diff --git a/3.5inch-hdzero/betaflight_dump.txt b/3.5inch-hdzero/betaflight_dump.txt
new file mode 100644
index 0000000..7630cf1
--- /dev/null
+++ b/3.5inch-hdzero/betaflight_dump.txt
@@ -0,0 +1,952 @@
+# 
+
+# dump
+
+# version
+# Betaflight / STM32G47X (G473) 2026.6.0-alpha Mar 16 2026 / 17:39:23 (91cd130f4) MSP API: 1.48
+
+# start the command batch
+batch start
+
+board_name TAKERG4AIO
+manufacturer_id GEPR
+
+# name: SAM
+
+# resources
+resource BEEPER 1 A15
+resource MOTOR 1 A00
+resource MOTOR 2 A01
+resource MOTOR 3 A02
+resource MOTOR 4 A03
+resource MOTOR 5 NONE
+resource MOTOR 6 NONE
+resource MOTOR 7 NONE
+resource MOTOR 8 NONE
+resource SERVO 1 NONE
+resource SERVO 2 NONE
+resource SERVO 3 NONE
+resource SERVO 4 NONE
+resource SERVO 5 NONE
+resource SERVO 6 NONE
+resource SERVO 7 NONE
+resource SERVO 8 NONE
+resource PPM 1 NONE
+resource PWM 1 NONE
+resource PWM 2 NONE
+resource PWM 3 NONE
+resource PWM 4 NONE
+resource PWM 5 NONE
+resource PWM 6 NONE
+resource PWM 7 NONE
+resource PWM 8 NONE
+resource SERIAL_TX 1 A09
+resource SERIAL_TX 2 B03
+resource SERIAL_TX 3 NONE
+resource SERIAL_TX 4 C10
+resource SERIAL_TX 5 NONE
+resource SERIAL_RX 1 A10
+resource SERIAL_RX 2 B04
+resource SERIAL_RX 3 NONE
+resource SERIAL_RX 4 C11
+resource SERIAL_RX 5 NONE
+resource LPUART_TX 1 B10
+resource LPUART_RX 1 B11
+resource I2C_SCL 1 A13
+resource I2C_SCL 2 NONE
+resource I2C_SCL 3 NONE
+resource I2C_SCL 4 NONE
+resource I2C_SDA 1 A14
+resource I2C_SDA 2 NONE
+resource I2C_SDA 3 NONE
+resource I2C_SDA 4 NONE
+resource LED 1 B07
+resource LED 2 NONE
+resource LED 3 NONE
+resource RX_BIND 1 NONE
+resource RX_BIND_PLUG 1 NONE
+resource SPI_SCK 1 A05
+resource SPI_SCK 2 B13
+resource SPI_SCK 3 B03
+resource SPI_SCK 4 NONE
+resource SPI_SDI 1 A06
+resource SPI_SDI 2 B14
+resource SPI_SDI 3 B04
+resource SPI_SDI 4 NONE
+resource SPI_SDO 1 A07
+resource SPI_SDO 2 B15
+resource SPI_SDO 3 B05
+resource SPI_SDO 4 NONE
+resource ESCSERIAL 1 NONE
+resource ADC_BATT 1 B02
+resource ADC_RSSI 1 NONE
+resource ADC_CURR 1 B01
+resource ADC_EXT 1 NONE
+resource BARO_CS 1 NONE
+resource BARO_EOC 1 NONE
+resource BARO_XCLR 1 NONE
+resource COMPASS_CS 1 NONE
+resource COMPASS_EXTI 1 NONE
+resource PINIO 1 NONE
+resource PINIO 2 NONE
+resource PINIO 3 NONE
+resource PINIO 4 NONE
+resource USB_MSC_PIN 1 NONE
+resource FLASH_CS 1 C06
+resource OSD_CS 1 A08
+resource GYRO_EXTI 1 A04
+resource GYRO_CS 1 B00
+resource USB_DETECT 1 NONE
+resource PULLUP 1 NONE
+resource PULLUP 2 NONE
+resource PULLUP 3 NONE
+resource PULLUP 4 NONE
+resource PULLDOWN 1 NONE
+resource PULLDOWN 2 NONE
+resource PULLDOWN 3 NONE
+resource PULLDOWN 4 NONE
+
+# timer
+timer B06 AF5
+# pin B06: TIM0 CH1 (AF5)
+timer A00 AF1
+# pin A00: TIM0 CH1 (AF1)
+timer A01 AF1
+# pin A01: TIM0 CH2 (AF1)
+timer A02 AF2
+# pin A02: TIM0 CH3 (AF2)
+timer A03 AF2
+# pin A03: TIM0 CH4 (AF2)
+
+# dma
+dma SPI_SDO 1 NONE
+dma SPI_SDO 2 NONE
+dma SPI_SDO 3 NONE
+dma SPI_SDO 4 NONE
+dma SPI_SDI 1 NONE
+dma SPI_SDI 2 NONE
+dma SPI_SDI 3 NONE
+dma SPI_SDI 4 NONE
+dma SPI_TX 1 NONE
+dma SPI_TX 2 NONE
+dma SPI_TX 3 NONE
+dma SPI_TX 4 NONE
