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Published by digitalentity over 4 years ago
Hello and welcome to INAV 2.4.0 Release!
Please carefully read all of this document for the best possible experience and safety.
Get in touch with other pilots, share experiences, suggestions and ask for help on:
Please continue to support developers, for free, by checking out from the following stores after having clicked on the following links:
Your contribution from the past month has been very welcome! Thanks!
Tested and suggested hardware can be found here
min_throttle
line, and replace it by throttle_idle
, setting the percentage of the idle throttle. The default is 15.Please follow the instructions on this page.
Command | Description |
---|---|
msc |
Enter USB Mass storage mode. See docs/USB_Mass_Storage_(MSC)_mode.md for usage information. |
Setting | Description |
---|---|
throttle_idle |
Previously min_throttle - Set the idle throttle percent. The percentage of the throttle range (max_throttle - min_command ) above min_command used for minimum / idle throttle. Note that the default of 15% will most likely be too high for modern *shot ESCs. |
nav_rth_home_offset_distance |
Distance offset from GPS established home to "safe" position used for RTH (cm, 0 disables) |
nav_rth_home_offset_direction |
Direction offset from GPS established home to "safe" position used for RTH (degrees, 0=N, 90=E, 180=S, 270=W, requires non-zero offset distance) |
gyro_stage2_lowpass_type |
Defines the type of stage 2 gyro LPF filter. Possible values: PT1 , BIQUAD . PT1 offers faster filter response while BIQUAD better attenuation. Default value: BIQUAD
|
rpm_gyro_filter_enabled |
Enables gyro RPM filter. Turned OFF by default. Set to ON only when ESC telemetry is working and rotation speed of the motors is correctly reported to INAV |
rpm_dterm_filter_enabled |
RPM filter for D-term. Experimental, probably will be removed in the next release |
rpm_gyro_harmonics |
Number of harmonic frequencies to be covered by gyro RPM filter. Default value of 1 usually works just fine |
rpm_gyro_min_hz |
The lowest frequency for gyro RPM filter. Default 150 is fine for 5" mini-quads. On 7-inch drones you can lower even down to 60 -70
|
rpm_gyro_q |
Q factor for gyro RPM filter. Lower values give softer, wider attenuation. Usually there is no need to change this setting |
dterm_gyro_harmonics |
Number of harmonic frequencies to be covered by D-term RPM filter. Default value of 1 usually works just fine |
rpm_dterm_min_hz |
- |
rpm_dterm_q |
- |
dterm_lpf_type |
Defines the type of stage 1 D-term LPF filter. Possible values: PT1 , BIQUAD . PT1 offers faster filter response while BIQUAD better attenuation. Default value: BIQUAD
|
dterm_lpf2_hz |
Cutoff frequency for stage 2 D-term filter. Disabled by default 0
|
dterm_lpf2_type |
Defines the type of stage 1 D-term LPF filter. Possible values: PT1 , BIQUAD . PT1 offers faster filter response while BIQUAD better attenuation. Default value: BIQUAD
|
pidsum_limit_yaw |
Replaces yaw_jump_prevention_limit and yaw_p_limit
|
pid_type |
Allows to set type of PID controller used in control loop. Possible values: NONE , PID , PIFF , AUTO . Change only in case of experimental platforms like VTOL, tailsitters, rovers, boats, etc. Airplanes should always use PIFF and multirotors PID
|
Setting | Description |
---|---|
min_throttle |
Replaced by throttle_idle
|
yaw_jump_prevention_limit |
Replaced by pidsum_limit_yaw
|
yaw_p_limit |
Replaced by pidsum_limit_yaw
|
INAV can now take determine where to place notch filters based on the rotation speed of the motors to attenuate noise being fed into PID.
You need to connect BlHeli telemetry on a serial port and then enable RPM Filters.
USB MSC (mass storage device class) SD card and internal flash access is enabled for F4 and F7 targets with suitable hardware. This means you can mount the FC (SD card / internal flash) as a host computer file system via USB to read BB logs (and delete them from an SD card). See docs/USB_Mass_Storage_(MSC)_mode.md
for usage information.
Allows INAV RTH and failsafe RTH to not return the launch point but in a nearby area allowing not to violate a protected space which might be active in some flying fields. It's configurable via nav_rth_home_offset_distance
which sets the distance offset from GPS established home to "safe" position used for RTH and nav_rth_home_offset_direction
which configure the direction offset from GPS established home to "safe" position used for RTH (degrees, 0=N, 90=E, 180=S, 270=W, requires non-zero offset distance)
When flying a mission with different altitude waypoints, the old behaviour was INAV trying to reach the next waypoint altitude as soon as it can, constrained only by nav_auto_climb_rate
, nav_fw_climb_angle
and nav_fw_dive_angle
CLI variables. Aircraft would use a lot of energy to reach the waypoint altitude, and then will keep that altitude for the rest of the way to the waypoint.
Now, INAV will try to climb or dive to the next waypoint altitude in a linearly manner, so it'll reach the next waypoint altitude only when it's almost reaching the waypoint itself. This way aircraft will consume less energy to climb since it'll be a less steep climb or will save energy by trading altitude for speed for more time when diving.
It works for all airframe types, fixed wing or multirotor.
Motors RPM can now displayed as a new item. There are minor bug fixes in the FrSky OSD driver.
Furthermore when you navigate the CMS (OSD menu) servos on your airplane will not move anymore.
INAV is now ready to embrace HD FPV with support for the DJI HD FPV system. Just connect the DJI HD VTX to a spare UART, set that UART to have a DJI FPV function in the Configurator Ports tab and you're good to go.
If you want to use DJI remote controller as well, you can connect the S.Bus wire from DJI VTX to your FC as well and select "SBUS Fast" protocol (earlier known as DJI HDL). INAV fully supports this protocol and will allow you to get 7ms contol latency (as advertised by DJI).
Published by digitalentity over 4 years ago
Hello and welcome to INAV 2.4.0 Release!
Please carefully read all of this document for the best possible experience and safety.
Get in touch with other pilots, share experiences, suggestions and ask for help on:
Please continue to support developers, for free, by checking out from the following stores after having clicked on the following links:
Your contribution from the past month has been very welcome! Thanks!
Tested and suggested hardware can be found here
min_throttle
line, and replace it by throttle_idle
, setting the percentage of the idle throttle. The default is 15.Command | Description |
---|---|
msc |
Enter USB Mass storage mode. See docs/USB_Mass_Storage_(MSC)_mode.md for usage information. |
Setting | Description |
---|---|
throttle_idle |
Previously min_throttle - Set the idle throttle percent. The percentage of the throttle range (max_throttle - min_command ) above min_command used for minimum / idle throttle. Note that the default of 15% will most likely be too high for modern *shot ESCs. |
nav_rth_home_offset_distance |
Distance offset from GPS established home to "safe" position used for RTH (cm, 0 disables) |
nav_rth_home_offset_direction |
Direction offset from GPS established home to "safe" position used for RTH (degrees, 0=N, 90=E, 180=S, 270=W, requires non-zero offset distance) |
gyro_stage2_lowpass_type |
Defines the type of stage 2 gyro LPF filter. Possible values: PT1 , BIQUAD . PT1 offers faster filter response while BIQUAD better attenuation. Default value: BIQUAD
|
rpm_gyro_filter_enabled |
Enables gyro RPM filter. Turned OFF by default. Set to ON only when ESC telemetry is working and rotation speed of the motors is correctly reported to INAV |
rpm_dterm_filter_enabled |
RPM filter for D-term. Experimental, probably will be removed in the next release |
rpm_gyro_harmonics |
Number of harmonic frequencies to be covered by gyro RPM filter. Default value of 1 usually works just fine |
rpm_gyro_min_hz |
The lowest frequency for gyro RPM filter. Default 150 is fine for 5" mini-quads. On 7-inch drones you can lower even down to 60 -70
|
rpm_gyro_q |
Q factor for gyro RPM filter. Lower values give softer, wider attenuation. Usually there is no need to change this setting |
dterm_gyro_harmonics |
Number of harmonic frequencies to be covered by D-term RPM filter. Default value of 1 usually works just fine |
rpm_dterm_min_hz |
- |
rpm_dterm_q |
- |
dterm_lpf_type |
Defines the type of stage 1 D-term LPF filter. Possible values: PT1 , BIQUAD . PT1 offers faster filter response while BIQUAD better attenuation. Default value: BIQUAD
|
dterm_lpf2_hz |
Cutoff frequency for stage 2 D-term filter. Disabled by default 0
|
dterm_lpf2_type |
Defines the type of stage 1 D-term LPF filter. Possible values: PT1 , BIQUAD . PT1 offers faster filter response while BIQUAD better attenuation. Default value: BIQUAD
|
pidsum_limit_yaw |
Replaces yaw_jump_prevention_limit and yaw_p_limit
|
pid_type |
Allows to set type of PID controller used in control loop. Possible values: NONE , PID , PIFF , AUTO . Change only in case of experimental platforms like VTOL, tailsitters, rovers, boats, etc. Airplanes should always use PIFF and multirotors PID
|
Setting | Description |
---|---|
min_throttle |
Replaced by throttle_idle
|
yaw_jump_prevention_limit |
Replaced by pidsum_limit_yaw
|
yaw_p_limit |
Replaced by pidsum_limit_yaw
|
INAV can now take determine where to place notch filters based on the rotation speed of the motors to attenuate noise being fed into PID.
You need to connect BlHeli telemetry on a serial port and then enable RPM Filters.
USB MSC (mass storage device class) SD card and internal flash access is enabled for F4 and F7 targets with suitable hardware. This means you can mount the FC (SD card / internal flash) as a host computer file system via USB to read BB logs (and delete them from an SD card). See docs/USB_Mass_Storage_(MSC)_mode.md
for usage information.
Allows INAV RTH and failsafe RTH to not return the launch point but in a nearby area allowing not to violate a protected space which might be active in some flying fields. It's configurable via nav_rth_home_offset_distance
which sets the distance offset from GPS established home to "safe" position used for RTH and nav_rth_home_offset_direction
which configure the direction offset from GPS established home to "safe" position used for RTH (degrees, 0=N, 90=E, 180=S, 270=W, requires non-zero offset distance)
When flying a mission with different altitude waypoints, the old behaviour was INAV trying to reach the next waypoint altitude as soon as it can, constrained only by nav_auto_climb_rate
, nav_fw_climb_angle
and nav_fw_dive_angle
CLI variables. Aircraft would use a lot of energy to reach the waypoint altitude, and then will keep that altitude for the rest of the way to the waypoint.
Now, INAV will try to climb or dive to the next waypoint altitude in a linearly manner, so it'll reach the next waypoint altitude only when it's almost reaching the waypoint itself. This way aircraft will consume less energy to climb since it'll be a less steep climb or will save energy by trading altitude for speed for more time when diving.
It works for all airframe types, fixed wing or multirotor.
Motors RPM can now displayed as a new item. There are minor bug fixes in the FrSky OSD driver.
Furthermore when you navigate the CMS (OSD menu) servos on your airplane will not move anymore.
