三轴无人机

# Betaflight 2026.6.2, flashed with the "Servos" build option ticked (USE_SERVOS; off by default)
# 30.5 mm F405 with its own power board: ELRS on UART2, SmartAudio VTX on UART1
mixer TRI                          # M1 tail, M2 front right, M3 front left, servo 5 on SERVO 1
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               # 14 magnets in a 2306 bell
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)
save

# The tail servo: TRI mixes stabilised yaw into servo 5, on SERVO 1 (the S9 pad on a SpeedyBee F405 V4)
set servo_pwm_rate = 333           # a digital servo; leave 50 Hz for an analog one
set tri_unarmed_servo = ON         # the tail follows the yaw stick while disarmed, for the bench check
# Centre, then travel (or the Servos tab): servo <n> <min> <max> <middle> <rate> <forward>
servo 5 1000 2000 1520 100 -1      # middle 1520 us levels this tail plate; -1 = no channel forwarding
servo 5 1100 1950 1520 100 -1      # endpoints that stop short of the hinge binding, about 40 deg each way
# Yaw right must tilt the tail thrust LEFT. Only if it tilts it right, reverse servo 5 for input 2,
# stabilised yaw (or turn the servo round):
#   smix reverse 5 2 r
save

# Lost link: hold 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 (needs the barometer): ANGLE on AUX2, ALTHOLD on AUX3 high
aux 1 1 1 1300 2100 0 0      # ANGLE on AUX2 mid + high
aux 2 3 2 1700 2100 0 0      # ALTHOLD on AUX3 high
set alt_hold_deadband = 15   # % of throttle stick round the centre that holds height (0-70, default 20)
save

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

# Acro (ANGLE and ALTHOLD off): rates for the tri, yaw slower than a quad because a servo swings it
set rates_type = ACTUAL
set roll_rc_rate = 7         # centre: 70 deg/s per full stick
set roll_srate = 54          # full stick: 540 deg/s
set pitch_rc_rate = 7
set pitch_srate = 54
set yaw_rc_rate = 7
set yaw_srate = 40           # yaw: 400 deg/s
set p_yaw = 60               # firmer yaw hold for the tail (default 45)
set i_yaw = 90               # and less drift when the tail motor sags (default 80)
save

# Gate laps in angle mode with the race timer on the OSD
aux 1 1 1 1300 2100 0 0      # ANGLE on AUX2 mid + high, ALTHOLD off
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

# The park run in altitude hold: the stick climbs and sinks, centred it holds
aux 1 1 1 1300 2100 0 0      # ANGLE on AUX2 mid + high
aux 2 3 2 1700 2100 0 0      # ALTHOLD on AUX3 high
set osd_tim1 = 18            # the same timer as the race
set osd_tim_1_pos = 2103
save