FC Matek F722 mini running iNav 2.1.0 froze mid flight

[romko1]

Hi, I have a MatekF722 Mini, FW: InavFlight v.2.1.0. A model of about 15m from me -> the OSD freezing and on the radio commands the model did not respond and a crash followed.
Unfortunately, I do not have a flight data record (blackbox), just a short video where OSD freezes in the second second. Previously done about one hundred starts and no problem.
CPU load in inav when connected to computer 6%.ESC protocol: Oneshot125.
I apologize if this thing has been dealt with here, but I've never found it.
It's a critical mistake. Has it happened to anyone?
Please find some solution to the problem? It's dangerous to use it when it's like this.

Video:
https://youtu.be/c5hVB59jTFo

[fiam]

@romko1 Are you by any chance using an RunCam Split and is it connected to the FC? In any case, please post a config diff so we can see the whole setup.

[romko1]

@fiam : No, my RunCam Split mini2 is not connected to FC but is powered by VTX from 12V (AKK FX2 ultimate mini: https://www.akktek.com/products/vtx/akk-fx2-ultimate-mini.html)

My config:

resources

mixer

mmix reset

mmix 0 1.000 -1.000 1.000 -1.000
mmix 1 1.000 -1.000 -1.000 1.000
mmix 2 1.000 1.000 1.000 1.000
mmix 3 1.000 1.000 -1.000 -1.000

servo mix

smix reset

servo

servo 0 1000 2000 1500 100
servo 1 1000 2000 1500 100
servo 2 1000 2000 1500 100
servo 3 1000 2000 1500 100
servo 4 1000 2000 1500 100
servo 5 1000 2000 1500 100
servo 6 1000 2000 1500 100
servo 7 1000 2000 1500 100

feature

feature -THR_VBAT_COMP
feature -VBAT
feature -TX_PROF_SEL
feature -BAT_PROF_AUTOSWITCH
feature -MOTOR_STOP
feature -SOFTSERIAL
feature -GPS
feature -TELEMETRY
feature -CURRENT_METER
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DASHBOARD
feature -BLACKBOX
feature -TRANSPONDER
feature -AIRMODE
feature -SUPEREXPO
feature -VTX
feature -RX_SPI
feature -PWM_SERVO_DRIVER
feature -PWM_OUTPUT_ENABLE
feature -OSD
feature -FW_LAUNCH
feature -TRACE
feature THR_VBAT_COMP
feature VBAT
feature TX_PROF_SEL
feature BAT_PROF_AUTOSWITCH
feature MOTOR_STOP
feature SOFTSERIAL
feature GPS
feature TELEMETRY
feature CURRENT_METER
feature PWM_OUTPUT_ENABLE
feature OSD

beeper

beeper -RUNTIME_CALIBRATION
beeper HW_FAILURE
beeper RX_LOST
beeper RX_LOST_LANDING
beeper -DISARMING
beeper ARMING
beeper ARMING_GPS_FIX
beeper -BAT_CRIT_LOW
beeper -BAT_LOW
beeper GPS_STATUS
beeper RX_SET
beeper -ACTION_SUCCESS
beeper ACTION_FAIL
beeper READY_BEEP
beeper MULTI_BEEPS
beeper -DISARM_REPEAT
beeper -ARMED
beeper -SYSTEM_INIT
beeper -ON_USB
beeper LAUNCH_MODE
beeper CAM_CONNECTION_OPEN
beeper CAM_CONNECTION_CLOSED

map

map AETR

serial

serial 20 1 115200 115200 0 115200
serial 0 2 115200 115200 0 115200
serial 1 64 115200 115200 0 115200
serial 2 0 115200 115200 0 115200
serial 3 1024 115200 115200 0 115200
serial 5 2048 115200 115200 0 115200
serial 30 32 115200 115200 0 115200

led

led 0 0,0::C:0
led 1 0,0::C:0
led 2 0,0::C:0
led 3 0,0::C:0
led 4 0,0::C:0
led 5 0,0::C:0
led 6 0,0::C:0
led 7 0,0::C:0
led 8 0,0::C:0
led 9 0,0::C:0
led 10 0,0::C:0
led 11 0,0::C:0
led 12 0,0::C:0
led 13 0,0::C:0
led 14 0,0::C:0
led 15 0,0::C:0
led 16 0,0::C:0
led 17 0,0::C:0
led 18 0,0::C:0
led 19 0,0::C:0
led 20 0,0::C:0
led 21 0,0::C:0
led 22 0,0::C:0
led 23 0,0::C:0
led 24 0,0::C:0
led 25 0,0::C:0
led 26 0,0::C:0
led 27 0,0::C:0
led 28 0,0::C:0
led 29 0,0::C:0
led 30 0,0::C:0
led 31 0,0::C:0

color

color 0 0,0,0
color 1 0,255,255
color 2 0,0,255
color 3 30,0,255
color 4 60,0,255
color 5 90,0,255
color 6 120,0,255
color 7 150,0,255
color 8 180,0,255
color 9 210,0,255
color 10 240,0,255
color 11 270,0,255
color 12 300,0,255
color 13 330,0,255
color 14 0,0,0
color 15 0,0,0