INAV is now ready to embrace HD FPV with support for the DJI HD FPV system. Just connect the DJI HD VTX to a spare UART, set that UART to have a DJI FPV function in the Configurator Ports tab and you're good to go.
If you want to use DJI remote controller as well, you can connect the S.Bus wire from DJI VTX to your FC as well and select "SBUS Fast" protocol (earlier known as DJI HDL). INAV fully supports this protocol and will allow you to get 7ms contol latency (as advertised by DJI).
Published by digitalentity over 4 years ago
Hello and welcome to INAV 2.4.0 Release!
Please carefully read all of this document for the best possible experience and safety.
Get in touch with other pilots, share experiences, suggestions and ask for help on:
Please continue to support developers, for free, by checking out from the following stores after having clicked on the following links:
Your contribution from the past month has been very welcome! Thanks!
Tested and suggested hardware can be found here
min_throttle
line, and replace it by throttle_idle
, setting the percentage of the idle throttle. The default is 15.Command | Description |
---|---|
msc |
Enter USB Mass storage mode. See docs/USB_Mass_Storage_(MSC)_mode.md for usage information. |
Setting | Description |
---|---|
throttle_idle |
Previously min_throttle - Set the idle throttle percent. The percentage of the throttle range (max_throttle - min_command ) above min_command used for minimum / idle throttle. Note that the default of 15% will most likely be too high for modern *shot ESCs. |
nav_rth_home_offset_distance |
Distance offset from GPS established home to "safe" position used for RTH (cm, 0 disables) |
nav_rth_home_offset_direction |
Direction offset from GPS established home to "safe" position used for RTH (degrees, 0=N, 90=E, 180=S, 270=W, requires non-zero offset distance) |
gyro_stage2_lowpass_type |
Defines the type of stage 2 gyro LPF filter. Possible values: PT1 , BIQUAD . PT1 offers faster filter response while BIQUAD better attenuation. Defauilt value: BIQUAD
|
rpm_gyro_filter_enabled |
Enables gyro RPM filtere. Turned OFF by default. Set to ON only when ESC telemetry is working and rotation speed of the motors is correctly reported to INAV |
rpm_dterm_filter_enabled |
RPM filter for D-term. Experimental, probably will be removed in the next release |
rpm_gyro_harmonics |
Number of harmonic frequences to be covered by gyro RPM filter. Default value of 1 usually works just fine |
rpm_gyro_min_hz |
The lowest frequency for gyro RPM filtere. Default 150 is fine for 5" mini-quads. On 7-inch drones you can lower even down to 60 -70
|
rpm_gyro_q |
Q factor for gyro RPM filter. Lower values give softer, wider attenuation. Usually there is no need to change this setting |
dterm_gyro_harmonics |
Number of harmonic frequences to be covered by D-term RPM filter. Default value of 1 usually works just fine |
rpm_dterm_min_hz |
- |
rpm_dterm_q |
- |
dterm_lpf_type |
Defines the type of stage 1 D-term LPF filter. Possible values: PT1 , BIQUAD . PT1 offers faster filter response while BIQUAD better attenuation. Defauilt value: BIQUAD
|
dterm_lpf2_hz |
Cutoff frequency for stage 2 D-term filter. Disabled by default 0
|
dterm_lpf2_type |
Defines the type of stage 1 D-term LPF filter. Possible values: PT1 , BIQUAD . PT1 offers faster filter response while BIQUAD better attenuation. Defauilt value: BIQUAD
|
pidsum_limit_yaw |
Replaces yaw_jump_prevention_limit and yaw_p_limit
|
pid_type |
Allows to set type of PID controller used in control loop. Possible values: NONE , PID , PIFF , AUTO . Change only in case of experimental platforms like VTOL, tailsitters, rovers, boats, etc. Airplanes should always use PIFF and multirotors PID
|
Setting | Description |
---|---|
min_throttle |
Replaced by throttle_idle
|
yaw_jump_prevention_limit |
Replaced by pidsum_limit_yaw
|
yaw_p_limit |
Replaced by pidsum_limit_yaw
|
INAV can now take determine where to place notch filters based on the rotation speed of the motors to attenuate noise being fed into PID.
You need to connect BlHeli telemetry on a serial port and then enable RPM Filters.
USB MSC (mass storage device class) SD card and internal flash access is enabled for F4 and F7 targets with suitable hardware. This means you can mount the FC (SD card / internal flash) as a host computer file system via USB to read BB logs (and delete them from an SD card). See docs/USB_Mass_Storage_(MSC)_mode.md
for usage information.
Allows INAV RTH and failsafe RTH to not return the launch point but in a nearby area allowing not to violate a protected space which might be active in some flying fields. It's configurable via nav_rth_home_offset_distance
which sets the distance offset from GPS established home to "safe" position used for RTH and nav_rth_home_offset_direction
which configure the direction offset from GPS established home to "safe" position used for RTH (degrees, 0=N, 90=E, 180=S, 270=W, requires non-zero offset distance)
When flying a mission with different altitude waypoints, the old behaviour was INAV trying to reach the next waypoint altitude as soon as it can, constrained only by nav_auto_climb_rate
, nav_fw_climb_angle
and nav_fw_dive_angle
CLI variables. Aircraft would use a lot of energy to reach the waypoint altitude, and then will keep that altitude for the rest of the way to the waypoint.
Now, INAV will try to climb or dive to the next waypoint altitude in a linearly manner, so it'll reach the next waypoint altitude only when it's almost reaching the waypoint itself. This way aircraft will consume less energy to climb since it'll be a less steep climb or will save energy by trading altitude for speed for more time when diving.
It works for all airframe types, fixed wing or multirotor.
Motors RPM can now displayed as a new item. There are minor bug fixes in the FrSky OSD driver.
Furthermore when you navigate the CMS (OSD menu) servos on your airplane will not move anymore.
INAV is now ready to embrace HD FPV with support for the DJI HD FPV system. Just connect the DJI HD VTX to a spare UART, set that UART to have a DJI FPV function in the Configurator Ports tab and you're good to go.
If you want to use DJI remote controller as well, you can connect the S.Bus wire from DJI VTX to your FC as well and select "SBUS Fast" protocol (earlier known as DJI HDL). INAV fully supports this protocol and will allow you to get 7ms contol latency (as advertised by DJI).
Published by digitalentity almost 5 years ago
Hello and welcome to INAV 2.3.0 Release!
Please carefully read all of this document for the best possible experience and safety.
Get in touch with other pilots, share experiences, suggestions and ask for help on:
Please continue to support developers, for free, by checking out from the following stores after having clicked on the following links:
Your contribution from the past month has been very welcome! Thanks!
Tested and suggested hardware can be found here
Setting | Description |
---|---|
dyn_notch_width_percent | Distance in % of the attenuated frequency for double dynamic filter notched. When set to 0 single dynamic notch filter is used |
dyn_notch_range | Dynamic gyro filter range. Possible values LOW MEDIUM HIGH . MEDIUM should work best for 5-6" multirotors. LOW should work best with 7" and bigger. HIGH should work with everything below 4" |
dyn_notch_q | Q factor for dynamic notches |
dyn_notch_min_hz | Minimum frequency for dynamic notches. Default value of 150 works best with 5" multirors. Should be lowered with increased size of propellers. Values around 100 work fine on 7" drones. 10" can go down to 60 - 70
|
throttle_scale | Throttle scaling factor. 1 means no throttle scaling. 0.5 means throttle scaled down by 50% |
vbat_meter_type | Vbat voltage source. Possible values: NONE , ADC , ESC . ESC required ESC telemetry enabled and running |
antigravity_gain | Max Antigravity gain. 1 means Antigravity is disabled, 2 means Iterm is allowed to double during rapid throttle movements |
antigravity_accelerator | |
antigravity_cutoff_lpf_hz | Antigravity cutoff frequenct for Throtte filter. Antigravity is based on the difference between actual and filtered throttle input. The bigger is the difference, the bigger Antigravity gain |
sim_pin | PIN for GSM card module |
ESC Telemetry is a feature of DSHOT ESCs to send some data back to the flight controller - voltage, current, temperature, motor RPM. It required additional wire from an ESC to the flight controller. To configure you need DSHOT as a motor protocol and "ESC output/telemetry" function enabled for the serial port where ESC telemetry wires are connected.
INAV ESC Telemetry with BlHeli_32 - The Complete Guide
Dynamic Filters is a port of Betaflight dynamic filtering. It uses FFT analysis of gyro traces to locate noise peaks and double notch filters to attenuate them. By default, there are 6 notches, 2 per each axis: roll, pitch and yaw.
To enable Dynamic Filters, go to CLI and type
feature DYNAMIC_FILTERS
The default values are suited for 5" mini quads. Depending on the size of multirotor propellers, some adjustments might be required.
Propeller size | dyn_notch_range |
dyn_notch_min_hz |
---|---|---|
Below 5" | HIGH |
200 or more |
5" |
HIGH or MEDIUM
|
150 or more |
7" | LOW |
100 or less |
INAV Dynamic Filters, one of INAV 2.3 goodies - how-to guide
Global Functions (abbr. GF) are a mechanism allowing to override certain flight parameters (during flight). Global Functions are activated by Logic Conditions.
Currently implemented Global Functions
Name | Notes |
---|---|
OVERRIDE_ARMING_SAFETY | Allows to arm on any angle even without GPS fix |
OVERRIDE_THROTTLE_SCALE | Override throttle scale to the defined value |
SWAP_ROLL_YAW | basically, when activated, yaw stick will control roll and roll stick will control yaw. Required for tail-sitters VTOL during vertical-horizonral transition when body frame changes |
SET_VTX_POWER_LEVEL | Sets VTX power level. Allows to change VTX power level based on distance, switch or other values present in Logic Conditions |
INVERT_ROLL | Inverts ROLL axis input for PID/PIFF controller |
INVERT_PITCH | Inverts PITCH axis input for PID/PIFF controller |
INVERT_YAW | Inverts YAW axis input for PID/PIFF controller |
OVERRIDE_THROTTLE | Override throttle value that is fed to the motors by mixer. Allows for throttle hold |
For details refer to Global Functions.md
in docs
folder.
INAV now supports pixel based OSDs and includes a driver for FrSky's OSD. Some elements, like the artificial horizon, the home arrow or the heading graph include pixel based implementations.
To enable it go to the Ports tab in the configurator and select "FrSky OSD" from the peripherals column of the port that the OSD is connected to. Font uploading and OSD element configuration works in the same way, regardless of the OSD type.
The iNav Makefile
will attempt to install a recommended compiler for your platform. Should you wish to override this, or your platform is not supported, please refer to the document docs/development/Generic_Linux_development.md
which describes how to use an alternative compiler.
Due to third-party incompatibilities between Windows 64bit, Cygwin and the 32bit ARM cross-compiler, we do not recommend trying to build with Cygwin. The Cygwin build documentation has been withdrawn. Please use WSL or a Linux VM for building on Windows.
Published by digitalentity almost 5 years ago
Hello and welcome to INAV 2.3.0 Release!
Please carefully read all of this document for the best possible experience and safety.
