Modes in iNav: What's changed in 3.0 and beyond
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- Опубліковано 7 сер 2024
- In this video, we'll be revisiting modes in iNav. Some things have changed since my first video on modes. Plus, we'll take a sneak peek at a couple of changes to make life easier, coming in the next version of iNav.
This is a general overview of the modes. Covering flight modes (manual, acro, horizon, and angle), navigation modes (RTH, pos hold, cruise, and course hold), and much more...
** Contents **
00:00 Introduction
00:49 An overview in iNav Configurator
01:41 Arming modes: Arm and Pre-arm
02:03 Flight modes:
02:27 - Manual
03:01 - Acro or Rate
03:38 - Angle
04:27 - Horizon
04:35 - PID Tuning settings for Horizon and Angle
05:28 Navigation modes:
05:41 - Return to Home
06:17 - Position Hold or Loiter
06:58 - Course Hold and Cruise
07:28 Flight Mode Modifiers:
07:30 - Altitude Hold
08:52 - Heading Hold
09:32 - Airmode
10:12 Full Autonomy modes: Waypoint Mission and Ground-station Control
10:47 Function modes:
10:50 - Home Reset
11:00 - Auto level
11:53 - Auto tune
12:07 - Autotrim (and permanently enabled)
13:07 - Launch mode
14:17 - Loiter Change, FPV Angle Mix, Turn Assist, Surface, Headfree, and Headadj
15:16 - Beeper
15:39 - OSD settings
16:04 - Camstab and Camera Control
16:20 - Blackbox
16:34 - Failsafe and Killswitch
17:01 - LEDs Off
17:27 Mode ranges, what they mean and how to set up the ranges
18:09 Why don't the ranges always light up blue?
18:52 Changes to the ranges in iNav 4.0 (coming approx. November 2021)
19:59 Acro indicator in iNav 4.0
20:32 Hide unused modes (from iNav 3.0.2)
20:52 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 **
** Links **
- Adam G's video showing an auto-launch: • 🟠⚫️ The Phoenix Drak ...
- iNav Configurator: github.com/iNavFlight/inav-co...
** Hardware **
- SonicModell AR Wing: bit.ly/MrD_32jhbCY
- Matek F405-STD: bit.ly/MrD_2kkMis6
- Matek F405-WING: bit.ly/MrD_2sxgQLT
- FrSky Horus X10S Express: bit.ly/MrD_3l7b8K5
- FrSky Tandem X20S: bit.ly/MrD_3x6n6JL
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Thank you for your time, and don't forget to fly it like you stole it! - Навчання та стиль
Many thanks for this in-depth explanation of the available modes on iNav
No problem Dorel 👍🏻
Great tutorial thanks Mr D. Looking forward to those 4.0 improvements, although I haven't even caught up with 3.0 yet
Always meant to ask, what is the big blue machine behind you?
You’re busy moving Andrew, you have an excuse 😉 I hope that’s going well.
The blue machine is a CO2 laser cutter. I need to get a new tube for it, which is why it’s mostly a shelf at the moment 🤣
Great vids! You have made my transition to iNav much smoother! Cheers from Canada.
Glad I could help. Hope you have some awesome flights.
Great video Mr. D, incredibly informative as always!
Thanks mate 👍🏻
Excellent clear and detailed explanations... Just subscribed.
Thank you. I’m glad the video was easy to follow 🙂
You do very good and understandable videos. I just put a Matek 405 WSE in my Aggressor with iNav 4.1 installed. After watching your videos while setting up iNav on the board, I now feel very confident that I will be able to launch and fly the Aggressor with out any drama. I sure am glad that you have covered the iNav 4.1, which has not been out that long.
Thanks James. I’m glad the video helped you. I hope all goes well with the aggressor and you have great flights. I think 4.1 has been out around 4-5 months now. Around mid-June/July expect to see iNav 5.0.
@@MrD I will be watching for your video on iNav 5.0. Unless they make some big changes to iNav I will probably stay on 4.1.
The setup for 5.0 won’t be any different. Also the update process is nice and simple. It’s the same as going from 4.0 to 4.1. So updating takes a couple of minutes tops.