mode_color

mode_color 0 0 1
mode_color 0 1 11
mode_color 0 2 2
mode_color 0 3 13
mode_color 0 4 10
mode_color 0 5 3
mode_color 1 0 5
mode_color 1 1 11
mode_color 1 2 3
mode_color 1 3 13
mode_color 1 4 10
mode_color 1 5 3
mode_color 2 0 10
mode_color 2 1 11
mode_color 2 2 4
mode_color 2 3 13
mode_color 2 4 10
mode_color 2 5 3
mode_color 3 0 8
mode_color 3 1 11
mode_color 3 2 4
mode_color 3 3 13
mode_color 3 4 10
mode_color 3 5 3
mode_color 4 0 7
mode_color 4 1 11
mode_color 4 2 3
mode_color 4 3 13
mode_color 4 4 10
mode_color 4 5 3
mode_color 5 0 9
mode_color 5 1 11
mode_color 5 2 2
mode_color 5 3 13
mode_color 5 4 10
mode_color 5 5 3
mode_color 6 0 6
mode_color 6 1 10
mode_color 6 2 1
mode_color 6 3 0
mode_color 6 4 0
mode_color 6 5 2
mode_color 6 6 3
mode_color 6 7 6
mode_color 6 8 0
mode_color 6 9 0
mode_color 6 10 0

aux

aux 0 0 2 1700 2100
aux 1 1 1 900 1300
aux 2 2 1 1300 1700
aux 3 26 1 900 1700
aux 4 20 1 1700 2100
aux 5 4 4 1700 2100
aux 6 3 4 1300 2100
aux 7 9 4 1700 2100
aux 8 8 6 1700 2100
aux 9 19 7 1700 2100
aux 10 11 3 1700 2100
aux 11 30 0 1825 2100
aux 12 32 8 1300 1700
aux 13 33 8 1700 2100
aux 14 0 0 900 900
aux 15 0 0 900 900
aux 16 0 0 900 900
aux 17 0 0 900 900
aux 18 0 0 900 900
aux 19 0 0 900 900

adjrange

adjrange 0 0 0 900 900 0 0
adjrange 1 0 0 900 900 0 0
adjrange 2 0 0 900 900 0 0
adjrange 3 0 0 900 900 0 0
adjrange 4 0 0 900 900 0 0
adjrange 5 0 0 900 900 0 0
adjrange 6 0 0 900 900 0 0
adjrange 7 0 0 900 900 0 0
adjrange 8 0 0 900 900 0 0
adjrange 9 0 0 900 900 0 0
adjrange 10 0 0 900 900 0 0
adjrange 11 0 0 900 900 0 0

rxrange

rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000

temp_sensor

temp_sensor 0 0 0 0 0 0
temp_sensor 1 0 0 0 0 0
temp_sensor 2 0 0 0 0 0
temp_sensor 3 0 0 0 0 0
temp_sensor 4 0 0 0 0 0
temp_sensor 5 0 0 0 0 0
temp_sensor 6 0 0 0 0 0
temp_sensor 7 0 0 0 0 0