+dma SPI_RX 1 NONE
+dma SPI_RX 2 NONE
+dma SPI_RX 3 NONE
+dma SPI_RX 4 NONE
+dma ADC 1 10
+# ADC 1: DMA2 Channel 3 Request 5
+dma ADC 2 11
+# ADC 2: DMA2 Channel 4 Request 36
+dma ADC 3 NONE
+dma ADC 4 NONE
+dma ADC 5 NONE
+dma UART_TX 1 NONE
+dma UART_TX 2 NONE
+dma UART_TX 3 NONE
+dma UART_TX 4 NONE
+dma UART_TX 5 NONE
+dma UART_RX 1 NONE
+dma UART_RX 2 NONE
+dma UART_RX 3 NONE
+dma UART_RX 4 NONE
+dma UART_RX 5 NONE
+dma LPUART_TX 1 NONE
+dma LPUART_RX 1 NONE
+dma TIMUP 1 NONE
+dma TIMUP 2 NONE
+dma TIMUP 3 NONE
+dma TIMUP 4 NONE
+dma TIMUP 5 NONE
+dma TIMUP 6 NONE
+dma TIMUP 7 NONE
+dma TIMUP 8 NONE
+dma TIMUP 15 NONE
+dma TIMUP 16 NONE
+dma TIMUP 17 NONE
+dma TIMUP 20 NONE
+dma pin B06 9
+# pin B06: DMA2 Channel 2 Request 49
+dma pin A00 1
+# pin A00: DMA1 Channel 2 Request 56
+dma pin A01 2
+# pin A01: DMA1 Channel 3 Request 57
+dma pin A02 3
+# pin A02: DMA1 Channel 4 Request 74
+dma pin A03 4
+# pin A03: DMA1 Channel 5 Request 75
+
+# feature
+feature -RX_PPM
+feature -INFLIGHT_ACC_CAL
+feature -RX_SERIAL
+feature -MOTOR_STOP
+feature -SERVO_TILT
+feature -SOFTSERIAL
+feature -GPS
+feature -OPTICALFLOW
+feature -RANGEFINDER
+feature -TELEMETRY
+feature -3D
+feature -RX_PARALLEL_PWM
+feature -RX_MSP
+feature -RSSI_ADC
+feature -LED_STRIP
+feature -DISPLAY
+feature -OSD
+feature -CHANNEL_FORWARDING
+feature -TRANSPONDER
+feature -AIRMODE
+feature -RX_SPI
+feature -ESC_SENSOR
+feature -ANTI_GRAVITY
+feature RX_SERIAL
+feature TELEMETRY
+feature OSD
+feature AIRMODE
+feature ANTI_GRAVITY
+
+# serial
+serial VCP 1 115200 57600 0 115200
+serial UART1 0 115200 57600 0 115200
+serial UART2 64 115200 57600 0 115200
+serial UART4 0 115200 57600 0 115200
+serial LPUART1 0 115200 57600 0 115200
+
+# mixer
+mixer QUADX
+
+mmix reset
+
+
+# servo
+servo 0 1000 2000 1500 100 -1
+servo 1 1000 2000 1500 100 -1
+servo 2 1000 2000 1500 100 -1
+servo 3 1000 2000 1500 100 -1
+servo 4 1000 2000 1500 100 -1
+servo 5 1000 2000 1500 100 -1
+servo 6 1000 2000 1500 100 -1
+servo 7 1000 2000 1500 100 -1
+
+# servo mixer
+smix reset
+
+
+# beeper
+beeper GYRO_CALIBRATED
+beeper RX_LOST
+beeper RX_LOST_LANDING
+beeper DISARMING
+beeper ARMING
+beeper ARMING_GPS_FIX
+beeper ARMING_GPS_NO_FIX
+beeper BAT_CRIT_LOW
+beeper BAT_LOW
+beeper GPS_STATUS
+beeper RX_SET
+beeper ACC_CALIBRATION
+beeper ACC_CALIBRATION_FAIL
+beeper READY_BEEP
+beeper MULTI_BEEPS
+beeper DISARM_REPEAT
+beeper ARMED
+beeper SYSTEM_INIT
+beeper ON_USB
+beeper BLACKBOX_ERASE
+beeper CRASHFLIP
+beeper CAM_CONNECTION_OPEN
+beeper CAM_CONNECTION_CLOSE
+
+# beacon
+beacon RX_LOST
+beacon RX_SET
+
+# map
+map AETR1234
+
+# aux
+aux 0 0 0 1775 2100 0 0
+aux 1 1 2 1400 1600 0 0
+aux 2 2 2 1800 2100 0 0
+aux 3 13 1 1800 2100 0 0
+aux 4 35 3 1800 2100 0 0
+aux 5 36 4 1800 2100 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
+
+# adjrange
+adjrange 0 0 0 900 900 0 0 0 0
+adjrange 1 0 0 900 900 0 0 0 0
+adjrange 2 0 0 900 900 0 0 0 0
+adjrange 3 0 0 900 900 0 0 0 0
+adjrange 4 0 0 900 900 0 0 0 0
+adjrange 5 0 0 900 900 0 0 0 0
+adjrange 6 0 0 900 900 0 0 0 0
+adjrange 7 0 0 900 900 0 0 0 0
+adjrange 8 0 0 900 900 0 0 0 0