There are some pretty nice features coming. But, regardless of the features, I would highly recommend updating to 5.0. There is a fix for the settings corruption bug. This is the one that includes an error for the gyro_hardware_lpf out of range, which stops people flying. At very least, the upgrade is worth it to fix that.
@@MrD When does the gyro_hardware_lpf out of range error show up? When flying or when trying to Arm? What will this error cause the plane to do, crash?
They usually appear to people when they try to arm. But the errors actually happen when changing settings. They don't happen when flying. If the error shows up, you can't arm unless you force it through. There are three parameters that are known to change. One of them can cause the horizon to drift; which if you don't switch to manual or acro, could result in a crash. But, again, unless the arm is forced through, one of the parameters will block the arming. Here's a video on the issue ua-cam.com/video/QG3HbS9QCX8/v-deo.html
Thank you very much MrD! That was very helpful. Great explanation and examples
You’re welcome Jeroen. I’m glad the video was helpful.
Nice! This helped solidify some of what I know and explained some things I didn't. Cheers.
Thanks Jim. I’m glad it helped 👍🏻
Good vid. Also the new dark blue in the mode menu is nice
Thank you. I hope people find the dark blue helpful in the next iNav.
Love the inav stuff Darren thanks again,keep em coming.
Thanks Mark. There’s always more iNav 🤣
Such a great tutorial, thanks for making this video!
Thanks Jeremy. I’m glad you found it helpful.
Another awesome video. Thanks.
Thanks, I'm glad it was helpful.
Excellent as usual. Learned a lot. Thanks for producing these videos on inav 4.0 and 4.1. You seem to be one of the very few sources of information on how these new versions work.
Thank you. I'm glad the videos help. I need to start on the iNav 5 stuff soon.
Very informative and helpful. And also curious about Nav 4.0.0 😋
Thank you. 4.0 should be released around November.
great vid as usual. thank you!
Thank you :)
Thanks for this video. Just what I need. Perfect!!
Thanks Ard 👍🏻
Well explained vlog sir Daren!! Thank you for this! Newb here!
You're welcome. I'm glad the video was helpful.
Great video. Thankyou
You’re welcome.
„SURFACE“ is a modifier to „NAV ALTHOLD“. This is useful if a LIDAR is used. With „SURFACE“ switched on, the vehicle will follow the terrain. Also the throttle stick represents the absolute altitude between a few cm and „nav_max_terrain_follow_alt“.
Thanks 👍
I've moved SURFACE in to modifiers. However, in the code it currently says "not suitable for fixed wing". I guess when there's a reason for fixed wing to have LiDAR, that'll get sorted though.
Very good!!
Thank you Michel.
Thenks
perfect👍👍
Thanks 👍🏻
iNav can be installed on multirotor - that is why it is there. Though they could remove them based on the model type in the configurator and reduce some of the confusion.
Multi-rotor modes shouldn’t be displayed on fixed wing platforms. Just like the fixed wing only modes aren’t shown for multi-rotors. I think these have just slipped through.
bravo thenks
You're welcome :)
Very informative video. Thanks Daren. Nice preview of INAV 4.0 feature to indicate a feature would be active if was inflight (sky-blue), vs on workbench (dark-blue). Like that "Acro" indictor will be specifically displayed with INAV 4.0. Think it will ease learning curve for many not doing configurations often. (ie: makes visual verification of a setup more obvious)
You know if any plans in INAV development to add (tab?)view to filter Aux Modes by "Flight Modes", "Modifies", "Nav", and "OSD", vs All, or Active? This may help avoid some confusion by adding a bit of context, without major work behind scenes (code-wise).
Thanks buddy.
No, there aren’t any plans for that yet as far as I know. I was thinking of slightly tweaking some of the categories and maybe adding section headers.
Thanks MrD, another informative video, great stuff. I noticed a few weeks ago that you can have multiple ranges in a flight mode and saw that you had it on channel five for your auto level and auto tune in the video. What does having multiple ranges mean? Must both be in that range or just one or the other to activate the mode?
Once again great video, keep up the awesome work!
Thanks Kevin. Yes, on my setup I’m doing some crazy stuff to cut down on channels. So I have 2 independent switches on a single RC channel. For that I need multiple ranges on the channel for each iNav function.
If you have multiple ranges. The mode will work as long as one of its ranges is active.
