3 寸涵道航拍机

# Betaflight 2026.6.2, F722 20x20 stack, DJI O3 on UART1, ExpressLRS on UART2
mixer QUADX
set align_board_yaw = 0             # arrow to the nose; 180 if it points back
set motor_pwm_protocol = DSHOT300
set dshot_bidir = ON                # rpm telemetry for the RPM filter
set motor_poles = 14                # 12N14P: count the magnets in the bell
set yaw_motors_reversed = OFF       # props in (ON = props out)
serial UART1 131073 115200 57600 0 115200  # MSP (1) + VTX_MSP (131072): the O3
set osd_displayport_device = MSP
set vcd_video_system = HD
serial UART2 64 115200 57600 0 115200      # 64 = serial RX (ELRS)
set serialrx_provider = CRSF
save

# RPM filter: notches each motor's noise out of the gyro (no jello in the footage)
set dshot_bidir = ON
set motor_poles = 14
set rpm_filter_harmonics = 3        # 0-3, 0 switches it off
set rpm_filter_min_hz = 100         # 30-200
set rpm_filter_q = 500              # 250-3000
set rpm_filter_fade_range_hz = 50   # 0-1000
set rpm_filter_lpf_hz = 150         # 100-500
save

# aux <slot> <mode id> <AUX channel, 0 = AUX1> <start> <end> 0 0
aux 0 0 0 1700 2100 0 0             # ARM on AUX1 high
aux 1 1 1 1300 2100 0 0             # ANGLE on AUX2 mid and high (low = acro)
aux 2 3 2 1700 2100 0 0             # ALTHOLD on AUX3 high (needs a barometer)
aux 3 35 3 1700 2100 0 0            # FLIP OVER AFTER CRASH on AUX4 high
set failsafe_procedure = DROP       # indoors, near people: stop the motors
set failsafe_delay = 15             # 1.5 s of lost link before stage 2
save

# Altitude hold: ANGLE (AUX2) + ALTHOLD (AUX3) both on
set alt_hold_deadband = 20          # % of stick around centre that holds height
set alt_hold_climb_rate = 15        # 1.5 m/s at full stick (units of 0.1 m/s)
set angle_limit = 30
save

# Cine is a rate profile, not a flight mode: soft rates in profile 2, picked by AUX5
rateprofile 1                       # 0-based: the Configurator's Rateprofile 2
set rates_type = ACTUAL
set roll_rc_rate = 7                # centre sensitivity: 70 deg/s
set roll_srate = 15                 # 150 deg/s at full stick
set pitch_rc_rate = 7
set pitch_srate = 15
set yaw_rc_rate = 7
set yaw_srate = 10                  # 100 deg/s: slow, steady pans
set roll_expo = 0
rateprofile 0
adjrange 0 0 4 900 2100 12 4 0 0    # function 12 = rate profile, chosen by AUX5 (AUX3 is altitude hold)
set rc_smoothing_auto_factor = 60   # 0-250, default 30: smoother sticks, a little delay
set feedforward_smooth_factor = 75  # 0-95, default 65
set angle_limit = 30
save

# Angle: the sticks set the tilt, centred sticks level it
aux 1 1 1 1300 2100 0 0             # ANGLE on AUX2
set angle_limit = 30                # 10-80 deg, default 60
set angle_p_gain = 50               # 0-200 (was p_level)
save

# Acro is what flies with ANGLE, HORIZON and ALTHOLD all off (AUX2 low)
set rates_type = ACTUAL
set roll_rc_rate = 7
set roll_srate = 40                 # 400 deg/s at full stick: soft for a heavy whoop
set pitch_rc_rate = 7
set pitch_srate = 40
set yaw_rc_rate = 7
set yaw_srate = 27                  # 270 deg/s
save

# Gate fly-through timer on the HD OSD: time since arming, in hundredths
set osd_tim1 = 18                   # source 2 (last armed) + precision 1 (hundredths) << 4
set osd_tim_1_pos = 2103            # 2048 (OSD profile 1) + column 23 + row 1 x 32
save

# One take through the house on the cine profile, throttle capped for indoors
rateprofile 1
set throttle_limit_type = SCALE
set throttle_limit_percent = 80     # 25-100: full stick gives 80 %
rateprofile 0
save
# camera: 4K at 60 fps, shutter about 1/120 s (an ND filter outdoors), gyro data on