+adjrange 9 0 0 900 900 0 0 0 0
+adjrange 10 0 0 900 900 0 0 0 0
+adjrange 11 0 0 900 900 0 0 0 0
+adjrange 12 0 0 900 900 0 0 0 0
+adjrange 13 0 0 900 900 0 0 0 0
+adjrange 14 0 0 900 900 0 0 0 0
+adjrange 15 0 0 900 900 0 0 0 0
+adjrange 16 0 0 900 900 0 0 0 0
+adjrange 17 0 0 900 900 0 0 0 0
+adjrange 18 0 0 900 900 0 0 0 0
+adjrange 19 0 0 900 900 0 0 0 0
+adjrange 20 0 0 900 900 0 0 0 0
+adjrange 21 0 0 900 900 0 0 0 0
+adjrange 22 0 0 900 900 0 0 0 0
+adjrange 23 0 0 900 900 0 0 0 0
+adjrange 24 0 0 900 900 0 0 0 0
+adjrange 25 0 0 900 900 0 0 0 0
+adjrange 26 0 0 900 900 0 0 0 0
+adjrange 27 0 0 900 900 0 0 0 0
+adjrange 28 0 0 900 900 0 0 0 0
+adjrange 29 0 0 900 900 0 0 0 0
+
+# rxrange
+rxrange 0 1000 2000
+rxrange 1 1000 2000
+rxrange 2 1000 2000
+rxrange 3 1000 2000
+
+# vtxtable
+vtxtable bands 0
+vtxtable channels 0
+vtxtable powerlevels 0
+vtxtable powervalues
+vtxtable powerlabels
+
+# vtx
+vtx 0 0 0 0 0 900 900
+vtx 1 0 0 0 0 900 900
+vtx 2 0 0 0 0 900 900
+vtx 3 0 0 0 0 900 900
+vtx 4 0 0 0 0 900 900
+vtx 5 0 0 0 0 900 900
+vtx 6 0 0 0 0 900 900
+vtx 7 0 0 0 0 900 900
+vtx 8 0 0 0 0 900 900
+vtx 9 0 0 0 0 900 900
+
+# rxfail
+rxfail 0 a
+rxfail 1 a
+rxfail 2 a
+rxfail 3 a
+rxfail 4 h
+rxfail 5 h
+rxfail 6 h
+rxfail 7 h
+rxfail 8 h
+rxfail 9 h
+rxfail 10 h
+rxfail 11 h
+rxfail 12 h
+rxfail 13 h
+rxfail 14 h
+rxfail 15 h
+rxfail 16 h
+rxfail 17 h
+
+# master
+set gyro_hardware = NONE
+set gyro_hardware_lpf = NORMAL
+set gyro_lpf1_type = PT1
+set gyro_lpf1_static_hz = 250
+set gyro_lpf2_type = PT1
+set gyro_lpf2_static_hz = 500
+set gyro_notch1_hz = 0
+set gyro_notch1_cutoff = 0
+set gyro_notch2_hz = 0
+set gyro_notch2_cutoff = 0
+set gyro_calib_duration = 125
+set gyro_calib_noise_limit = 48
+set gyro_offset_yaw = 0
+set gyro_overflow_detect = ALL
+set yaw_spin_recovery = AUTO
+set yaw_spin_threshold = 1950
+set dyn_notch_count = 3
+set dyn_notch_q = 300
+set dyn_notch_min_hz = 100
+set dyn_notch_max_hz = 600
+set gyro_lpf1_dyn_min_hz = 250
+set gyro_lpf1_dyn_max_hz = 500
+set gyro_lpf1_dyn_expo = 5
+set gyro_filter_debug_axis = ROLL
+set acc_hardware = AUTO
+set acc_lpf_hz = 25
+set acc_trim_pitch = 0
+set acc_trim_roll = 0
+set acc_calibration = 63,2,30,1
+set align_mag = DEFAULT
+set mag_align_roll = 0
+set mag_align_pitch = 0
+set mag_align_yaw = 0
+set mag_bustype = I2C
+set mag_i2c_device = 1
+set mag_i2c_address = 0
+set mag_spi_device = 0
+set mag_hardware = AUTO
+set mag_calibration = 0,0,0
+set baro_bustype = I2C
+set baro_spi_device = 0
+set baro_i2c_device = 1
+set baro_i2c_address = 0
+set baro_hardware = AUTO
+set mid_rc = 1500
+set min_check = 1050
+set max_check = 1900
+set rssi_channel = 0
+set rssi_src_frame_errors = OFF
+set rssi_scale = 100
+set rssi_offset = 0
+set rssi_invert = OFF
+set rssi_src_frame_lpf_period = 30
+set rssi_smoothing = 125
+set rc_smoothing = ON
+set rc_smoothing_auto_factor = 30
+set rc_smoothing_auto_factor_throttle = 30
+set rc_smoothing_setpoint_cutoff = 0
+set rc_smoothing_throttle_cutoff = 0
+set rc_smoothing_debug_axis = ROLL
+set fpv_mix_degrees = 0
+set max_aux_channels = 14
+set serialrx_provider = CRSF
+set serialrx_inverted = OFF
