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Je vais pas réinventer la poudre dans un premier temps je vais m’inspiré de la config de olivier C. Cette config tourne sur une F411 du coup il y a quelques modifs a apporter.

# --- GENERAL

set looptime = 1000
set gyro_sync = ON
set small_angle = 180 
set nav_extra_arming_safety = OFF

# --- PID AND RATES

set roll_rate = 36
set pitch_rate = 18

set fw_p_pitch = 16
set fw_i_pitch = 17
set fw_ff_pitch = 32
set fw_p_roll = 16
set fw_i_roll = 17
set fw_ff_roll = 32
set fw_p_level = 18

set rc_expo = 10
set rc_yaw_expo = 0
set tpa_rate = 5
set tpa_breakpoint = 1500

set max_angle_inclination_rll = 800 
set max_angle_inclination_pit = 600 

# --- AUTONOMOUS NAVIGATION

set nav_fw_cruise_thr = 1500
set nav_fw_min_thr = 1400
set nav_fw_max_thr = 1600
set nav_fw_bank_angle = 36
set nav_fw_climb_angle = 20
set nav_fw_dive_angle = 6
set nav_fw_pitch2thr = 12
set nav_fw_loiter_radius = 4500

# --- AUTO-LAUNCH

set nav_fw_launch_velocity = 300
set nav_fw_launch_accel = 1500
set nav_fw_launch_max_angle = 45
set nav_fw_launch_detect_time = 40
set nav_fw_launch_thr = 1800
set nav_fw_launch_idle_thr = 1000
set nav_fw_launch_motor_delay = 120
set nav_fw_launch_spinup_time = 30
set nav_fw_launch_min_time = 0
set nav_fw_launch_timeout = 7000
set nav_fw_launch_max_altitude = 0
set nav_fw_launch_climb_angle = 12

set pos_hold_deadband = 40 

# --- RTH

set nav_min_rth_distance = 2000
set nav_rth_climb_first = OFF
set nav_rth_climb_ignore_emerg = ON
set nav_rth_allow_landing = FS_ONLY
set nav_rth_alt_mode = AT_LEAST
set nav_rth_altitude = 7000
set nav_rth_home_altitude = 4000