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 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 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 truly has a firmware goal in iNav. If uncertain of your flight controller model/mannequin, you’ll be able to determine it in Betaflight following this information: https://oscarliang.com/identify-betaflight-firmware-target/
Within the iNav Configurator, on the Firmware Flasher web page, seek for your FC’s firmware goal. If it’s listed, congratulations, you’ll be able to proceed to the following step. If not suitable, contemplate getting a brand new FC, such because the Speedybee F405 V4 – an inexpensive, feature-rich choice perfect 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 format, Modes, and ESC protocol. These will come in useful when establishing iNav.
In the event you want to restore Betaflight, merely flash Betaflight firmware on this FC once more (utilizing the model specified within the preset textual content file), and cargo the preset file within the Preset tab.
Choose the firmware goal to your FC. Observe that the Auto-select button could not work in case your FC remains to be working Betaflight.
Allow “Full chip erase” and depart the opposite choices unchecked.
Default Values
After putting in iNav, you’ll be prompted to decide on a preset that the majority carefully matches your plane, corresponding to a 3-inch, 5-inch, or 7-inch quad.
Setup Tab
Within the first web page – Setup, you’ll be able to view the standing of your drone.
Sensors
On the very prime of the iNav Configurator, you’ll see an array of blue icons representing the sensors. These icons 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 at all times be on. In case your flight controller (FC) has a barometer, the Baro icon must also 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 these things present a pink cross, don’t fear—we’ll information you thru the setup on this tutorial. As an example, when you’ve got 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, 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 instrument, 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 right this within the board alignment instrument, e.g., enter 180 in yaw.
Calibration Tab
Right here we’ll calibrate the accelerometer.
Place the drone on a degree floor and undergo the 6-step calibration. Observe that for each step, it is advisable to 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 must be tremendous exact—simply do your finest to place the quad in every meant place.
Mixer Tab
Usually, you shouldn’t want to alter 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 path (props out), choose “Reversed motor path / Props-out configuration”.
Click on Save and Reboot.
Outputs Tab
This tab capabilities equally to the Motors tab in Betaflight.
Observe that motor outputs are disabled by default in iNav, a security function that differs from Betaflight. Motors WILL NOT work till you manually allow the “Allow motor and servo output” 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 verify in the event that they spin, and in the event that they spin within the right path.
Troubleshoot: What if the motor order is unsuitable?
In contrast to Betaflight, iNav doesn’t assist useful resource remapping. To vary motor order, you’ll be able to 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 received’t replicate within the outputs tab, however it is best to 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. In the event you’ve taken screenshots from Betaflight, you’ll be able to merely replicate the setup right here.
A slight inconvenience in iNav is that if you happen to present an invalid configuration, it resets your total ports tab with out telling you what’s inflicting the difficulty. If this occurs, it’s possible you’ll have to troubleshoot every UART individually. A notable distinction from Betaflight is that you should disable MSP information when you have got MSP DisplayPort chosen.
Within the instance screenshot above, I arrange the next peripherals:
- Serial RX (ExpressLRS receiver)
- GPS
- MSP Show Port for DJI/Walksnail VTX (you should disable MSP Information)
Configuration Tab
Within the Configuration tab, you’ll be able to choose the sensors related to the flight controller, corresponding to 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 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 unsuitable, strive a distinct channel map (what’s channel map?).
I like to recommend setting “Use computerized RC smoothing” to ON, then adjusting the auto smoothing issue to fine-tune response to stay actions. That is notably useful for radio hyperlinks with dynamic refresh charges, corresponding to ExpressLRS and Crossfire.
To regulate the texture, enhance the auto smoothing issue worth for smoother management (perfect for cruising and cinematic flying), or lower it for a extra direct feeling (perfect for racing). An element of 30 strikes a great stability between smoothness and responsiveness.
With new filtering in place, the default RC deadband will 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 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 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 will likely be addressed in a separate tutorial as I need to preserve this tutorial so simple as doable simply specializing in the transition from Betaflight to iNav. For now, we are able to depart PID settings at their default.
Nonetheless, 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 sluggish for freestyle flying. If uncertain, strive the inventory settings first and go from there. It might 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 needs to be wonderful, however you’ll be able to enhance it to 45 levels for flying quicker (to counter wind) in these modes. If uncertain, depart them at default; you’ll be able to at all times modify later.
Superior Tuning Tab
Like PID tuning, this deserves a separate weblog put up. In the intervening time, we’ll stick to default settings.
Modes Tab
The Modes tab in iNav carefully resembles that of Betaflight, however it makes use of CH5, CH6, and many others., as an alternative of AUX1, AUX2. It’s all fairly easy.
If utilizing ExpressLRS receiver, make sure to assign CH5 to ARM, as that is the default channel for arming.
Helpful modes in iNav for an FPV drone embody Angle mode, Turtle mode, Beeper. And in case your drone is provided with GPS, Nav Place Maintain and Nav Return to House are additionally crucial.
OSD
Underneath Video Format, choose your most popular video system. Allow any parts you want 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 provide 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.