+set spektrum_sat_bind = 0
+set spektrum_sat_bind_autoreset = ON
+set srxl2_unit_id = 1
+set srxl2_baud_fast = ON
+set sbus_baud_fast = OFF
+set crsf_use_negotiated_baud = OFF
+set airmode_start_throttle_percent = 25
+set rx_min_usec = 885
+set rx_max_usec = 2115
+set serialrx_halfduplex = OFF
+set msp_override_channels_mask = 0
+set msp_override_failsafe = OFF
+set adc_device = 2
+set adc_vrefint_calibration = 0
+set adc_tempsensor_calibration30 = 0
+set adc_tempsensor_calibration110 = 0
+set input_filtering_mode = OFF
+set blackbox_sample_rate = 1/4
+set blackbox_device = SPIFLASH
+set blackbox_disable_pids = OFF
+set blackbox_disable_rc = OFF
+set blackbox_disable_setpoint = OFF
+set blackbox_disable_bat = OFF
+set blackbox_disable_mag = OFF
+set blackbox_disable_alt = OFF
+set blackbox_disable_rssi = OFF
+set blackbox_disable_gyro = OFF
+set blackbox_disable_gyrounfilt = OFF
+set blackbox_disable_acc = OFF
+set blackbox_disable_attitude = OFF
+set blackbox_disable_debug = OFF
+set blackbox_disable_motors = OFF
+set blackbox_disable_servos = OFF
+set blackbox_disable_rpm = OFF
+set blackbox_mode = NORMAL
+set blackbox_high_resolution = OFF
+set max_throttle = 2000
+set min_command = 1000
+set motor_kv = 1960
+set motor_idle = 550
+set dshot_burst = OFF
+set dshot_bidir = OFF
+set dshot_edt = OFF
+set dshot_bitbang = AUTO
+set dshot_bitbang_timer = AUTO
+set use_unsynced_pwm = OFF
+set motor_pwm_protocol = DSHOT600
+set motor_pwm_rate = 480
+set motor_pwm_inversion = OFF
+set motor_poles = 14
+set motor_output_reordering = 1,3,0,2,4,5,6,7
+set thr_corr_value = 0
+set thr_corr_angle = 800
+set failsafe_delay = 15
+set failsafe_landing_time = 60
+set failsafe_throttle = 1000
+set failsafe_switch_mode = STAGE1
+set failsafe_throttle_low_delay = 100
+set failsafe_procedure = DROP
+set failsafe_recovery_delay = 5
+set failsafe_stick_threshold = 30
+set align_board_roll = 0
+set align_board_pitch = 0
+set align_board_yaw = 90
+set gimbal_mode = NORMAL
+set bat_capacity = 0
+set vbat_max_cell_voltage = 430
+set vbat_full_cell_voltage = 410
+set vbat_min_cell_voltage = 330
+set vbat_warning_cell_voltage = 350
+set vbat_hysteresis = 1
+set current_meter = ADC
+set battery_meter = ADC
+set vbat_detect_cell_voltage = 300
+set use_vbat_alerts = ON
+set use_cbat_alerts = OFF
+set cbat_alert_percent = 10
+set vbat_cutoff_percent = 100
+set force_battery_cell_count = 0
+set vbat_display_lpf_period = 30
+set vbat_sag_lpf_period = 2
+set ibat_lpf_period = 10
+set vbat_duration_for_warning = 0
+set vbat_duration_for_critical = 0
+set vbat_scale = 110
+set vbat_divider = 10
+set vbat_multiplier = 1
+set ibata_scale = 120
+set ibata_offset = 0
+set ibatv_scale = 0
+set ibatv_offset = 0
+set beeper_inversion = ON
+set beeper_od = OFF
+set beeper_frequency = 0
+set beeper_dshot_beacon_tone = 1
+set yaw_motors_reversed = ON
+set mixer_type = LEGACY
+set crashflip_motor_percent = 0
+set crashflip_rate = 0
+set crashflip_auto_rearm = OFF
+set 3d_deadband_low = 1406
+set 3d_deadband_high = 1514
+set 3d_neutral = 1460
+set 3d_deadband_throttle = 50
+set 3d_limit_low = 1000
