Це відео не доступне.
Перепрошуємо.
iNav Return to Home Explained
Вставка
- Опубліковано 7 сер 2024
- 🔗 / mrd_rc 🔗 www.MrD-RC.com
In this video, we look at the different options in RTH for iNav. This covers iNav 4.0, 3.0, 2.6 and past versions. We take a look at the different Return to Home options on the Advanced Tuning page; including the different RTH Altitude Modes and the Climb First options.
✈️ Contents ✈️
00:00 Introduction
00:32 The setup that I'm using in this demo
00:50 The Failsafe page
01:06 The Advanced Tuning page RTH settings
01:56 - RTH Altitude
02:10 - RTH Home Altitude
03:11 - Land after RTH
04:18 - Minimum RTH distance and RTH abort threshold
07:01 - Override RTH altitude and climb settings
07:22 Return to Home altitude modes
07:51 - Current - No change
08:19 - Extra - Current altitude + the RTH altitude
08:48 - Fixed - Constant altitude
09:16 - Max - The highest altitude of the flight
10:05 - At Least - The minimum RTH altitude
10:48 - At Least with Linear Descent - At least, but lowering altitude on the way home
11:41 How to choose the best RTH Altitude mode for your flying environment
13:15 Climb before RTH settings and their pros and cons
13:37 - Climb first off
15:36 - Climb first on
16:32 - Climb first with a spiral climb
17:17 - Two stage climb first
21:03 Conclusion
Thank you for watching this video. Time is precious, so I hope that you got some benefit from this video. If you have any questions, please leave a comment and I'll do my best to answer. Please try to keep questions relevant to the video in, as they may also help others who have the same question.
✈️ In this video ✈️
⚙️ ZOHD Dart 250G: bit.ly/MrD_3btvEkx
✈️ Help other RC pilots find this video ✈️
If you found the video useful, I'd appreciate a thumbs up. This will help UA-cam share this video with other RC pilots who may find it helpful. If you would like to get more videos when they become available, please subscribe and click the notifications bell icon. If there are links above, they may be affiliate links. If you click them, it will help me and my channel at no additional cost to you.
✈️ Supporting me and other resources ✈️
🛩 There are more tutorials on my web site at www.MrD-RC.com.
🛩 You can also join like-minded people at the Fixed Wing RC Rebels group and INAV Fixed Wing Group on Facebook.
🛩 Liking the video, subscribing, and clicking the bell icon can help greatly. This shows UA-cam that the video is helpful, so it will be shown to more people, who may have the problem dealt with here.
🛩 If you found my video useful, you can become a Patreon at / mrd_rc
🛩 If you prefer, you could always buy me a Coffee at www.mrd-rc.com/go/ko-fi/
🛩 I also have merch at mrd-rc.creator-spring.com/ This include branded items as well as general fixed wing RC apparel.
Thank you for your time, and don't forget to fly it like you stole it!
![ЛЕБЕДЕВ у ДУДЯ: муху не обманешь 😁 [Пародия]](http://i.ytimg.com/vi/E74h5fvVrqs/mqdefault.jpg)
One of my favorite thumbnails I’ve seen on UA-cam…
Darren has turned on us....ha ha ha,love the dress......thanks for going over RTH options.
Only at the weekends 🤣🤣
Glad you enjoyed the video Mark.
Returning to home with a beautiful dress
😆
Lots of good info there Dorothy ; -)
I like this new mode you added. It gives much greater RTH versatility.
Spiral climb is a great idea too. Its just a shame that one of iNav's weak points is its AHRS Nav code. What I mean, is its inability to maintain a constant loiter radius, without drift. INav just won't hold a tight and constant loiter circle. regardless of wind conditions.
It drifts considerably compared to many other flight control software's i've used, which have perfect loiter circles, even in high winds with high HDOP.
Inav seems to ignore any loiter radius's less than 30m. Its almost like the code is based on multirotor passive course navigation. Rather than being more actively driven to meet the target, as a fixed wing requires.
I hope this gets fixed one day, because you guys are making iNav awesome with all it outstanding versatility!
Thanks Tom.
Yes, I did notice how bad the loiter is while I was testing another change (programmable loiter radius). At larger radii, it loiters at a much smaller circle than it should. I noted this in my PR. But though it better to change it in a separate pull. It would be great to get that sorted. It would also be nice if it auto increases the loiter radii if the model can’t turn as quickly as requested.
Good Vid Darren! Thanks for all your work!
Thanks Stuwe. Everyone who reads this needs to check out your videos btw. Seriously epic stuff!
