# diff all

# version
# Rotorflight / STM32F7X2 (S7X2) 4.6.0-RC2 Apr 26 2026 / 17:42:21 (edaf83c) MSP API: 12.9

# start the command batch
batch start

# reset configuration to default settings
defaults nosave

board_name GOOSKY_F701
board_design RTFL
manufacturer_id GSKY
mcu_id 0045001e3235511035393630
signature 

# name: Goosky RS5

# resources
resource SERVO 5 A03
resource SERIAL_RX 4 NONE

# feature
feature TELEMETRY
feature GOVERNOR
feature ESC_SENSOR
feature FREQ_SENSOR
feature RPM_FILTER

# serial
serial 0 0 115200 57600 0 115200
serial 2 64 115200 57600 0 115200
serial 4 1024 115200 57600 0 115200
# PWM Servos

# servo
servo 1 1460 -700 700 540 515 333 0 3
servo 2 1485 -700 700 530 505 333 0 3
servo 3 1510 -700 700 540 520 333 0 2
servo 4 725 -350 300 250 250 500 0 0
servo 5 1500 -700 700 500 500 166 0 0

# mixer input
mixer input SR -1167 1167 765
mixer input SP -1167 1167 -765
mixer input SY -1667 1250 -500
mixer input SC -1167 1167 840

# mixer rule
mixer rule 1 set AUX1 S5 1000 0

# aux
aux 0 0 0 1795 2100 0 0
aux 1 53 2 1770 2100 0 0
aux 2 0 0 900 900 0 0
aux 3 0 0 900 900 0 0
aux 4 0 0 900 900 0 0
aux 5 0 0 900 900 0 0
aux 6 0 0 900 900 0 0
aux 7 0 0 900 900 0 0
aux 8 0 0 900 900 0 0
aux 9 0 0 900 900 0 0
aux 10 0 0 900 900 0 0
aux 11 0 0 900 900 0 0
aux 12 0 0 900 900 0 0
aux 13 0 0 900 900 0 0
aux 14 0 0 900 900 0 0
aux 15 0 0 900 900 0 0
aux 16 0 0 900 900 0 0
aux 17 0 0 900 900 0 0
aux 18 0 0 900 900 0 0
aux 19 0 0 900 900 0 0

# adjfunc
adjfunc 0 1 1 875 2125 1 875 2125 1500 1500 0 1 4
adjfunc 1 2 1 875 2125 1 875 2125 1500 1500 0 1 4
adjfunc 2 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 3 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 4 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 5 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 6 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 7 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 8 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 9 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 10 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 11 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 12 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 13 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 14 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 15 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 16 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 17 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 18 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 19 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 20 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 21 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 22 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 23 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 24 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 25 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 26 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 27 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 28 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 29 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 30 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 31 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 32 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 33 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 34 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 35 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 36 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 37 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 38 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 39 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 40 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100
adjfunc 41 0 0 1500 1500 0 1500 1500 1500 1500 0 0 100

