 0 wp 22 0 0 0 0 0 0 0 0 wp 23 0 0 0 0 0 0 0 0 wp 24 0 0 0 0 0 0 0 0 wp 25 0 0 0 0 0 0 0 0 wp 26 0 0 0 0 0 0 0 0 wp 27 0 0 0 0 0 0 0 0 wp 28 0 0 0 0 0 0 0 0 wp 29 0 0 0 0 0 0 0 0 wp 30 0 0 0 0 0 0 0 0 wp 31 0 0 0 0 0 0 0 0 wp 32 0 0 0 0 0 0 0 0 wp 33 0 0 0 0 0 0 0 0 wp 34 0 0 0 0 0 0 0 0 wp 35 0 0 0 0 0 0 0 0 wp 36 0 0 0 0 0 0 0 0 wp 37 0 0 0 0 0 0 0 0 wp 38 0 0 0 0 0 0 0 0 wp 39 0 0 0 0 0 0 0 0 wp 40 0 0 0 0 0 0 0 0 wp 41 0 0 0 0 0 0 0 0 wp 42 0 0 0 0 0 0 0 0 wp 43 0 0 0 0 0 0 0 0 wp 44 0 0 0 0 0 0 0 0 wp 45 0 0 0 0 0 0 0 0 wp 46 0 0 0 0 0 0 0 0 wp 47 0 0 0 0 0 0 0 0 wp 48 0 0 0 0 0 0 0 0 wp 49 0 0 0 0 0 0 0 0 wp 50 0 0 0 0 0 0 0 0 wp 51 0 0 0 0 0 0 0 0 wp 52 0 0 0 0 0 0 0 0 wp 53 0 0 0 0 0 0 0 0 wp 54 0 0 0 0 0 0 0 0 wp 55 0 0 0 0 0 0 0 0 wp 56 0 0 0 0 0 0 0 0 wp 57 0 0 0 0 0 0 0 0 wp 58 0 0 0 0 0 0 0 0 wp 59 0 0 0 0 0 0 0 0 wp 60 0 0 0 0 0 0 0 0 wp 61 0 0 0 0 0 0 0 0 wp 62 0 0 0 0 0 0 0 0 wp 63 0 0 0 0 0 0 0 0 wp 64 0 0 0 0 0 0 0 0 wp 65 0 0 0 0 0 0 0 0 wp 66 0 0 0 0 0 0 0 0 wp 67 0 0 0 0 0 0 0 0 wp 68 0 0 0 0 0 0 0 0 wp 69 0 0 0 0 0 0 0 0 wp 70 0 0 0 0 0 0 0 0 wp 71 0 0 0 0 0 0 0 0 wp 72 0 0 0 0 0 0 0 0 wp 73 0 0 0 0 0 0 0 0 wp 74 0 0 0 0 0 0 0 0 wp 75 0 0 0 0 0 0 0 0 wp 76 0 0 0 0 0 0 0 0 wp 77 0 0 0 0 0 0 0 0 wp 78 0 0 0 0 0 0 0 0 wp 79 0 0 0 0 0 0 0 0 wp 80 0 0 0 0 0 0 0 0 wp 81 0 0 0 0 0 0 0 0 wp 82 0 0 0 0 0 0 0 0 wp 83 0 0 0 0 0 0 0 0 wp 84 0 0 0 0 0 0 0 0 wp 85 0 0 0 0 0 0 0 0 wp 86 0 0 0 0 0 0 0 0 wp 87 0 0 0 0 0 0 0 0 wp 88 0 0 0 0 0 0 0 0 wp 89 0 0 0 0 0 0 0 0 wp 90 0 0 0 0 0 0 0 0 wp 91 0 0 0 0 0 0 0 0 wp 92 0 0 0 0 0 0 0 0 wp 93 0 0 0 0 0 0 0 0 wp 94 0 0 0 0 0 0 0 0 wp 95 0 0 0 0 0 0 0 0 wp 96 0 0 0 0 0 0 0 0 wp 97 0 0 0 0 0 0 0 0 wp 98 0 0 0 0 0 0 0 0 wp 99 0 0 0 0 0 0 0 0 wp 100 0 0 0 0 0 0 0 0 wp 101 0 0 0 0 0 0 0 0 wp 102 0 0 0 0 0 0 0 0 wp 103 0 0 0 0 0 0 0 0 wp 104 0 0 0 0 0 0 0 0 wp 105 0 0 0 0 0 0 0 0 wp 106 0 0 0 0 0 0 0 0 wp 107 0 0 0 0 0 0 0 0 wp 108 0 0 0 0 0 0 0 0 wp 109 0 0 0 0 0 0 0 0 wp 110 0 0 0 0 0 0 0 0 wp 111 0 0 0 0 0 0 0 0 wp 112 0 0 0 0 0 0 0 0 wp 113 0 0 0 0 0 0 0 0 wp 114 0 0 0 0 0 0 0 0 wp 115 0 0 0 0 0 0 0 0 wp 116 0 0 0 0 0 0 0 0 wp 117 0 0 0 0 0 0 0 0 wp 118 0 0 0 0 0 0 0 0 wp 119 0 0 0 0 0 0 0 0

OSD [osd_layout]