+set 3d_limit_high = 2000
+set 3d_switched_mode = OFF
+set servo_center_pulse = 1500
+set servo_pwm_rate = 50
+set servo_lowpass_hz = 0
+set tri_unarmed_servo = ON
+set channel_forwarding_start = 4
+set reboot_character = 82
+set serial_update_rate_hz = 100
+set imu_dcm_kp = 2500
+set imu_dcm_ki = 0
+set small_angle = 180
+set imu_process_denom = 2
+set mag_declination = 0
+set auto_disarm_delay = 5
+set gyro_cal_on_first_arm = OFF
+set prearm_allow_rearm = OFF
+set deadband = 0
+set yaw_deadband = 0
+set yaw_control_reversed = OFF
+set pid_process_denom = 2
+set runaway_takeoff_prevention = ON
+set runaway_takeoff_deactivate_delay = 500
+set runaway_takeoff_deactivate_throttle_percent = 20
+set simplified_gyro_filter = ON
+set simplified_gyro_filter_multiplier = 100
+set tlm_inverted = OFF
+set tlm_halfduplex = ON
+set crsf_tlm_accgyro = OFF
+set frsky_vfas_precision = 0
+set hott_alarm_int = 5
+set pid_in_tlm = OFF
+set report_cell_voltage = OFF
+set telemetry_disabled_voltage = OFF
+set telemetry_disabled_current = OFF
+set telemetry_disabled_fuel = OFF
+set telemetry_disabled_mode = OFF
+set telemetry_disabled_acc_x = OFF
+set telemetry_disabled_acc_y = OFF
+set telemetry_disabled_acc_z = OFF
+set telemetry_disabled_pitch = OFF
+set telemetry_disabled_roll = OFF
+set telemetry_disabled_heading = OFF
+set telemetry_disabled_altitude = OFF
+set telemetry_disabled_vario = OFF
+set telemetry_disabled_lat_long = OFF
+set telemetry_disabled_ground_speed = OFF
+set telemetry_disabled_distance = OFF
+set telemetry_disabled_esc_current = ON
+set telemetry_disabled_esc_voltage = ON
+set telemetry_disabled_esc_rpm = ON
+set telemetry_disabled_esc_temperature = ON
+set telemetry_disabled_temperature = OFF
+set telemetry_disabled_cap_used = ON
+set osd_units = METRIC
+set osd_warn_bitmask = 397311
+set osd_rssi_alarm = 20
+set osd_link_quality_alarm = 80
+set osd_rssi_dbm_alarm = -60
+set osd_rsnr_alarm = 4
+set osd_cap_alarm = 2200
+set osd_alt_alarm = 100
+set osd_distance_alarm = 0
+set osd_esc_temp_alarm = 0
+set osd_esc_rpm_alarm = -1
+set osd_esc_current_alarm = -1
+set osd_core_temp_alarm = 70
+set osd_ah_max_pit = 20
+set osd_ah_max_rol = 40
+set osd_ah_invert = OFF
+set osd_logo_on_arming = OFF
+set osd_logo_on_arming_duration = 5
+set osd_arming_logo = 0
+set osd_tim1 = 2560
+set osd_tim2 = 2561
+set osd_vbat_pos = 2628
+set osd_rssi_pos = 2147
+set osd_link_quality_pos = 341
+set osd_link_tx_power_pos = 341
+set osd_rssi_dbm_pos = 2150
+set osd_rsnr_pos = 341
+set osd_tim_1_pos = 341
+set osd_tim_2_pos = 341
+set osd_remaining_time_estimate_pos = 341
+set osd_flymode_pos = 3177
+set osd_anti_gravity_pos = 341
+set osd_g_force_pos = 341
+set osd_throttle_pos = 341
+set osd_vtx_channel_pos = 2115
+set osd_crosshairs_pos = 312
+set osd_ah_sbar_pos = 313
+set osd_ah_pos = 185
+set osd_current_pos = 341
+set osd_mah_drawn_pos = 341
+set osd_wh_drawn_pos = 341
+set osd_motor_diag_pos = 341
+set osd_craft_name_pos = 3145
+set osd_pilot_name_pos = 341
+set osd_gps_speed_pos = 341
+set osd_gps_lon_pos = 341
+set osd_gps_lat_pos = 341
+set osd_gps_sats_pos = 341
+set osd_home_dir_pos = 341