osd_layout

osd_layout 0 0 9 12 V
osd_layout 0 1 12 0 H
osd_layout 0 2 0 0 V
osd_layout 0 3 8 6 V
osd_layout 0 4 8 6 H
osd_layout 0 5 23 8 H
osd_layout 0 6 23 12 V
osd_layout 0 7 13 12 V
osd_layout 0 8 20 2 H
osd_layout 0 9 0 12 V
osd_layout 0 10 8 6 H
osd_layout 0 11 1 3 H
osd_layout 0 12 1 4 H
osd_layout 0 13 16 11 V
osd_layout 0 14 18 12 V
osd_layout 0 15 10 11 V
osd_layout 0 16 7 0 H
osd_layout 0 17 7 1 H
osd_layout 0 18 7 2 H
osd_layout 0 19 15 1 H
osd_layout 0 20 18 12 H
osd_layout 0 21 0 12 H
osd_layout 0 22 14 11 H
osd_layout 0 23 1 1 H
osd_layout 0 24 12 2 H
osd_layout 0 25 23 5 H
osd_layout 0 26 24 7 H
osd_layout 0 27 3 5 H
osd_layout 0 28 23 12 H
osd_layout 0 29 23 12 H
osd_layout 0 30 1 8 V
osd_layout 0 31 5 12 V
osd_layout 0 32 24 10 V
osd_layout 0 33 6 2 H
osd_layout 0 34 10 10 V
osd_layout 0 35 1 5 H
osd_layout 0 36 1 5 H
osd_layout 0 37 1 6 H
osd_layout 0 38 1 10 V
osd_layout 0 39 1 5 H
osd_layout 0 40 1 2 H
osd_layout 0 41 1 8 H
osd_layout 0 42 1 7 H
osd_layout 0 43 0 0 H
osd_layout 0 44 0 0 H
osd_layout 0 45 0 0 H
osd_layout 0 46 3 6 H
osd_layout 0 47 3 7 H
osd_layout 0 48 23 7 H
osd_layout 0 49 23 6 H
osd_layout 0 50 0 0 H
osd_layout 0 51 12 2 H
osd_layout 0 52 12 2 H
osd_layout 0 53 12 1 H
osd_layout 0 54 12 1 H
osd_layout 0 55 1 8 H
osd_layout 0 56 3 3 H
osd_layout 0 57 2 12 H
osd_layout 0 58 2 12 H
osd_layout 0 59 2 12 H
osd_layout 0 60 2 12 H
osd_layout 0 61 6 4 H
osd_layout 0 62 4 4 H
osd_layout 0 63 2 11 H
osd_layout 0 64 2 12 H
osd_layout 0 65 2 12 H
osd_layout 0 66 2 12 H
osd_layout 0 67 2 12 H
osd_layout 0 68 2 12 H
osd_layout 0 69 2 12 H
osd_layout 0 70 2 12 H
osd_layout 0 71 2 12 H
osd_layout 0 72 2 12 H
osd_layout 0 73 2 12 H
osd_layout 0 74 2 12 H
osd_layout 0 75 2 12 H
osd_layout 0 76 2 12 H
osd_layout 0 77 2 12 H
osd_layout 0 78 0 0 H
osd_layout 0 79 2 12 H
osd_layout 0 80 2 12 H
osd_layout 0 81 2 12 H
osd_layout 0 82 2 12 H
osd_layout 0 83 2 12 H
osd_layout 0 84 2 12 H
osd_layout 0 85 23 1 H
osd_layout 0 86 24 4 V
osd_layout 0 87 19 3 H
osd_layout 0 88 19 4 H
osd_layout 0 89 19 5 H
osd_layout 0 90 19 6 H
osd_layout 0 91 19 7 H
osd_layout 0 92 19 8 H
osd_layout 0 93 19 9 H
osd_layout 0 94 19 10 H
osd_layout 0 95 19 11 H
osd_layout 0 96 25 5 V
osd_layout 0 97 0 12 H
osd_layout 1 0 23 0 H
osd_layout 1 1 12 0 H
osd_layout 1 2 0 0 H
osd_layout 1 3 8 6 H
osd_layout 1 4 8 6 H
osd_layout 1 5 23 8 H
osd_layout 1 6 23 9 H
osd_layout 1 7 13 12 H
osd_layout 1 8 20 2 H
osd_layout 1 9 1 2 H
osd_layout 1 10 8 6 H
osd_layout 1 11 1 3 H
osd_layout 1 12 1 4 H
osd_layout 1 13 23 1 H
osd_layout 1 14 0 11 H
osd_layout 1 15 1 0 H
osd_layout 1 16 2 3 V
osd_layout 1 17 2 4 V
osd_layout 1 18 2 5 V
osd_layout 1 19 15 1 H
osd_layout 1 20 18 12 H
osd_layout 1 21 0 12 H
osd_layout 1 22 14 11 H
osd_layout 1 23 1 1 H
osd_layout 1 24 12 2 H
osd_layout 1 25 23 5 H
osd_layout 1 26 24 7 H
osd_layout 1 27 3 5 H
osd_layout 1 28 23 11 H
osd_layout 1 29 23 12 H
osd_layout 1 30 1 13 H
osd_layout 1 31 0 10 H
osd_layout 1 32 12 1 H
osd_layout 1 33 6 2 H
osd_layout 1 34 18 2 H
osd_layout 1 35 1 5 H
osd_layout 1 36 1 5 H
osd_layout 1 37 1 6 H
osd_layout 1 38 1 7 H
osd_layout 1 39 1 5 H
osd_layout 1 40 1 2 H
osd_layout 1 41 1 8 H
osd_layout 1 42 1 7 H
osd_layout 1 43 0 0 H
osd_layout 1 44 0 0 H
osd_layout 1 45 0 0 H
osd_layout 1 46 3 6 H
osd_layout 1 47 3 7 H
osd_layout 1 48 23 7 H
osd_layout 1 49 23 6 H
osd_layout 1 50 0 0 H
osd_layout 1 51 12 2 H
osd_layout 1 52 12 2 H
osd_layout 1 53 12 1 H
osd_layout 1 54 12 1 H
osd_layout 1 55 1 8 H
osd_layout 1 56 2 8 V
osd_layout 1 57 2 10 H
osd_layout 1 58 2 12 V
osd_layout 1 59 2 9 V
osd_layout 1 60 2 7 V
osd_layout 1 61 2 12 H
osd_layout 1 62 2 10 V
osd_layout 1 63 2 11 V
osd_layout 1 64 21 8 V
osd_layout 1 65 21 9 V
osd_layout 1 66 2 11 H
osd_layout 1 67 21 3 V
osd_layout 1 68 21 4 V
osd_layout 1 69 21 5 V
osd_layout 1 70 21 8 H
osd_layout 1 71 2 12 H
osd_layout 1 72 22 6 H
osd_layout 1 73 22 7 H
osd_layout 1 74 22 8 H
osd_layout 1 75 2 12 H
osd_layout 1 76 2 12 H
osd_layout 1 77 2 12 H
osd_layout 1 78 0 0 H
osd_layout 1 79 2 12 H
osd_layout 1 80 2 12 H
osd_layout 1 81 2 12 H
osd_layout 1 82 2 12 H
osd_layout 1 83 2 12 H
osd_layout 1 84 2 12 H
osd_layout 1 85 23 1 H
osd_layout 1 86 19 2 H
osd_layout 1 87 19 3 H
osd_layout 1 88 19 4 H
osd_layout 1 89 19 5 H
osd_layout 1 90 19 6 H
osd_layout 1 91 19 7 H
osd_layout 1 92 19 8 H
osd_layout 1 93 19 9 H
osd_layout 1 94 19 10 H
osd_layout 1 95 19 11 H
osd_layout 1 96 0 0 H
osd_layout 1 97 0 12 H
