On this tutorial, I’ll present you the right 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 to your first flight.
Like Betaflight, iNav is flight controller firmware, primarily targeted 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 usually suggest Betaflight for FPV drones (quads), iNav affords sure benefits price contemplating. iNav stands out for its superior GPS flight modes, far surpassing Betaflight’s capabilities. Not solely it helps GPS return-to-home functionalities, but 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 really 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 following step. If not suitable, think about getting a brand new FC, such because the Speedybee F405 V4 – an inexpensive, feature-rich choice best for an iNav drone construct.
Saving Your Betaflight Configuration
It’s essential to avoid wasting your Betaflight configuration earlier than flashing iNav. If unfamiliar with backing up your Betaflight FC, try my information right here: https://oscarliang.com/backup-restore-betaflight-config/
Additionally, take screenshots of important Betaflight pages, such because the Ports, Configuration, Tuning (together with PID, charges, and filter settings), Receiver configuration, OSD format, Modes, and ESC protocol. These will turn out to be useful when organising iNav.
For those who 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. Observe that the Auto-select button might 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 the majority carefully matches your plane, comparable to a 3-inch, 5-inch, or 7-inch quad.
Setup Tab
Within the first web page – Setup, you possibly can view the standing of your drone.
Sensors
On the very prime of the iNav Configurator, you’ll see an array of blue icons representing the sensors. These icons mild up when the sensors are configured and functioning 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 mild up. Different widespread 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 so as 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, if in case you have enabled GPS however don’t have a lock, “Navigation is secure” will present a pink cross, which is widespread indoors. Some flight controllers can energy up the GPS with simply the USB connection, however others may require the battery to be plugged in, so bear in mind.
Board Orientation
Maintain the drone in your hand, level the digicam in direction of the pc display, and click on the “Reset Z-Axis” button. Now transfer the drone round and see if the 3D mannequin strikes precisely as you do.
Troubleshooting:
- If the 3D mannequin is inverted (the other way up), and you’ve got a pink cross subsequent to “UAV is levelled” in pre-arming checks, you possibly can repair this within the board alignment software, e.g., enter 180 in roll.
- If the drone strikes in the wrong way as a result of the FC is rotated, it’s also possible to right this within the board alignment software, 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, that you must click on the “Calibrate Accelerometer” button.
It may appear a bit difficult at first, however don’t be afraid to start out over if wanted. The calibration doesn’t should be tremendous exact—simply do your greatest to place the quad in every meant place.
Mixer Tab
Usually, you shouldn’t want to vary something right here for the reason that “Default Values” ought to have utilized these settings for you. Nevertheless, it’s good apply to double-check.
- Platform: “Multirotor”.
- Mixer preset: “Quad X”.
If you wish to run reverse motor path (props out), choose “Reversed motor path / Props-out configuration”.
Click on Save and Reboot.
Outputs Tab
This tab capabilities equally to the Motors tab in Betaflight.
Observe that motor outputs are disabled by default in iNav, a security 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 following step.
Now, take a look at 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 right path.
Troubleshoot: What if the motor order is flawed?
In contrast to Betaflight, iNav doesn’t help useful resource remapping. To alter motor order, you possibly can modify 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 gained’t replicate within the outputs tab, however you must conduct a take a look at hover to verify it really works appropriately.
Ports Tab
Organising ports in iNav ought to really feel acquainted to these used to Betaflight. For those who’ve taken screenshots from Betaflight, you possibly can merely replicate the setup right here.
A slight inconvenience in iNav is that in the event you present an invalid configuration, it resets your total ports tab with out telling you what’s inflicting the problem. If this occurs, chances are you’ll have to troubleshoot every UART individually. A notable distinction from Betaflight is that you should disable MSP information when you will have MSP DisplayPort chosen.
Within the instance screenshot above, I arrange the next peripherals:
- Serial RX (ExpressLRS receiver)
- GPS
- MSP Show Port for DJI/Walksnail VTX (you should disable MSP Information)
Configuration Tab
Within the Configuration tab, you possibly can choose the sensors related to the flight controller, comparable to GPS, compass, barometer, optical stream sensor, and many others.
Right here, it’s also possible to calibrate the present/voltage sensor.
Receiver Tab
For ExpressLRS or Crossfire receivers, choose SERIAL because the receiver sort, and CRSF because the receiver supplier. Click on Save and Reboot.
Now, you possibly can take a look at the radio hyperlink to make sure the channel values appropriately reply to your radio stick actions. If the channel order is flawed, 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 notably helpful for radio hyperlinks with dynamic refresh charges, comparable to ExpressLRS and Crossfire.
To regulate the texture, enhance the auto smoothing issue worth for smoother management (best for cruising and cinematic flying), or lower it for a extra direct feeling (best for racing). An element of 30 strikes a very good stability between smoothness and responsiveness.
With new filtering in place, the default RC deadband may be safely lowered. I counsel setting this worth to 2 for each RC and Yaw deadbands. Whereas setting it to zero affords 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 arms. For outdated and jittery gimbals, you may desire to stay with the default worth of 5.
GPS Tab
Coming quickly.
Failsafe Tab
Coming quickly.
PID Tuning Tab
Detailed PID and filter tuning can be addressed in a separate tutorial as I wish to hold this tutorial so simple as doable simply specializing in the transition from Betaflight to iNav. For now, we will depart PID settings at their default.
Nevertheless, we’ll modify 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 the same 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 fantastic, however you possibly can enhance it to 45 levels for flying sooner (to counter wind) in these modes. If not sure, depart them at default; you possibly can all the time modify later.
Superior Tuning Tab
Like PID tuning, this deserves a separate weblog submit. In the interim, we’ll persist with default settings.
Modes Tab
The Modes tab in iNav carefully resembles that of Betaflight, nevertheless it makes use of CH5, CH6, and many others., as an alternative of AUX1, AUX2. It’s all fairly easy.
If utilizing ExpressLRS receiver, remember 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 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 possibly can take the drone for its first flight. I’m engaged on just a few extra tutorials on iNav, together with its GPS options and PID/Filter tuning, keep tuned.