+set osd_home_dist_pos = 341
+set osd_flight_dist_pos = 341
+set osd_compass_bar_pos = 341
+set osd_altitude_pos = 3658
+set osd_pid_roll_pos = 341
+set osd_pid_pitch_pos = 341
+set osd_pid_yaw_pos = 341
+set osd_debug_pos = 341
+set osd_debug2_pos = 341
+set osd_power_pos = 341
+set osd_pidrate_profile_pos = 341
+set osd_warnings_pos = 14772
+set osd_avg_cell_voltage_pos = 2596
+set osd_pit_ang_pos = 341
+set osd_rol_ang_pos = 341
+set osd_battery_usage_pos = 341
+set osd_disarmed_pos = 341
+set osd_nheading_pos = 341
+set osd_up_down_reference_pos = 312
+set osd_ready_mode_pos = 341
+set osd_nvario_pos = 341
+set osd_esc_tmp_pos = 341
+set osd_esc_rpm_pos = 341
+set osd_esc_rpm_freq_pos = 341
+set osd_rtc_date_time_pos = 341
+set osd_adjustment_range_pos = 341
+set osd_flip_arrow_pos = 341
+set osd_core_temp_pos = 341
+set osd_log_status_pos = 341
+set osd_stick_overlay_left_pos = 341
+set osd_stick_overlay_right_pos = 341
+set osd_stick_overlay_radio_mode = 2
+set osd_rate_profile_name_pos = 341
+set osd_pid_profile_name_pos = 341
+set osd_profile_name_pos = 341
+set osd_rcchannels_pos = 341
+set osd_camera_frame_pos = 142
+set osd_efficiency_pos = 341
+set osd_total_flights_pos = 341
+set osd_aux_pos = 341
+set osd_sys_goggle_voltage_pos = 341
+set osd_sys_vtx_voltage_pos = 341
+set osd_sys_bitrate_pos = 341
+set osd_sys_delay_pos = 341
+set osd_sys_distance_pos = 341
+set osd_sys_lq_pos = 341
+set osd_sys_goggle_dvr_pos = 341
+set osd_sys_vtx_dvr_pos = 341
+set osd_sys_warnings_pos = 341
+set osd_sys_vtx_temp_pos = 341
+set osd_sys_fan_speed_pos = 341
+set osd_stat_bitmask = 14124
+set osd_profile = 1
+set osd_profile_1_name = -
+set osd_profile_2_name = -
+set osd_profile_3_name = -
+set osd_gps_sats_show_pdop = OFF
+set osd_displayport_device = MSP
+set osd_rcchannels = -1,-1,-1,-1
+set osd_camera_frame_width = 24
+set osd_camera_frame_height = 11
+set osd_stat_avg_cell_value = OFF
+set osd_framerate_hz = 12
+set osd_menu_background = TRANSPARENT
+set osd_aux_channel = 1
+set osd_aux_scale = 200
+set osd_aux_symbol = 65
+set osd_craftname_msgs = OFF
+set system_hse_mhz = 8
+set task_statistics = ON
+set debug_mode = NONE
+set rate_6pos_switch = OFF
+set cpu_overclock = OFF
+set pwr_on_arm_grace = 5
+set enable_stick_arming = OFF
+set vtx_band = 0
+set vtx_channel = 0
+set vtx_power = 0
+set vtx_low_power_disarm = OFF
+set vtx_softserial_alt = OFF
+set vtx_freq = 0
+set vtx_pit_mode_freq = 0
+set vtx_halfduplex = ON
+set vcd_video_system = HD
+set vcd_h_offset = 0
+set vcd_v_offset = 0
+set max7456_clock = NOMINAL
+set max7456_spi_bus = 2
+set max7456_preinit_opu = OFF
+set displayport_msp_col_adjust = 0
+set displayport_msp_row_adjust = 0
+set displayport_msp_fonts = 0,1,2,3
+set displayport_msp_use_device_blink = OFF
+set displayport_max7456_col_adjust = 0
+set displayport_max7456_row_adjust = 0
+set displayport_max7456_inv = OFF
+set displayport_max7456_blk = 0
+set displayport_max7456_wht = 2
+set esc_sensor_halfduplex = OFF
+set esc_sensor_current_offset = 0
+set led_inversion = 0
+set pinio_config = 1,1,1,1
+set pinio_box = 255,255,255,255
+set usb_hid_cdc = OFF
