airframe configs: remove params set to default in custom config from configs

Removes duplication. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2026-04-14 10:07:39 +08:00 · 2023-04-18 11:57:59 +02:00 · 2023-04-18 11:57:59 +02:00 · db379c9049
commit db379c9049
parent 9975db2d2f
30 changed files with 0 additions and 94 deletions
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10040_sihsim_quadx
@ -17,12 +17,9 @@ param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1

 # disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
-param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default CA_ROTOR_COUNT 4
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane
@ -22,7 +22,6 @@ param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
-param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert
@ -27,12 +27,9 @@ param set-default MC_PITCH_P 5
 param set-default MAV_TYPE 19

 # disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
-param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_obs_avoid
@ -30,5 +30,3 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104

 param set-default COM_OBS_AVOID 1
-param set-default MPC_XY_CRUISE 5.0
-
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1037_gazebo-classic_believer
@ -26,7 +26,6 @@ param set-default FW_THR_TRIM 0.25

 param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
 param set-default FW_T_TAS_TC 2
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover
@ -18,7 +18,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

-param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover
@ -18,7 +18,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

-param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1
@ -25,7 +25,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

-param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat
@ -18,7 +18,6 @@ param set-default GND_THR_CRUISE 0.85
 param set-default GND_THR_MAX 1
 param set-default GND_THR_MIN 0

-param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision
@ -66,13 +66,10 @@ param set-default MC_YAWRATE_P 0.3
 param set-default CP_DIST 6
 param set-default MPC_ACC_DOWN_MAX 5
 param set-default MPC_ACC_HOR_MAX 10
-param set-default MPC_ACC_UP_MAX 4
 param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_Y_MAX 120
-param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
 param set-default MPC_VEL_MANUAL 5
-param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_VEL_MAX 5
 param set-default MPC_XY_VEL_P_ACC 1.58
 param set-default MPC_XY_TRAJ_P 0.3
--- a/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1001_rc_quad_x.hil
@ -34,10 +34,7 @@ param set-default HIL_ACT_FUNC3 103
 param set-default HIL_ACT_FUNC4 104

 # disable some checks to allow to fly
-# - with usb
-param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
-param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
--- a/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil
@ -34,8 +34,6 @@ param set-default MC_ROLLRATE_P 0.3
 param set-default MIS_TAKEOFF_ALT 10
 param set-default MIS_YAW_TMT 10

-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_THR_MIN 0.1
 param set-default MPC_XY_P 0.8
 param set-default MPC_XY_VEL_D_ACC 0.1
@ -94,12 +92,9 @@ param set SYS_HITL 1
 param set UAVCAN_ENABLE 0

 # disable some checks to allow to fly
-# - with usb
-param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
-param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default MAV_TYPE 22
--- a/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1100_rc_quad_x_sih.hil
@ -36,12 +36,9 @@ param set-default HIL_ACT_FUNC4 104
 param set SYS_HITL 2

 # disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
-param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set SIH_VEHICLE_TYPE 0
--- a/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil
@ -39,12 +39,9 @@ param set-default HIL_ACT_FUNC6 400
 param set-default SYS_HITL 2

 # disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
-param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3
--- a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
@ -56,12 +56,9 @@ param set-default MAV_TYPE 19
 param set-default SYS_HITL 2

 # disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
-param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

 param set-default BAT_N_CELLS 3
--- a/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
+++ b/ROMFS/px4fmu_common/init.d/airframes/17003_TF-G2
@ -26,7 +26,6 @@ param set-default BAT1_N_CELLS 3

 param set-default SENS_BOARD_ROT 4

-param set-default FW_AIRSPD_MAX 20
 param set-default FW_AIRSPD_MIN 7
 param set-default FW_AIRSPD_TRIM 13
 param set-default FW_THR_TRIM 0.8
--- a/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
+++ b/ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
@ -59,12 +59,9 @@ param set-default MC_YAWRATE_P 0.3
 param set-default CP_DIST 6
 param set-default MPC_ACC_DOWN_MAX 5
 param set-default MPC_ACC_HOR_MAX 10
-param set-default MPC_ACC_UP_MAX 4
 param set-default MPC_MAN_Y_MAX 120
-param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
 param set-default MPC_VEL_MANUAL 5
-param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_VEL_MAX 5
 param set-default MPC_XY_VEL_P_ACC 1.58
 param set-default MPC_XY_TRAJ_P 0.3
--- a/ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5
+++ b/ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5
@ -59,13 +59,10 @@ param set-default MC_YAWRATE_P 0.3
 param set-default CP_DIST 6
 param set-default MPC_ACC_DOWN_MAX 5
 param set-default MPC_ACC_HOR_MAX 10
-param set-default MPC_ACC_UP_MAX 4
 param set-default MPC_MANTHR_MIN 0
 param set-default MPC_MAN_Y_MAX 120
-param set-default MPC_TILTMAX_AIR 45
 param set-default MPC_THR_HOVER 0.3
 param set-default MPC_VEL_MANUAL 5
-param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_VEL_MAX 5
 param set-default MPC_XY_VEL_P_ACC 1.58
 param set-default MPC_XY_TRAJ_P 0.3
--- a/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
+++ b/ROMFS/px4fmu_common/init.d/airframes/4041_beta75x
@ -19,7 +19,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 param set-default CBRK_SUPPLY_CHK 894281
-param set-default CBRK_USB_CHK 197848