@@MrD Roger that, out!
@@MrD
Hi MrD,
Hi MrD,
Can you explain in a video how to set the 2 switches to set 6 different modes? Unfortunately I am not able to get the correct settings yet. I would also like to set 2 mode switches.
Greetings from the Netherlands,
Casper
Hi Casper,
Personally, I don't like using 2 switches for 6 flight modes. This leaves an element of ambiguity where you are leaving it up to iNav to decide what to do. I much rather have it so that the switch positions are explicit. So with 2 x 3-way switches, this would have 5 flight modes. Or what I personally do is combine a 3-way switch with the 6-position switch to get 8 flight modes. With that I have RTH - 6-way - Manual on the switch. In the middle position I use the 6-way rotary switch. This means I can always switch in to manual or RTH quickly without thinking.
I have a video on combining switches here ua-cam.com/video/9M9aLVHPL40/v-deo.html
Most informed video I've ever seen on inav modes, for years not knowing any better I just assign ATH mode to a switch with no other mode, I realize now that ATH was actually mixing with acro because no other mode was selected. Just wondering when flying waypoint mission which modes are being used angle I'm assuming and what else just curious. Thanks again Darren great video
Thanks Edwin. Yes, all the navigation modes are based on Angle. That’s why it’s important to get that mode flying nicely.
So with your advice I've been playing with cruise and altitude hold mode on the bench, when altitude hold is setup with angle on same switch there's no pitch control on the stick only left and right aileron control, cruise mode is exactly the same, throttle won't go below cruise speed but with my setup I can increase throttle. I guess there's no way to decrease or increase altitude in either mode if this is true I don't get this mind thought seems like you should be able to change altitude to whatever and these modes would maintain. Reading through the wiki seems that throttle will change altitude but on the bench changing throttle pitch of elevator's not changing. What am I missing here? As always Thanks
My advice. Try it in the air. I’m pretty certain that Cruise will allow you to adjust the altitude gradually. Angle you should be able to change altitude too, and when you let go of the stick it will hold altitude. On the bench doesn’t give you all the answers.
Ok thanks for reply, maybe it needs to be showing ground speed I'm just guessing but I'll go for a fly and that will comfirm.
Hi Darren, Great Channel and Merch.
I maidened my T1 Ranger yesterday running on Inav and all modes including RTH were working ok apart from Poshold.
Switched to poshold and the wing started to spiral down quite steeply.
Am I right in thinking that poshold overrides any other active flight mode?? Regards Tony.
Thanks Tony. Almost. I believe manual and RTH will both override poshold.
Excellent explanation, thank you very much. Would it be correct to say that it is worth starting with the three modes: manual, angle and acro? Why does Acro not switch to light blue like angle does?
If you’re only going to have 3 modes to begin with, then manual, acro, and angle would be ideal. They would allow you to fully tune your plane.
Acro does switch to light blue, when it the switch position would mean it is active. This is only in 4.0 onwards. If there are any modes active that would block acro, it will stay grey.
Hello Mr.D , Thank you for your videos. Always very detailed. please is Inav 4.0 released to the pubic yet? where can i get it ?
You’re welcome. iNav 4.0 should be released around November.
hi.. so the way i fly manual is the same way like flying on acro right? eg: i roll 15 deg to left in manual and bring back my roll to center keeps me rolling to the left 15 degree? and if i i keep holding my left roll a bit, the plane will keep rolling slow (depens of how fast of my rates) to the left?
Yes, acro is like manual with stabilisation. If you let go of the stick, it will stay there. If you keep the stick in a direction, it will continue rotating in that direction.
Idea for a video: has anyone put their wing in the air and shown in real time what changing the pid values does to the craft in flight? I'd like to see that video, especially from someone as knowledgeable as yourself Darren. .
I don’t believe anyone has done this. It may be especially useful with the next version of iNav, as it is looking like P, I, and D tuning will be all manual.
Autotune just isn’t working great at the moment, on some planes more than others. But the default P and I settings are acceptable for most planes. The plan is to have autotune set the rates (a very important step, often missed pre-3.0) and the FF. then manually tune the P, I, and D to your preferred feel. There are things being looked at for a full autotune again, which may be in a couple of phases. But I can’t see it being ready for the next release.