Get in touch with other pilots, share experiences, suggestions and ask for help on:
Please continue to support developers, for free, by checking out from the following stores after having clicked on the following links:
Your contribution from the past month has been very welcome! Thanks!
Tested and suggested hardware can be found here
Setting | Description |
---|---|
dyn_notch_width_percent | Distance in % of the attenuated frequency for double dynamic filter notched. When set to 0 single dynamic notch filter is used |
dyn_notch_range | Dynamic gyro filter range. Possible values LOW MEDIUM HIGH . MEDIUM should work best for 5-6" multirotors. LOW should work best with 7" and bigger. HIGH should work with everything below 4" |
dyn_notch_q | Q factor for dynamic notches |
dyn_notch_min_hz | Minimum frequency for dynamic notches. Default value of 150 works best with 5" multirors. Should be lowered with increased size of propellers. Values around 100 work fine on 7" drones. 10" can go down to 60 - 70
|
throttle_scale | Throttle scaling factor. 1 means no throttle scaling. 0.5 means throttle scaled down by 50% |
vbat_meter_type | Vbat voltage source. Possible values: NONE , ADC , ESC . ESC required ESC telemetry enabled and running |
antigravity_gain | Max Antigravity gain. 1 means Antigravity is disabled, 2 means Iterm is allowed to double during rapid throttle movements |
antigravity_accelerator | |
antigravity_cutoff_lpf_hz | Antigravity cutoff frequenct for Throtte filter. Antigravity is based on the difference between actual and filtered throttle input. The bigger is the difference, the bigger Antigravity gain |
sim_pin | PIN for GSM card module |
ESC Telemetry is a feature of DSHOT ESCs to send some data back to the flight controller - voltage, current, temperature, motor RPM. It required additional wire from an ESC to the flight controller. To configure you need DSHOT as a motor protocol and "ESC output/telemetry" function enabled for the serial port where ESC telemetry wires are connected.
INAV ESC Telemetry with BlHeli_32 - The Complete Guide
Dynamic Filters is a port of Betaflight dynamic filtering. It uses FFT analysis of gyro traces to locate noise peaks and double notch filters to attenuate them. By default, there are 6 notches, 2 per each axis: roll, pitch and yaw.
To enable Dynamic Filters, go to CLI and type
feature DYNAMIC_FILTERS
The default values are suited for 5" mini quads. Depending on the size of multirotor propellers, some adjustments might be required.
Propeller size | dyn_notch_range |
dyn_notch_min_hz |
---|---|---|
Below 5" | HIGH |
200 or more |
5" |
HIGH or MEDIUM
|
150 or more |
7" | LOW |
100 or less |
INAV Dynamic Filters, one of INAV 2.3 goodies - how-to guide
Global Functions (abbr. GF) are a mechanism allowing to override certain flight parameters (during flight). Global Functions are activated by Logic Conditions.
Currently implemented Global Functions
Name | Notes |
---|---|
OVERRIDE_ARMING_SAFETY | Allows to arm on any angle even without GPS fix |
OVERRIDE_THROTTLE_SCALE | Override throttle scale to the defined value |
SWAP_ROLL_YAW | basically, when activated, yaw stick will control roll and roll stick will control yaw. Required for tail-sitters VTOL during vertical-horizonral transition when body frame changes |
SET_VTX_POWER_LEVEL | Sets VTX power level. Allows to change VTX power level based on distance, switch or other values present in Logic Conditions |
INVERT_ROLL | Inverts ROLL axis input for PID/PIFF controller |
INVERT_PITCH | Inverts PITCH axis input for PID/PIFF controller |
INVERT_YAW | Inverts YAW axis input for PID/PIFF controller |
OVERRIDE_THROTTLE | Override throttle value that is fed to the motors by mixer. Allows for throttle hold |
For details refer to Global Functions.md
in docs
folder.
INAV now supports pixel based OSDs and includes a driver for FrSky's OSD. Some elements, like the artificial horizon, the home arrow or the heading graph include pixel based implementations.
To enable it go to the Ports tab in the configurator and select "FrSky OSD" from the peripherals column of the port that the OSD is connected to. Font uploading and OSD element configuration works in the same way, regardless of the OSD type.
The iNav Makefile
will attempt to install a recommended compiler for your platform. Should you wish to override this, or your platform is not supported, please refer to the document docs/development/Generic_Linux_development.md
which describes how to use an alternative compiler.
Published by digitalentity almost 5 years ago
Hello and welcome to INAV 2.3.0 Release!
Please carefully read all of this document for the best possible experience and safety.
Get in touch with other pilots, share experiences, suggestions and ask for help on:
Please continue to support developers, for free, by checking out from the following stores after having clicked on the following links:
Your contribution from the past month has been very welcome! Thanks!
Tested and suggested hardware can be found here
Setting | Description |
---|---|
dyn_notch_width_percent | Distance in % of the attenuated frequency for double dynamic filter notched. When set to 0 single dynamic notch filter is used |
dyn_notch_range | Dynamic gyro filter range. Possible values LOW MEDIUM HIGH . MEDIUM should work best for 5-6" multirotors. LOW should work best with 7" and bigger. HIGH should work with everything below 4" |
dyn_notch_q | Q factor for dynamic notches |
dyn_notch_min_hz | Minimum frequency for dynamic notches. Default value of 150 works best with 5" multirors. Should be lowered with increased size of propellers. Values around 100 work fine on 7" drones. 10" can go down to 60 - 70
|
throttle_scale | Throttle scaling factor. 1 means no throttle scaling. 0.5 means throttle scaled down by 50% |
vbat_meter_type | Vbat voltage source. Possible values: NONE , ADC , ESC . ESC required ESC telemetry enebled and running |
antigravity_gain | Max Antigravity gain. 1 means Antigravity is disabled, 2 means Iterm is allowed to double during rapid throttle movements |
antigravity_accelerator | |
antigravity_cutoff_lpf_hz | Antigravity cutoff frequenct for Throtte filter. Antigravity is based on the difference between actual and filtered throttle input. The bigger is the difference, the bigger Antigravity gain |
sim_pin | PIN for GSM card module |
ESC Telemetry is a feature of DSHOT ESCs to send some data back to the flight controller - voltage, current, temperature, motor RPM. It required additional wire from an ESC to the flight controller. To configure you need DSHOT as a motor protocol and "ESC output/telemetry" function enabled for the serial port where ESC telemetry wires are connected.
INAV ESC Telemetry with BlHeli_32 - The Complete Guide
Dynamic Filters is a port of Betaflight dynamic filtering. It uses FFT analysis of gyro traces to locate noise peaks and double notch filters to attenuate them. By default, there are 6 notches, 2 per each axis: roll, pitch and yaw.
To enable Dynamic Filters, go to CLI and type
feature DYNAMIC_FILTERS
The default values are suited for 5" mini quads. Depending on the size of multirotor propellers, some adjustments might be required.
Propeller size | dyn_notch_range |
dyn_notch_min_hz |
---|---|---|
Below 5" | HIGH |
200 or more |
5" |
HIGH or MEDIUM
|
150 or more |
7" | LOW |
100 or less |
INAV Dynamic Filters, one of INAV 2.3 goodies - how-to guide
Global Functions (abbr. GF) are a mechanism allowing to override certain flight parameters (during flight). Global Functions are activated by Logic Conditions.
Currently implemented Global Functions
Name | Notes |
---|---|
OVERRIDE_ARMING_SAFETY | Allows to arm on any angle even without GPS fix |
OVERRIDE_THROTTLE_SCALE | Override throttle scale to the defined value |
SWAP_ROLL_YAW | basically, when activated, yaw stick will control roll and roll stick will control yaw. Required for tail-sitters VTOL during vertical-horizonral transition when body frame changes |
SET_VTX_POWER_LEVEL | Sets VTX power level. Allows to change VTX power level based on distance, switch or other values present in Logic Conditions |
INVERT_ROLL | Inverts ROLL axis input for PID/PIFF controller |
INVERT_PITCH | Inverts PITCH axis input for PID/PIFF controller |
INVERT_YAW | Inverts YAW axis input for PID/PIFF controller |
OVERRIDE_THROTTLE | Override throttle value that is fed to the motors by mixer. Allows for throttle hold |
For details refer to Global Functions.md
in docs
folder.
INAV now supports pixel based OSDs and includes a driver for FrSky's OSD. Some elements, like the artificial horizon, the home arrow or the heading graph include pixel based implementations.
To enable it go to the Ports tab in the configurator and select "FrSky OSD" from the peripherals column of the port that the OSD is connected to. Font uploading and OSD element configuration works in the same way, regardless of the OSD type.
The iNav Makefile
will attempt to install a recommended compiler for your platform. Should you wish to override this, or your platform is not supported, please refer to the document docs/development/Generic_Linux_development.md
which describes how to use an alternative compiler.
Published by digitalentity over 5 years ago
Hello and welcome to INAV 2.2.1 Release!
Please carefully read all of this document for the best possible experience and safety.
Get in touch with other pilots, share experiences, suggestions and ask for help on:
Please continue to support developers, for free, by checking out from the following stores after having clicked on the following links:
Your contribution from the past month has been very welcome! Thanks!