Darren:
This was a very well balanced explanation. I like your priority of efficient use of battery to achieve a safe return. Thanks! - Jim
Thanks Jim. Yes, that was always the only problem with the climb first for me. You could be wasting energy. The two stage version is a nice improvement I feel.
well explained , I kindda knew most of it before , But good to confirm i was barking up the right tree, rather than hitting one. Cheers
Not hitting a tree is always a bonus 🤣
Well explained... Thanks.
Thank you, glad it was helpful.
Great information ..THANK YOU !!!
You’re welcome Allen
There is no place like home 😻🧚♂️
Ciempre veo todos tu vídeo i el de 360 gracias por eso
thankyou for explaining... the at_least or max button
You're welcome.
perfect thanks again
Thanks Dan. I'm glad the video helped :)
i have a matek wse f411 and i was in my fixed wing that i gave up on and sent back ,the matek f411 im putting it in a aero scout for a easy takeoff since it has wheels
Ive just got into long range. Ive modded a couple dji drones and im topping 8 miles out before signal lost. Im lookin into fixed wings and 4g cellular and ive worried about rth in a home made drone now i understand it a little more before i get started.
I wouldn't worry about 4G to begin with. I know of people travelling much further than 8 miles on LoRa based systems, such as Crossfire, ExpressLRS, and FrSKY R9. In fact, they are all capable of travelling over 7 times that distance. RTH works well.
If BVOLS legal in your country. I'd recommend going further gradually. Make sure you're confident that the aircraft is safe, and that it and the components are capable of doing each distance. Test RTH locally to make sure you are happy with how it works and is suitable for your flying environment.
@@MrD 1st idgaf about the laws. 2nd I do mess with 4g bc I want to fly from inside my house.
Nice Job :)
Thanks Roberto
awesome!
Thank you Arthur 👍🏻
Bravo
You get a thumbs up for the thumbnail!!!
Thanks A.C. The problem is now I need to think of stuff like this for other videos 🤣
Hello Mr D:
Very good video, but could you update it with the new features of INA 6? Thank you.
Great videos. So helpful. I’m having trouble with INAV auto launch on 2 planes. The ZOHD dart xl and Diatone Ripper. Auto launch activates when I throw it but it’s a low throttle and in just glides to the ground. I have Auto launch idle at 1300 and launch at 1700. Something is limiting the full throttle. Any advice would be greatly appreciated
👊👊💪💪
Great video another one to add to my saved list. Would I be correct if say I was flying at 400ft with RTH set at ( at least linear descent) and I hit RTH with a RTH altitude of 300ft and a RTH Home altitude of 100ft my plane will go from 400ft to 300ft and when it reaches home it will loiter at home down to 100ft and hold the 100ft till I switch off RTH?
Thanks Jeremiah.
Yes, exactly right. The plane (at 400ft) will start heading home and descending. The aim is to reach 300ft as it arrives home. If it’s too close to home to lose the altitude within limits, it will descend as much as it can within the descent rate parameters. Once its at home and loitering, it will loiter down to 100ft. Then just circle at 100ft til you take over. The exception being if land is enabled, in which case it would land.
Another really great video, thanks. Is it possible to transfer DIFF from iNav 3.02 to iNav 4.0?
Thanks 👍
You can transfer a fair amount of it. But remove all the profile stuff, as it is recommended to re-tune. A pretty similar process as going from 2.6 to 3.0. You must use 4.0 configurator with 4.0, and upload the fonts.
i have a question. i want to upgrade the motor on my aero scout . I have SUNNYSKY X2212 / 1400kv Brushless Outrunner Motor X-Series in mind and i wanted to use
Hobbywing Skywalker 2-6S 60A UBEC Brushless ESC With 5V/5A BEC For RC Airplane. would this work good for the aero scout?
🤣I like that pic🤣
I'm new to INAV, will it let you know when there's a new version or an update for INAV ? I'm currently running 3.0 . Thanks for the videos there very helpful I used auto launch for my first flight and it worked beautifully
Yes, the configurator will pop up a message when there is a newer version. 4.0 is close, a couple of weeks maybe.
How do you trigger RTH? I dont see it in any modes
you are the man!
the stock motor on the earo scout they are small really small drone motor. stock motor 2306 -2250. im sure the SUNNYSKY X2212 / 1400kv Brushless Outrunner Motor X-Serie is bigger and more powerful ... i had this motor on my stock sonic model ar 1000m fixed wing it was powerful then the aero scout stock motor it seamed like it pushed more air.
