INav

iNAV - программное обеспечение (прошивка) для полётных контроллеров, основанное на CleanFlight с добавлением функций GPS-навигации: возврат домой и другими.

Контакты разработчика iNav

• Константин Шарлаимов digitalentity
• jShadow на RCDesign.
• ICQ 12131111
• Тел для связи: 8 924 226 семь один девять один

Полезные команды в CLI

set nav_max_speed = 600 // was 300=3m/s = about 10 km/h; Increase to 600 (20km/h);
set nav_manual_speed = 500 // 5 m/s; 
set nav_manual_climb_rate = 200 // 2m/s
set nav_landing_speed = 200 
set nav_land_slowdown_minalt = 500 // 5m AGL velocity will be 25% of nav_landing_speed;
set nav_land_slowdown_maxalt = 2000
set nav_emerg_landing_speed = 500 // Emergency landing speed;
set nav_min_rth_distance = 500 // 5m = minimum distance from homepoint when RTH can be activated
set nav_rth_tail_first = OFF
set nav_rth_alt_mode = AT_LEAST // Raise up if needed to nav_rth_altitude;
set nav_rth_altitude = 1000 // 1000cm is 10m; Increase to 60m in town;

Настройки GPS

# INAV/NAZE 1.1.0 May 11 2016 / 02:37:17 (1f49891)

feature RX_PPM
feature VBAT
feature MOTOR_STOP
feature GPS
feature FAILSAFE
feature SONAR

set gps_provider = UBLOX
set gps_sbas_mode = AUTO
set gps_dyn_model = AIR_1G
set gps_auto_config = ON
set gps_auto_baud = ON

set nav_disarm_on_landing = ON // was OFF; If set to ON, iNav disarms the FC after landing;
set nav_extra_arming_safety = OFF// was ON; enabled to be able launch before GPS lock;
set nav_max_speed = 600 // was 300=3m/s = about 10 km/h; Increase to 600 (20km/h);
set nav_rth_tail_first = OFF
set nav_rth_alt_mode = AT_LEAST // Raise up if needed to nav_rth_altitude;
set nav_rth_altitude = 1000 // 1000cm is 10m; Increase to 60m in town;
set throttle_tilt_comp_str = 50 // was 0; begin with 50 and up to 100 in NAV modes; can be used in ANGLE and HORIZON mode and will automatically boost throttle when banking. Setting is in percentage, 0=disabled.