Tested and suggested hardware can be found here
MOTOR STOP
on multi rotors is not advised and it is not considered safe by the developers, it's there due the demand from users.nav_mc_pos_deceleration_time
and nav_mc_pos_expo
. So if you don't use defaults, when restoring, move yours to the new settings.Setting | Description |
---|---|
acc_lpf_type |
Specifies the type of the software LPF of the acc signals. BIQUAD gives better filtering and more delay, PT1 less filtering and less delay, so use only on clean builds. |
nav_mc_pos_deceleration_time |
Used for stoping distance calculation. Stop position is computed as speed * nav_mc_pos_deceleration_time from the place where sticks are released. Braking mode overrides this setting |
nav_mc_pos_expo |
Expo for PosHold control |
use_dterm_fir_filter |
Setting to OFF disabled extra filter on Dterm. OFF offers faster Dterm and better inflight performance with a cost of being more sensitive to gyro noise. Small and relatively clean multirotors (7 inches and below) are suggested to use OFF setting. If motors are getting too hot, switch back to ON |
osd_gforce_alarm |
Value above which the OSD g force indicator will blink (g) |
osd_gforce_axis_alarm_min |
Value under which the OSD axis g force indicators will blink (g) |
osd_gforce_axis_alarm_max |
Value above which the OSD axis g force indicators will blink (g) |
mc_airmode_type | Defines the Airmode state handling type for Multirotors. Default STICK_CENTER is the classical approach in which Airmode is always active if enabled, but when the throttle is low and ROLL/PITCH/YAW sticks are centered, Iterms is not allowed to grow (ANTI_WINDUP). THROTTLE_THRESHOLD is the Airmode behavior known from Betaflight. In this mode, Airmode is active as soon THROTTLE position is above mc_airmode_threshold and stays active until disarm. ANTI_WINDUP is never triggered. For small Multirotors (up to 7-inch propellers) it is suggested to switch to THROTTLE_THRESHOLD since it keeps full stabilization no matter what pilot does with the sticks. Fixed Wings always use STICK_CENTER mode. |
mc_airmode_threshold |
Defines airmode THROTTLE activation threshold when mc_airmode_type THROTTLE_THRESHOLD is used |
osd_current_alarm |
Value above which the OSD current consumption element will start blinking. Measured in full Amperes. |
sim_ground_station_number |
Number of phone that is used to communicate with SIM module. Messages / calls from other numbers are ignored. If undefined, can be set by calling or sending a message to the module. |
sim_transmit_interval |
Text message transmission interval in seconds for SIM module. Minimum value: 10 |
sim_transmit_flags |
String specifying text message transmit condition flags for the SIM module. Flags can be given in any order. Empty string means the module only sends response messages. A : acceleration events, T : continuous transmission, F : continuous transmission in failsafe mode, L : continuous transmission when altitude is below sim_low_altitude , G : continuous transmission when GPS signal quality is low |
acc_event_threshold_high |
Acceleration threshold [cm/s/s] for impact / high g event text messages sent by SIM module. Acceleration values greater than 4 g can occur in fixed wing flight without an impact, so a setting of 4000 or greater is suggested. 0 = detection off. |
acc_event_threshold_low |
Acceleration threshold [cm/s/s] for low-g / freefall detection text messages sent by SIM module. A setting of less than 100 is suggested. Valid values: [0-900], 0 = detection off. |
acc_event_threshold_neg_x |
Acceleration threshold [cm/s/s] for backwards acceleration / fixed wing landing detection text messages sent by SIM module. Suggested value for fixed wing: 1100. 0 = detection off. |
sim_low_altitude |
Threshold for low altitude warning messages sent by SIM module when the 'L' transmit flag is set in sim_transmit_flags . |
failsafe_mission |
If set to OFF the failsafe procedure won't be triggered and the mission will continue if the FC is in WP (automatic mission) mode |
imu_acc_ignore_rate |
Total gyro rotation rate threshold [deg/s] to consider accelerometer trustworthy on airplanes |
imu_acc_ignore_slope |
Half-width of the interval to gradually reduce accelerometer weight. Centered at imu_acc_ignore_rate (exactly 50% weight) |
Setting | Description |
---|---|
auto_disarm_delay |
The physical effect that contributes most to AHI drift on airplanes is centrifugal force when doing a balanced turn - that force creates a bias and accelerometer no longer measures true gravity. Based on that assumption we created a hack, that will temporary ignore accelerometer in IMU calculations if a turn is likely to cause this effect to be significant.
The workaround is controlled by two parameters: imu_acc_ignore_rate
and imu_acc_ignore_slope
.
If you want to play around with imu_acc_ignore_rate
bear in mind that too low values (<5) will likely disable accelerometer completely even on slightest maneuvers and too high value will keep accelerometer enabled even during turns that would cause drift.
We did a few tests on different airplanes and a reasonable value of imu_acc_ignore_rate
is about 10. Value of imu_acc_ignore_slope
could be set to 0-1 (only controls how sharp the transition from "enabled" to "disabled" would be, might or might not have any effect on the code behavior).
INAV 2.2 offers a huge performance boost for all F7 based flight controllers (STM32F745 and STM32F722). Thanks to using both fast Instruction and Data memory (ITCM and DTCM), INAV on F7 boards is as fast as on F4 boards. Special thanks to @diehertz for helping and original work for Betaflight. With performance fixes, INAV 2.2 is now capable of running 8kHz PID loop.
It is still not advised to use 8kHz when any I2C devices are connected to flight controller (BOTH F4 and F7). This specially applies to Magnetometer and Barometer. Because I2C bus driver is synchronous and the process or reading data for MAG or BARO takes longer than time available between PID loop cycles, jitter will appear.
If I2C magnetometer or barometer are to be used, switch to 4kHz mode!
Logic conditions is a new function framework that in INAV 2.2 allows to activate and deactivate specific servo mixer rules.
Logic conditions can evaluate RC channels, flight parameters, and other logic conditions into true/false and activate/deactivate servo mixer rules. It opens possibilities like:
Future versions of INAV will allow using Logic conditions to switch motor mixer banks and make other overrides that currently cannot be changed during flight or be activated by flight conditions
Finally for the machines equipped with optic flow we have a calibration logic. After pressing the button in the Configurator you have 30 seconds to hold the copter in the air and tilt it to sides without moving it horizontally. The calibration code inside the flight controller will calculate the opflow_scale
variable automatically.
The altitude/position estimation code is now aware of high accelerometer vibration making INAV to counteract the uncontrolled climb in navigation modes #486. There is no OSD indication of excessive vibration yet.
WARNING: This is an emergency mode of operation. The uncontrolled climb is caused by accelerometer clipping when vibration exceeds the range accelerometer is capable of measuring. This effect is induced by vibration (usually high frequency) and can't be fully compensated by software filtering so you should soft-mount your FC to minimize the risk of this happening.
INAV 2.2 can use a SimCom SIM800 series cellular module to provide telemetry via text messages. Telemetry messages can be requested by calling the module's number or sending it a text message. The module can be set to transmit messages at regular intervals, or when an acceleration event is detected. A text message command can be used to put the flight controller into RTH mode.
Modules like this one should work flawlessly.
INAV 2.2 introduces the support for Radar ESP32 boards. They can be used to share information (including position) between multiple machines. This enables, for instance, the possibility to display the positions live on the OSD.
More infos can be found in the dedicated wiki page here: here
Published by digitalentity over 5 years ago
Hello and welcome to INAV 2.2.0 Release!
Please carefully read all of this document for the best possible experience and safety.
Get in touch with other pilots, share experiences, suggestions and ask for help on:
Please continue to support developers, for free, by checking out from the following stores after having clicked on the following links:
Your contribution from the past month has been very welcome! Thanks!
Tested and suggested hardware can be found here
MOTOR STOP
on multi rotors is not advised and it is not considered safe by the developers, it's there due the demand from users.nav_mc_pos_deceleration_time
and nav_mc_pos_expo
. So if you don't use defaults, when restoring, move yours to the new settings.Setting | Description |
---|---|
acc_lpf_type |
Specifies the type of the software LPF of the acc signals. BIQUAD gives better filtering and more delay, PT1 less filtering and less delay, so use only on clean builds. |
nav_mc_pos_deceleration_time |
Used for stoping distance calculation. Stop position is computed as speed * nav_mc_pos_deceleration_time from the place where sticks are released. Braking mode overrides this setting |
nav_mc_pos_expo |
Expo for PosHold control |
use_dterm_fir_filter |
Setting to OFF disabled extra filter on Dterm. OFF offers faster Dterm and better inflight performance with a cost of being more sensitive to gyro noise. Small and relatively clean multirotors (7 inches and below) are suggested to use OFF setting. If motors are getting too hot, switch back to ON |
osd_gforce_alarm |
Value above which the OSD g force indicator will blink (g) |
osd_gforce_axis_alarm_min |
Value under which the OSD axis g force indicators will blink (g) |
osd_gforce_axis_alarm_max |
Value above which the OSD axis g force indicators will blink (g) |
mc_airmode_type | Defines the Airmode state handling type for Multirotors. Default STICK_CENTER is the classical approach in which Airmode is always active if enabled, but when the throttle is low and ROLL/PITCH/YAW sticks are centered, Iterms is not allowed to grow (ANTI_WINDUP). THROTTLE_THRESHOLD is the Airmode behavior known from Betaflight. In this mode, Airmode is active as soon THROTTLE position is above mc_airmode_threshold and stays active until disarm. ANTI_WINDUP is never triggered. For small Multirotors (up to 7-inch propellers) it is suggested to switch to THROTTLE_THRESHOLD since it keeps full stabilization no matter what pilot does with the sticks. Fixed Wings always use STICK_CENTER mode. |
mc_airmode_threshold |
Defines airmode THROTTLE activation threshold when mc_airmode_type THROTTLE_THRESHOLD is used |
osd_current_alarm |
Value above which the OSD current consumption element will start blinking. Measured in full Amperes. |
sim_ground_station_number |
Number of phone that is used to communicate with SIM module. Messages / calls from other numbers are ignored. If undefined, can be set by calling or sending a message to the module. |
sim_transmit_interval |
Text message transmission interval in seconds for SIM module. Minimum value: 10 |
sim_transmit_flags |
String specifying text message transmit condition flags for the SIM module. Flags can be given in any order. Empty string means the module only sends response messages. A : acceleration events, T : continuous transmission, F : continuous transmission in failsafe mode, L : continuous transmission when altitude is below sim_low_altitude , G : continuous transmission when GPS signal quality is low |
acc_event_threshold_high |
Acceleration threshold [cm/s/s] for impact / high g event text messages sent by SIM module. Acceleration values greater than 4 g can occur in fixed wing flight without an impact, so a setting of 4000 or greater is suggested. 0 = detection off. |
acc_event_threshold_low |
Acceleration threshold [cm/s/s] for low-g / freefall detection text messages sent by SIM module. A setting of less than 100 is suggested. Valid values: [0-900], 0 = detection off. |
acc_event_threshold_neg_x |
Acceleration threshold [cm/s/s] for backwards acceleration / fixed wing landing detection text messages sent by SIM module. Suggested value for fixed wing: 1100. 0 = detection off. |
sim_low_altitude |
Threshold for low altitude warning messages sent by SIM module when the 'L' transmit flag is set in sim_transmit_flags . |
failsafe_mission |
If set to OFF the failsafe procedure won't be triggered and the mission will continue if the FC is in WP (automatic mission) mode |
Setting | Description |
---|---|
auto_disarm_delay |
INAV 2.2 offers a huge performance boost for all F7 based flight controllers (STM32F745 and STM32F722). Thanks to using both fast Instruction and Data memory (ITCM and DTCM), INAV on F7 boards is as fast as on F4 boards. Special thanks to @diehertz for helping and original work for Betaflight. With performance fixes, INAV 2.2 is now capable of running 8kHz PID loop.
It is still not advised to use 8kHz when any I2C devices are connected to flight controller (BOTH F4 and F7). This specially applies to Magnetometer and Barometer. Because I2C bus driver is synchronous and the process or reading data for MAG or BARO takes longer than time available between PID loop cycles, jitter will appear.
If I2C magnetometer or barometer are to be used, switch to 4kHz mode!
Logic conditions is a new function framework that in INAV 2.2 allows to activate and deactivate specific servo mixer rules.
Logic conditions can evaluate RC channels, flight parameters, and other logic conditions into true/false and activate/deactivate servo mixer rules. It opens possibilities like:
Future versions of INAV will allow using Logic conditions to switch motor mixer banks and make other overrides that currently cannot be changed during flight or be activated by flight conditions
Finally for the machines equipped with optic flow we have a calibration logic. After pressing the button in the Configurator you have 30 seconds to hold the copter in the air and tilt it to sides without moving it horizontally. The calibration code inside the flight controller will calculate the opflow_scale
variable automatically.
The altitude/position estimation code is now aware of high accelerometer vibration making INAV to counteract the uncontrolled climb in navigation modes #486. There is no OSD indication of excessive vibration yet.