osd_layout 0 0 46 10 H osd_layout 0 1 8 9 V osd_layout 0 2 0 0 V osd_layout 0 3 8 6 V osd_layout 0 4 8 6 V osd_layout 0 5 23 8 H osd_layout 0 6 23 9 H osd_layout 0 7 25 15 V osd_layout 0 8 19 0 V osd_layout 0 9 42 1 V osd_layout 0 10 8 6 H osd_layout 0 11 9 11 V osd_layout 0 12 8 12 V osd_layout 0 13 23 1 H osd_layout 0 14 43 0 V osd_layout 0 15 36 9 V osd_layout 0 16 2 10 H osd_layout 0 17 2 11 H osd_layout 0 18 2 12 H osd_layout 0 19 15 1 H osd_layout 0 20 18 12 H osd_layout 0 21 0 12 H osd_layout 0 22 23 2 V osd_layout 0 23 25 2 V osd_layout 0 24 12 2 H osd_layout 0 25 34 6 V osd_layout 0 26 36 10 V osd_layout 0 27 3 5 H osd_layout 0 28 43 16 V osd_layout 0 29 23 12 H osd_layout 0 30 13 16 V osd_layout 0 31 0 10 H osd_layout 0 32 8 10 V osd_layout 0 33 6 2 H osd_layout 0 34 21 1 V osd_layout 0 35 3 0 V osd_layout 0 36 1 5 H osd_layout 0 37 1 6 H osd_layout 0 38 1 7 H osd_layout 0 39 1 5 H osd_layout 0 40 1 2 H osd_layout 0 41 1 8 H osd_layout 0 42 1 7 H osd_layout 0 43 0 0 H osd_layout 0 44 0 0 H osd_layout 0 45 0 0 H osd_layout 0 46 1 1 V osd_layout 0 47 3 7 H osd_layout 0 48 23 7 H osd_layout 0 49 23 6 H osd_layout 0 50 0 0 H osd_layout 0 51 12 2 H osd_layout 0 52 12 2 H osd_layout 0 53 12 1 H osd_layout 0 54 12 1 H osd_layout 0 55 1 8 H osd_layout 0 56 2 12 H osd_layout 0 57 2 12 H osd_layout 0 58 2 12 H osd_layout 0 59 2 12 H osd_layout 0 60 2 12 H osd_layout 0 61 2 12 H osd_layout 0 62 2 10 H osd_layout 0 63 2 11 H osd_layout 0 64 2 12 H osd_layout 0 65 2 12 H osd_layout 0 66 2 12 H osd_layout 0 67 2 12 H osd_layout 0 68 2 12 H osd_layout 0 69 2 12 H osd_layout 0 70 2 12 H osd_layout 0 71 2 12 H osd_layout 0 72 2 12 H osd_layout 0 73 2 12 H osd_layout 0 74 2 12 H osd_layout 0 75 2 12 H osd_layout 0 76 2 12 H osd_layout 0 77 2 12 H osd_layout 0 78 0 0 H osd_layout 0 79 2 12 H osd_layout 0 80 2 12 H osd_layout 0 81 2 12 H osd_layout 0 82 2 12 H osd_layout 0 83 2 12 H osd_layout 0 84 2 12 H osd_layout 0 85 14 10 V osd_layout 0 86 19 2 H osd_layout 0 87 19 3 H osd_layout 0 88 19 4 H osd_layout 0 89 19 5 H osd_layout 0 90 19 6 H osd_layout 0 91 19 7 H osd_layout 0 92 19 8 H osd_layout 0 93 19 9 H osd_layout 0 94 19 10 H osd_layout 0 95 19 11 H osd_layout 0 96 0 0 H osd_layout 0 97 21 17 V osd_layout 0 98 0 0 H osd_layout 0 99 0 0 H osd_layout 0 100 12 4 H osd_layout 0 101 12 5 H osd_layout 0 102 12 6 H osd_layout 0 103 12 7 H osd_layout 0 104 0 0 H osd_layout 0 105 3 5 H osd_layout 0 106 1 2 H osd_layout 0 107 1 3 H osd_layout 0 108 2 12 H osd_layout 0 109 42 14 V osd_layout 0 110 42 13 V osd_layout 0 111 24 9 H osd_layout 0 112 24 10 H osd_layout 0 113 1 1 H osd_layout 0 114 1 2 H osd_layout 0 115 1 3 H osd_layout 0 116 1 4 H osd_layout 0 117 0 0 H osd_layout 0 118 0 0 H osd_layout 0 119 0 0 H osd_layout 0 120 0 0 H osd_layout 0 121 3 4 H osd_layout 0 122 3 5 H osd_layout 0 123 3 6 H osd_layout 0 124 23 2 H osd_layout 0 125 0 0 H osd_layout 0 126 0 0 H osd_layout 0 127 0 0 H osd_layout 0 128 0 0 H osd_layout 0 129 0 10 H osd_layout 0 130 2 7 H osd_layout 0 131 2 8 H osd_layout 0 132 2 9 H osd_layout 0 133 2 10 H osd_layout 0 134 0 0 H osd_layout 0 135 0 0 H osd_layout 0 136 0 0 H osd_layout 0 137 0 0 H osd_layout 0 138 0 0 H osd_layout 0 139 0 0 H osd_layout 0 140 12 3 H osd_layout 0 141 12 3 H osd_layout 0 142 20 3 H osd_layout 0 143 0 0 H osd_layout 1 0 23 0 H osd_layout 1 1 12 0 H osd_layout 1 2 0 0 H osd_layout 1 3 8 6 H osd_layout 1 4 8 6 H osd_layout 1 5 23 8 H osd_layout 1 6 23 9 H osd_layout 1 7 13 12 H osd_layout 1 8 20 2 H osd_layout 1 9 1 2 H osd_layout 1 10 8 6 H osd_layout 1 11 2 3 H osd_layout 1 12 1 4 H osd_layout 1 13 23 1 H osd_layout 1 14 0 11 H osd_layout 1 15 1 0 H osd_layout 1 16 2 10 H osd_layout 1 17 2 11 H osd_layout 1 18 2 12 H osd_layout 1 19 15 1 H osd_layout 1 20 18 12 H osd_layout 1 21 0 12 H osd_layout 1 22 14 11 H osd_layout 1 23 1 1 H osd_layout 1 24 12 2 H osd_layout 1 25 23 5 H osd_layout 1 26 24 7 H osd_layout 1 27 3 5 H osd_layout 1 28 23 11 H osd_layout 1 29 23 12 H osd_layout 1 30 1 13 H osd_layout 1 31 0 10 H osd_layout 1 32 12 1 H osd_layout 1 33 6 2 H osd_layout 1 34 18 2 H osd_layout 1 35 1 5 H osd_layout 1 36 1 5 H osd_layout 1 37 1 6 H osd_layout 1 38 1 7 H osd_layout 1 39 1 5 H osd_layout 1 40 1 2 H osd_layout 1 41 1 8 H osd_layout 1 42 1 7 H osd_layout 1 43 0 0 H osd_layout 1 44 0 0 H osd_layout 1 45 0 0 H osd_layout 1 46 3 6 H osd_layout 1 47 3 7 H osd_layout 1 48 23 