 param set-default IMU_GYRO_CUTOFF 100
 param set-default IMU_DGYRO_CUTOFF 60
--- a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
+++ b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
@ -39,7 +39,6 @@ param set-default COM_RC_LOSS_T 3
 # ekf2
 param set-default EKF2_AID_MASK 33
 param set-default EKF2_TERR_MASK 1
-param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0

 param set-default EKF2_BCOEF_X 31.5
@ -47,13 +46,10 @@ param set-default EKF2_BCOEF_Y 25.5

 param set-default EKF2_GPS_DELAY 100
 param set-default EKF2_GPS_POS_X 0.06
-param set-default EKF2_GPS_POS_Y 0.0
-param set-default EKF2_GPS_POS_Z 0.0
 param set-default EKF2_GPS_V_NOISE 0.5

 param set-default EKF2_IMU_POS_X 0.06

-param set-default EKF2_MAG_DELAY 0
 param set-default EKF2_MAG_NOISE 0.1

 param set-default EKF2_MIN_RNG 0.15
@ -61,7 +57,6 @@ param set-default EKF2_MIN_RNG 0.15
 param set-default EKF2_OF_DELAY 38
 param set-default EKF2_OF_GATE 2.0
 param set-default EKF2_OF_POS_X -0.035
-param set-default EKF2_OF_POS_Y 0.0
 param set-default EKF2_OF_POS_Z 0.033
 param set-default EKF2_OF_MIN_RNG 0.01
 param set-default EKF2_OF_A_HMAX 7.0
@ -119,30 +114,20 @@ param set-default MPC_ACC_HOR_MAX 10.0
 param set-default MPC_ACC_UP_MAX 3.0
 param set-default MPC_ALT_MODE 0
 param set-default MPC_LAND_SPEED 0.5
-param set-default MPC_LAND_VEL_XY 10
 param set-default MPC_MAN_TILT_MAX 20
 param set-default MPC_YAWRAUTO_MAX 80.0
-param set-default MPC_POS_MODE 4
 param set-default MPC_THR_HOVER 0.54
 param set-default MPC_THR_MAX 0.9
 param set-default MPC_THR_MIN 0.06
 param set-default MPC_TILTMAX_AIR 30
 param set-default MPC_XY_P 1.0
-param set-default MPC_XY_VEL_D 0.005
-param set-default MPC_XY_VEL_I 0.02
-param set-default MPC_XY_VEL_P 0.15
 param set-default MPC_Z_P 2.0
-param set-default MPC_Z_VEL_D 0.0
-param set-default MPC_Z_VEL_I 0.02
 param set-default MPC_Z_VEL_MAX_DN 2.0
-param set-default MPC_Z_VEL_P 0.27
-

 # gimbal configuration
 param set-default MNT_MODE_IN 0
 param set-default MNT_MODE_OUT 1
 param set-default MNT_MAN_PITCH 2
-param set-default MNT_RC_IN_MODE 1
 param set-default MNT_RATE_PITCH 30

 # RC
@ -165,7 +150,6 @@ param set-default RC1_TRIM          1000
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT 0

 # ignore the SD card errors and use normal startup sound
 set STARTUP_TUNE "1"
--- a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
+++ b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
@ -22,10 +22,7 @@
 param set-default MC_ROLLRATE_D 0.0013
 param set-default MC_PITCHRATE_D 0.0016

-param set-default MC_YAW_FF 0.5
-
 param set-default MPC_MANTHR_MAX 0.9
-param set-default MPC_MANTHR_MIN 0.08

 # Filter settings
 param set-default IMU_DGYRO_CUTOFF 90
@ -37,11 +34,8 @@ param set-default SENS_BOARD_ROT 10

 # EKF2
 param set-default EKF2_GND_EFF_DZ 6
-param set-default EKF2_HGT_REF 1

 # Position control
-param set-default MPC_Z_P 1
-param set-default MPC_Z_VEL_P_ACC 4
 param set-default MPC_Z_VEL_I_ACC 0.4

 param set-default MPC_THR_MIN 0.06
@ -51,7 +45,6 @@ param set-default MIS_TAKEOFF_ALT 1.1
 param set-default MPC_XY_P 1.7
 param set-default MPC_XY_VEL_P_ACC 2.6
 param set-default MPC_XY_VEL_I_ACC 1.2
-param set-default MPC_XY_VEL_D_ACC 0.2
 param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_VEL_MANUAL 3