WARNING: This is an emergency mode of operation. The uncontrolled climb is caused by accelerometer clipping when vibration exceeds the range accelerometer is capable of measuring. This effect is induced by vibration (usually high frequency) and can't be fully compensated by software filtering so you should soft-mount your FC to minimize the risk of this happening.
When new altitude mode AT_LEAST_LINEAR_DESCENT
is chosen the aircraft will climb to the set rth_altitude
if bellow or start from the current altitude then en route to home will descend linearly to hit the set home_altitude
when reaching home.
It is now possible to change the VTX power level in flight with the help of RC adjustments.
INAV can use a SimCom SIM800 series cellular module to provide telemetry via text messages. Telemetry messages can be requested by calling the module's number or sending it a text message. The module can be set to transmit messages at regular intervals, or when an acceleration event is detected. A text message command can be used to put the flight controller into RTH mode.
You can find more details in the related documentation
Stick arming have been removed for security reasons
If nav_extra_arming_safety
is set to ALLOW_BYPASS
the user is able to momentarily disable the navigation pre-flight checks (No GPS fix, first waypoint is too far, nav mode active) by holding yaw right before arming.
Enabling and disabling the arming switch 10 times during a 10s window will override arming checks for level, navigation unsafe, compass not calibrated and some hardware failures (it will only enforce gyro and acc to be working). Useful for example if you're stuck in a tree.
It is now possible to disable the failsafe mechanism for the NAV WP
mode (autonomous missions) by setting failsafe_mission
to OFF
. The aircraft will then continue autonomous missions even when the link is lost with the remote control.
It is now possible to get an estimation of the airspeed for fixed wing aircrafts by enabling the "Virtual pitot sensor". This feature is experimental. It shouldn't cause any issue though since it is only for now displayed on the OSD and used by the turn assistant.
The saved mission waypoints can now be managed from the CLI with the wp
command. They are present when doing a diff/dump meaning that they can now be restored easily along with the other settings.
INAV 2.2 introduces the support for Radar ESP32 boards. They can be used to share information (including position) between multiple machines. This enables, for instance, the possibility to display the positions live on the OSD.
More infos can be found in the dedicated wiki page here: here
Published by digitalentity over 5 years ago
Hello and welcome to INAV 2.2.0 Release!
Please carefully read all of this document for the best possible experience and safety.
Get in touch with other pilots, share experiences, suggestions and ask for help on:
Please continue to support developers, for free, by checking out from the following stores after having clicked on the following links:
Your contribution from the past month has been very welcome! Thanks!
Tested and suggested hardware can be found here
MOTOR STOP
on multi rotors is not advised and it is not considered safe by the developers, it's there due the demand from users.nav_mc_pos_deceleration_time
and nav_mc_pos_expo
. So if you don't use defaults, when restoring, move yours to the new settings.Setting | Description |
---|---|
acc_lpf_type |
Specifies the type of the software LPF of the acc signals. BIQUAD gives better filtering and more delay, PT1 less filtering and less delay, so use only on clean builds. |
nav_mc_pos_deceleration_time |
Used for stoping distance calculation. Stop position is computed as speed * nav_mc_pos_deceleration_time from the place where sticks are released. Braking mode overrides this setting |
nav_mc_pos_expo |
Expo for PosHold control |
use_dterm_fir_filter |
Setting to OFF disabled extra filter on Dterm. OFF offers faster Dterm and better inflight performance with a cost of being more sensitive to gyro noise. Small and relatively clean multirotors (7 inches and below) are suggested to use OFF setting. If motors are getting too hot, switch back to ON |
osd_gforce_alarm |
Value above which the OSD g force indicator will blink (g) |
osd_gforce_axis_alarm_min |
Value under which the OSD axis g force indicators will blink (g) |
osd_gforce_axis_alarm_max |
Value above which the OSD axis g force indicators will blink (g) |
mc_airmode_type | Defines the Airmode state handling type for Multirotors. Default STICK_CENTER is the classical approach in which Airmode is always active if enabled, but when the throttle is low and ROLL/PITCH/YAW sticks are centered, Iterms is not allowed to grow (ANTI_WINDUP). THROTTLE_THRESHOLD is the Airmode behavior known from Betaflight. In this mode, Airmode is active as soon THROTTLE position is above mc_airmode_threshold and stays active until disarm. ANTI_WINDUP is never triggered. For small Multirotors (up to 7-inch propellers) it is suggested to switch to THROTTLE_THRESHOLD since it keeps full stabilization no matter what pilot does with the sticks. Fixed Wings always use STICK_CENTER mode. |
mc_airmode_threshold | Defines airmode THROTTLE activation threshold when mc_airmode_type THROTTLE_THRESHOLD is used |
osd_current_alarm | Value above which the OSD current consumption element will start blinking. Measured in full Amperes. |
sim_ground_station_number | Number of phone that is used to communicate with SIM module. Messages / calls from other numbers are ignored. If undefined, can be set by calling or sending a message to the module. |
sim_transmit_interval | Text message transmission interval in seconds for SIM module. Minimum value: 10 |
sim_transmit_flags | String specifying text message transmit condition flags for the SIM module. Flags can be given in any order. Empty string means the module only sends response messages. A : acceleration events, T : continuous transmission, F : continuous transmission in failsafe mode, L : continuous transmission when altitude is below sim_low_altitude , G : continuous transmission when GPS signal quality is low |
acc_event_threshold_high | Acceleration threshold [cm/s/s] for impact / high g event text messages sent by SIM module. Acceleration values greater than 4 g can occur in fixed wing flight without an impact, so a setting of 4000 or greater is suggested. 0 = detection off. |
acc_event_threshold_low | Acceleration threshold [cm/s/s] for low-g / freefall detection text messages sent by SIM module. A setting of less than 100 is suggested. Valid values: [0-900], 0 = detection off. |
acc_event_threshold_neg_x | Acceleration threshold [cm/s/s] for backwards acceleration / fixed wing landing detection text messages sent by SIM module. Suggested value for fixed wing: 1100. 0 = detection off. |
sim_low_altitude | Threshold for low altitude warning messages sent by SIM module when the 'L' transmit flag is set in sim_transmit_flags . |
failsafe_mission | If set to OFF the failsafe procedure won't be triggered and the mission will continue if the FC is in WP (automatic mission) mode |
Setting | Description |
---|---|
auto_disarm_delay |
INAV 2.2 offers a huge performance boost for all F7 based flight controllers (STM32F745 and STM32F722). Thanks to using both fast Instruction and Data memory (ITCM and DTCM), INAV on F7 boards is as fast as on F4 boards. Special thanks to @diehertz for helping and original work for Betaflight. With performance fixes, INAV 2.2 is now capable of running 8kHz PID loop.
It is still not advised to use 8kHz when any I2C devices are connected to flight controller (BOTH F4 and F7). This specially applies to Magnetometer and Barometer. Because I2C bus driver is synchronous and the process or reading data for MAG or BARO takes longer than time available between PID loop cycles, jitter will appear.
If I2C magnetometer or barometer are to be used, switch to 4kHz mode!
Logic conditions is a new function framework that in INAV 2.2 allows to activate and deactivate specific servo mixer rules.
Logic conditions can evaluate RC channels, flight parameters, and other logic conditions into true/false and activate/deactivate servo mixer rules. It opens possibilities like:
Future versions of INAV will allow using Logic conditions to switch motor mixer banks and make other overrides that currently cannot be changed during flight or be activated by flight conditions
Finally for the machines equipped with optic flow we have a calibration logic. After pressing the button in the Configurator you have 30 seconds to hold the copter in the air and tilt it to sides without moving it horizontally. The calibration code inside the flight controller will calculate the opflow_scale
variable automatically.
The altitude/position estimation code is now aware of high accelerometer vibration making INAV to counteract the uncontrolled climb in navigation modes #486. There is no OSD indication of excessive vibration yet.
WARNING: This is an emergency mode of operation. The uncontrolled climb is caused by accelerometer clipping when vibration exceeds the range accelerometer is capable of measuring. This effect is induced by vibration (usually high frequency) and can't be fully compensated by software filtering so you should soft-mount your FC to minimize the risk of this happening.
INAV 2.2 can use a SimCom SIM800 series cellular module to provide telemetry via text messages. Telemetry messages can be requested by calling the module's number or sending it a text message. The module can be set to transmit messages at regular intervals, or when an acceleration event is detected. A text message command can be used to put the flight controller into RTH mode.
From RC2:
Published by digitalentity over 5 years ago
Hello and welcome to INAV 2.2.0 Release!
Please carefully read all of this document for the best possible experience and safety.
Get in touch with other pilots, share experiences, suggestions and ask for help on:
Please continue to support developers, for free, by checking out from the following stores after having clicked on the following links:
Your contribution from the past month has been very welcome! Thanks!
Tested and suggested hardware can be found here
MOTOR STOP
on multi rotors is not advised and it is not considered safe by the developers, it's there due the demand from users.nav_mc_pos_deceleration_time
and nav_mc_pos_expo
. So if you don't use defaults, when restoring, move yours to the new settings.Setting | Description |
---|---|
acc_lpf_type |
Specifies the type of the software LPF of the acc signals. BIQUAD gives better filtering and more delay, PT1 less filtering and less delay, so use only on clean builds. |
nav_mc_pos_deceleration_time |
Used for stoping distance calculation. Stop position is computed as speed * nav_mc_pos_deceleration_time from the place where sticks are released. Braking mode overrides this setting |
nav_mc_pos_expo |
Expo for PosHold control |
use_dterm_fir_filter |
Setting to OFF disabled extra filter on Dterm. OFF offers faster Dterm and better inflight performance with a cost of being more sensitive to gyro noise. Small and relatively clean multirotors (7 inches and below) are suggested to use OFF setting. If motors are getting too hot, switch back to ON |
osd_gforce_alarm |
Value above which the OSD g force indicator will blink (g) |
osd_gforce_axis_alarm_min |
Value under which the OSD axis g force indicators will blink (g) |
osd_gforce_axis_alarm_max |
Value above which the OSD axis g force indicators will blink (g) |
mc_airmode_type | Defines the Airmode state handling type for Multirotors. Default STICK_CENTER is the classical approach in which Airmode is always active if enabled, but when the throttle is low and ROLL/PITCH/YAW sticks are centered, Iterms is not allowed to grow (ANTI_WINDUP). THROTTLE_THRESHOLD is the Airmode behavior known from Betaflight. In this mode, Airmode is active as soon THROTTLE position is above mc_airmode_threshold and stays active until disarm. ANTI_WINDUP is never triggered. For small Multirotors (up to 7-inch propellers) it is suggested to switch to THROTTLE_THRESHOLD since it keeps full stabilization no matter what pilot does with the sticks. Fixed Wings always use STICK_CENTER mode. |
mc_airmode_threshold | Defines airmode THROTTLE activation threshold when mc_airmode_type THROTTLE_THRESHOLD is used |
osd_current_alarm | Value above which the OSD current consumption element will start blinking. Measured in full Amperes. |
sim_ground_station_number | Number of phone that is used to communicate with SIM module. Messages / calls from other numbers are ignored. If undefined, can be set by calling or sending a message to the module. |
sim_transmission_interval | Text message transmission interval in seconds for SIM module. Negative value means transmission is off but can be switched on by sending a "T" message. |
acc_event_threshold_high | Acceleration threshold [cm/s/s] for impact detection text messages sent by SIM module. 0 = detection off. |
acc_event_threshold_low | Acceleration threshold [cm/s/s] for low-g / freefall detection text messages sent by SIM module. Valid values: [0-900] |
acc_event_threshold_neg_x | Acceleration threshold [cm/s/s] for backwards acceleration / fixed wing landing detection text messages sent by SIM module. 0 = detection off. |
failsafe_mission | If set to OFF the failsafe procedure won't be triggered and the mission will continue if the FC is in WP (automatic mission) mode |
Setting | Description |
---|---|
auto_disarm_delay |
INAV 2.2 offers a huge performance boost for all F7 based flight controllers (STM32F745 and STM32F722). Thanks to using both fast Instruction and Data memory (ITCM and DTCM), INAV on F7 boards is as fast as on F4 boards. Special thanks to @diehertz for helping and original work for Betaflight. With performance fixes, INAV 2.2 is now capable of running 8kHz PID loop.
