7 寸远航穿越机

# Betaflight 2026.6.2 on an F7 stack: ELRS on UART2, GPS on UART3, compass on I2C, SmartAudio on UART1
mixer QUADX
set align_board_yaw = 0                  # FC arrow to the nose; 180 if it points back
set motor_pwm_protocol = DSHOT600
set dshot_bidir = ON                     # RPM telemetry for the RPM filter (AM32 or Bluejay)
set motor_poles = 14                     # 2806.5 / 2807 motors are 12N14P
set yaw_motors_reversed = OFF            # props in
serial UART2 64 115200 57600 0 115200    # 64 = serial RX (ELRS, CRSF)
set serialrx_provider = CRSF
serial UART3 2 115200 57600 0 115200     # 2 = GPS, 57600 baud
serial UART1 2048 115200 57600 0 115200  # 2048 = SmartAudio (VTX)
resource                                 # check the motor, UART and I2C pins
save

# GPS + compass: u-blox M10 on UART3, QMC5883L on I2C
feature GPS
set gps_provider = UBLOX
set gps_auto_config = ON                 # the FC configures the u-blox module itself
set gps_ublox_use_galileo = ON
set mag_hardware = AUTO
set align_mag = CW270FLIP                # Matek M10Q-5883 with its arrow to the nose; check yours
set trust_mag = ON                       # only after the compass is calibrated and the heading checked
save

# GPS Rescue: on failsafe it climbs, turns for home, flies back and lands.
# Test it close in before you trust it far out.
set failsafe_procedure = GPS-RESCUE
set failsafe_delay = 15                  # 1.5 s of stage 1 before the rescue starts
set gps_rescue_min_sats = 8              # fewer satellites: arming is blocked (flag GPS)
set gps_rescue_alt_mode = FIXED_ALT      # without it, return_alt is ignored
set gps_rescue_return_alt = 45           # metres: clear the highest ridge
set gps_rescue_ground_speed = 750        # cm/s on the way home (7.5 m/s)
set gps_rescue_descent_dist = 20         # metres from home where it starts down
set gps_rescue_sanity_checks = RESCUE_SANITY_FS_ONLY
set ap_hover_throttle = 1420             # this build hovers at about 42 % throttle
aux 3 46 3 1700 2100 0 0                 # GPS RESCUE (mode 46) on AUX4 high, to test it
save

# Stage 1 of a failsafe: 0.3 s of held sticks, then every channel takes its rxfail value
rxfail                                   # list them: throttle is "a" (auto = low) by default
rxfail 3 h                               # throttle (channel 3) holds its last value until the rescue
save

# 6S1P 21700 Li-ion: the LiPo alarms would sound with half the energy left
set vbat_warning_cell_voltage = 310      # 3.10 V per cell: turn for home
set vbat_min_cell_voltage = 290          # 2.90 V per cell: land now
set vbat_full_cell_voltage = 410
set bat_capacity = 4000                  # mAh, for the capacity warning
save

# Long-range OSD, profile 1: value = 2048 + column + 32 x row
set osd_link_quality_pos = 2081          # LQ: column 1, row 1
set osd_rssi_dbm_pos = 2113              # RSSI dBm: column 1, row 2
set osd_home_dir_pos = 2094              # home arrow: column 14, row 1
set osd_home_dist_pos = 2125             # distance home: column 13, row 2
set osd_gps_sats_pos = 2103              # satellites: column 23, row 1
set osd_altitude_pos = 2295              # altitude: column 23, row 7
set osd_gps_speed_pos = 2273             # ground speed: column 1, row 7
set osd_warnings_pos = 2377              # RESCUE N/A, RESCUE FAIL, HEADING N/A: column 9, row 10
set osd_flymode_pos = 2401               # flight mode: column 1, row 11
set osd_avg_cell_voltage_pos = 2433      # volts per cell: column 1, row 12
set osd_current_pos = 2444               # amps: column 12, row 12
set osd_mah_drawn_pos = 2455             # mAh used: column 23, row 12
save

# 1 W SmartAudio VTX: power levels in dBm (bands and channels as for the 5-inch)
vtxtable powerlevels 4
vtxtable powervalues 14 20 26 30
vtxtable powerlabels 25 100 400 1W
set vtx_power = 1                        # 25 mW on the bench
set vtx_low_power_disarm = ON            # lowest power until armed
save

# aux <slot> <mode id> <AUX n - 1> <from us> <to us> <logic> <linked>
aux 0 0 0 1700 2100 0 0                  # ARM on AUX1 high
aux 1 1 1 1300 2100 0 0                  # ANGLE on AUX2 mid + high (low = acro)
aux 2 3 2 1700 2100 0 0                  # ALTHOLD on AUX3 high (barometer + GPS)
aux 3 46 3 1700 2100 0 0                 # GPS RESCUE on AUX4 high
aux 4 13 4 1700 2100 0 0                 # BEEPER on AUX5 high: find it in long grass
save

# Altitude hold (barometer + GPS): W/S climb and sink, centre the stick to hold
aux 2 3 2 1700 2100 0 0                  # ALTHOLD on AUX3 high
set alt_hold_climb_rate = 30             # full stick climbs 3 m/s (units 0.1 m/s)
set alt_hold_deadband = 20               # % of stick around the middle that holds height
save

# Angle mode: self-levelling cruise, tilt capped
aux 1 1 1 1300 2100 0 0                  # ANGLE on AUX2 mid + high
set angle_limit = 45                     # max tilt in degrees (10-80, default 60)
save

# Acro: the sticks set rotation rates, nothing levels it. Soft rates for a heavy 7-inch.
set rates_type = ACTUAL
set roll_rc_rate = 7                     # 70 deg/s around centre stick
set pitch_rc_rate = 7
set yaw_rc_rate = 7
set roll_srate = 50                      # 500 deg/s at full stick
set pitch_srate = 50
set yaw_srate = 20                       # 200 deg/s yaw
save

# Five gates by the farmhouse, in angle mode, against the clock
aux 1 1 1 1300 2100 0 0                  # ANGLE on AUX2 mid + high
set osd_tim1 = 18                        # timer 1: time since the last arm, hundredths
set osd_tim_1_pos = 2135                 # column 23, row 2
save

# Valley run in altitude hold: river, lake, saddle, tower top, home
aux 2 3 2 1700 2100 0 0                  # ALTHOLD on AUX3 high
set osd_home_dir_pos = 2094              # the home arrow shows the way back
set osd_home_dist_pos = 2125
save