5 寸花飞穿越机

# Betaflight 2026.6.2, SPEEDYBEEF405V4 target: after flashing, in the CLI tab
mixer QUADX
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 0            # arrow to the nose; 180 if it points back
set motor_pwm_protocol = DSHOT600
set dshot_bidir = ON               # rpm telemetry for the RPM filter
set motor_poles = 14               # magnets in a 2306 / 2207 bell
set yaw_motors_reversed = OFF      # props in (ON = props out)
serial UART2 64 115200 57600 0 115200    # 64 = serial RX (ELRS)
set serialrx_provider = CRSF
serial UART1 2048 115200 57600 0 115200  # 2048 = SmartAudio (VTX)
resource                           # check the motor and UART pins
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 (needs the barometer)
aux 3 13 3 1700 2100 0 0     # BEEPER on AUX4 high: find it in the grass
aux 4 35 3 1300 1700 0 0     # turtle mode on AUX4 mid: flip it back over
save

# RPM filter: notches that follow each motor; needs bidirectional DShot
set dshot_bidir = ON
set motor_poles = 14
set rpm_filter_harmonics = 3   # the default; 0 turns it off
set rpm_filter_min_hz = 100    # the default
save

# SmartAudio 2.1 VTX: the table first, then band, channel and power
vtxtable bands 5
vtxtable channels 8
vtxtable band 1 BOSCAM_A A FACTORY 5865 5845 5825 5805 5785 5765 5745 5725
vtxtable band 2 BOSCAM_B B FACTORY 5733 5752 5771 5790 5809 5828 5847 5866
vtxtable band 3 BOSCAM_E E FACTORY 5705 5685 5665 5645 5885 5905 5925 5945
vtxtable band 4 FATSHARK F FACTORY 5740 5760 5780 5800 5820 5840 5860 5880
vtxtable band 5 RACEBAND R FACTORY 5658 5695 5732 5769 5806 5843 5880 5917
vtxtable powerlevels 3
vtxtable powervalues 14 20 26
vtxtable powerlabels 25 100 400
set vtx_band = 5
set vtx_channel = 1                # R1, 5658 MHz
set vtx_power = 1                  # 25 mW
set vtx_low_power_disarm = ON      # stay at the lowest power until armed
save

# Lost link: fallback values for 1.5 s (stage 1), then stop the motors (stage 2)
set failsafe_delay = 15            # tenths of a second
set failsafe_procedure = DROP
save

# Altitude hold (Betaflight 2025.12 and later, uses the barometer)
aux 2 3 2 1700 2100 0 0      # ALTHOLD on AUX3 high
set alt_hold_climb_rate = 22  # full stick climbs 2.2 m/s (units 0.1 m/s)
set alt_hold_deadband = 20    # % of stick around the middle that holds the height
save

# Angle mode: self-levelling, tilt capped
aux 1 1 1 1300 2100 0 0      # ANGLE on AUX2 mid + high
set angle_limit = 38         # max tilt, degrees (10-80, default 60)
set angle_p_gain = 50        # how hard it levels (0-200, default 50)
save

# Acro is what the quad flies with ANGLE, HORIZON and ALTHOLD all off
set rates_type = ACTUAL
set roll_rc_rate = 20        # centre: 200 deg/s per full stick
set roll_srate = 67          # full stick: 670 deg/s
set roll_expo = 54
set pitch_rc_rate = 20
set pitch_srate = 67
set pitch_expo = 54
set yaw_rc_rate = 20
set yaw_srate = 20           # yaw: 200 deg/s, straight line
set yaw_expo = 0
save

# Lap timer on the OSD: time since the last arm, 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

# Racing in acro: ANGLE off (AUX2 low) and air mode on
feature AIRMODE              # on by default; keeps full control at zero throttle
set osd_tim1 = 18
set osd_tim_1_pos = 2103
save

# The bando run in altitude hold, with the height on the OSD
aux 2 3 2 1700 2100 0 0      # ALTHOLD on AUX3 high
set alt_hold_climb_rate = 22
set osd_altitude_pos = 2433  # 2048 + column 1 + row 12 x 32
save