osd_layout 2 0 9 12 V
osd_layout 2 1 12 0 H
osd_layout 2 2 0 0 H
osd_layout 2 3 8 6 H
osd_layout 2 4 8 6 H
osd_layout 2 5 23 8 H
osd_layout 2 6 23 9 H
osd_layout 2 7 13 12 V
osd_layout 2 8 20 2 H
osd_layout 2 9 0 12 V
osd_layout 2 10 8 6 H
osd_layout 2 11 1 3 H
osd_layout 2 12 1 4 H
osd_layout 2 13 23 1 H
osd_layout 2 14 0 11 H
osd_layout 2 15 1 0 H
osd_layout 2 16 2 10 H
osd_layout 2 17 2 11 H
osd_layout 2 18 2 12 H
osd_layout 2 19 15 1 H
osd_layout 2 20 18 12 H
osd_layout 2 21 0 12 H
osd_layout 2 22 14 11 H
osd_layout 2 23 1 1 H
osd_layout 2 24 12 2 H
osd_layout 2 25 23 5 H
osd_layout 2 26 24 7 H
osd_layout 2 27 3 5 H
osd_layout 2 28 23 11 H
osd_layout 2 29 23 12 H
osd_layout 2 30 1 13 H
osd_layout 2 31 0 10 H
osd_layout 2 32 24 10 V
osd_layout 2 33 6 2 H
osd_layout 2 34 18 2 H
osd_layout 2 35 1 5 H
osd_layout 2 36 1 5 H
osd_layout 2 37 1 6 H
osd_layout 2 38 1 7 H
osd_layout 2 39 1 5 H
osd_layout 2 40 1 2 H
osd_layout 2 41 1 8 H
osd_layout 2 42 1 7 H
osd_layout 2 43 0 0 H
osd_layout 2 44 0 0 H
osd_layout 2 45 0 0 H
osd_layout 2 46 3 6 H
osd_layout 2 47 3 7 H
osd_layout 2 48 23 7 H
osd_layout 2 49 23 6 H
osd_layout 2 50 0 0 H
osd_layout 2 51 12 2 H
osd_layout 2 52 12 2 H
osd_layout 2 53 12 1 H
osd_layout 2 54 12 1 H
osd_layout 2 55 1 8 H
osd_layout 2 56 2 12 H
osd_layout 2 57 2 12 H
osd_layout 2 58 2 12 H
osd_layout 2 59 2 12 H
osd_layout 2 60 2 12 H
osd_layout 2 61 2 12 H
osd_layout 2 62 2 10 H
osd_layout 2 63 2 11 H
osd_layout 2 64 2 12 H
osd_layout 2 65 2 12 H
osd_layout 2 66 2 12 H
osd_layout 2 67 2 12 H
osd_layout 2 68 2 12 H
osd_layout 2 69 2 12 H
osd_layout 2 70 2 12 H
osd_layout 2 71 2 12 H
osd_layout 2 72 2 12 H
osd_layout 2 73 2 12 H
osd_layout 2 74 2 12 H
osd_layout 2 75 2 12 H
osd_layout 2 76 2 12 H
osd_layout 2 77 2 12 H
osd_layout 2 78 0 0 H
osd_layout 2 79 2 12 H
osd_layout 2 80 2 12 H
osd_layout 2 81 2 12 H
osd_layout 2 82 2 12 H
osd_layout 2 83 2 12 H
osd_layout 2 84 2 12 H
osd_layout 2 85 23 1 H
osd_layout 2 86 19 2 H
osd_layout 2 87 19 3 H
osd_layout 2 88 19 4 H
osd_layout 2 89 19 5 H
osd_layout 2 90 19 6 H
osd_layout 2 91 19 7 H
osd_layout 2 92 19 8 H
osd_layout 2 93 19 9 H
osd_layout 2 94 19 10 H
osd_layout 2 95 19 11 H
osd_layout 2 96 0 0 H
osd_layout 2 97 0 12 H
osd_layout 3 0 23 0 H
osd_layout 3 1 12 0 H
osd_layout 3 2 0 0 H
osd_layout 3 3 8 6 H
osd_layout 3 4 8 6 H
osd_layout 3 5 23 8 H
osd_layout 3 6 23 9 H
osd_layout 3 7 13 12 H
osd_layout 3 8 20 2 H
osd_layout 3 9 1 2 H
osd_layout 3 10 8 6 H
osd_layout 3 11 1 3 H
osd_layout 3 12 1 4 H
osd_layout 3 13 23 1 H
osd_layout 3 14 0 11 H
osd_layout 3 15 1 0 H
osd_layout 3 16 2 10 H
osd_layout 3 17 2 11 H
osd_layout 3 18 2 12 H
osd_layout 3 19 15 1 H
osd_layout 3 20 18 12 H
osd_layout 3 21 0 12 H
osd_layout 3 22 14 11 H
osd_layout 3 23 1 1 H
osd_layout 3 24 12 2 H
osd_layout 3 25 23 5 H
osd_layout 3 26 24 7 H
osd_layout 3 27 3 5 H
osd_layout 3 28 23 11 H
osd_layout 3 29 23 12 H
osd_layout 3 30 1 13 H
osd_layout 3 31 0 10 H
osd_layout 3 32 12 1 H
osd_layout 3 33 6 2 H
osd_layout 3 34 18 2 H
osd_layout 3 35 1 5 H
osd_layout 3 36 1 5 H
osd_layout 3 37 1 6 H
osd_layout 3 38 1 7 H
osd_layout 3 39 1 5 H
osd_layout 3 40 1 2 H
osd_layout 3 41 1 8 H
osd_layout 3 42 1 7 H
osd_layout 3 43 0 0 H
osd_layout 3 44 0 0 H
osd_layout 3 45 0 0 H
osd_layout 3 46 3 6 H
osd_layout 3 47 3 7 H
osd_layout 3 48 23 7 H
osd_layout 3 49 23 6 H
osd_layout 3 50 0 0 H
osd_layout 3 51 12 2 H
osd_layout 3 52 12 2 H
osd_layout 3 53 12 1 H
osd_layout 3 54 12 1 H
osd_layout 3 55 1 8 H
osd_layout 3 56 2 12 H
osd_layout 3 57 2 12 H
osd_layout 3 58 2 12 H
osd_layout 3 59 2 12 H
osd_layout 3 60 2 12 H
osd_layout 3 61 2 12 H
osd_layout 3 62 2 10 H
osd_layout 3 63 2 11 H
osd_layout 3 64 2 12 H
osd_layout 3 65 2 12 H
osd_layout 3 66 2 12 H
osd_layout 3 67 2 12 H
osd_layout 3 68 2 12 H
osd_layout 3 69 2 12 H
osd_layout 3 70 2 12 H
osd_layout 3 71 2 12 H
osd_layout 3 72 2 12 H
osd_layout 3 73 2 12 H
osd_layout 3 74 2 12 H
osd_layout 3 75 2 12 H
osd_layout 3 76 2 12 H
osd_layout 3 77 2 12 H
osd_layout 3 78 0 0 H
osd_layout 3 79 2 12 H
osd_layout 3 80 2 12 H
osd_layout 3 81 2 12 H
osd_layout 3 82 2 12 H
osd_layout 3 83 2 12 H
osd_layout 3 84 2 12 H
osd_layout 3 85 23 1 H
osd_layout 3 86 19 2 H
osd_layout 3 87 19 3 H
osd_layout 3 88 19 4 H
osd_layout 3 89 19 5 H
osd_layout 3 90 19 6 H
osd_layout 3 91 19 7 H
osd_layout 3 92 19 8 H
osd_layout 3 93 19 9 H
osd_layout 3 94 19 10 H
osd_layout 3 95 19 11 H
osd_layout 3 96 0 0 H
osd_layout 3 97 0 12 H

