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