But how does the aero scout fly? That plane is not supposed to be fast. Also, what prop and battery? Have you flown the aero scout yet?
Thank you! Are all numbers based on your starting/launch elevation? Like if I take off from 1000meters the rth altitude is based on the launch?
Yes. They are based on the home altitude.
@@MrD that was actually a dumb question but I still asked it... 😂
Not dumb at all. Dumb would just be assuming one way or the other 👍🏻
My wing when i call RTH its very slowly meybe 30% trottle , how to setting for more power like 50% or 60% ?? Thanks dud...
RTH uses the cruise throttle setting. By default this is 1400 (40%). You can change the cruise throttle on the Advanced Tuning page.
for Fixed Wing, if never land was selected when it reached the RTH home position, what will happen? will it automatically loiter?
Yes, it will loiter.
please update the same on inav 7.thank you!
There are a couple of new options in INAV 7. So it may be worth revisiting this video. Was there anything in particular that you were interested in learning about?
Thanks. What is canvas mode?
Canvas mode is a vector based OSD. Where lines and shapes are drawn using coordinates. For an example of this. Check out FrSky’s PixelOSD. It’s now out of production. But it was on some Matek F722 flight controllers.
When will INAV add the RTH testing on bench effectively?
I did follow every steps how to setup and check if RTH kicked in (enabled), unfortunately, my fixed wing fly away when I switched off my radio (to simulate RTH on link failure)
Hi Mandy. It sounds like you’re mixing up two things here, RTH and Failsafe.
RTH can only be tested in flight. You don’t need to turn off the radio. You just switch to the RTH mode.
You can test failsafe on the bench. In configurator, at the top there is a small icon of a parachute. When the transmitter is connected, this will be grey. If you switch off the transmitter it should turn res. If it does, failsafe is being correctly detected.
The only thing left is to have RTH be used when a failsafe occurs. This is done on the failsafe page and choosing RTH as the failsafe mode.
I hope this helps.
@@MrD I definitely understood above as it was clearly part of your tutorial (thanks), however, how can I simulate a link failure? That is, if I'm flying long range and the radio link disconnected?
Link disconnected, mean Radio TX and RX has loss. Could be due to distance RX failure, or TX become low battery.
Just switch off the transmitter when connected to configurator. That is a link failure. If the parachute turns red, the failsafe detection is set up correctly. If not there is a problem. When the transmitter is switched back on, the red parachute should turn grey again.
What rc link are you using?
Id just like to find out why with everything setup correctly mag and gps direction and settings etc why for the love of flight will my craft rth canted to the right side pass the home point and then fly back to it in reverse canted at the same extreme angle... I've set up inav for others several times theirs work well mine just hates me lol
Which version of INAV are you using. If lower than 6.0, disable the magnetometer.
@@MrD it happened with 5.0 and with 6 which I'm currently using btw this is on a quad. thing climbs like it should to altitude then heads home at a 45 degree angle rather than full nose in headed to home and pitches to the right down at a 40 degree angle .. so basically it thinks the side of the quad is the nose? very weird then flies back after passing the home point but now with the tail pointed down at 40 degrees
I just.. I can't with this thing
@@tubsucks I’ve not got any quads on INAV. So won’t be much help at the moment. But, maybe’s it’s worth checking the orientation of the mag compared to the FC. I believe the mag orientation is based on that of the FC.
@@MrD yup I did the orientation check and calibration serveral times over and confirmed and reconfirmed too. so I really dunno. thanks though my next thing is to change it's position shielding or something
Thanks for your Great video... we fly FPV FW (PC-21), Matek F722 with GPS without compass, all checked fine in manual, acro, and heading modes, but in RTH the plane does not take the right course ?
any idea for that ? I'm thinking that maybe the compass alignment numbers (that might be different from zero) are to blame ... Thanks
Thanks 👍🏻
With the RTH, are you letting the GPS get a 3D fix before arming? If not, it won’t know where home is. Some people suggest setting nav_extra_arming_safety = off. But that is a really bad idea as it allows you to arm and fly without setting a home point. It’s always best to leave this on.
Fixed wing doesn’t need compass, so don’t worry about those numbers. It gets the heading from the GPS, based on the course.
@@MrD
Thanks a lot, yes we get good GPS and home acquisition. intentionally arming is not possible without home position. at that day we had 14 satellites. I probably keep on doing the same mistake and can't see it :-) what can i check to find the reason ? (INAV lacs Ardupilot great tool of recording and analyzing the data )
What exactly is happening when you fly? What makes you think it’s not taking the right course? Because if you have that many sats, on arming the home point will be stored, and that should be used as the target for RTH.
iNav does have blackbox recoding, which you can view using a tool available on the iNavFlight GitHub.