Thanks for the suggestion John 👍🏻
Again Thanks for your nice video... but I am missing something: Are some / or what functions need to stay selected. I dont have to mush switches, so I was thinking to combine a trigger switch with a other one to trigger some things like RTH.... the question is when I return the trigger, stays the mode?
Instead of a trigger. You can use 2 switches to have up to 9 modes. This would be simpler than a trigger. ua-cam.com/video/9M9aLVHPL40/v-deo.html
Thanks, nice idea :)
Do you have a video on getting all modes on one or 2 channels? I have a channel for every switch. I'm using a taranis
Sorry for the late reply. All you need to do is combine switches. I show a couple of different methods in this video. ua-cam.com/video/9M9aLVHPL40/v-deo.html You could also check out the transmitter models on INAVFixedWingGroup.com, as they’re already set up using a single mode channel method.
Thanks for a very informative video (as always). I have some questions I hope you will answer even that I'm not a Patreon (I am a P to Powel).
I'm flying a glider, and I have combined Angle with Heading Hold when motoring in headwind. I wasn't aware of the Course Hold mode, could I combine this mode with Angle, or do this mode only work along with Acro.
Could you please say something about which modes (navigational) that work together with Angle, and, possibly more important, which modes have to work only along with Acro?
When I've done the Auto Level, I haven't found any changes in the AOA. That's why I haven't saved it after disarming. Thanks for the tip 🙂
At last, how do you manage to get two ranges of the tuning modes, and why?
Thanks, I’m glad you found the video helpful.
Firstly, you don’t need to use angle with any of the navigation modes. They all use Angle as an underlying flight mode. So you just need to enable them on their own.
The flight mode modifiers (alt hold, heading hold, and airmode) need to be used with a flight mode. Airmode will work with any stabilised mode, and most of the time fixed wing pilots just have it permanently enabled. Alt hold and heading hold would only be used with Angle. But as I explained, there are better modes to perform the same task now.
Lastly, to add multiple ranges. You just click the add range button. I have a crazy setup where I have 2 independent switches on a single rc channel. This requires the multiple ranges to work.
I can't find the Course Hold mode in the INAV Wiki. What's the procedure for altering the course when this mode is engaged? Using the rudder channel like Cruise mode?
It is basically Cruise from 2.6 renamed. Cruise in 3.0 is the same as 3D Cruise in 2.6.
github.com/iNavFlight/inav/wiki/Navigation-modes#nav-course-hold---fixed-wing-heading-hold
Hi, friend, and thank again for your tutorials, these were great for me as beginner in Inav, just resuming, that NAV_CRUISE mode could keep the speed, altitud and heading that I left on the sticks ? in the moment that I decided ? , my wish is let the FC control absolut the navigation straight , thank you again and waiting for your answer and suggestion
Cruise mode will keep to the same altitude and heading when you let go of the sticks. It uses the cruise throttle, though you can use nav_fw_allow_manual_thr_increase = on (can be set on the advanced tuning page). That allows you to increase the throttle above cruise throttle.
It doesn't keep the attitude. So if you are pitched up to climb, it won't keep that. It will level off and keep the current alitutude.
@@MrD Hi , oh thank you, so I dont need mix it together with that other mode called NAV AltHold ? right ?, because if I understood well, the version 3.0.1 you dont need mix together NAV Cruise plus NAV Althold , thank you buddy !
No, no need to use althold at all.
Course Hold keeps heading
Cruise keeps heading and altitude
@@MrD Thanks !, greetings and happy landings !
Hi Darren. Will it be ok to use navcruise mixed with althold? i´m using inav 5.0 atm. Thanks.
No need. Cruise already has altitude hold.
These days althold is pretty redundant on a fixed wing. The only mode that you could add it to is angle. Anything else it either shouldn’t be used with or already has it.
Hello, I’m having a a very strange problem, right after takeoff the flight is great, my Nav Cruise mode works nicely, after 15min flying manual, when I engage Nave Cruise again it banks right and dives to death, I return ti manual and keep flying!
That started after a crash, I revised everything, the airplane did not break and I flew the same day, and again the day after, but now I have that strange behavior!
Do I need to recalibrate?
