On this tutorial, I’ll present you how you can set up iNav in your Betaflight FPV drone. I’ll information you thru every tab within the iNav Configurator, setting it up from scratch in 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 advocate Betaflight for FPV drones (quads), iNav provides 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 in addition 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 truly has a firmware goal in iNav. If uncertain 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 appropriate, take into account getting a brand new FC, such because the Speedybee F405 V4 – an reasonably priced, feature-rich choice ideally suited 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, 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.
Should 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 in your FC. Observe that the Auto-select button could not work in case your FC continues 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 almost all 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 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 accurately, and they aren’t turned on, it means the sensor just 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 must also mild up. Different frequent 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 objects ought to show inexperienced ticks so as to arm the quad.
If any of these things present a crimson cross, don’t fear—we are going to information you thru the setup on this tutorial. As an illustration, if in case you have enabled GPS however don’t have a lock, “Navigation is secure” will present a crimson 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 bear in mind.
Board Orientation
Maintain the drone in your hand, level the digicam 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 wrong way up), and you’ve got a crimson 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 other way as a result of the FC is rotated, you too can appropriate this within the board alignment software, e.g., enter 180 in yaw.
Calibration Tab
Right here we are going to calibrate the accelerometer.
Place the drone on a degree floor and undergo the 6-step calibration. Observe that for each step, you must click on the “Calibrate Accelerometer” button.
It may appear a bit sophisticated at first, however don’t be afraid to begin over if wanted. The calibration doesn’t must 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 observe 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.
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 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, take a look at 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 help useful resource remapping. To vary motor order, you possibly can modify 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 received’t mirror within the outputs tab, however it is best to conduct a take a look at hover to ensure it really works accurately.
Ports Tab
Establishing ports in iNav ought to really feel acquainted to these used to Betaflight. Should you’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 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 could disable MSP information 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 could 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 take a look at the radio hyperlink to make sure the channel values accurately reply to your radio stick actions. If the channel order is unsuitable, attempt a unique 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 helpful for radio hyperlinks with dynamic refresh charges, similar to ExpressLRS and Crossfire.
To regulate the texture, improve the auto smoothing issue worth for smoother management (ideally suited for cruising and cinematic flying), or lower it for a extra direct feeling (ideally suited for racing). An element of 30 strikes a great steadiness between smoothness and responsiveness.
With new filtering in place, the default RC deadband might be safely decreased. I recommend setting this worth to 2 for each RC and Yaw deadbands. Whereas setting it to zero provides essentially the most direct response, I usually don’t advocate this as some jitters are inevitable, whether or not from the {hardware} or shaky human fingers. 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 wish to hold this tutorial so simple as potential simply specializing in the transition from Betaflight to iNav. For now, we are able to depart PID settings at their default.
Nevertheless, we are going to modify the Charges to our choice.
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 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 nice, however you possibly can improve it to 45 levels for flying quicker (to counter wind) in these modes. If uncertain, depart them at default; you possibly can all the time modify later.
Superior Tuning Tab
Like PID tuning, this deserves a separate weblog put up. In the intervening time, we are going to follow 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 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 embody Angle mode, Turtle mode, Beeper. And in case your drone is supplied with GPS, Nav Place Maintain and Nav Return to House are additionally crucial.
OSD
Below 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 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.