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On this tutorial, I’ll present you easy methods 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 in your first flight.
Like Betaflight, iNav is flight controller firmware, primarily centered on GPS navigation and autonomous flight options. For a extra complete overview, take a look at our FC firmware information: https://oscarliang.com/fc-firmware/#iNav
Whereas we sometimes advocate Betaflight for FPV drones (quads), iNav presents sure benefits price 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 in addition place maintain and autonomous waypoint missions.
Obtain the most recent iNav Configurator right here: https://github.com/iNavFlight/inav-configurator/releases
Earlier than continuing, confirm in case your flight controller is appropriate with iNav – if it truly has a firmware goal in iNav. If uncertain of your flight controller model/mannequin, you’ll be able to determine 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’ll be able to proceed to the following step. If not appropriate, think about getting a brand new FC, such because the Speedybee F405 V4 – an inexpensive, feature-rich possibility ultimate 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, take a look at 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 structure, Modes, and ESC protocol. These will turn out to be useful when establishing iNav.
In the event 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 in your FC. Observe that the Auto-select button could not work in case your FC continues to be working 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 the majority carefully matches your plane, comparable to a 3-inch, 5-inch, or 7-inch quad.
Setup Tab
Within the first web page – Setup, you’ll be able to view the standing of your drone.
Sensors
On the very prime 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 will not be configured or is lacking out of your setup.
The Gyro and Accel sensors ought to all the time be on. In case your flight controller (FC) has a barometer, the Baro icon must also mild up. Different widespread sensors for FPV drones embody 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 in an effort to arm the quad.
If any of these things present a purple cross, don’t fear—we’ll information you thru the setup on this tutorial. As an illustration, when you have enabled GPS however don’t have a lock, “Navigation is protected” will present a purple cross, which is widespread indoors. Some flight controllers can energy up the GPS with simply the USB connection, however others may require the battery to be plugged in, so bear in mind.
Board Orientation
Maintain the drone in your hand, level the digicam in 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 wrong way up), and you’ve got a purple cross subsequent to “UAV is levelled” in pre-arming checks, you’ll be able to repair this within the board alignment instrument, e.g., enter 180 in roll.
- If the drone strikes in the wrong way as a result of the FC is rotated, you may as well appropriate this within the board alignment instrument, e.g., enter 180 in yaw.
Calibration Tab
Right here we’ll calibrate the accelerometer.
Place the drone on a stage floor and undergo the 6-step calibration. Observe that for each step, it’s worthwhile to click on the “Calibrate Accelerometer” button.
It may appear a bit difficult at first, however don’t be afraid to begin over if wanted. The calibration doesn’t must be tremendous exact—simply do your greatest to place the quad in every supposed 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. Nevertheless, 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 capabilities equally to the Motors tab in Betaflight.
Observe 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 examine in the event that they spin, and in the event that they spin within the appropriate path.
Troubleshoot: What if the motor order is fallacious?
Not like Betaflight, iNav doesn’t assist useful resource remapping. To alter motor order, you’ll be able to regulate settings within the Mixer tab. Keep in mind, after making adjustments, 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 you need to conduct a check hover to verify it really works accurately.
Ports Tab
Establishing ports in iNav ought to really feel acquainted to these used to Betaflight. In the event you’ve taken screenshots from Betaflight, you’ll be able to merely replicate the setup right here.
A slight inconvenience in iNav is that for those who present an invalid configuration, it resets your total ports tab with out telling you what’s inflicting the problem. If this occurs, you could must troubleshoot every UART individually. A notable distinction from Betaflight is that you should disable MSP knowledge when you might have 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 should disable MSP Information)
Configuration Tab
Within the Configuration tab, you’ll be able to choose the sensors linked to the flight controller, comparable to GPS, compass, barometer, optical movement sensor, and so forth.
Right here, you may as well 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’ll be able to check the radio hyperlink to make sure the channel values accurately reply to your radio stick actions. If the channel order is fallacious, strive a special 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 notably useful for radio hyperlinks with dynamic refresh charges, comparable to ExpressLRS and Crossfire.
To regulate the texture, improve the auto smoothing issue worth for smoother management (ultimate for cruising and cinematic flying), or lower it for a extra direct feeling (ultimate for racing). An element of 30 strikes a very good stability between smoothness and responsiveness.
With new filtering in place, the default RC deadband could be safely decreased. I recommend setting this worth to 2 for each RC and Yaw deadbands. Whereas setting it to zero presents essentially the most direct response, I typically don’t advocate this as some jitters are inevitable, whether or not from the {hardware} or shaky human palms. For outdated and jittery gimbals, you may 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 will likely be addressed in a separate tutorial as I need to maintain this tutorial so simple as doable simply specializing in the transition from Betaflight to iNav. For now, we will depart PID settings at their default.
Nevertheless, we’ll regulate 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 sluggish for freestyle flying. If uncertain, strive the inventory settings first and go from there. It could be handy if iNav adopted an identical 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 ought to be advantageous, however you’ll be able to improve it to 45 levels for flying quicker (to counter wind) in these modes. If uncertain, depart them at default; you’ll be able to all the time regulate later.
Superior Tuning Tab
Like PID tuning, this deserves a separate weblog put up. In the meanwhile, we’ll follow default settings.
Modes Tab
The Modes tab in iNav carefully resembles that of Betaflight, but it surely makes use of CH5, CH6, and so forth., as an alternative of AUX1, AUX2. It’s all fairly simple.
If utilizing ExpressLRS receiver, make sure to assign CH5 to ARM, as that is the default channel for arming.
Helpful modes in iNav for an FPV drone embody Angle mode, Turtle mode, Beeper. And in case your drone is provided with GPS, Nav Place Maintain and Nav Return to House are additionally essential.
OSD
Underneath Video Format, choose your most well-liked video system. Allow any components you need and organize them as in Betaflight.
Conclusion
Changing a Betaflight FPV drone to iNav is easy however requires thorough preparation and an understanding of your configuration and drone setup. The default worth in iNav provide a strong basis, needing just a few private changes earlier than you’ll be able to 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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