master

set looptime = 500
set gyro_sync = ON
set align_gyro = DEFAULT
set gyro_hardware_lpf = 256HZ
set gyro_lpf_hz = 70
set moron_threshold = 32
set gyro_notch1_hz = 200
set gyro_notch1_cutoff = 100
set gyro_notch2_hz = 0
set gyro_notch2_cutoff = 1
set gyro_stage2_lowpass_hz = 0
set gyro_to_use = 1
set vbat_adc_channel = 1
set rssi_adc_channel = 3
set current_adc_channel = 2
set airspeed_adc_channel = 4
set acc_notch_hz = 0
set acc_notch_cutoff = 1
set align_acc = DEFAULT
set acc_hardware = MPU6500
set acc_lpf_hz = 15
set acczero_x = -50
set acczero_y = 2
set acczero_z = 9
set accgain_x = 4092
set accgain_y = 4087
set accgain_z = 4085
set rangefinder_hardware = NONE
set rangefinder_median_filter = OFF
set align_mag = CW270FLIP
set mag_hardware = QMC5883
set mag_declination = 0
set magzero_x = 416
set magzero_y = 195
set magzero_z = 388
set mag_calibration_time = 30
set align_mag_roll = 0
set align_mag_pitch = 0
set align_mag_yaw = 0
set baro_hardware = MS5611
set baro_median_filter = ON
set baro_cal_tolerance = 150
set pitot_hardware = NONE
set pitot_lpf_milli_hz = 350
set pitot_scale = 1.000
set receiver_type = SERIAL
set min_check = 1100
set max_check = 1900
set rssi_channel = 10
set rssi_min = 0
set rssi_max = 100
set sbus_sync_interval = 3000
set rc_filter_frequency = 50
set serialrx_provider = SBUS
set serialrx_inverted = OFF
set rx_spi_rf_channel_count = 0
set rx_min_usec = 885
set rx_max_usec = 2115
set serialrx_halfduplex = OFF
set blackbox_rate_num = 1
set blackbox_rate_denom = 1
set blackbox_device = SDCARD
set sdcard_detect_inverted = OFF
set min_throttle = 1040
set max_throttle = 1960
set min_command = 1000
set motor_pwm_rate = 1000
set motor_accel_time = 0
set motor_decel_time = 0
set motor_pwm_protocol = ONESHOT125
set failsafe_delay = 8
set failsafe_recovery_delay = 5
set failsafe_off_delay = 100
set failsafe_throttle = 1230
set failsafe_throttle_low_delay = 0
set failsafe_procedure = RTH
set failsafe_stick_threshold = 50
set failsafe_fw_roll_angle = -200
set failsafe_fw_pitch_angle = 100
set failsafe_fw_yaw_rate = -45
set failsafe_min_distance = 0
set failsafe_min_distance_procedure = DROP
set align_board_roll = -4
set align_board_pitch = 11
set align_board_yaw = 0
set vbat_scale = 1110
set current_meter_scale = 179
set current_meter_offset = 0
set current_meter_type = ADC
set bat_voltage_src = RAW
set cruise_power = 0
set idle_power = 0
set rth_energy_margin = 5
set thr_comp_weight = 1.000
set yaw_motor_direction = 1
set yaw_jump_prevention_limit = 200
set platform_type = MULTIROTOR
set has_flaps = OFF
set model_preview_type = 3
set fw_min_throttle_down_pitch = 0
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set servo_center_pulse = 1500
set servo_pwm_rate = 50
set servo_lpf_hz = 20
set flaperon_throw_offset = 200
set tri_unarmed_servo = ON
set reboot_character = 82
set imu_dcm_kp = 2500
set imu_dcm_ki = 50
set imu_dcm_kp_mag = 10000
set imu_dcm_ki_mag = 0
set small_angle = 25
set fixed_wing_auto_arm = OFF
set disarm_kill_switch = ON
set auto_disarm_delay = 0
set switch_disarm_delay = 250
set gps_provider = UBLOX7
set gps_sbas_mode = AUTO
set gps_dyn_model = AIR_1G
set gps_auto_config = ON
set gps_auto_baud = ON
set gps_ublox_use_galileo = ON
set gps_min_sats = 6
set deadband = 5
set yaw_deadband = 5
set pos_hold_deadband = 20
set alt_hold_deadband = 50
set 3d_deadband_throttle = 50
set fw_autotune_overshoot_time = 100
set fw_autotune_undershoot_time = 200
set fw_autotune_threshold = 50
set fw_autotune_ff_to_p_gain = 10
set fw_autotune_ff_to_i_tc = 600
set inav_auto_mag_decl = ON
set inav_gravity_cal_tolerance = 5
set inav_use_gps_velned = OFF
set inav_allow_dead_reckoning = OFF
set inav_reset_altitude = FIRST_ARM
set inav_reset_home = EACH_ARM
set inav_max_surface_altitude = 200
set inav_w_z_surface_p = 3.500
set inav_w_z_surface_v = 6.100
set inav_w_xy_flow_p = 1.000
set inav_w_xy_flow_v = 2.000
set inav_w_z_baro_p = 0.350
set inav_w_z_gps_p = 0.200
set inav_w_z_gps_v = 0.100
set inav_w_xy_gps_p = 1.000
