Betaflight Rescue vs INAV Return to Home

In this video I tried to do a comparison of Betaflight Rescue vs INAV Return to Home functionality.
I used the exact same quad for both tests.
Quad : Flywoo Explorer LR with FLYWOOF745NANO flight controller
INAV version : INAV 7.1.1
Betaflight version : BF 4.5.0 RC 4
GPS version : Flywoo GoKu GM10 Mini V3/Compass GPS
Note : Even though the GPS is supposed to also have a compass, I could not get it to work in both INAV and Betaflight. (Maybe a wiring issue on my side). So these tests was done with Magnetometer turned off.
Here is the "diff" that I used in Inav on the Flywoo:
version
INAV/FLYWOOF745NANO 7.1.1 Apr 30 2024 / 20:50:21 (523c4839)
GCC-10.3.1 20210824 (release)
resources
Timer overrides
Outputs [servo]
safehome
Fixed Wing Approach
features
feature GPS
feature PWM_OUTPUT_ENABLE
beeper
blackbox
blackbox -NAV_ACC
blackbox NAV_POS
blackbox NAV_PID
blackbox MAG
blackbox ACC
blackbox ATTI
blackbox RC_DATA
blackbox RC_COMMAND
blackbox MOTORS
blackbox -GYRO_RAW
blackbox -PEAKS_R
blackbox -PEAKS_P
blackbox -PEAKS_Y
Receiver: Channel map
Ports
serial 2 2 115200 115200 0 115200
serial 4 1 115200 115200 0 115200
LEDs
LED color
LED mode_color
Modes [aux]
aux 0 0 0 1775 2100
aux 1 1 1 900 1200
aux 2 2 1 1300 1700
aux 3 11 2 1300 1700
aux 4 11 4 1800 2100
aux 5 10 3 1775 2100
aux 6 52 2 1800 2100
aux 7 13 4 1850 2100
Adjustments [adjrange]
Receiver rxrange
temp_sensor
Mission Control Waypoints [wp]
#wp 0 invalid
OSD [osd_layout]
osd_layout 0 0 20 1 H
osd_layout 0 1 1 1 V
osd_layout 0 7 20 14 V
osd_layout 0 8 12 14 V
osd_layout 0 9 24 12 V
osd_layout 0 14 24 1 V
osd_layout 0 15 7 12 V
osd_layout 0 20 16 10 H
osd_layout 0 21 4 8 H
osd_layout 0 22 15 12 V
osd_layout 0 23 18 12 V
osd_layout 0 24 1 12 V
osd_layout 0 28 23 11 H
osd_layout 0 30 2 13 V
osd_layout 0 32 10 1 V
osd_layout 0 33 1 11 H
osd_layout 0 109 17 1 V
osd_layout 1 32 13 7 V
Programming: logic
Programming: global variables
Programming: PID controllers
OSD: custom elements
master
set looptime = 500
set gyro_main_lpf_hz = 110
set gyro_main_lpf_type = PT1
set gyro_use_dyn_lpf = ON
set gyro_dyn_lpf_min_hz = 85
set gyro_dyn_lpf_max_hz = 300
set gyro_dyn_lpf_curve_expo = 3
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 100
set setpoint_kalman_q = 200
set gyro_zero_x = 2
set gyro_zero_y = 8
set gyro_zero_z = 6
set ins_gravity_cmss = 1005.722
set acc_hardware = MPU6000
set acczero_x = 3
set acczero_y = 33
set acczero_z = 365
set accgain_x = 4107
set accgain_y = 4078
set accgain_z = 4053
set align_mag = CW270FLIP
set mag_hardware = NONE
set baro_hardware = BMP280
set serialrx_provider = CRSF
set blackbox_rate_denom = 2
set motor_pwm_protocol = DSHOT600
set failsafe_procedure = RTH
set applied_defaults = 2
set airmode_type = THROTTLE_THRESHOLD
set nav_min_rth_distance = 1000
set nav_rth_altitude = 1500
set nav_rth_home_altitude = 1000
set nav_rth_linear_descent_start_distance = 30
set nav_rth_use_linear_descent = ON
set safehome_max_distance = 3000
set osd_video_system = PAL
set osd_rssi_dbm_alarm = -100
set name = FLYWOO
set pilot_name = WERNER
mixer_profile
mixer_profile 1
set model_preview_type = 3
Mixer: motor mixer
mmix reset
mmix 0 1.000 -1.000 1.000 -1.000
mmix 1 1.000 -1.000 -1.000 1.000
mmix 2 1.000 1.000 1.000 1.000
mmix 3 1.000 1.000 -1.000 -1.000
Mixer: servo mixer
profile
profile 1
set mc_i_pitch = 90
set mc_d_pitch = 27
set mc_p_roll = 36
set mc_i_roll = 80
set mc_d_roll = 25
set mc_p_yaw = 35
set mc_i_yaw = 80
set dterm_lpf_type = PT3
set d_boost_min = 1.000
set d_boost_max = 1.000
set antigravity_gain = 2.000
set antigravity_accelerator = 5.000
set smith_predictor_delay = 1.500
set tpa_rate = 20
set tpa_breakpoint = 1200
set rc_expo = 75
set rc_yaw_expo = 75
set roll_rate = 70
set pitch_rate = 70
set yaw_rate = 60
battery_profile
battery_profile 1
set nav_mc_hover_thr = 1420
save configuration
save
end the command batch
batch end

[@deonstols6895]

Nice info!! Thanks

[@Sugar_K]

Bf is a rescue system not return to home very different ideas behind them.. it’s not ment to actually land your for you that’s just a bonus.

[@wtb567]

And I was super impressed how well it works... in both Betaflight and INAV. I tried many more times than shown in the video. And each time it was a perfect rescue. Could not ask for better.

[@Nickc582]

Definitely smother then a week ago and iNav definitely looks so much smoother

[@wtb567]

Yeah, its perfectly fine now. And on my Nazgul5 quad it works even better. But I think I will put this quad back on INAV... only because I wanted at least one quad running INAV and to be able to play with the additional features that it offers.

[@x8n1720]

Adjust the descent rate to 1m/s and the landing is much smoother.
BF GPS Rescue works good enough to save my ass multiple times in situations when I lost video. Inav RTH to.

[@senseisecurityschool9337]

Is this standard INAV navigation, or failed/missing compass mode?

[@wtb567]

Not sure I understand. I first tried with Inav and then with BF. There was no compass in either. It worked well in both.... may a tiny bit better in INAV than BF, but not a big difference.

[@senseisecurityschool9337]

@@wtb567 Okay, thanks! That's something viewers might want to keep in mind. Making do with a missing or broken compass is a new feature in INAV.
To really see what INAV can do, it might be interesting to ALSO compare using INAV as it was designed to be used - with a compass. In many cases it can manage without, but for the BEST performance, it might be worth checking that out.