+set usb_msc_pin_pullup = ON
+set flash_spi_bus = 2
+set rcdevice_init_dev_attempts = 6
+set rcdevice_init_dev_attempt_interval = 1000
+set rcdevice_protocol_version = 0
+set rcdevice_feature = 0
+set gyro_1_bustype = SPI
+set gyro_1_spibus = 1
+set gyro_1_i2cBus = 0
+set gyro_1_i2c_address = 0
+set i2c1_pullup = OFF
+set i2c1_clockspeed_khz = 800
+set i2c2_pullup = OFF
+set i2c2_clockspeed_khz = 800
+set i2c3_pullup = OFF
+set i2c3_clockspeed_khz = 800
+set i2c4_pullup = OFF
+set i2c4_clockspeed_khz = 800
+set mco_on_pa8 = OFF
+set mco_source = 0
+set mco_divider = 0
+set scheduler_relax_rx = 25
+set scheduler_relax_osd = 25
+set scheduler_debug_task = 0
+set cpu_late_limit_permille = 10
+set serialmsp_halfduplex = OFF
+set timezone_offset_minutes = 0
+set rpm_filter_harmonics = 3
+set rpm_filter_weights = 100,100,100
+set rpm_filter_q = 500
+set rpm_filter_min_hz = 100
+set rpm_filter_fade_range_hz = 50
+set rpm_filter_lpf_hz = 150
+set stats_min_armed_time_s = -1
+set stats_total_flights = 0
+set stats_total_time_s = 0
+set stats_total_dist_m = 0
+set stats_save_move_limit = 20
+set craft_name = SAM
+set pilot_name = -
+set altitude_source = DEFAULT
+set altitude_prefer_baro = 100
+set altitude_lpf = 300
+set altitude_d_lpf = 100
+set ap_landing_altitude_m = 4
+set ap_hover_throttle = 1275
+set ap_throttle_min = 1100
+set ap_throttle_max = 1700
+set ap_altitude_p = 15
+set ap_altitude_i = 15
+set ap_altitude_d = 15
+set ap_altitude_f = 15
+set ap_position_p = 30
+set ap_position_i = 30
+set ap_position_d = 30
+set ap_position_a = 30
+set ap_position_cutoff = 80
+set ap_max_angle = 50
+set box_user_1_name = -
+set box_user_2_name = -
+set box_user_3_name = -
+set box_user_4_name = -
+
+profile 0
+
+# profile 0
+set profile_name = -
+set dterm_lpf1_dyn_min_hz = 75
+set dterm_lpf1_dyn_max_hz = 150
+set dterm_lpf1_dyn_expo = 5
+set dterm_lpf1_type = PT1
+set dterm_lpf1_static_hz = 75
+set dterm_lpf2_type = PT1
+set dterm_lpf2_static_hz = 150
+set dterm_notch_hz = 0
+set dterm_notch_cutoff = 0
+set vbat_sag_compensation = 0
+set pid_at_min_throttle = ON
+set anti_gravity_gain = 80
+set anti_gravity_cutoff_hz = 5
+set anti_gravity_p_gain = 100
+set acc_limit_yaw = 0
+set acc_limit = 0
+set crash_dthreshold = 50
+set crash_gthreshold = 400
+set crash_setpoint_threshold = 350
+set crash_time = 500
+set crash_delay = 0
+set crash_recovery_angle = 10
+set crash_recovery_rate = 100
+set crash_limit_yaw = 200
+set crash_recovery = OFF
+set iterm_rotation = OFF
+set iterm_relax = RP
+set iterm_relax_type = SETPOINT
+set iterm_relax_cutoff = 15
+set iterm_windup = 80
+set pidsum_limit = 500
+set pidsum_limit_yaw = 400
+set yaw_lowpass_hz = 100
+set throttle_boost = 5
+set throttle_boost_cutoff = 15
+set p_pitch = 47
+set i_pitch = 84
+set d_pitch = 34
+set f_pitch = 125
+set p_roll = 45
+set i_roll = 80
+set d_roll = 30
+set f_roll = 120
+set p_yaw = 45
+set i_yaw = 80
+set d_yaw = 0
+set f_yaw = 120
+set angle_p_gain = 50
+set angle_feedforward = 50
+set angle_feedforward_smoothing_ms = 80
+set angle_limit = 60
+set angle_earth_ref = 100
+set horizon_level_strength = 75