set inav_w_xy_gps_v = 2.000
set inav_w_z_res_v = 0.500
set inav_w_xy_res_v = 0.500
set inav_w_acc_bias = 0.010
set inav_max_eph_epv = 1000.000
set inav_baro_epv = 100.000
set nav_disarm_on_landing = OFF
set nav_use_midthr_for_althold = OFF
set nav_extra_arming_safety = ON
set nav_user_control_mode = ATTI
set nav_position_timeout = 5
set nav_wp_radius = 100
set nav_wp_safe_distance = 10000
set nav_auto_speed = 994
set nav_auto_climb_rate = 500
set nav_manual_speed = 500
set nav_manual_climb_rate = 200
set nav_landing_speed = 180
set nav_land_slowdown_minalt = 500
set nav_land_slowdown_maxalt = 2000
set nav_emerg_landing_speed = 400
set nav_min_rth_distance = 500
set nav_overrides_motor_stop = ON
set nav_rth_climb_first = ON
set nav_rth_climb_ignore_emerg = OFF
set nav_rth_tail_first = OFF
set nav_rth_allow_landing = ALWAYS
set nav_rth_alt_mode = AT_LEAST
set nav_rth_abort_threshold = 50000
set nav_max_terrain_follow_alt = 100
set nav_rth_altitude = 9800
set nav_rth_home_altitude = 0
set nav_mc_bank_angle = 33
set nav_mc_hover_thr = 1300
set nav_mc_auto_disarm_delay = 2000
set nav_mc_braking_speed_threshold = 100
set nav_mc_braking_disengage_speed = 75
set nav_mc_braking_timeout = 2000
set nav_mc_braking_boost_factor = 100
set nav_mc_braking_boost_timeout = 750
set nav_mc_braking_boost_speed_threshold = 150
set nav_mc_braking_boost_disengage_speed = 100
set nav_mc_braking_bank_angle = 40
set nav_fw_cruise_thr = 1400
set nav_fw_min_thr = 1200
set nav_fw_max_thr = 1700
set nav_fw_bank_angle = 20
set nav_fw_climb_angle = 20
set nav_fw_dive_angle = 15
set nav_fw_pitch2thr = 10
set nav_fw_loiter_radius = 5000
set nav_fw_cruise_speed = 0
set nav_fw_land_dive_angle = 2
set nav_fw_launch_velocity = 300
set nav_fw_launch_accel = 1863
set nav_fw_launch_max_angle = 45
set nav_fw_launch_detect_time = 40
set nav_fw_launch_thr = 1700
set nav_fw_launch_idle_thr = 1000
set nav_fw_launch_motor_delay = 500
set nav_fw_launch_spinup_time = 100
set nav_fw_launch_min_time = 0
set nav_fw_launch_timeout = 5000
set nav_fw_launch_max_altitude = 0
set nav_fw_launch_climb_angle = 18
set nav_fw_cruise_yaw_rate = 20
set nav_fw_allow_manual_thr_increase = OFF
set telemetry_switch = OFF
set telemetry_inverted = OFF
set frsky_default_latitude = 0.000
set frsky_default_longitude = 0.000
set frsky_coordinates_format = 0
set frsky_unit = METRIC
set frsky_vfas_precision = 0
set frsky_pitch_roll = OFF
set report_cell_voltage = OFF
set hott_alarm_sound_interval = 5
set smartport_uart_unidir = OFF
set smartport_fuel_unit = MAH
set ibus_telemetry_type = 0
set ltm_update_rate = NORMAL
set ledstrip_visual_beeper = OFF
set osd_video_system = NTSC
set osd_row_shiftdown = 0
set osd_units = METRIC
set osd_stats_energy_unit = MAH
set osd_rssi_alarm = 35
set osd_time_alarm = 8
set osd_alt_alarm = 210
set osd_dist_alarm = 1500
set osd_neg_alt_alarm = 3
set osd_imu_temp_alarm_min = -200
set osd_imu_temp_alarm_max = 600
set osd_baro_temp_alarm_min = -200
set osd_baro_temp_alarm_max = 600
set osd_temp_label_align = LEFT
set osd_artificial_horizon_reverse_roll = OFF
set osd_artificial_horizon_max_pitch = 20
set osd_crosshairs_style = DEFAULT
set osd_left_sidebar_scroll = NONE
set osd_right_sidebar_scroll = NONE
set osd_sidebar_scroll_arrows = OFF
set osd_main_voltage_decimals = 2
set osd_coordinate_digits = 9
set osd_estimations_wind_compensation = ON
set osd_failsafe_switch_layout = OFF
set osd_plus_code_digits = 11
set i2c_speed = 400KHZ
set debug_mode = NONE
set throttle_tilt_comp_str = 0
set input_filtering_mode = OFF
set name = Leader 160
set mode_range_logic_operator = OR
set stats = OFF
set stats_total_time = 0
set stats_total_dist = 0
set stats_total_energy = 0
set tz_offset = 0
set tz_automatic_dst = OFF
set display_force_sw_blink = OFF
set vtx_halfduplex = ON
set vtx_band = 5
set vtx_channel = 3
set vtx_power = 3
set vtx_low_power_disarm = ON
set vtx_freq = 5732
set vtx_pit_mode_freq = 0
set pinio_box1 = 47
set pinio_box2 = 48
set pinio_box3 = 255
set pinio_box4 = 255