7 H osd_layout 1 49 23 6 H osd_layout 1 50 0 0 H osd_layout 1 51 12 2 H osd_layout 1 52 12 2 H osd_layout 1 53 12 1 H osd_layout 1 54 12 1 H osd_layout 1 55 1 8 H osd_layout 1 56 2 12 H osd_layout 1 57 2 12 H osd_layout 1 58 2 12 H osd_layout 1 59 2 12 H osd_layout 1 60 2 12 H osd_layout 1 61 2 12 H osd_layout 1 62 2 10 H osd_layout 1 63 2 11 H osd_layout 1 64 2 12 H osd_layout 1 65 2 12 H osd_layout 1 66 2 12 H osd_layout 1 67 2 12 H osd_layout 1 68 2 12 H osd_layout 1 69 2 12 H osd_layout 1 70 2 12 H osd_layout 1 71 2 12 H osd_layout 1 72 2 12 H osd_layout 1 73 2 12 H osd_layout 1 74 2 12 H osd_layout 1 75 2 12 H osd_layout 1 76 2 12 H osd_layout 1 77 2 12 H osd_layout 1 78 0 0 H osd_layout 1 79 2 12 H osd_layout 1 80 2 12 H osd_layout 1 81 2 12 H osd_layout 1 82 2 12 H osd_layout 1 83 2 12 H osd_layout 1 84 2 12 H osd_layout 1 85 23 1 H osd_layout 1 86 19 2 H osd_layout 1 87 19 3 H osd_layout 1 88 19 4 H osd_layout 1 89 19 5 H osd_layout 1 90 19 6 H osd_layout 1 91 19 7 H osd_layout 1 92 19 8 H osd_layout 1 93 19 9 H osd_layout 1 94 19 10 H osd_layout 1 95 19 11 H osd_layout 1 96 0 0 H osd_layout 1 97 0 12 H osd_layout 1 98 0 0 H osd_layout 1 99 0 0 H osd_layout 1 100 12 4 H osd_layout 1 101 12 5 H osd_layout 1 102 12 6 H osd_layout 1 103 12 7 H osd_layout 1 104 0 0 H osd_layout 1 105 3 5 H osd_layout 1 106 1 2 H osd_layout 1 107 1 3 H osd_layout 1 108 2 12 H osd_layout 1 109 23 12 H osd_layout 1 110 23 11 H osd_layout 1 111 24 9 H osd_layout 1 112 24 10 H osd_layout 1 113 1 1 H osd_layout 1 114 1 2 H osd_layout 1 115 1 3 H osd_layout 1 116 1 4 H osd_layout 1 117 0 0 H osd_layout 1 118 0 0 H osd_layout 1 119 0 0 H osd_layout 1 120 0 0 H osd_layout 1 121 3 4 H osd_layout 1 122 3 5 H osd_layout 1 123 3 6 H osd_layout 1 124 23 2 H osd_layout 1 125 0 0 H osd_layout 1 126 0 0 H osd_layout 1 127 0 0 H osd_layout 1 128 0 0 H osd_layout 1 129 0 10 H osd_layout 1 130 2 7 H osd_layout 1 131 2 8 H osd_layout 1 132 2 9 H osd_layout 1 133 2 10 H osd_layout 1 134 0 0 H osd_layout 1 135 0 0 H osd_layout 1 136 0 0 H osd_layout 1 137 0 0 H osd_layout 1 138 0 0 H osd_layout 1 139 0 0 H osd_layout 1 140 12 3 H osd_layout 1 141 12 3 H osd_layout 1 142 20 3 H osd_layout 1 143 0 0 H osd_layout 2 0 23 0 H osd_layout 2 1 12 0 H osd_layout 2 2 0 0 H osd_layout 2 3 8 6 H osd_layout 2 4 8 6 H osd_layout 2 5 23 8 H osd_layout 2 6 23 9 H osd_layout 2 7 13 12 H osd_layout 2 8 20 2 H osd_layout 2 9 1 2 H osd_layout 2 10 8 6 H osd_layout 2 11 2 3 H osd_layout 2 12 1 4 H osd_layout 2 13 23 1 H osd_layout 2 14 0 11 H osd_layout 2 15 1 0 H osd_layout 2 16 2 10 H osd_layout 2 17 2 11 H osd_layout 2 18 2 12 H osd_layout 2 19 15 1 H osd_layout 2 20 18 12 H osd_layout 2 21 0 12 H osd_layout 2 22 14 11 H osd_layout 2 23 1 1 H osd_layout 2 24 12 2 H osd_layout 2 25 23 5 H osd_layout 2 26 24 7 H osd_layout 2 27 3 5 H osd_layout 2 28 23 11 H osd_layout 2 29 23 12 H osd_layout 2 30 1 13 H osd_layout 2 31 0 10 H osd_layout 2 32 12 1 H osd_layout 2 33 6 2 H osd_layout 2 34 18 2 H osd_layout 2 35 1 5 H osd_layout 2 36 1 5 H osd_layout 2 37 1 6 H osd_layout 2 38 1 7 H osd_layout 2 39 1 5 H osd_layout 2 40 1 2 H osd_layout 2 41 1 8 H osd_layout 2 42 1 7 H osd_layout 2 43 0 0 H osd_layout 2 44 0 0 H osd_layout 2 45 0 0 H osd_layout 2 46 3 6 H osd_layout 2 47 3 7 H osd_layout 2 48 23 7 H osd_layout 2 49 23 6 H osd_layout 2 50 0 0 H osd_layout 2 51 12 2 H osd_layout 2 52 12 2 H osd_layout 2 53 12 1 H osd_layout 2 54 12 1 H osd_layout 2 55 1 8 H osd_layout 2 56 2 12 H osd_layout 2 57 2 12 H osd_layout 2 58 2 12 H osd_layout 2 59 2 12 H osd_layout 2 60 2 12 H osd_layout 2 61 2 12 H osd_layout 2 62 2 10 H osd_layout 2 63 2 11 H osd_layout 2 64 2 12 H osd_layout 2 65 2 12 H osd_layout 2 66 2 12 H osd_layout 2 67 2 12 H osd_layout 2 68 2 12 H osd_layout 2 69 2 12 H osd_layout 2 70 2 12 H osd_layout 2 71 2 12 H osd_layout 2 72 2 12 H osd_layout 2 73 2 12 H osd_layout 2 74 2 12 H osd_layout 2 75 2 12 H osd_layout 2 76 2 12 H osd_layout 2 77 2 12 H osd_layout 2 78 0 0 H osd_layout 2 79 2 12 H osd_layout 2 80 2 12 H osd_layout 2 81 2 12 H osd_layout 2 82 2 12 H osd_layout 2 83 2 12 H osd_layout 2 84 2 12 H osd_layout 2 85 23 1 H osd_layout 2 86 19 2 H osd_layout 2 87 19 3 H osd_layout 2 88 19 4 H osd_layout 2 89 19 5 H osd_layout 2 90 19 6 H osd_layout 2 91 19 7 H osd_layout 2 92 19 8 H osd_layout 2 93 19 9 H osd_layout 2 94 19 10 H osd_layout 2 95 19 11 H osd_layout 2 96 0 