It is still not advised to use 8kHz when any I2C devices are connected to flight controller (BOTH F4 and F7). This specially applies to Magnetometer and Barometer. Because I2C bus driver is synchronous and the process or reading data for MAG or BARO takes longer than time available between PID loop cycles, jitter will appear.
If I2C magnetometer or barometer are to be used, switch to 4kHz mode!
Logic conditions is a new function framework that in INAV 2.2 allows to activate and deactivate specific servo mixer rules.
Logic conditions can evaluate RC channels, flight parameters, and other logic conditions into true/false and activate/deactivate servo mixer rules. It opens possibilities like:
Future versions of INAV will allow using Logic conditions to switch motor mixer banks and make other overrides that currently cannot be changed during flight or be activated by flight conditions
Finally for the machines equipped with optic flow we have a calibration logic. After pressing the button in the Configurator you have 30 seconds to hold the copter in the air and tilt it to sides without moving it horizontally. The calibration code inside the flight controller will calculate the opflow_scale
variable automatically.
The altitude/position estimation code is now aware of high accelerometer vibration making INAV to counteract the uncontrolled climb in navigation modes #486. There is no OSD indication of excessive vibration yet.
WARNING: This is an emergency mode of operation. The uncontrolled climb is caused by accelerometer clipping when vibration exceeds the range accelerometer is capable of measuring. This effect is induced by vibration (usually high frequency) and can't be fully compensated by software filtering so you should soft-mount your FC to minimize the risk of this happening.
When new altitude mode AT_LEAST_LINEAR_DESCENT
is chosen the aircraft will climb to the set rth_altitude
if bellow or start from the current altitude then en route to home will descend linearly to hit the set home_altitude
when reaching home.
It is now possible to change the VTX power level in flight with the help of RC adjustments.
INAV can use a SimCom SIM800 series cellular module to provide telemetry via text messages. Telemetry messages can be requested by calling the module's number or sending it a text message. The module can be set to transmit messages at regular intervals, or when an acceleration event is detected. A text message command can be used to put the flight controller into RTH mode.
You can find more details in the related documentation
Stick arming have been removed for security reasons
If nav_extra_arming_safety
is set to ALLOW_BYPASS
the user is able to momentarily disable the navigation pre-flight checks (No GPS fix, first waypoint is too far, nav mode active) by holding yaw right before arming.
Enabling and disabling the arming switch 10 times during a 10s window will override arming checks for level, navigation unsafe, compass not calibrated and some hardware failures (it will only enforce gyro and acc to be working). Useful for example if you're stuck in a tree.
It is now possible to disable the failsafe mechanism for the NAV WP
mode (autonomous missions) by setting failsafe_mission
to OFF
. The aircraft will then continue autonomous missions even when the link is lost with the remote control.
It is now possible to get an estimation of the airspeed for fixed wing aircrafts by enabling the "Virtual pitot sensor". This feature is experimental. It shouldn't cause any issue though since it is only for now displayed on the OSD and used by the turn assistant.
The saved mission waypoints can now be managed from the CLI with the wp
command. They are present when doing a diff/dump meaning that they can now be restored easily along with the other settings.
Published by digitalentity over 5 years ago
Hello and welcome to INAV 2.1.0 Release!
Please carefully read all of this document for the best possible experience and safety.
Get in touch with other pilots, share experiences, suggestions and ask for help on:
Support developers for free by checking out from the following stores after having clicked on the following links:
diff
output to a text file for later usage.save
and you should be good to go!diff
output to a text file for later usage.save
and press enter. The flight controller will now reboot.It is now possible to measure temperatures with the help of the I²C LM75 and 1-Wire DS18B20 chips. The temperature values can be displayed on the OSD and also logged. Up to 8 sensors supported. The support is enabled by default on F4 and F7 FCs. To use with F3 FCs you need to build a custom firmware. See the documentation for more information.
The maximum rate for a servo mixer rule is now 1000% instead of 125%
Setting | Description |
---|---|
rc_filter_frequency |
RC data biquad filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay. Practical values are 20-50. Set to zero to disable entirely and use unsmoothed RC stick values |
fw_iterm_limit_stick_position |
Iterm is not allowed to grow when stick position is above threshold. This solves the problem of bounceback or followthrough when full stick deflection is applied on poorely tuned fixed wings. In other words, stabilization is partialy disabled when pilot is actively controlling the aircraft and active when sticks are not touched. 0 mean stick is in center position, 1 means it is fully deflected to either side |
nav_mc_braking_speed_threshold |
min speed in cm/s above which braking can happen |
nav_mc_braking_disengage_speed |
braking is disabled when speed goes below this value |
nav_mc_braking_timeout |
timeout in ms for braking |
nav_mc_braking_boost_factor |
acceleration factor for BOOST phase |
nav_mc_braking_boost_timeout |
how long in ms BOOST phase can happen |
nav_mc_braking_boost_speed_threshold |
BOOST can be enabled when speed is above this value |
nav_mc_braking_boost_disengage_speed |
BOOST will be disabled when speed goes below this value |
nav_mc_braking_bank_angle |
max angle that MR is allowed to bank in BOOST mode |
osd_artificial_horizon_max_pitch |
Max pitch, in degrees, for OSD artificial horizon |
osd_failsafe_switch_layout |
If enabled the OSD automatically switches to the first layout during failsafe |
Setting | Description |
---|---|
acc_task_frequency |
|
attitude_task_frequency |
|
async_mode |
|
smix reverse |
input reverse can be done on the mixer level |
INAV 2.1 supports DSHOT ESC protocol. It can be configured using motor_pwm_protocol
CLI setting. The following versions of DSHOT are supported:
There is no DSHOT telemetry or DSHOT commands support yet!
Be advised that DSHOT is not well tested on INAV and because of being digital protocol can totally fail on setups with high electrical noise without giving any sign of degradation or motor stuttering.
DSHOT is enabled on following targets:
MC BRAKING
flight mode has to be enablednav_mc_braking_speed_threshold
- min speed in cm/s above which braking can happennav_mc_braking_disengage_speed
- braking is disabled when speed goes below this valuenav_mc_braking_timeout
- timeout in ms for brakingnav_mc_braking_boost_factor
- acceleration factor for BOOST
phasenav_mc_braking_boost_timeout
- how long in ms BOOST
phase can happennav_mc_braking_boost_speed_threshold
- BOOST
can be enabled when speed is above this valuenav_mc_braking_boost_disengage_speed
- BOOST
will be disabled when speed goes below this valuenav_mc_braking_bank_angle
- max angle that MR is allowed to bank in BOOST modeBRAKE
and BOOST
BRAKE
can be started then MC BRAKING
mode is enabled, MR is in CRUISE
mode, 3D PosHold
is enabled, MR is traveling above nav_mc_braking_speed_threshold
and pilot releases sticksBOOST
phase can be enabled if MR is traveling above nav_mc_braking_boost_speed_threshold
BOOST
phase, MR is allowed to use higher acceleration and banking angle than normal.BOOSTS
is limited in time, banking angle much higher than default should be fineDefault values should be pretty safe to use. My 6" machine using following values:
set nav_mc_braking_speed_threshold = 100
set nav_mc_braking_disengage_speed = 50
set nav_mc_braking_timeout = 2000
set nav_mc_braking_boost_factor = 150
set nav_mc_braking_boost_timeout = 1000
set nav_mc_braking_boost_speed_threshold = 120
set nav_mc_braking_boost_disengage_speed = 75
set nav_mc_braking_bank_angle = 40
Published by digitalentity over 5 years ago
Hello and welcome to INAV 2.1.0-RC3!
Please carefully read all of this document for the best possible experience and safety.
Get in touch with other pilots, share experiences, suggestions and ask for help on:
Support developers for free by checking out from the following stores after having clicked on the following links:
diff
output to a text file for later usage.save
and you should be good to go!diff
output to a text file for later usage.save
and press enter. The flight controller will now reboot.It is now possible to measure temperatures with the help of the I²C LM75 and 1-Wire DS18B20 chips. The temperature values can be displayed on the OSD and also logged. See the documentation for more information.
Setting | Description |
---|---|
rc_filter_frequency |
RC data biquad filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay. Practical values are 20-50. Set to zero to disable entirely and use unsmoothed RC stick values |
fw_iterm_limit_stick_position |
Iterm is not allowed to grow when stick position is above threshold. This solves the problem of bounceback or followthrough when full stick deflection is applied on poorely tuned fixed wings. In other words, stabilization is partialy disabled when pilot is actively controlling the aircraft and active when sticks are not touched. 0 mean stick is in center position, 1 means it is fully deflected to either side |
nav_mc_braking_speed_threshold |
min speed in cm/s above which braking can happen |
nav_mc_braking_disengage_speed |
braking is disabled when speed goes below this value |
nav_mc_braking_timeout |
timeout in ms for braking |
nav_mc_braking_boost_factor |
acceleration factor for BOOST phase |
nav_mc_braking_boost_timeout |
how long in ms BOOST phase can happen |
nav_mc_braking_boost_speed_threshold |
BOOST can be enabled when speed is above this value |
nav_mc_braking_boost_disengage_speed |
BOOST will be disabled when speed goes below this value |
nav_mc_braking_bank_angle |
max angle that MR is allowed to bank in BOOST mode |
osd_artificial_horizon_max_pitch |
Max pitch, in degrees, for OSD artificial horizon |
osd_failsafe_switch_layout |
If enabled the OSD automatically switches to the first layout during failsafe |
Setting | Description |
---|---|
acc_task_frequency |
|
attitude_task_frequency |
|
async_mode |
|
smix reverse |
input reverse can be done on the mixer level |
INAV 2.1 supports DSHOT ESC protocol. It can be configured using motor_pwm_protocol
CLI setting. The following versions of DSHOT are supported:
There is no DSHOT telemetry or DSHOT commands support yet!