You may have damaged something in the crash. It sounds like the horizon is drifting. Do you have the artificial horizon in an OSD? That can be a useful tool to keep tabs on things.
Is it still needed to use horizon mode with cruise mode? I usually used a second horizon mode on the channel I used with my position hold and cruise modes.
No, you never needed to use horizon with either of those modes. Cruise and Position Hold work on their own.
Position Hold used to need Altitude Hold also. But it’s not needed that for quite a few versions now.
When flying in RTH mode, what flight mode does it use? Acro?
All navigation modes are based on Angle.
A question, MrD! What I need to do or to have to see 3D CRZ in the OSD? Maybe a dumb question but assume I am still learning. Thanks for the contents and take care!
Which version of iNav are you talking about Silvio?
@@MrD 4.1
@@SILVIOFRANCO1 3D Cruise was last in iNav 2.6. From 3.0 onwards, you just use Cruise. It does what the old 3D Cruise did. On the OSD you should see CRUZ. The old Cruise mode (non-3D) is now called Course Hold. That shows CRSH on the OSD.
@@MrD Excelente. Now I know what I am doing. Thanks a lot, man.
what is the difference between 'NAV RTH' and the 'Failsafe' modes? They seem to be the same thing
Failsafe is only for testing the failsafe procedure. This can be set up differently to RTH. For example it can land on failsafe or divert to a safehome on failsafe. RTH should be used for normal operations.
Does INAV 3.0 auto save after you tune and land, or do you have to manual save ?
It can depending on what you have set up. But best practice just to save manually.
Can you use auto launch and rth at same time
Not really, especially if you’re meaning both on the same switch position. RTH would block the arming. Once armed, you can enter any mode you want. I would personally recommend loiter over RTH for a couple of reasons. Firstly, it keeps the model in front of you, so you can see it. If it RTH it would be over your head, so not great if you do need to take LOS control, for example the video as failed during the launch sequence. Also, if you use safehomes, the plane will fly to that after launch. Loiter, you know exactly what it should be doing, and it’ll be right there in visual line of sight.
The procedure for autolaunch is:
1. Be in a non-navigation mode
2. Enable launch mode
3. Arm
4. Switch to the post-launch mode (loiter)
5. Raise the throttle
6. Throw the plane
I have my GPS connected but not the compass. Could it be the reason why PositionHold Mode doesn't show up on my configurator? The Nav Althold (that is tested working) is present and others gps related mode like surface mode. I just wonder why PosHold Mode is not there.
Sounds like a quad, as you have surface. In which case, I believe the lack of compass could be the issue. TBH, it’s not my area.
If it’s a fixed wing, you don’t need a compass at all. So Pos Hold should be there.
@@MrD oh Im sorry. I thought you cover quads as well. Thanks
No problem. I would guess the compass is your problem though.
@@MrD yah. My board doesn't have i2C port for the compass. Seems like im gonna have to switch back to betaflight and build a new one specifically for inav.
I want to know all modes for multi rotor can you make it , it will very help full and I wanted go little more detailed 😁
Thank you 🙂
Sorry, I don’t fly multi-rotors. I have no interest in them anymore.
@@MrD 😥😥😭
im not seeing any of the "navigation" modes. any advice would be appreciated
Have you set up the GPS yet? If not, that’s why.
@@MrD so i have a gps setup. But my flight controller doesn't have a barometer or magnetometer.. I'm suspecting that's the problem
@@_ShaDynasty if it’s for fixed wing, you don’t need a magnetometer. In fact, at this point in time it’s better not to have one. The baro will mean some modes aren’t there. But you should still have some nav modes.
@@MrD I have a multi rotor... So I'll get a barometer hooked up and check it again.
@@_ShaDynasty you’ll need a mag for a multirotor.
How do you get so many modes on one channel.
It's pretty simple. You just combine the switches on to a single channel on the transmitter. You can see how here ua-cam.com/video/9M9aLVHPL40/v-deo.html
My setup I have a 3-way switch combined with my 6-way rotary. With the switch in the middle position, the 6-way is used.
I think part of the problem with Inav , there is no quick start. I dont care about the other settings until i know my plane flies.
I want to get it up in the air, then go into the more complex stuff. If someone knows of a place to go, and learn the stuff that I need to get my plane up in the air, i would appreciate any clue.