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On this tutorial, I’ll present you the way to set up iNav in your Betaflight FPV drone. I’ll information you thru every tab within the iNav Configurator, setting it up from scratch on your first flight.
Like Betaflight, iNav is flight controller firmware, primarily centered on GPS navigation and autonomous flight options. For a extra complete overview, try our FC firmware information: https://oscarliang.com/fc-firmware/#iNav
Whereas we sometimes advocate Betaflight for FPV drones (quads), iNav presents sure benefits value contemplating. iNav stands out for its superior GPS flight modes, far surpassing Betaflight’s capabilities. Not solely it helps GPS return-to-home functionalities, but additionally place maintain and autonomous waypoint missions.
Obtain the newest iNav Configurator right here: https://github.com/iNavFlight/inav-configurator/releases
Earlier than continuing, confirm in case your flight controller is suitable with iNav – if it truly has a firmware goal in iNav. If uncertain of your flight controller model/mannequin, you possibly can establish it in Betaflight following this information: https://oscarliang.com/identify-betaflight-firmware-target/
Within the iNav Configurator, on the Firmware Flasher web page, seek for your FC’s firmware goal. If it’s listed, congratulations, you possibly can proceed to the following step. If not suitable, contemplate getting a brand new FC, such because the Speedybee F405 V4 – an inexpensive, feature-rich possibility best for an iNav drone construct.
Saving Your Betaflight Configuration
It’s essential to save lots of your Betaflight configuration earlier than flashing iNav. If unfamiliar with backing up your Betaflight FC, try my information right here: https://oscarliang.com/backup-restore-betaflight-config/
Additionally, take screenshots of important Betaflight pages, such because the Ports, Configuration, Tuning (together with PID, charges, and filter settings), Receiver configuration, OSD format, Modes, and ESC protocol. These will turn out to be useful when organising iNav.
Should you want to restore Betaflight, merely flash Betaflight firmware on this FC once more (utilizing the model specified within the preset textual content file), and cargo the preset file within the Preset tab.
Choose the firmware goal on your FC. Notice that the Auto-select button could not work in case your FC continues to be operating Betaflight.
Allow “Full chip erase” and depart the opposite choices unchecked.
Default Values
After putting in iNav, you’ll be prompted to decide on a preset that almost all intently matches your plane, equivalent to a 3-inch, 5-inch, or 7-inch quad.
Setup Tab
Within the first web page – Setup, you possibly can view the standing of your drone.
Sensors
On the very high of the iNav Configurator, you’ll see an array of blue icons representing the sensors. These icons mild up when the sensors are configured and functioning accurately, and they don’t seem to be turned on, it means the sensor shouldn’t be configured or is lacking out of your setup.
The Gyro and Accel sensors ought to at all times be on. In case your flight controller (FC) has a barometer, the Baro icon must also mild up. Different frequent sensors for FPV drones embrace GPS and Magazine (magnetometer – compass).
Pre-arming Checks
On the right-hand panel, you’ll discover the Pre-arm checks. All of the listed objects ought to show inexperienced ticks as a way to arm the quad.
If any of these things present a pink cross, don’t fear—we are going to information you thru the setup on this tutorial. For example, when you’ve got enabled GPS however don’t have a lock, “Navigation is protected” will present a pink cross, which is frequent indoors. Some flight controllers can energy up the GPS with simply the USB connection, however others would possibly require the battery to be plugged in, so remember.
Board Orientation
Maintain the drone in your hand, level the digicam in the direction of the pc display, and click on the “Reset Z-Axis” button. Now transfer the drone round and see if the 3D mannequin strikes precisely as you do.
Troubleshooting:
- If the 3D mannequin is inverted (the other way up), and you’ve got a pink cross subsequent to “UAV is levelled” in pre-arming checks, you possibly can repair this within the board alignment software, e.g., enter 180 in roll.
- If the drone strikes in the wrong way as a result of the FC is rotated, you can even right this within the board alignment software, e.g., enter 180 in yaw.
Calibration Tab
Right here we are going to calibrate the accelerometer.
Place the drone on a degree floor and undergo the 6-step calibration. Notice that for each step, it’s good to click on the “Calibrate Accelerometer” button.
It may appear a bit difficult at first, however don’t be afraid to start out over if wanted. The calibration doesn’t need to be tremendous exact—simply do your finest to place the quad in every meant place.
Mixer Tab
Usually, you shouldn’t want to vary something right here for the reason that “Default Values” ought to have utilized these settings for you. Nonetheless, it’s good follow to double-check.
- Platform: “Multirotor”.
- Mixer preset: “Quad X”.
If you wish to run reverse motor path (props out), choose “Reversed motor path / Props-out configuration”.
Click on Save and Reboot.
Outputs Tab
This tab features equally to the Motors tab in Betaflight.
Notice that motor outputs are disabled by default in iNav, a security function that differs from Betaflight. Motors WILL NOT work till you manually allow the “Allow motor and servo output” possibility.
Within the Outputs tab, choose DShot300 because the ESC protocol.