0 H osd_layout 2 97 0 12 H osd_layout 2 98 0 0 H osd_layout 2 99 0 0 H osd_layout 2 100 12 4 H osd_layout 2 101 12 5 H osd_layout 2 102 12 6 H osd_layout 2 103 12 7 H osd_layout 2 104 0 0 H osd_layout 2 105 3 5 H osd_layout 2 106 1 2 H osd_layout 2 107 1 3 H osd_layout 2 108 2 12 H osd_layout 2 109 23 12 H osd_layout 2 110 23 11 H osd_layout 2 111 24 9 H osd_layout 2 112 24 10 H osd_layout 2 113 1 1 H osd_layout 2 114 1 2 H osd_layout 2 115 1 3 H osd_layout 2 116 1 4 H osd_layout 2 117 0 0 H osd_layout 2 118 0 0 H osd_layout 2 119 0 0 H osd_layout 2 120 0 0 H osd_layout 2 121 3 4 H osd_layout 2 122 3 5 H osd_layout 2 123 3 6 H osd_layout 2 124 23 2 H osd_layout 2 125 0 0 H osd_layout 2 126 0 0 H osd_layout 2 127 0 0 H osd_layout 2 128 0 0 H osd_layout 2 129 0 10 H osd_layout 2 130 2 7 H osd_layout 2 131 2 8 H osd_layout 2 132 2 9 H osd_layout 2 133 2 10 H osd_layout 2 134 0 0 H osd_layout 2 135 0 0 H osd_layout 2 136 0 0 H osd_layout 2 137 0 0 H osd_layout 2 138 0 0 H osd_layout 2 139 0 0 H osd_layout 2 140 12 3 H osd_layout 2 141 12 3 H osd_layout 2 142 20 3 H osd_layout 2 143 0 0 H osd_layout 3 0 23 0 H osd_layout 3 1 12 0 H osd_layout 3 2 0 0 H osd_layout 3 3 8 6 H osd_layout 3 4 8 6 H osd_layout 3 5 23 8 H osd_layout 3 6 23 9 H osd_layout 3 7 13 12 H osd_layout 3 8 20 2 H osd_layout 3 9 1 2 H osd_layout 3 10 8 6 H osd_layout 3 11 2 3 H osd_layout 3 12 1 4 H osd_layout 3 13 23 1 H osd_layout 3 14 0 11 H osd_layout 3 15 1 0 H osd_layout 3 16 2 10 H osd_layout 3 17 2 11 H osd_layout 3 18 2 12 H osd_layout 3 19 15 1 H osd_layout 3 20 18 12 H osd_layout 3 21 0 12 H osd_layout 3 22 14 11 H osd_layout 3 23 1 1 H osd_layout 3 24 12 2 H osd_layout 3 25 23 5 H osd_layout 3 26 24 7 H osd_layout 3 27 3 5 H osd_layout 3 28 23 11 H osd_layout 3 29 23 12 H osd_layout 3 30 1 13 H osd_layout 3 31 0 10 H osd_layout 3 32 12 1 H osd_layout 3 33 6 2 H osd_layout 3 34 18 2 H osd_layout 3 35 1 5 H osd_layout 3 36 1 5 H osd_layout 3 37 1 6 H osd_layout 3 38 1 7 H osd_layout 3 39 1 5 H osd_layout 3 40 1 2 H osd_layout 3 41 1 8 H osd_layout 3 42 1 7 H osd_layout 3 43 0 0 H osd_layout 3 44 0 0 H osd_layout 3 45 0 0 H osd_layout 3 46 3 6 H osd_layout 3 47 3 7 H osd_layout 3 48 23 7 H osd_layout 3 49 23 6 H osd_layout 3 50 0 0 H osd_layout 3 51 12 2 H osd_layout 3 52 12 2 H osd_layout 3 53 12 1 H osd_layout 3 54 12 1 H osd_layout 3 55 1 8 H osd_layout 3 56 2 12 H osd_layout 3 57 2 12 H osd_layout 3 58 2 12 H osd_layout 3 59 2 12 H osd_layout 3 60 2 12 H osd_layout 3 61 2 12 H osd_layout 3 62 2 10 H osd_layout 3 63 2 11 H osd_layout 3 64 2 12 H osd_layout 3 65 2 12 H osd_layout 3 66 2 12 H osd_layout 3 67 2 12 H osd_layout 3 68 2 12 H osd_layout 3 69 2 12 H osd_layout 3 70 2 12 H osd_layout 3 71 2 12 H osd_layout 3 72 2 12 H osd_layout 3 73 2 12 H osd_layout 3 74 2 12 H osd_layout 3 75 2 12 H osd_layout 3 76 2 12 H osd_layout 3 77 2 12 H osd_layout 3 78 0 0 H osd_layout 3 79 2 12 H osd_layout 3 80 2 12 H osd_layout 3 81 2 12 H osd_layout 3 82 2 12 H osd_layout 3 83 2 12 H osd_layout 3 84 2 12 H osd_layout 3 85 23 1 H osd_layout 3 86 19 2 H osd_layout 3 87 19 3 H osd_layout 3 88 19 4 H osd_layout 3 89 19 5 H osd_layout 3 90 19 6 H osd_layout 3 91 19 7 H osd_layout 3 92 19 8 H osd_layout 3 93 19 9 H osd_layout 3 94 19 10 H osd_layout 3 95 19 11 H osd_layout 3 96 0 0 H osd_layout 3 97 0 12 H osd_layout 3 98 0 0 H osd_layout 3 99 0 0 H osd_layout 3 100 12 4 H osd_layout 3 101 12 5 H osd_layout 3 102 12 6 H osd_layout 3 103 12 7 H osd_layout 3 104 0 0 H osd_layout 3 105 3 5 H osd_layout 3 106 1 2 H osd_layout 3 107 1 3 H osd_layout 3 108 2 12 H osd_layout 3 109 23 12 H osd_layout 3 110 23 11 H osd_layout 3 111 24 9 H osd_layout 3 112 24 10 H osd_layout 3 113 1 1 H osd_layout 3 114 1 2 H osd_layout 3 115 1 3 H osd_layout 3 116 1 4 H osd_layout 3 117 0 0 H osd_layout 3 118 0 0 H osd_layout 3 119 0 0 H osd_layout 3 120 0 0 H osd_layout 3 121 3 4 H osd_layout 3 122 3 5 H osd_layout 3 123 3 6 H osd_layout 3 124 23 2 H osd_layout 3 125 0 0 H osd_layout 3 126 0 0 H osd_layout 3 127 0 0 H osd_layout 3 128 0 0 H osd_layout 3 129 0 10 H osd_layout 3 130 2 7 H osd_layout 3 131 2 8 H osd_layout 3 132 2 9 H osd_layout 3 133 2 10 H osd_layout 3 134 0 0 H osd_layout 3 135 0 0 H osd_layout 3 136 0 0 H osd_layout 3 137 0 0 H osd_layout 3 138 0 0 H osd_layout 3 139 0 0 H osd_layout 3 140 12 3 H osd_layout 3 141 12 3 H osd_layout 3 142 20 3 H osd_layout 3 143 0 0 H