@ -59,7 +52,6 @@ param set-default BAT1_SOURCE 0
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_DIV 10.14
 param set-default BAT1_A_PER_V 18.18
-param set-default COM_DISARM_LAND 2

 # Filter settings
 param set-default IMU_GYRO_CUTOFF 90
--- a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
+++ b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
@ -23,9 +23,6 @@ param set-default MC_ROLLRATE_D 0.0013

 param set-default MC_PITCHRATE_D 0.0016

-
-param set-default MPC_MANTHR_MIN 0.08
-
 # Filter settings
 param set-default IMU_GYRO_CUTOFF 100

@ -42,7 +39,6 @@ param set-default SENS_EN_BATT 1
 # EKF2
 param set-default EKF2_AID_MASK 3
 param set-default EKF2_GND_EFF_DZ 6
-param set-default EKF2_HGT_REF 1
 param set-default EKF2_MIN_RNG 0.3

 # Flow
@ -60,7 +56,6 @@ param set-default MIS_TAKEOFF_ALT 1.1
 param set-default MPC_XY_P 1.7
 param set-default MPC_XY_VEL_P_ACC 2.6
 param set-default MPC_XY_VEL_I_ACC 1.2
-param set-default MPC_XY_VEL_D_ACC 0.2
 param set-default MPC_TKO_RAMP_T 1
 param set-default MPC_VEL_MANUAL 3

@ -68,7 +63,6 @@ param set-default BAT1_SOURCE 0
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_DIV 10.14
 param set-default BAT1_A_PER_V 18.18
-param set-default COM_DISARM_LAND 2

 # Filter settings
 param set-default IMU_GYRO_CUTOFF 90
--- a/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
+++ b/ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie
@ -21,7 +21,6 @@ param set-default BAT1_CAPACITY 240
 param set-default BAT1_SOURCE 1

 param set-default CBRK_SUPPLY_CHK 894281
-param set-default CBRK_USB_CHK 197848
 param set-default COM_RC_IN_MODE 1

 param set-default EKF2_ABL_LIM 2
--- a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
+++ b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
@ -27,7 +27,6 @@ param set-default BAT1_N_CELLS 1
 param set-default BAT1_SOURCE 1

 param set-default CBRK_SUPPLY_CHK 894281
-param set-default CBRK_USB_CHK 197848
 param set-default COM_RC_IN_MODE 1

 param set-default IMU_GYRO_CUTOFF 100
--- a/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
+++ b/ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle
@ -39,8 +39,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

-param set-default MIS_TAKEOFF_ALT 0.01
-
 param set-default NAV_ACC_RAD 0.5

 param set-default CA_AIRFRAME 5
--- a/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
+++ b/ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover
@ -44,8 +44,6 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1

-param set-default MIS_TAKEOFF_ALT 0.01
-
 param set-default NAV_ACC_RAD 0.5

 # Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
--- a/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
+++ b/ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx
@ -45,8 +45,6 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1

-param set-default MIS_TAKEOFF_ALT 0.01
-
 param set-default NAV_ACC_RAD 0.5

 param set-default CA_AIRFRAME 5
--- a/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
+++ b/ROMFS/px4fmu_common/init.d/airframes/60001_uuv_hippocampus
@ -13,9 +13,6 @@

 . ${R}etc/init.d/rc.uuv_defaults

-# disable circuit breaker for airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
-
 param set-default CA_AIRFRAME 7
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_R_REV 255
--- a/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy
+++ b/ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy
@ -24,11 +24,8 @@


 # companion computer is connected via USB permanently
-param set-default CBRK_USB_CHK 197848
 param set-default CBRK_IO_SAFETY 22027

-param set-default COM_PREARM_MODE 0
-
 param set-default MAV_1_CONFIG 102

 param set-default BAT1_A_PER_V 37.8798
--- a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
+++ b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
@ -41,14 +41,8 @@ param set-default MPC_ACC_HOR 8
 param set-default MPC_THR_MIN 0.06
 param set-default MPC_THR_HOVER 0.3
 # altitude control gains
-param set-default MPC_Z_P 1
-param set-default MPC_Z_VEL_P_ACC 4
 param set-default MPC_Z_VEL_I_ACC 0.4
 # position control gains
-param set-default MPC_XY_P 0.9500
-param set-default MPC_XY_VEL_P_ACC 1.8
-param set-default MPC_XY_VEL_I_ACC 0.4
-param set-default MPC_XY_VEL_D_ACC 0.2
 # etc gains
 param set-default MPC_TKO_RAMP_T 0.4
 param set-default MPC_VEL_MANUAL 5
@ -69,8 +63,6 @@ param set-default MIS_TAKEOFF_ALT 1.1
 #####################################
 # EKF
 #####################################
-# Height mode as GPS
-param set-default EKF2_HGT_REF 1
 # Enable optical flow and GPS
 param set-default EKF2_MAG_TYPE 1
 param set-default EKF2_OF_QMIN 80