# master
set gyro_lpf1_static_hz = 120
set gyro_lpf2_static_hz = 0
set dyn_notch_count = 4
set dyn_notch_max_hz = 204
set acc_calibration = -58,16,-19,24091
set mag_align_yaw = 1800
set serialrx_provider = FBUS
set serialrx_inverted = ON
set serialrx_halfduplex = ON
set blackbox_log_acc = ON
set blackbox_log_esc = ON
set blackbox_log_bec = ON
set blackbox_initial_erase_kb = 20480
set min_throttle = 1040
set motor_poles = 10,8,8,8
set main_rotor_gear_ratio = 12,107
set tail_rotor_gear_ratio = 16,75
set bat_capacity = 5000,4800,5800,0,0,0
set vbat_warning_cell_voltage = 330
set current_meter = ESC
set battery_meter = ESC
set cbat_alert_percent = 20
set battery_cell_count = 6
set tail_center_trim = -100
set swash_pitch_limit = 1833
set swash_geo_correction = -20
set gov_mode = ELECTRIC
set gov_throttle_type = FUNCTION
set gov_spoolup_time = 150
set gov_recovery_time = 20
set gov_autorotation_timeout = 20
set gov_handover_throttle = 20
set rc_deflection = 511
set rc_max_throttle = 2000
set crsf_telemetry_mode = CUSTOM
set crsf_telemetry_link_rate = 333
set telemetry_sensors = 3,4,5,96,97,99,15,23,43,93,90,91,60,77,95,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
set esc_sensor_protocol = OPENYGE
set esc_sensor_halfduplex = ON
set esc_sensor_pinswap = ON
set gyro_rpm_notch_preset = 0
set gyro_rpm_notch_min_hz = 23
set gyro_rpm_notch_source_pitch = 10,11,12,13,14,21,22,0,0,0,0,0,0,0,0,0
set gyro_rpm_notch_q_pitch = 50,40,21,80,80,70,70,0,0,0,0,0,0,0,0,0
set gyro_rpm_notch_source_roll = 10,11,12,13,14,16,21,22,0,0,0,0,0,0,0,0
set gyro_rpm_notch_q_roll = 50,40,20,80,38,80,60,60,0,0,0,0,0,0,0,0
set gyro_rpm_notch_source_yaw = 10,11,12,13,14,21,22,0,0,0,0,0,0,0,0,0
set gyro_rpm_notch_q_yaw = 50,40,33,80,100,70,70,0,0,0,0,0,0,0,0,0
set stats_min_armed_time_s = 90
set stats_total_flights = 64
set stats_total_time_s = 4466
set name = Goosky RS5
set model_param1_type = TIMER1
set model_param1_value = 420

profile 0

# profile 0
set pitch_p_gain = 85
set pitch_i_gain = 110
set pitch_d_gain = 45
set pitch_f_gain = 90
set pitch_b_gain = 5
set pitch_o_gain = 70
set roll_p_gain = 55
set roll_i_gain = 110
set roll_d_gain = 50
set roll_f_gain = 95
set roll_o_gain = 70
set yaw_p_gain = 55
set yaw_i_gain = 110
set yaw_d_gain = 15
set yaw_f_gain = 7
set pitch_d_cutoff = 25
set pitch_b_cutoff = 25
set roll_d_cutoff = 25
set roll_b_cutoff = 25
set yaw_d_cutoff = 35
set yaw_b_cutoff = 35
set yaw_cw_stop_gain = 100
set yaw_ccw_stop_gain = 55
set yaw_collective_ff_gain = 15
set cyclic_cross_coupling_gain = 5
set offset_limit = 55,55
set iterm_relax_cutoff = 15,12,15
set rescue_mode = CLIMB
set gov_headspeed = 1600

profile 1

# profile 1
set pitch_p_gain = 85
set pitch_d_gain = 55
set pitch_f_gain = 90
set pitch_b_gain = 5
set pitch_o_gain = 70
set roll_p_gain = 55
set roll_d_gain = 60
set roll_f_gain = 95
set roll_o_gain = 70
set yaw_p_gain = 55
set yaw_i_gain = 110
set yaw_d_gain = 15
set yaw_f_gain = 7
set pitch_d_cutoff = 25
set pitch_b_cutoff = 25
set roll_d_cutoff = 25
set roll_b_cutoff = 25
set yaw_d_cutoff = 35
set yaw_b_cutoff = 35
set yaw_cw_stop_gain = 105
set yaw_collective_ff_gain = 30
set cyclic_cross_coupling_gain = 5
set offset_limit = 55,55
set iterm_relax_cutoff = 15,12,15
set rescue_mode = CLIMB
set gov_headspeed = 1900