Programming: logic

logic 0 0 -1 0 0 0 0 0 0 logic 1 0 -1 0 0 0 0 0 0 logic 2 0 -1 0 0 0 0 0 0 logic 3 0 -1 0 0 0 0 0 0 logic 4 0 -1 0 0 0 0 0 0 logic 5 0 -1 0 0 0 0 0 0 logic 6 0 -1 0 0 0 0 0 0 logic 7 0 -1 0 0 0 0 0 0 logic 8 0 -1 0 0 0 0 0 0 logic 9 0 -1 0 0 0 0 0 0 logic 10 0 -1 0 0 0 0 0 0 logic 11 0 -1 0 0 0 0 0 0 logic 12 0 -1 0 0 0 0 0 0 logic 13 0 -1 0 0 0 0 0 0 logic 14 0 -1 0 0 0 0 0 0 logic 15 0 -1 0 0 0 0 0 0 logic 16 0 -1 0 0 0 0 0 0 logic 17 0 -1 0 0 0 0 0 0 logic 18 0 -1 0 0 0 0 0 0 logic 19 0 -1 0 0 0 0 0 0 logic 20 0 -1 0 0 0 0 0 0 logic 21 0 -1 0 0 0 0 0 0 logic 22 0 -1 0 0 0 0 0 0 logic 23 0 -1 0 0 0 0 0 0 logic 24 0 -1 0 0 0 0 0 0 logic 25 0 -1 0 0 0 0 0 0 logic 26 0 -1 0 0 0 0 0 0 logic 27 0 -1 0 0 0 0 0 0 logic 28 0 -1 0 0 0 0 0 0 logic 29 0 -1 0 0 0 0 0 0 logic 30 0 -1 0 0 0 0 0 0 logic 31 0 -1 0 0 0 0 0 0 logic 32 0 -1 0 0 0 0 0 0 logic 33 0 -1 0 0 0 0 0 0 logic 34 0 -1 0 0 0 0 0 0 logic 35 0 -1 0 0 0 0 0 0 logic 36 0 -1 0 0 0 0 0 0 logic 37 0 -1 0 0 0 0 0 0 logic 38 0 -1 0 0 0 0 0 0 logic 39 0 -1 0 0 0 0 0 0 logic 40 0 -1 0 0 0 0 0 0 logic 41 0 -1 0 0 0 0 0 0 logic 42 0 -1 0 0 0 0 0 0 logic 43 0 -1 0 0 0 0 0 0 logic 44 0 -1 0 0 0 0 0 0 logic 45 0 -1 0 0 0 0 0 0 logic 46 0 -1 0 0 0 0 0 0 logic 47 0 -1 0 0 0 0 0 0 logic 48 0 -1 0 0 0 0 0 0 logic 49 0 -1 0 0 0 0 0 0 logic 50 0 -1 0 0 0 0 0 0 logic 51 0 -1 0 0 0 0 0 0 logic 52 0 -1 0 0 0 0 0 0 logic 53 0 -1 0 0 0 0 0 0 logic 54 0 -1 0 0 0 0 0 0 logic 55 0 -1 0 0 0 0 0 0 logic 56 0 -1 0 0 0 0 0 0 logic 57 0 -1 0 0 0 0 0 0 logic 58 0 -1 0 0 0 0 0 0 logic 59 0 -1 0 0 0 0 0 0 logic 60 0 -1 0 0 0 0 0 0 logic 61 0 -1 0 0 0 0 0 0 logic 62 0 -1 0 0 0 0 0 0 logic 63 0 -1 0 0 0 0 0 0

Programming: global variables

gvar 0 0 -32768 32767 gvar 1 0 -32768 32767 gvar 2 0 -32768 32767 gvar 3 0 -32768 32767 gvar 4 0 -32768 32767 gvar 5 0 -32768 32767 gvar 6 0 -32768 32767 gvar 7 0 -32768 32767

Programming: PID controllers

pid 0 0 0 0 0 0 0 0 0 0 pid 1 0 0 0 0 0 0 0 0 0 pid 2 0 0 0 0 0 0 0 0 0 pid 3 0 0 0 0 0 0 0 0 0