profile

profile 1

set mc_p_pitch = 24
set mc_i_pitch = 28
set mc_d_pitch = 17
set mc_p_roll = 24
set mc_i_roll = 28
set mc_d_roll = 17
set mc_p_yaw = 40
set mc_i_yaw = 40
set mc_d_yaw = 0
set mc_p_level = 50
set mc_i_level = 15
set mc_d_level = 75
set fw_p_pitch = 5
set fw_i_pitch = 7
set fw_ff_pitch = 50
set fw_p_roll = 5
set fw_i_roll = 7
set fw_ff_roll = 50
set fw_p_yaw = 6
set fw_i_yaw = 10
set fw_ff_yaw = 60
set fw_p_level = 20
set fw_i_level = 5
set fw_d_level = 75
set max_angle_inclination_rll = 350
set max_angle_inclination_pit = 350
set dterm_lpf_hz = 80
set yaw_lpf_hz = 30
set dterm_setpoint_weight = 1.000
set fw_iterm_throw_limit = 165
set fw_loiter_direction = RIGHT
set fw_reference_airspeed = 1000.000
set fw_turn_assist_yaw_gain = 1.000
set fw_iterm_limit_stick_position = 0.500
set dterm_notch_hz = 200
set dterm_notch_cutoff = 100
set pidsum_limit = 500
set yaw_p_limit = 300
set iterm_windup = 50
set rate_accel_limit_roll_pitch = 0
set rate_accel_limit_yaw = 10000
set heading_hold_rate_limit = 90
set nav_mc_pos_z_p = 50
set nav_mc_pos_z_i = 0
set nav_mc_pos_z_d = 0
set nav_mc_vel_z_p = 100
set nav_mc_vel_z_i = 50
set nav_mc_vel_z_d = 10
set nav_mc_pos_xy_p = 65
set nav_mc_pos_xy_i = 120
set nav_mc_pos_xy_d = 10
set nav_mc_vel_xy_p = 50
set nav_mc_vel_xy_i = 15
set nav_mc_vel_xy_d = 15
set nav_mc_heading_p = 60
set nav_fw_pos_z_p = 40
set nav_fw_pos_z_i = 5
set nav_fw_pos_z_d = 10
set nav_fw_pos_xy_p = 75
set nav_fw_pos_xy_i = 5
set nav_fw_pos_xy_d = 8
set nav_fw_heading_p = 60
set thr_mid = 50
set thr_expo = 0
set tpa_rate = 0
set tpa_breakpoint = 1500
set fw_tpa_time_constant = 0
set rc_expo = 10
set rc_yaw_expo = 20
set roll_rate = 50
set pitch_rate = 50
set yaw_rate = 30
set manual_rc_expo = 10
set manual_rc_yaw_expo = 20
set manual_roll_rate = 100
set manual_pitch_rate = 100
set manual_yaw_rate = 100
set fpv_mix_degrees = 0

battery_profile

battery_profile 1

set bat_cells = 4
set vbat_cell_detect_voltage = 430
set vbat_max_cell_voltage = 430
set vbat_min_cell_voltage = 310
set vbat_warning_cell_voltage = 330
set battery_capacity = 1300
set battery_capacity_warning = 260
set battery_capacity_critical = 195
set battery_capacity_unit = MAH

resource

IO:

A00: SERIAL4 UART TX
A01: SERIAL4 UART RX
A02: SOFTSERIAL1 UART TX/RX
A03: SERIAL2 UART RX
A04: FREE
A05: SPI1 SCK
A06: SPI1 MISO
A07: SPI1 MOSI
A08: FREE
A09: SERIAL1 UART TX
A10: SERIAL1 UART RX
A11: USB IN
A12: USB OUT
A13: LED2 OUT
A14: LED1 OUT
A15: MOTOR5 OUT
B00: MOTOR3 OUT
B01: MOTOR4 OUT
B02: SPI_PREINIT CS
B03: MOTOR6 OUT
B04: MOTOR1 OUT
B05: MOTOR2 OUT
B06: FREE
B07: FREE
B08: I2C1 SCL
B09: I2C1 SDA
B10: FREE
B11: FREE
B12: OSD CS
B13: SPI2 SCK
B14: SPI2 MISO
B15: SPI2 MOSI
C00: FREE
C01: ADC CH2
C02: ADC CH1
C03: MPU EXTI
C04: FREE
C05: FREE
C06: SERIAL6 UART TX/RX
C07: FREE
C08: Wÿ?ËRÚñ?°ø}½h쫡п?¯?¿¹óS¸eãhïÐÜ�m¼5Üçbz1àå?o¥öµn¢#ÎÇ?k4?¿?%��~??ó?[?÷t×?õ?'H0?�³oß~g?Qj?üTßSää?MúsÝõöú6ö°OjSIriO^,»/©/\?9UK�Lo�"�¢¿?ós©-�DZyó�O?ÏâÖ½�k�c�1Ù;ãÿ1 OUT C09: Wÿ?ËRÚñ?°ø}½h쫡п?¯?¿¹óS¸eãhïÐÜ�m¼5Üçbz1àå?o¥öµn¢#ÎÇ?k4?¿?%��~??ó?[?÷t×?õ?'H0?�³oß~g?Qj?üTßSää?MúsÝõöú6ö°OjSIriO^,»/©/?9UK�Lo�"�¢¿?ós©-�DZyó�O?ÏâÖ½�k�c�1Ù;ãÿ2 OUT
C10: SPI3 SCK
C11: SPI3 MISO
C12: SPI3 MOSI
C13: BEEPER OUT
C14: FREE
C15: MPU CS
D00: FREE
D01: FREE
D02: SDCARD CS
D03: FREE
D04: FREE
D05: FREE
D06: FREE
D07: FREE
D08: FREE
D09: FREE
D10: FREE
D11: FREE
D12: FREE
D13: FREE
D14: FREE
D15: FREE

[fiam]

@romko1 Thanks for the clarifications. There are basically 2 things that could have produced that lock: runcam split (this is fixed in firmware 2.2-rc1) or a faulty/improperly connected i2c device. Given than you have no runcam split connected, that the lock lasted around 10 seconds and that was (incorrectly) the exact i2c timeout for F7, I’m inclined to believe it was the latter.

In the meantime, we’ve reduced this timeout to 10ms (like on F3 and F4), so if this happens It won’t result in a drastic lock.

I’d suggest you review that the compass is properly connected and test it on the bench before flying that machine again.

[romko1]

@fiam Thank you for your help and explanation. My RunCam split mini2 has FW v.2.3. I have a compass connected to the same UART3 port (I2C) as a barometric sensor. The compass is integrated with the Radiolink TS-100 GPS. The compass works fine, but I check it and optionally calibrate it ... there was no interference on that video around the 4m crash.

[romko1]

Hi, so I made a FW modification: I2C: Reduce timeout on F7 from 10s to 10ms and I also repaired corrupted resource C08 and C09, of course, after installation, calibrated compass, accelerometer. I have also made a short 2-minute flight and yet everything is fine. Thank you for your help and valuable advice.

[lunebleue-zz]

Hi, I had same behaviour with Matek F722-SE, crashed in mid-flight with INAV 2.1 and then watching OSD video noticed OSD freezed (looks like processor crashed), First time I crashed I thought it was because of D-SHOT (D-SHOT 300 in my case) so I moved to multishot and same happened. Thought it was my NEW Matek board that was defective so replace it with the Matek F722 STD, Same happened again... So I'm curentlly running BF, Please fix the bug with these F722 boards so that I can go back with INAV :)

[romko1]

Hi, So far, the problem has not been repeated, but when connected to the battery, I see in the OSD HDOP 0.0 and about 20s a bad GPS (beeper sand). Subsequently, HDOP is 99 and GPS are working. After approx. minute (cold start) FC reports me a 3D fix. I checked the TX-RX between GPS and FC, also cold contacts. GPS I have Radiolink TS100 mini. It worked correctly before updating FW. It's strange. Can you please tell me where the error is? Thank you.

[digitalentity]

The freeze itself is an indication of bad wiring. The fix in #4753 allows i2c to recover, but you should consider improving the wiring (maybe adding 2-3K pull-up resistors on SCL/SDA lines).

The GPS failure issue looks like a duplicate of #4411 which will be addressed once I'm able to reproduce (so far all my GPS modules are working fine and I don't have any hardware where I can debug this).

[romko1]

@digitalentity : I found out where the mistake is (#4411). As I wrote above I have a GPS module Radiolink TS100 mini. If I connect to a given GPS module via FTDI cable (u-center) I preset it (transfer rate, frequency ... etc) and save, then connect GPS module to FC MatekSys F722 mini it works fine. However, if the GPS module power is longer off (more than 3 hours) then the GPS module will lose my settings (defaults to 9600 speed, frequency) and will turn on the FC MatekSYS F722 mini - automatic configuration approx. 20 seconds red - buzzer bleeping (HDOP is 0.0 not 99), and then get caught - shining blue (HDOP is 99). Wouldn't it help to set a larger delay in the firmware for automatic configuration? If so, where can I please change it? Thank you.