Be advised that DSHOT is not well tested on INAV and because of being digital protocol can totally fail on setups with high electrical noise without giving any sign of degradation or motor stuttering.
DSHOT is enabled on following targets:
MC BRAKING
flight mode has to be enablednav_mc_braking_speed_threshold
- min speed in cm/s above which braking can happennav_mc_braking_disengage_speed
- braking is disabled when speed goes below this valuenav_mc_braking_timeout
- timeout in ms for brakingnav_mc_braking_boost_factor
- acceleration factor for BOOST
phasenav_mc_braking_boost_timeout
- how long in ms BOOST
phase can happennav_mc_braking_boost_speed_threshold
- BOOST
can be enabled when speed is above this valuenav_mc_braking_boost_disengage_speed
- BOOST
will be disabled when speed goes below this valuenav_mc_braking_bank_angle
- max angle that MR is allowed to bank in BOOST modeBRAKE
and BOOST
BRAKE
can be started then MC BRAKING
mode is enabled, MR is in CRUISE
mode, 3D PosHold
is enabled, MR is traveling above nav_mc_braking_speed_threshold
and pilot releases sticksBOOST
phase can be enabled if MR is traveling above nav_mc_braking_boost_speed_threshold
BOOST
phase, MR is allowed to use higher acceleration and banking angle than normal.BOOSTS
is limited in time, banking angle much higher than default should be fineDefault values should be pretty safe to use. My 6" machine using following values:
set nav_mc_braking_speed_threshold = 100
set nav_mc_braking_disengage_speed = 50
set nav_mc_braking_timeout = 2000
set nav_mc_braking_boost_factor = 150
set nav_mc_braking_boost_timeout = 1000
set nav_mc_braking_boost_speed_threshold = 120
set nav_mc_braking_boost_disengage_speed = 75
set nav_mc_braking_bank_angle = 40
Published by digitalentity over 5 years ago
Hello and welcome to INAV 2.1.0 Release!
Please carefully read all of this document for the best possible experience and safety.
Get in touch with other pilots, share experiences, suggestions and ask for help on:
Support developers for free by checking out from the following stores after having clicked on the following links:
diff
output to a text file for later usage.save
and you should be good to go!diff
output to a text file for later usage.save
and press enter. The flight controller will now reboot.Setting | Description |
---|---|
rc_filter_frequency |
RC data biquad filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay. Practical values are 20-50. Set to zero to disable entirely and use unsmoothed RC stick values |
fw_iterm_limit_stick_position |
Iterm is not allowed to grow when stick position is above threshold. This solves the problem of bounceback or followthrough when full stick deflection is applied on poorely tuned fixed wings. In other words, stabilization is partialy disabled when pilot is actively controlling the aircraft and active when sticks are not touched. 0 mean stick is in center position, 1 means it is fully deflected to either side |
nav_mc_braking_speed_threshold |
min speed in cm/s above which braking can happen |
nav_mc_braking_disengage_speed |
braking is disabled when speed goes below this value |
nav_mc_braking_timeout |
timeout in ms for braking |
nav_mc_braking_boost_factor |
acceleration factor for BOOST phase |
nav_mc_braking_boost_timeout |
how long in ms BOOST phase can happen |
nav_mc_braking_boost_speed_threshold |
BOOST can be enabled when speed is above this value |
nav_mc_braking_boost_disengage_speed |
BOOST will be disabled when speed goes below this value |
nav_mc_braking_bank_angle |
max angle that MR is allowed to bank in BOOST mode |
osd_artificial_horizon_max_pitch |
Max pitch, in degrees, for OSD artificial horizon |
osd_failsafe_switch_layout |
If enabled the OSD automatically switches to the first layout during failsafe |
fw_loiter_direction |
Circle direction for FW loiter (LEFT, RIGHT), default RIGHT. My be changed in flight by the LOITER CHANGE switch. |
Setting | Description |
---|---|
acc_task_frequency |
|
attitude_task_frequency |
|
async_mode |
|
smix reverse |
input reverse can be done on the mixer level |
INAV 2.1 supports DSHOT ESC protocol. It can be configured using motor_pwm_protocol
CLI setting. The following versions of DSHOT are supported:
There is no DSHOT telemetry or DSHOT commands support yet!
Be advised that DSHOT is not well tested on INAV and because of being digital protocol can totally fail on setups with high electrical noise without giving any sign of degradation or motor stuttering.
DSHOT is enabled on following targets:
MC BRAKING
flight mode has to be enablednav_mc_braking_speed_threshold
- min speed in cm/s above which braking can happennav_mc_braking_disengage_speed
- braking is disabled when speed goes below this valuenav_mc_braking_timeout
- timeout in ms for brakingnav_mc_braking_boost_factor
- acceleration factor for BOOST
phasenav_mc_braking_boost_timeout
- how long in ms BOOST
phase can happennav_mc_braking_boost_speed_threshold
- BOOST
can be enabled when speed is above this valuenav_mc_braking_boost_disengage_speed
- BOOST
will be disabled when speed goes below this valuenav_mc_braking_bank_angle
- max angle that MR is allowed to bank in BOOST modeBRAKE
and BOOST
BRAKE
can be started then MC BRAKING
mode is enabled, MR is in CRUISE
mode, 3D PosHold
is enabled, MR is traveling above nav_mc_braking_speed_threshold
and pilot releases sticksBOOST
phase can be enabled if MR is traveling above nav_mc_braking_boost_speed_threshold
BOOST
phase, MR is allowed to use higher acceleration and banking angle than normal.BOOSTS
is limited in time, banking angle much higher than default should be fineDefault values should be pretty safe to use. My 6" machine using following values:
set nav_mc_braking_speed_threshold = 100
set nav_mc_braking_disengage_speed = 50
set nav_mc_braking_timeout = 2000
set nav_mc_braking_boost_factor = 150
set nav_mc_braking_boost_timeout = 1000
set nav_mc_braking_boost_speed_threshold = 120
set nav_mc_braking_boost_disengage_speed = 75
set nav_mc_braking_bank_angle = 40
Published by digitalentity almost 6 years ago
Hello and welcome to INAV 2.1.0 Release!
Please carefully read all of this document for the best possible experience and safety.
Get in touch with other pilots, share experiences, suggestions and ask for help on:
diff
output to a text file for later usage.save
and you should be good to go!diff
output to a text file for later usage.save
and press enter. The flight controller will now reboot.Setting | Description |
---|---|
rc_filter_frequency |
RC data biquad filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay. Practical values are 20-50. Set to zero to disable entirely and use unsmoothed RC stick values |
fw_iterm_limit_stick_position |
Iterm is not allowed to grow when stick position is above threshold. This solves the problem of bounceback or followthrough when full stick deflection is applied on poorely tuned fixed wings. In other words, stabilization is partialy disabled when pilot is actively controlling the aircraft and active when sticks are not touched. 0 mean stick is in center position, 1 means it is fully deflected to either side |
nav_mc_braking_speed_threshold |
min speed in cm/s above which braking can happen |
nav_mc_braking_disengage_speed |
braking is disabled when speed goes below this value |
nav_mc_braking_timeout |
timeout in ms for braking |
nav_mc_braking_boost_factor |
acceleration factor for BOOST phase |
nav_mc_braking_boost_timeout |
how long in ms BOOST phase can happen |
nav_mc_braking_boost_speed_threshold |
BOOST can be enabled when speed is above this value |
nav_mc_braking_boost_disengage_speed |
BOOST will be disabled when speed goes below this value |
nav_mc_braking_bank_angle |
max angle that MR is allowed to bank in BOOST mode |
osd_artificial_horizon_max_pitch |
Max pitch, in degrees, for OSD artificial horizon |
osd_failsafe_switch_layout |
If enabled the OSD automatically switches to the first layout during failsafe |
Setting | Description |
---|---|
acc_task_frequency |
|
attitude_task_frequency |
|
async_mode |
|
smix reverse |
input reverse can be done on the mixer level |
INAV 2.1 supports DSHOT ESC protocol. It can be configured using motor_pwm_protocol
CLI setting. The following versions of DSHOT are supported:
There is no DSHOT telemetry or DSHOT commands support yet!
Be advised that DSHOT is not well tested on INAV and because of being digital protocol can totally fail on setups with high electrical noise without giving any sign of degradation or motor stuttering.
MC BRAKING
flight mode has to be enablednav_mc_braking_speed_threshold
- min speed in cm/s above which braking can happennav_mc_braking_disengage_speed
- braking is disabled when speed goes below this valuenav_mc_braking_timeout
- timeout in ms for brakingnav_mc_braking_boost_factor
- acceleration factor for BOOST
phasenav_mc_braking_boost_timeout
- how long in ms BOOST
phase can happennav_mc_braking_boost_speed_threshold
- BOOST
can be enabled when speed is above this valuenav_mc_braking_boost_disengage_speed
- BOOST
will be disabled when speed goes below this valuenav_mc_braking_bank_angle
- max angle that MR is allowed to bank in BOOST modeBRAKE
and BOOST
BRAKE
can be started then MC BRAKING
mode is enabled, MR is in CRUISE
mode, 3D PosHold
is enabled, MR is traveling above nav_mc_braking_speed_threshold
and pilot releases sticksBOOST
phase can be enabled if MR is traveling above nav_mc_braking_boost_speed_threshold
BOOST
phase, MR is allowed to use higher acceleration and banking angle than normal.BOOSTS
is limited in time, banking angle much higher than default should be fineDefault values should be pretty safe to use. My 6" machine using following values:
set nav_mc_braking_speed_threshold = 100
set nav_mc_braking_disengage_speed = 50
set nav_mc_braking_timeout = 2000
set nav_mc_braking_boost_factor = 150
set nav_mc_braking_boost_timeout = 1000
set nav_mc_braking_boost_speed_threshold = 120
set nav_mc_braking_boost_disengage_speed = 75
set nav_mc_braking_bank_angle = 40
Published by digitalentity almost 6 years ago
Hello and welcome to INAV 2.0.1 Release!
Please carefully read all of this document for the best possibile experience and safety.
Get in touch with other pilots, share experiences, suggestions and ask for help on:
This release is a maintenance release. We've found and fixed a bug so big and important that we decided to backport it from development
versions to 2.0.0 code base and make a separate release.
This bug is known as a "GPS Lag" which has been reported by some pilots but it's cause has beed unknown until recently. On a quad the bug manifests itself as violent toilet bowling that can't be explained with compass interference/calibration. On a plane this bug causes the plane to fly in circles or other weird-shaped paths during RTH or Cruise modes.
If you have not encountered the issue you are still advised to upgrade to avoid issues with RTH/Cruise/Poshold.
After this update your GPS module may cease to work with INAV. This is usually an indication of miswiring. If after upgrate INAV doesn't detect your module, please check the wiring and make sure both TX and RX lines of GPS module are connected to corresponding pins of your FC.
Ongoing development would be impossible without ongoing cooperation with manufacturers and support from the following businesses:
Published by digitalentity about 6 years ago
Hello and welcome to INAV 2.0.0 Release!
Please carefully read all of this document for the best possibile experience and safety.