master

set looptime = 1000 set gyro_hardware_lpf = 256HZ set gyro_anti_aliasing_lpf_hz = 250 set gyro_anti_aliasing_lpf_type = PT1 set moron_threshold = 32 set gyro_main_lpf_hz = 25 set gyro_main_lpf_type = BIQUAD set gyro_use_dyn_lpf = OFF set gyro_dyn_lpf_min_hz = 200 set gyro_dyn_lpf_max_hz = 500 set gyro_dyn_lpf_curve_expo = 5 set dynamic_gyro_notch_enabled = ON set dynamic_gyro_notch_q = 250 set dynamic_gyro_notch_min_hz = 30 set dynamic_gyro_notch_mode = 2D set dynamic_gyro_notch_3d_q = 200 set setpoint_kalman_enabled = ON set setpoint_kalman_q = 100 set init_gyro_cal = ON set gyro_zero_x = 3 set gyro_zero_y = 3 set gyro_zero_z = 4 set ins_gravity_cmss = 979.020 set vbat_adc_channel = 1 set rssi_adc_channel = 4 set current_adc_channel = 2 set airspeed_adc_channel = 3 set acc_notch_hz = 0 set acc_notch_cutoff = 1 set acc_hardware = ICM42605 set acc_lpf_hz = 15 set acc_lpf_type = BIQUAD set acczero_x = -5 set acczero_y = -7 set acczero_z = 45 set accgain_x = 4108 set accgain_y = 4103 set accgain_z = 4109 set rangefinder_hardware = NONE set rangefinder_median_filter = OFF set opflow_hardware = NONE set opflow_scale = 10.500 set align_opflow = CW0FLIP set align_mag = CW270FLIP set mag_hardware = NONE set mag_declination = 0 set magzero_x = 0 set magzero_y = 0 set magzero_z = 0 set maggain_x = 1024 set maggain_y = 1024 set maggain_z = 1024 set mag_calibration_time = 30 set align_mag_roll = 0 set align_mag_pitch = 0 set align_mag_yaw = 0 set baro_hardware = SPL06 set baro_cal_tolerance = 150 set pitot_hardware = NONE set pitot_lpf_milli_hz = 350 set pitot_scale = 1.000 set receiver_type = SERIAL set min_check = 1100 set max_check = 1900 set rssi_source = AUTO set rssi_channel = 0 set rssi_min = 0 set rssi_max = 100 set sbus_sync_interval = 3000 set rc_filter_lpf_hz = 50 set rc_filter_auto = ON set rc_filter_smoothing_factor = 30 set serialrx_provider = CRSF set serialrx_inverted = OFF set srxl2_unit_id = 1 set srxl2_baud_fast = ON set rx_min_usec = 885 set rx_max_usec = 2115 set serialrx_halfduplex = AUTO set blackbox_rate_num = 1 set blackbox_rate_denom = 1 set blackbox_device = SDCARD set sdcard_detect_inverted = OFF set max_throttle = 1850 set min_command = 1000 set motor_pwm_rate = 16000 set motor_pwm_protocol = STANDARD set motor_poles = 14 set failsafe_delay = 5 set failsafe_recovery_delay = 5 set failsafe_off_delay = 200 set failsafe_throttle_low_delay = 0 set failsafe_procedure = RTH set failsafe_stick_threshold = 50 set failsafe_fw_roll_angle = -200 set failsafe_fw_pitch_angle = 100 set failsafe_fw_yaw_rate = -45 set failsafe_min_distance = 0 set failsafe_min_distance_procedure = DROP set failsafe_mission_delay = 0 set align_board_roll = 0 set align_board_pitch = 0 set align_board_yaw = 0 set vbat_meter_type = ADC set vbat_scale = 1100 set current_meter_scale = 195 set current_meter_offset = 0 set current_meter_type = ADC set bat_voltage_src = RAW set cruise_power = 0 set idle_power = 0 set rth_energy_margin = 5 set thr_comp_weight = 1.000 set motor_direction_inverted = OFF set platform_type = AIRPLANE set has_flaps = OFF set model_preview_type = 8 set output_mode = AUTO set 3d_deadband_low = 1406 set 3d_deadband_high = 1514 set 3d_neutral = 1460 set servo_protocol = PWM set servo_center_pulse = 1500 set servo_pwm_rate = 50 set servo_lpf_hz = 20 set flaperon_throw_offset = 200 set tri_unarmed_servo = ON set servo_autotrim_rotation_limit = 15 set reboot_character = 82 set ahrs_dcm_kp = 2000 set ahrs_dcm_ki = 50 set ahrs_dcm_kp_mag = 2000 set ahrs_dcm_ki_mag = 50 set small_angle = 180 set ahrs_acc_ignore_rate = 15 set ahrs_acc_ignore_slope = 5 set ahrs_gps_yaw_windcomp = ON set ahrs_inertia_comp_method = ADAPTIVE set fixed_wing_auto_arm = OFF set disarm_kill_switch = ON set switch_disarm_delay = 250 set prearm_timeout = 10000 set applied_defaults = 4 set rpm_gyro_filter_enabled = OFF set rpm_gyro_harmonics = 1 set rpm_gyro_min_hz = 100 set rpm_gyro_q = 500 set gps_provider = UBLOX7 set gps_sbas_mode = NONE set gps_dyn_model = AIR_1G set gps_auto_config = ON set gps_auto_baud = ON set gps_ublox_use_galileo = OFF set gps_min_sats = 6 set deadband = 5 set yaw_deadband = 5 set pos_hold_deadband = 10 set control_deadband = 10 set alt_hold_deadband = 50 set 3d_deadband_throttle = 50 set airmode_type = STICK_CENTER_ONCE set airmode_throttle_threshold = 1150 set fw_autotune_min_stick = 50 set fw_autotune_rate_adjustment = AUTO set fw_autotune_max_rate_deflection = 80 set inav_auto_mag_decl = ON set inav_gravity_cal_tolerance = 5 set inav_use_gps_velned = ON set inav_use_gps_no_baro = OFF set inav_allow_dead_reckoning = OFF set inav_reset_altitude = FIRST_ARM set inav_reset_home = FIRST_ARM set inav_max_surface_altitude = 200 set inav_w_z_surface_p = 3.500 set inav_w_z_surface_v = 6.100 set inav_w_xy_flow_p = 1.000 set inav_w_xy_flow_v = 2.000 set inav_w_z_baro_p = 0.350 set inav_w_z_gps_p = 0.200 set inav_w_z_gps_v = 0.100 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_xyz_acc_p = 1.000 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 = ON set nav_land_detect_sensitivity = 5 set nav_use_midthr_for_althold = OFF set nav_extra_arming_safety = ALLOW_BYPASS set nav_user_control_mode = ATTI set nav_position_timeout = 5 set nav_wp_load_on_boot = OFF set nav_wp_radius = 5000 set nav_wp_enforce_altitude = 0 set nav_wp_max_safe_distance = 500 set nav_wp_mission_restart = RESUME set nav_wp_multi_mission_index = 1 set nav_fw_wp_tracking_accuracy = 0 set nav_fw_wp_tracking_max_angle = 60 set nav_fw_wp_turn_smoothing = OFF set nav_auto_speed = 300 set nav_max_auto_speed = 1000 set nav_auto_climb_rate = 500 set nav_manual_speed = 500 set nav_manual_climb_rate = 200 set nav_land_minalt_vspd = 50 set nav_land_maxalt_vspd = 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_overrides_motor_stop = ALL_NAV set nav_fw_soaring_motor_stop = OFF set nav_fw_soaring_pitch_deadband = 5 set nav_rth_climb_first = ON set nav_rth_climb_first_stage_mode = AT_LEAST set nav_rth_climb_first_stage_altitude = 0 set nav_rth_climb_ignore_emerg = OFF set nav_rth_tail_first = OFF set nav_rth_allow_landing = FS_ONLY set nav_rth_alt_mode = AT_LEAST_LINEAR_DESCENT set nav_rth_alt_control_override = OFF set nav_rth_abort_threshold = 50000 set nav_max_terrain_follow_alt = 100 set nav_max_altitude = 0 set nav_rth_altitude = 8000 set nav_rth_home_altitude = 8000 set nav_rth_trackback_mode = OFF set nav_rth_trackback_distance = 500 set safehome_max_distance = 20000 set safehome_usage_mode = RTH set nav_mission_planner_reset = ON set nav_mc_bank_angle = 30 set nav_auto_disarm_delay = 1000 set nav_mc_braking_speed_threshold = 100 set nav_mc_braking_disengage_speed = 75 set nav_mc_braking_timeout = 2000 set nav_mc_braking_boost_factor = 100 set nav_mc_braking_boost_timeout = 750 set nav_mc_braking_boost_speed_threshold = 150 set nav_mc_braking_boost_disengage_speed = 100 set nav_mc_braking_bank_angle = 40 set nav_mc_pos_deceleration_time = 120 set nav_mc_pos_expo = 10 set nav_mc_wp_slowdown = ON set nav_fw_bank_angle = 45 set nav_fw_climb_angle = 20 set nav_fw_dive_angle = 15 set nav_fw_pitch2thr_smoothing = 6 set fw_min_throttle_down_pitch = 0 set nav_fw_pitch2thr_threshold = 50 set nav_fw_loiter_radius = 7500 set fw_loiter_direction = LEFT set nav_fw_cruise_speed = 0 set nav_fw_control_smoothness = 2 set nav_fw_land_dive_angle = 2 set nav_fw_launch_velocity = 300 set nav_fw_launch_accel = 1863 set nav_fw_launch_max_angle = 75 set nav_fw_launch_detect_time = 40 set nav_fw_launch_idle_motor_delay = 0 set nav_fw_launch_motor_delay = 100 set nav_fw_launch_spinup_time = 100 set nav_fw_launch_end_time = 3000 set nav_fw_launch_min_time = 0 set nav_fw_launch_timeout = 60000 set nav_fw_launch_max_altitude = 8000 set nav_fw_launch_climb_angle = 25 set nav_fw_launch_manual_throttle = OFF set nav_fw_launch_abort_deadband = 100 set nav_fw_cruise_yaw_rate = 20 set nav_fw_allow_manual_thr_increase = ON set nav_use_fw_yaw_control = OFF set nav_fw_yaw_deadband = 0 set telemetry_switch = OFF set telemetry_inverted = OFF set frsky_default_latitude = 0.000 set frsky_default_longitude = 0.000 set frsky_coordinates_format = 0 set frsky_unit = METRIC set frsky_vfas_precision = 0 set frsky_pitch_roll = OFF set report_cell_voltage = OFF set hott_alarm_sound_interval = 5 set telemetry_halfduplex = ON set smartport_fuel_unit = MAH set ibus_telemetry_type = 0 set ltm_update_rate = NORMAL set sim_ground_station_number = set sim_pin = 0000 set sim_transmit_interval = 60 set sim_transmit_flags = 2 set acc_event_threshold_high = 0 set acc_event_threshold_low = 0 set acc_event_threshold_neg_x = 0 set sim_low_altitude = -32767 set mavlink_ext_status_rate = 2 set mavlink_rc_chan_rate = 5 set mavlink_pos_rate = 2 set mavlink_extra1_rate = 10 set mavlink_extra2_rate = 2 set mavlink_extra3_rate = 1 set mavlink_version = 2 set ledstrip_visual_beeper = OFF set osd_telemetry = OFF set osd_video_system = AVATAR set osd_row_shiftdown = 0 set osd_msp_displayport_fullframe_interval = 10 set osd_units = METRIC set osd_stats_energy_unit = MAH set osd_stats_min_voltage_unit = BATTERY set osd_stats_page_auto_swap_time = 3 set osd_rssi_alarm = 20 set osd_time_alarm = 20 set osd_alt_alarm = 1000 set osd_dist_alarm = 5000 set osd_neg_alt_alarm = 5 set osd_current_alarm = 0 set osd_gforce_alarm = 5.000 set osd_gforce_axis_alarm_min = -5.000 set osd_gforce_axis_alarm_max = 5.000 set osd_imu_temp_alarm_min = -200 set osd_imu_temp_alarm_max = 600 set osd_esc_temp_alarm_max = 900 set osd_esc_temp_alarm_min = -200 set osd_baro_temp_alarm_min = -200 set osd_baro_temp_alarm_max = 600 set osd_snr_alarm = 4 set osd_link_quality_alarm = 70 set osd_rssi_dbm_alarm = 0 set osd_rssi_dbm_max = -30 set osd_rssi_dbm_min = -120 set osd_temp_label_align = LEFT set osd_airspeed_alarm_min = 0.000 set osd_airspeed_alarm_max = 0.000 set osd_ahi_reverse_roll = OFF set osd_ahi_max_pitch = 20 set osd_crosshairs_style = DEFAULT set osd_crsf_lq_format = TYPE1 set osd_horizon_offset = 0 set osd_camera_uptilt = 0 set osd_ahi_camera_uptilt_comp = OFF set osd_camera_fov_h = 135 set osd_camera_fov_v = 85 set osd_hud_margin_h = 3 set osd_hud_margin_v = 3 set osd_hud_homing = OFF set osd_hud_homepoint = OFF set osd_hud_radar_disp = 0 set osd_hud_radar_range_min = 3 set osd_hud_radar_range_max = 4000 set osd_hud_radar_alt_difference_display_time = 3 set osd_hud_radar_distance_display_time = 3 set osd_hud_wp_disp = 0 set osd_left_sidebar_scroll = NONE set osd_right_sidebar_scroll = NONE set osd_sidebar_scroll_arrows = OFF set osd_main_voltage_decimals = 1 set osd_coordinate_digits = 9 set osd_estimations_wind_compensation = ON set osd_failsafe_switch_layout = OFF set osd_plus_code_digits = 11 set osd_plus_code_short = 0 set osd_ahi_style = DEFAULT set osd_force_grid = OFF set osd_ahi_bordered = OFF set osd_ahi_width = 132 set osd_ahi_height = 162 set osd_ahi_vertical_offset = -18 set osd_sidebar_horizontal_offset = 0 set osd_left_sidebar_scroll_step = 0 set osd_right_sidebar_scroll_step = 0 set osd_sidebar_height = 3 set osd_ahi_pitch_interval = 0 set osd_home_position_arm_screen = ON set osd_pan_servo_index = 0 set osd_pan_servo_pwm2centideg = 0 set osd_pan_servo_offcentre_warning = 10 set osd_pan_servo_indicator_show_degrees = OFF set osd_esc_rpm_precision = 3 set osd_mah_used_precision = 4 set osd_switch_indicator_zero_name = FLAP set osd_switch_indicator_one_name = GEAR set osd_switch_indicator_two_name = CAM set osd_switch_indicator_three_name = LIGT set osd_switch_indicator_zero_channel = 5 set osd_switch_indicator_one_channel = 5 set osd_switch_indicator_two_channel = 5 set osd_switch_indicator_three_channel = 5 set osd_switch_indicators_align_left = ON set osd_system_msg_display_time = 1000 set osd_speed_source = GROUND set i2c_speed = 400KHZ set debug_mode = NONE set throttle_tilt_comp_str = 0 set name = DOLPHIN GEORGE set pilot_name = set mode_range_logic_operator = OR set stats = OFF set stats_total_time = 0 set stats_total_dist = 0 set stats_total_energy = 0 set tz_offset = 0 set tz_automatic_dst = OFF set display_force_sw_blink = OFF set vtx_halfduplex = ON set vtx_smartaudio_early_akk_workaround = ON set vtx_smartaudio_alternate_softserial_method = ON set vtx_softserial_shortstop = OFF set vtx_smartaudio_stopbits = 2 set vtx_band = 1 set vtx_channel = 1 set vtx_power = 1 set vtx_low_power_disarm = OFF set vtx_pit_mode_chan = 1 set vtx_max_power_override = 0 set vtx_frequency_group = FREQUENCYGROUP_5G8 set log_level = ERROR set log_topics = 0 set esc_sensor_listen_only = OFF set smartport_master_halfduplex = ON set smartport_master_inverted = OFF set dji_workarounds = 1 set dji_use_name_for_messages = ON set dji_esc_temp_source = ESC set dji_message_speed_source = 3D set dji_rssi_source = RSSI set dji_use_adjustments = OFF set dji_cn_alternating_duration = 30 set dshot_beeper_enabled = ON set dshot_beeper_tone = 1 set beeper_pwm_mode = OFF set limit_pi_p = 100 set limit_pi_i = 100 set limit_attn_filter_cutoff = 1.200