I personally set a decrease Motor Idle Energy % for 5-inch quads to match my Betaflight settings, e.g., 5%. The default in iNav is a bit too excessive, which is extra suited to smaller drones with decrease energy.
Click on Save and Reboot. Energy cycle the FC by unplugging each the USB cable and battery.
Warning: Guarantee to take away propellers earlier than continuing to the following step.
Now, check the motors utilizing the sliders within the Outputs tab to verify in the event that they spin, and in the event that they spin within the right path.
Troubleshoot: What if the motor order is incorrect?
Not like Betaflight, iNav doesn’t help useful resource remapping. To vary motor order, you possibly can alter settings within the Mixer tab. Bear in mind, after making modifications, simply hit Save and Reboot—there’s no must click on LOAD and APPLY. After altering the motor order within the Mixer, it received’t replicate within the outputs tab, however it is best to conduct a check hover to ensure it really works accurately.
Ports Tab
Organising ports in iNav ought to really feel acquainted to these used to Betaflight. Should you’ve taken screenshots from Betaflight, you possibly can merely replicate the setup right here.
A slight inconvenience in iNav is that when you present an invalid configuration, it resets your whole ports tab with out telling you what’s inflicting the difficulty. If this occurs, you might must troubleshoot every UART individually. A notable distinction from Betaflight is that you could disable MSP information when you have got MSP DisplayPort chosen.
Within the instance screenshot above, I arrange the next peripherals:
- Serial RX (ExpressLRS receiver)
- GPS
- MSP Show Port for DJI/Walksnail VTX (you could disable MSP Knowledge)
Configuration Tab
Within the Configuration tab, you possibly can choose the sensors linked to the flight controller, equivalent to GPS, compass, barometer, optical move sensor, and many others.
Right here, you can even calibrate the present/voltage sensor.
Receiver Tab
For ExpressLRS or Crossfire receivers, choose SERIAL because the receiver kind, and CRSF because the receiver supplier. Click on Save and Reboot.
Now, you possibly can check the radio hyperlink to make sure the channel values accurately reply to your radio stick actions. If the channel order is incorrect, attempt a unique channel map (what’s channel map?).
I like to recommend setting “Use computerized RC smoothing” to ON, then adjusting the auto smoothing issue to fine-tune response to stay actions. That is significantly helpful for radio hyperlinks with dynamic refresh charges, equivalent to ExpressLRS and Crossfire.
To regulate the texture, enhance the auto smoothing issue worth for smoother management (best for cruising and cinematic flying), or lower it for a extra direct feeling (best for racing). An element of 30 strikes a superb stability between smoothness and responsiveness.
With new filtering in place, the default RC deadband may be safely diminished. I recommend setting this worth to 2 for each RC and Yaw deadbands. Whereas setting it to zero presents probably the most direct response, I usually don’t advocate this as some jitters are inevitable, whether or not from the {hardware} or shaky human fingers. For outdated and jittery gimbals, you would possibly favor to stay with the default worth of 5.
GPS Tab
Coming quickly.
Failsafe Tab
Coming quickly.
PID Tuning Tab
Detailed PID and filter tuning shall be addressed in a separate tutorial as I need to hold this tutorial so simple as doable simply specializing in the transition from Betaflight to iNav. For now, we are able to depart PID settings at their default.
Nonetheless, we are going to alter the Charges to our choice.
The default Charges in iNav appear designed for cruising and long-range drones, like 7-inch fashions, as I discovered them considerably gradual for freestyle flying. If uncertain, attempt the inventory settings first and go from there. It will be handy if iNav adopted an analogous Charges system to Betaflight, however for now, it’s a matter of trial and error.
Max roll/pitch angles are limits utilized in GPS Navigation mode and Angle/Horizon modes; they decide how briskly the drone can transfer. The default setting must be positive, however you possibly can enhance it to 45 levels for flying sooner (to counter wind) in these modes. If uncertain, depart them at default; you possibly can at all times alter later.
Superior Tuning Tab
Like PID tuning, this deserves a separate weblog put up. In the intervening time, we are going to stick to default settings.
Modes Tab
The Modes tab in iNav intently resembles that of Betaflight, however it makes use of CH5, CH6, and many others., as a substitute of AUX1, AUX2. It’s all fairly easy.
If utilizing ExpressLRS receiver, you should definitely assign CH5 to ARM, as that is the default channel for arming.
Helpful modes in iNav for an FPV drone embrace Angle mode, Turtle mode, Beeper. And in case your drone is supplied with GPS, Nav Place Maintain and Nav Return to House are additionally essential.
OSD
Below Video Format, choose your most well-liked video system. Allow any parts you need and prepare them as in Betaflight.
Conclusion
Changing a Betaflight FPV drone to iNav is simple however requires thorough preparation and an understanding of your configuration and drone setup. The default worth in iNav supply a stable basis, needing only some private changes earlier than you possibly can take the drone for its first flight. I’m engaged on a couple of extra tutorials on iNav, together with its GPS options and PID/Filter tuning, keep tuned.
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