Get in touch with other pilots, share experiences, suggestions and ask for help on:
Ongoing development would be impossible without ongoing cooperation with manufacturers and support from the following businesses:
DO NOT RESTORE ACCELEROMETER CALIBRATION VALUES FROM AN OLDER RELEASE (<2.0) Doing that will led to poor attitude estimation performance and may cause troubles.
When upgrading a full chip erase (when flashing) / defaults
from CLI is advised. Be sure to backup your configuration and restore it wisely.
OSD layout configuration from releases < 2.0 is not compatible with the current one. Take a screenshot of your current OSD layout before upgrading and restore it manually from the configurator.
current_meter_offset
setting changed scale. Need to be multiplied by 10 if it's value is coming from < INAV 2.0.0
Position Hold 2D (only keeping horizontal position with GPS aid) has been dropped. Now Position Hold is only 3D and it will hold position and altitude.
STM32F1 boards support has been dropped. NAZE/CC3D targets are no longer supported. Please upgrade to F4/F7 board. F3 boards are not recommended since their flash space is almost full and they are likely to not receive all features on the next release.
AIRMODE now excludes feature MOTOR_STOP in multicopters This means that if you have AIRMODE enabled on a multi-rotor, the motors will most likely spin on arming, even with feature MOTOR_STOP
(or the configurator "Don't spin the motors when armed") set.
diff
output to a text file for later usage.save
and press enter. The flight controller will now reboot.https://www.youtube.com/watch?v=sHvItS2qKfk
C:\Users%Your_UserNname%\AppData\Local\inav-configurator
https://www.youtube.com/watch?v=XMoULyiFDp4
tasks
command in CLI. It's strongly recommended not to run async and synchronize looptime to gyroscope. (#3628)Starting from INAV 2.0.0, there are no predefined mixers on the firmware side: CLI command mixer QUADX
will just not work. Mixer has to be configured using INAV Configurator 2.0 with Mixer tab.
Restoring from previous releases via CLI will not work correctly. Please use Configurator 2.0 mixer tab to configure it from scratch.
See https://www.youtube.com/watch?v=0cLFu-5syi0
It is no longer necessary to use smix reverse
to reverse a tricopter tail servo; this can be done in the 2.0 Configurator or with the CLI smix 0 5 2 -100 0
.
NAV CRUISE
flight mode (fixed wing)This release introduces the new NAV CRUISE
flight mode. When enabled the machine will try to maintain the current heading and compensate for any external disturbances (2D CRUISE). User can adjust the flight direction directly with ROLL stick or with the YAW stick ( nav_fw_cruise_yaw_rate
set the yawing rate at full stick deflection ). The latter will offer a smoother way to adjust the flight direction. If the mode is enabled in conjunction with NAV ALTHOLD
also the current altitude will be maintained (3D CRUISE). Altitude can be adjusted, as usual, via the pitch stick. In both modes ANGLE
mode is active and the plane will stay leveled.
OSD functionally got overhauled and improved. Now it is possible to have three OSD layouts and switch between them via an RC channel. Furthermore new two modes have been added: map
and radar
.
map
mode draws the home centered, while the craft moves around. There are two available maps: one with the North pointing up and another one with the takeoff direction pointing up.radar
mode draws the craft in the center and the home moving around.Those modes will enable the display of other aircraft flying in the vicinity in a future releases.
It is now possible to display a lot of new data on the OSD:
User can now select VTX settings from the configurator or via the OSD CMS. Furthermore vtx_low_power_disarm
setting has been added. Setting it to ON
will set the power to its minimum value on startup (usually 25mW) and increase it to vtx_power
when arming and change it back to its lowest setting after disarming. Note that this setting can jeopardize the ability to find a lost quad using a strong signal coming from the VTX but on the other way it can prevent the VTX to overheat if you do quick flight cycles on the same battery.
UNTIL_FIRST_ARM
will set the VTX to its minimum power, but once the craft is armed it will increase the output power to vtx_power
and it will never decrease until the craft is power cycled. OFF
will make the power output always to be set to the vtx_power
setting.
It is possible to show estimated wind speed and direction on the OSD. In particular both lateral and vertical indicators are present. This is an experimental feature, you are encouraged to use it and report any anomalies in the estimated wind speed.
These features have been added for helping with the battery management:
current_meter_offset
value from an old config you need to multiply it by 10).You can read more about these feature in the battery documentation
Name | Description |
---|---|
nav_fw_cruise_yaw_rate |
Max YAW rate when NAV CRUISE mode is enabled (0=disable control via yaw stick) [dps] |
gyro_stage2_lowpass_hz |
Software based second stage lowpass filter for gyro. Value is cutoff frequency (Hz). Currently experimental |
name |
The craft name is now a set value. name MYCRAFT is replaced by set name = MYCRAFT . |
switch_disarm_delay |
Defines a delay for switch disarming setting (default 150ms, PR #3118) For better safety, a value of at least 250ms is recommended |
inav_reset_home |
Defines when the home position is automatically reset, default is EACH_ARM . Allowed values: NEVER , FIRST_ARM , EACH_ARM
|
model_preview_type |
Defines the aircraft type. This is advisory for display purposes only (Configurator, Ground Control Stations) and has no affect on aircraft behaviour. This setting takes the numeric values equivalent to the old 'mixer'. |
platform_type |
Defines the aircraft (vehicle) type. This value affects the vehicle performance. Default is MULTIROTOR , allowed values: MULTIROTOR , AIRPLANE , HELICOPTER , TRICOPTER , ROVER , BOAT . Only MULTIROTOR , AIRPLANE and TRICOPTER are implemented in iNav 2.0. |
has_flaps | Defines is UAV is capable of having flaps. If ON and AIRPLANE platform_type is used, FLAPERON flight mode will be available for the pilot |
vtx_band | Configure the VTX band. Set to zero to use vtx_freq . Bands: 1: A, 2: B, 3: E, 4: F, 5: Race. |
vtx_channel | Channel to use within the configured vtx_band . Valid values are [1, 8]. |
vtx_freq | Set the VTX frequency using raw MHz. This parameter is ignored unless vtx_band is 0. |
vtx_halfduplex | Use half duplex UART to communicate with the VTX, using only a TX pin in the FC. |
vtx_low_power_disarm | When the craft is disarmed, set the VTX to its lowest power. ON will set the power to its minimum value on startup, increase it to vtx_power when arming and change it back to its lowest setting after disarming. UNTIL_FIRST_ARM will start with minimum power, but once the craft is armed it will increase to vtx_power and it will never decrease until the craft is power cycled. |
vtx_pit_mode_freq | Frequency to use (in MHz) when the VTX is in pit mode. |
vtx_power | VTX RF power level to use. The exact number of mw depends on the VTX hardware. |
nav_rth_home_altitude | Aircraft will climb/descend to this altitude after reaching home if landing is not enabled. Set to 0 to stay at nav_rth_altitude (default) [cm] |
nav_fw_cruise_speed | Speed for the plane/wing at cruise throttle used for remaining flight time/distance estimation in cm/s |
cruise_power | Power draw at cruise throttle used for remaining flight time/distance estimation in 0.01W unit |
idle_power | Power draw at zero throttle used for remaining flight time/distance estimation in 0.01W unit |
rth_energy_margin | Energy margin wanted after getting home (percent of battery energy capacity). Use for the remaining flight time/distance calculation |
osd_estimations_wind_compensation | Use wind estimation for remaining flight time/distance estimation |
nav_fw_allow_manual_thr_increase | Enable the possibility to manually increase the throttle in auto throttle controlled modes for fixed wing |
bat_voltage_src | Chose between raw and sag compensated battery voltage to use for battery alarms and telemetry. Possible values are RAW and SAG_COMP
|
bat_cells | Number of cells of the battery (0 = autodetect), see battery documentation |
vbat_cell_detect_voltage | Maximum voltage per cell, used for auto-detecting the number of cells of the battery in 0.01V units, default is 4.30V |
align_opflow | Optical flow module alignment (default CW0_DEG_FLIP) |
fw_min_throttle_down_pitch | Automatic pitch down angle when throttle is at 0 in angle mode. Progressively applied between cruise throttle and zero throttle |
tz_automatic_dst | Automatically add Daylight Saving Time to the GPS time when needed or simply ignore it. Includes presets for EU and the USA - if you live outside these areas it is suggested to manage DST manually via tz_offset . |
motor_accel_time | Minimum time for the motor(s) to accelerate from 0 to 100% throttle (ms) [0-1000] |
motor_decel_time | Minimum time for the motor(s) to deccelerate from 100 to 0% throttle (ms) [0-1000] |
thr_comp_weight | Weight used for the throttle compensation based on battery voltage. |
nav_overrides_motor_stop | Setting to OFF combined with MOTOR_STOP feature will allow user to stop motor when in autonomous modes. On most planes this setting is likely to cause a stall. Use caution |
SURFACE
mode). If AltHold
mode is enabled together with SURFACE
mode, UAV will try to keep ground altitude reported by rangefinder instead of baro/GPS absolute altitude. (@digitalentity, #3202)NAV CRUISE
flight mode (fixed wing) ( @giacomo892 , @shellixyz , #3311 #3458)min_check
) (@shellixyz, #3298)watts
symbol to OSD font (@alexeystn, #3132)failsafe_throttle_low_delay
setting default is now 0 (@shellixyz, #3512)CHANNEL_FORWARDING
has been removed, it can be implemented using new mixer GUI in ConfiguratorSERVO_GIMBAL
has been removed, it can be implemented using new mixer GUI in Configuratormid_rc
CLI variable has been removed, and the setting removed from the configurator. If necessary (e.g.Futaba TX), the same effect can be achieved using rxrange
settings.applyFixedWingPitchRollThrottleController()
(@shellixyz, #3297)Due to a beneficial change in the build environment (generated files are stored per target, not in a common area), it is necessary to remove a couple of files from any older branches (these files are generated automatically by the build).
# on a Posix O/S
rm -f src/main/fc/settings_generated.[ch]
Published by digitalentity about 6 years ago
Full list: https://github.com/iNavFlight/inav/compare/2.0.0-RC5...2.0.0-RC6
Please, see the full release notes at https://github.com/iNavFlight/inav/wiki/2.0.0-Release-Notes
Published by digitalentity about 6 years ago
Full list: https://github.com/iNavFlight/inav/compare/2.0.0-RC4...2.0.0-RC5
Please, see the full release notes at https://github.com/iNavFlight/inav/wiki/2.0.0-Release-Notes
Published by fiam over 6 years ago
-
(when armed) if the direction to home is not actually known (due to either sensor failure or no home position recorded).micros()
doesn't return an incorrect value under some special circumstances.Full list: https://github.com/iNavFlight/inav/compare/2.0.0-RC3...2.0.0-RC4
Please, see the full release notes at https://github.com/iNavFlight/inav/wiki/2.0.0-Release-Notes
Published by fiam over 6 years ago
Known issues:
Changes since RC2: https://github.com/iNavFlight/inav/compare/2.0.0-RC2...2.0.0-RC3
Please, see the full release notes at https://github.com/iNavFlight/inav/wiki/2.0.0-Release-Notes