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