profile 2

# profile 2
set pitch_p_gain = 85
set pitch_d_gain = 55
set pitch_f_gain = 90
set pitch_b_gain = 5
set pitch_o_gain = 70
set roll_p_gain = 55
set roll_d_gain = 60
set roll_f_gain = 90
set roll_o_gain = 70
set yaw_p_gain = 55
set yaw_i_gain = 110
set yaw_d_gain = 15
set yaw_f_gain = 7
set pitch_d_cutoff = 25
set pitch_b_cutoff = 25
set roll_d_cutoff = 25
set roll_b_cutoff = 25
set yaw_d_cutoff = 35
set yaw_b_cutoff = 35
set yaw_cw_stop_gain = 110
set yaw_ccw_stop_gain = 65
set yaw_collective_ff_gain = 30
set cyclic_cross_coupling_gain = 5
set offset_limit = 55,55
set iterm_relax_cutoff = 15,12,15
set rescue_mode = CLIMB
set gov_headspeed = 2200

profile 3

# profile 3
set pitch_p_gain = 85
set pitch_d_gain = 55
set pitch_f_gain = 90
set pitch_b_gain = 5
set pitch_o_gain = 70
set roll_p_gain = 55
set roll_d_gain = 60
set roll_f_gain = 90
set roll_o_gain = 70
set yaw_p_gain = 55
set yaw_i_gain = 110
set yaw_d_gain = 15
set yaw_f_gain = 7
set pitch_d_cutoff = 25
set pitch_b_cutoff = 25
set roll_d_cutoff = 25
set roll_b_cutoff = 25
set yaw_d_cutoff = 35
set yaw_b_cutoff = 35
set yaw_cw_stop_gain = 110
set yaw_ccw_stop_gain = 65
set yaw_collective_ff_gain = 30
set cyclic_cross_coupling_gain = 5
set offset_limit = 55,55
set iterm_relax_cutoff = 15,12,15
set rescue_mode = CLIMB
set gov_headspeed = 2200

profile 4

profile 5

# restore original profile selection
profile 0

rateprofile 0

# rateprofile 0
set roll_rc_rate = 36
set pitch_rc_rate = 36
set yaw_rc_rate = 70
set collective_rc_rate = 112
set roll_expo = 15
set pitch_expo = 15
set roll_srate = 8
set pitch_srate = 8
set yaw_srate = 8
set collective_srate = 8
set roll_response = 2
set pitch_response = 2
set yaw_response = 2
set cyclic_ring = 100
set cyclic_polar = ON
set yaw_dynamic_ceiling_gain = 30
set yaw_dynamic_deadband_gain = 30

rateprofile 1

# rateprofile 1
set roll_rc_rate = 68
set pitch_rc_rate = 68
set yaw_rc_rate = 120
set collective_rc_rate = 108
set roll_expo = 15
set pitch_expo = 15
set roll_srate = 8
set pitch_srate = 8
set yaw_srate = 8
set collective_srate = 8
set roll_response = 2
set pitch_response = 2
set yaw_response = 2
set cyclic_ring = 100
set cyclic_polar = ON
set yaw_dynamic_ceiling_gain = 30
set yaw_dynamic_deadband_gain = 30

rateprofile 2

# rateprofile 2
set roll_rc_rate = 68
set pitch_rc_rate = 68
set yaw_rc_rate = 120
set roll_expo = 15
set pitch_expo = 15
set roll_srate = 8
set pitch_srate = 8
set yaw_srate = 8
set collective_srate = 8
set roll_response = 2
set pitch_response = 2
set yaw_response = 2
set cyclic_ring = 100
set cyclic_polar = ON
set yaw_dynamic_ceiling_gain = 30
set yaw_dynamic_deadband_gain = 30

rateprofile 3

# rateprofile 3
set roll_rc_rate = 68
set pitch_rc_rate = 68
set yaw_rc_rate = 120
set collective_rc_rate = 112
set roll_expo = 15
set pitch_expo = 15
set roll_srate = 8
set pitch_srate = 8
set yaw_srate = 8
set collective_srate = 8
set roll_response = 2
set pitch_response = 2
set yaw_response = 2
set cyclic_ring = 100
set cyclic_polar = ON
set yaw_dynamic_ceiling_gain = 30
set yaw_dynamic_deadband_gain = 30

rateprofile 4

rateprofile 5

# restore original rateprofile selection
rateprofile 0

# save configuration
save
#