+set horizon_limit_sticks = 75
+set horizon_limit_degrees = 135
+set horizon_ignore_sticks = OFF
+set horizon_delay_ms = 500
+set abs_control_gain = 0
+set abs_control_limit = 90
+set abs_control_error_limit = 20
+set abs_control_cutoff = 11
+set use_integrated_yaw = OFF
+set integrated_yaw_relax = 200
+set d_max_roll = 40
+set d_max_pitch = 46
+set d_max_yaw = 0
+set d_max_gain = 37
+set d_max_advance = 20
+set motor_output_limit = 100
+set auto_profile_cell_count = 0
+set launch_control_mode = PITCHONLY
+set launch_trigger_allow_reset = ON
+set launch_trigger_throttle_percent = 20
+set launch_angle_limit = 0
+set launch_control_gain = 40
+set thrust_linear = 0
+set transient_throttle_limit = 0
+set feedforward_transition = 0
+set feedforward_averaging = 2_POINT
+set feedforward_smooth_factor = 65
+set feedforward_jitter_factor = 7
+set feedforward_boost = 15
+set feedforward_max_rate_limit = 90
+set feedforward_yaw_hold_gain = 15
+set feedforward_yaw_hold_time = 100
+set dyn_idle_min_rpm = 0
+set dyn_idle_p_gain = 50
+set dyn_idle_i_gain = 50
+set dyn_idle_d_gain = 50
+set dyn_idle_max_increase = 150
+set level_race_mode = OFF
+set simplified_pids_mode = RPY
+set simplified_master_multiplier = 100
+set simplified_i_gain = 100
+set simplified_d_gain = 100
+set simplified_pi_gain = 100
+set simplified_d_max_gain = 100
+set simplified_feedforward_gain = 100
+set simplified_pitch_d_gain = 100
+set simplified_pitch_pi_gain = 100
+set simplified_dterm_filter = ON
+set simplified_dterm_filter_multiplier = 100
+set tpa_mode = D
+set tpa_rate = 65
+set tpa_breakpoint = 1350
+set tpa_low_rate = 20
+set tpa_low_breakpoint = 1050
+set tpa_low_always = OFF
+set ez_landing_threshold = 25
+set ez_landing_limit = 15
+set ez_landing_speed = 50
+set landing_disarm_threshold = 0
+
+rateprofile 0
+
+# rateprofile 0
+set rateprofile_name = -
+set thr_mid = 50
+set thr_expo = 0
+set thr_hover = 50
+set rates_type = ACTUAL
+set quickrates_rc_expo = OFF
+set roll_rc_rate = 7
+set pitch_rc_rate = 7
+set yaw_rc_rate = 7
+set roll_expo = 0
+set pitch_expo = 0
+set yaw_expo = 0
+set roll_srate = 67
+set pitch_srate = 67
+set yaw_srate = 67
+set throttle_limit_type = OFF
+set throttle_limit_percent = 100
+set roll_rate_limit = 1998
+set pitch_rate_limit = 1998
+set yaw_rate_limit = 1998
+
+# end the command batch
+batch end
+
+# 
\ No newline at end of file
diff --git a/README.md b/README.md
index 945da7c..41b9f2b 100644
--- a/README.md
+++ b/README.md
@@ -33,6 +33,19 @@ freestyle rigs. All flying on ExpressLRS 2.4GHz with a RadioMaster Boxer.
 - **Motor:** HGLRC Specter 1202.5 / 11000KV / 1-2S
 - **Weight:** ~74g (with battery)
 
+## 3.5 inch — `3.5inch-hdzero/`
+
+- **Name:** SAM
+- **Frame:** Volador VX3.5 O3 Freestyle
+- **Prop size:** 3.5 inch
+- **FC:** Taker G4 45A 8Bit AIO (STM32G473 / ICM42688P) — BF: TAKERG4AIO
+- **ESC:** Taker G4 4-in-1 45A (QF32MT / F4A AIO) / 2-6S
+- **Receiver:** Happymodel EP1/EP2 2.4GHz (ISM2G4)
+- **ELRS firmware:** 4.0.0
+- **VTX:** HDZero Race
+- **Motor:** FlyFishRC Flash 1804 / 3500KV / 4S
+- **Weight:**
+
 ## 5 inch — `5inch-walksnail-moonlight/`
 
 - **Name:**