dolphin78/inav

INAV: Navigation-enabled flight control software

INAV

Clean-code version of baseflight flight-controller with improved navigational capabilities - flight controllers are used to fly multi-rotor craft and fixed wing craft.

Important: PID values and scaling

Starting at 22-06-2016 INAV uses the same scaling for PIDs as Cleanflight/Betaflight LuxFloat and MWRewrite PID controllers. That means the following:

• PIDs from CF/BF can be used in INAV, no need to retune for INAV
• INAV uses the same PID defaults that Cleanflight and Betaflight
• Current INAV tunes can be converted to new using this guide. This applies to all INAV 1.1
• Conversion spreadsheet

Features

• Multi-color RGB LED Strip support (each LED can be a different color using variable length WS2811 Addressable RGB strips - use for Orientation Indicators, Low Battery Warning, Flight Mode Status, etc)

• Oneshot ESC support.

• Blackbox flight recorder logging (to onboard flash or external SD card).

• Support for additional targets that use the STM32F3 processors (baseflight only supports STM32F1).

• Support for the Seriously Pro Racing F3 board (STM32F303, I2C sensors, large flash, excellent I/O.)

• Support for the TauLabs Sparky board (STM32F303, I2C sensors, based board with acc/gyro/compass and baro, ~$35)

• Support for the OpenPilot CC3D board. (STM32F103, board, SPI acc/gyro, ~$20)

• Support for the CJMCU nano quadcopter board.

• Support for developer breakout boards: (Port103R, EUSTM32F103RC, Olimexino, STM32F3Discovery).

• Support for more than 8 RC channels - (e.g. 16 Channels via FrSky X4RSB SBus).

• Support for N-Position switches via flexible channel ranges - not just 3 like baseflight or 3/6 in MultiWii

• Lux's new PID (uses float values internally, resistant to looptime variation).

• Simultaneous Bluetooth configuration and OSD.

• Better PWM and PPM input and failsafe detection than baseflight.

• Better FrSky Telemetry than baseflight.

• LTM Telemetry.

• Smartport Telemetry.

• RSSI via ADC - Uses ADC to read PWM RSSI signals, tested with FrSky D4R-II and X8R.

• OLED Displays - Display information on: Battery voltage, profile, rate profile, version, sensors, RC, etc.

• In-flight manual PID tuning and rate adjustment.

• Rate profiles and in-flight selection of them.

• Graupner PPM failsafe.

• Graupner HoTT telemetry.

• Multiple simultaneous telemetry providers.

• Configurable serial ports for Serial RX, Telemetry, MSP, GPS - Use most devices on any port, softserial too.

• And many more minor bug fixes.

For a list of features, changes and some discussion please review the thread on RCGroups forums and consult the documentation.

http://www.rcgroups.com/forums/showthread.php?t=2495732

Installation

See: https://github.com/iNavFlight/inav/blob/master/docs/Installation.md

Documentation

There is lots of documentation here: https://github.com/iNavFlight/inav/tree/master/docs

If what you need is not covered then refer to the Cleanflight documentation. If you still can't find what you need then visit the Gitter room or the IRC Channel at #inavflight

Gitter Support and Developers Channel

There's a dedicated Gitter room here: https://gitter.im/iNavFlight/inav

There's a dedicated INAV IRC channel on the Freenode IRC network. Users and some of the developers are there, and it is a helpful and friendly community - but there are two important things to keep in mind: First and most importantly, please go ahead and ask if you have questions, but make sure you wait around long enough for a reply. Next, sometimes people are out flying, asleep or at work and can't answer immediately, even though they are present in the channel. This is how IRC works: Many people stay logged in, even though they are not actively participating in the discussion all the time. Have a seat, grab a drink and hang around if it's a quiet time of day.

irc://irc.freenode.net/#inavflight

Configuration Tool

To configure INAV you should use the INAV-configurator GUI tool (Windows/OSX/Linux).

The source for it is here:

https://github.com/iNavFlight/inav-configurator

If you rather just want to use Cleanflight configurator you can download from here: https://chrome.google.com/webstore/detail/cleanflight-configurator/enacoimjcgeinfnnnpajinjgmkahmfgb

Telemetry screen for OpenTX

Users of FrSky Taranis X9 and Q X7 can use INAV Lua Telemetry screen created by @teckel12 . Software and installation instruction are available here: https://github.com/iNavFlight/LuaTelemetry

Contributing

Contributions are welcome and encouraged. You can contribute in many ways:

• Documentation updates and corrections.
• How-To guides - received help? help others!
• Bug fixes.
• New features.
• Telling us your ideas and suggestions.

The best place to start is the IRC channel on freenode (see above), drop in, say hi. Next place is the github issue tracker:

https://github.com/iNavFlight/inav/issues

https://github.com/iNavFlight/inav-configurator/issues

Before creating new issues please check to see if there is an existing one, search first otherwise you waste peoples time when they could be coding instead!

Developers

Please refer to the development section in the docs/development folder.

INAV Releases

https://github.com/iNavFlight/inav/releases