profile

profile 1

set mc_p_pitch = 40 set mc_i_pitch = 30 set mc_d_pitch = 23 set mc_cd_pitch = 60 set mc_p_roll = 40 set mc_i_roll = 30 set mc_d_roll = 23 set mc_cd_roll = 60 set mc_p_yaw = 85 set mc_i_yaw = 45 set mc_d_yaw = 0 set mc_cd_yaw = 60 set mc_p_level = 20 set mc_i_level = 15 set mc_d_level = 75 set fw_p_pitch = 15 set fw_i_pitch = 5 set fw_d_pitch = 5 set fw_ff_pitch = 70 set fw_p_roll = 15 set fw_i_roll = 3 set fw_d_roll = 7 set fw_ff_roll = 70 set fw_p_yaw = 20 set fw_i_yaw = 0 set fw_d_yaw = 0 set fw_ff_yaw = 100 set fw_p_level = 20 set fw_i_level = 5 set fw_d_level = 75 set max_angle_inclination_rll = 300 set max_angle_inclination_pit = 300 set dterm_lpf_hz = 10 set dterm_lpf_type = PT2 set dterm_lpf2_hz = 0 set dterm_lpf2_type = PT1 set yaw_lpf_hz = 0 set fw_iterm_throw_limit = 165 set fw_reference_airspeed = 1500.000 set fw_turn_assist_yaw_gain = 1.000 set fw_turn_assist_pitch_gain = 0.300 set fw_iterm_limit_stick_position = 0.500 set fw_yaw_iterm_freeze_bank_angle = 0 set pidsum_limit = 500 set pidsum_limit_yaw = 350 set iterm_windup = 50 set rate_accel_limit_roll_pitch = 0 set rate_accel_limit_yaw = 10000 set heading_hold_rate_limit = 90 set nav_mc_pos_z_p = 50 set nav_mc_vel_z_p = 100 set nav_mc_vel_z_i = 50 set nav_mc_vel_z_d = 10 set nav_mc_pos_xy_p = 65 set nav_mc_vel_xy_p = 40 set nav_mc_vel_xy_i = 15 set nav_mc_vel_xy_d = 100 set nav_mc_vel_xy_ff = 40 set nav_mc_heading_p = 60 set nav_mc_vel_xy_dterm_lpf_hz = 2.000 set nav_mc_vel_xy_dterm_attenuation = 90 set nav_mc_vel_xy_dterm_attenuation_start = 10 set nav_mc_vel_xy_dterm_attenuation_end = 60 set nav_fw_pos_z_p = 35 set nav_fw_pos_z_i = 5 set nav_fw_pos_z_d = 10 set nav_fw_pos_xy_p = 70 set nav_fw_pos_xy_i = 5 set nav_fw_pos_xy_d = 8 set nav_fw_heading_p = 60 set nav_fw_pos_hdg_p = 30 set nav_fw_pos_hdg_i = 2 set nav_fw_pos_hdg_d = 0 set nav_fw_pos_hdg_pidsum_limit = 350 set mc_iterm_relax = RP set mc_iterm_relax_cutoff = 15 set d_boost_min = 1.000 set d_boost_max = 1.000 set d_boost_max_at_acceleration = 7500.000 set d_boost_gyro_delta_lpf_hz = 80 set antigravity_gain = 1.000 set antigravity_accelerator = 1.000 set antigravity_cutoff_lpf_hz = 15 set pid_type = AUTO set mc_cd_lpf_hz = 30 set fw_level_pitch_trim = 3.000 set smith_predictor_strength = 0.500 set smith_predictor_delay = 0.000 set smith_predictor_lpf_hz = 50 set fw_level_pitch_gain = 5.000 set thr_mid = 50 set thr_expo = 0 set tpa_rate = 0 set tpa_breakpoint = 1500 set fw_tpa_time_constant = 1500 set rc_expo = 30 set rc_yaw_expo = 30 set roll_rate = 26 set pitch_rate = 20 set yaw_rate = 20 set manual_rc_expo = 35 set manual_rc_yaw_expo = 20 set manual_roll_rate = 100 set manual_pitch_rate = 100 set manual_yaw_rate = 100 set fpv_mix_degrees = 0 set rate_dynamics_center_sensitivity = 100 set rate_dynamics_end_sensitivity = 100 set rate_dynamics_center_correction = 10 set rate_dynamics_end_correction = 10 set rate_dynamics_center_weight = 0 set rate_dynamics_end_weight = 0

battery_profile

battery_profile 1

set bat_cells = 0 set vbat_cell_detect_voltage = 425 set vbat_max_cell_voltage = 420 set vbat_min_cell_voltage = 330 set vbat_warning_cell_voltage = 350 set battery_capacity = 0 set battery_capacity_warning = 0 set battery_capacity_critical = 0 set battery_capacity_unit = MAH set controlrate_profile = 0 set throttle_scale = 1.000 set throttle_idle = 5.000 set turtle_mode_power_factor = 55 set failsafe_throttle = 1000 set nav_mc_hover_thr = 1500 set nav_fw_cruise_thr = 1400 set nav_fw_min_thr = 1200 set nav_fw_max_thr = 2000 set nav_fw_pitch2thr = 10 set nav_fw_launch_thr = 2000 set nav_fw_launch_idle_thr = 1550 set limit_cont_current = 0 set limit_burst_current = 0 set limit_burst_current_time = 0 set limit_burst_current_falldown_time = 0 set limit_cont_power = 0 set limit_burst_power = 0 set limit_burst_power_time = 0 set limit_burst_power_falldown_time = 0

save configuration

save

end the command batch

batch end

Mar 17 '24 15:03 flavioyarade

I now do it like this I will later Post my diff. It was recommended by some body in rcgroups.com and it works perfekt i have no crash anymore. I did so many Tests and repaied it more then 10 Times. https://github.com/iNavFlight/inav/assets/18383738/0a01583e-e3a1-465e-b02b-c1e1631cf392

Mar 17 '24 15:03 druckgott

Here are the two diffs for launch like video above. The Ruders on the start are moved down quite a much but do have no "grip" on the beginning so the funjet is moving upwards first.

INAV_7.0.0_cli_FUNJET_20240303_095527_diff.txt INAV_6.1.1_cli_FUNJET_20240302_112723_diff.txt

Mar 17 '24 16:03 druckgott

Thanks for your data. I can't find what it could be. I don't think I have anything wrong with my configuration... I have other models that work perfectly with my same configuration... It could be some BUG in the firmware... I don't know.

Mar 17 '24 16:03 flavioyarade

To conclude: The control surface movement is normal when throttle stick is lifted for launch (I-Term kicks in) If the plane rolls on launch its one of the following issues:

Control surfaces massively out of trim
Torque roll by too much launch power
unbalanced wings (from wing mounted equipment
bad configuration or mixer

Will close the ticket at this point as all the options to check are mentioned.

Mar 22 '24 21:03 b14ckyy

Autolaunch behavior of elevator Ruder during throttle rise

Current Behavior

Steps to Reproduce

Expected behavior

Suggested solution(s)

Additional context

version

INAV/SPEEDYBEEF405WING 6.1.1 Jun 13 2023 / 12:28:36 (42ced253)

GCC-10.2.1 20201103 (release)

start the command batch

resources

Mixer: motor mixer

Mixer: servo mixer

Outputs [servo]

safehome

features

beeper

blackbox

Receiver: Channel map

Ports

LEDs

LED color

LED mode_color

Modes [aux]

Adjustments [adjrange]

Receiver rxrange

temp_sensor

Mission Control Waypoints [wp]

OSD [osd_layout]

Programming: logic

Programming: global variables

Programming: PID controllers

master

profile

battery_profile

save configuration

end the command batch