@@MrD
Thanks again for your prompt answer, appreciate that.
Applying RTH, the plane turns to a different course then the home position. There was no need to gain altitude as the RTH alt was 50 meters, and the flight level was above 100m, tried changing safehouse to OFF, changed RTH profile to directly start flight back... the plain lost altitude without course change, checked heading readout in the OSD.. looks fine.. also the arrow location seems OK... but the plane does not fly to the correct course. (must be doing something real stupid error). Added BlackBox SD today ... hope I'll be able to find the cause, thanks for the Tool location, DL it, Looks great have to learn it, will check. :-)
Hopefully the blackbox will help you out. RTH usually behaves. What RTH Altitude mode are you using. Also have you set a mode up for Home reset?
On the new inav 4.0 or 4.1. which setting in the osd is your home heading arrow. It seems to of all changed. And that is one of the most important displays when flying medium to long range. Cheers
Hi Kyle. As far as I'm aware, this hasn't changed. Though I have been asked this by someone else; so maybe it was renamed? In the GPS section on the OSD page, it's called "Direction to Home".
@@MrD Hi, I shall double check. But the newer 4.0/4.1 is totally different to the older versions iv been using. Also the ability to fine tune your Flight controllers pitch and roll has gone. Whereas before if I wanted to add a slight pitch up, all I had to do was type in +5 hit save and bingo. Now I can't, or can i,? Is it I'm just missing something? Cheers mate.
@@k1ortia you must be on 2.6 or earlier. The board alignment pitch and roll are now CLI only. For a slight nose up angle, you would now use fixed wing level trim on the PID Tuning -> Mechanics tab. Positive values are always nose up, negative always nose down. There is also the auto level mode that allows this to tune the level flight AOA in flight.
@@MrD iv never liked CLI and just wish they would of kept it as it was in the GUI. Perfectly easy to adjust with no problem at all. I'm not going to lie, I haven't a clue how to use CLI. what do I need to do? Or do you have a video on the topic? Cheers
It was moved to the CLI as it doesn’t really need to be adjusted anymore. Its only if the flight controller is at a really strange angle. For the level flight pitch up, use the fixed wing level trim in PID Tuning > Mechanics and the auto level mode. Its so much better.
Thanks for sharing this. Quick question - why would my quad (after RTH is enabled) approach the RTH location, begin descending, and then go into a loiter/spiral when nav_rth_home_altitude is set to 0 (disabled) and spiral is NOT enabled? I have had to disarm to avoid a crash/damage of my quad. Are there specific settings to indicate a quad (vs fixed wing)?
To be honest, I’m not a quad guy. As far as I know it should either hover or land when it gets to home. Spiral climb is a fixed wing only setting. If you go in the mixer, it should be set up as a multi-rotor. Maybe it would be handy to have an actual indicator on the setup page. Though, the orientation “box” on that screen will either be a plane, box, or quad.
@@MrD Thanks for the prompt response. I fly only quads (and this is configured as a multi-rotor).You're right...it should hover or land. This behavior is somewhat intermittent and doesn't happen all the time.; I have flashed iNav 4.0 RC and will test, perhaps this is fixed . Thanks.
No problem. Of your flight controller has an SD card slot. It may be worth setting up the blackbox. Then if it happens again, you could submit an issue on GitHub with the blackbox.
Only one thing, it’s not the toilet bowl effect by any chance?
@@MrD Looking up a couple UA-cam videos, it seems that is the case...toilet bowling - strange that it doesn't happen all the time.This is a Lumenier Lux F7.
Ah cool. At least you know what it is. And that it can be fixed 👍🏻
My compasses never stay working. Half the times they don't work. I calibrate. Setup correct. 2 drones.. I do have a analog drone that seems to work everytime though
I never use the compass. Don't need them with fixed wing. They can be quite finicky things.
@@MrD won't work on quad without it. No clue why when they allow airplanes not to use compass and betaflight doesn't use it. And yaw gyro seems to track turning great
Because planes 99.9% of the time are flying forwards. So the heading can be calculated from the track. Quads can fly in any direction. BetaFlight doesn’t use it because it doesn’t really have RTH or proper navigation functions. The rescue features don’t really compare.
Don't ignore us Multirotor guys 😢😅
😆 I don't use multirotors on iNav. I have 1 on BetaFlight that I hardly fly. So I'm really not the best guy for quad stuff.
Returning to home with a beautiful dress