Pitch axis inversion on specific FC orientations (Upside down & Backwards) causes Auto Launch failure despite correct Navigation/RTH behavior.

[Mikelatz]

Current Behavior

When the plane is launched in autolaunch mode, it performs a dangerous loop, it doesnt: stop at 25º

Steps to Reproduce

1. Install the FC (Upside down & Backwards) (Negative Pitch)
2. align_board_pitch = -1800
3. Configure Servos RTH and Angle
4. Configure Autolaunch angle to 25
5. Launch the plane

Expected behavior

It is supposed that the plane will turn the nose up untill 25º is reached

Suggested solution(s)

AutoLaunch settings adapted to the value of the board alignment.

Additional context

Both Angle and RTH work flawlessly but autolaunch seems not to recognize the alignment.

SwordfishINAV_9.0.0_cli_20260403_202815.txt

---

• FC Board name and vendor ATOMRC F405 NAVI:

INAV/ATOMRCF405NAVI 9.0.1 Feb 13 2026 / 06:54:50 (d44f2cf)

GCC-13.2.1 20231009

[breadoven]

Don't suppose you have a log do you ? This is unlikely to be related to the FC orientation, possibly to do with the PID loop resetting because it hasn't detected it's flying properly.

[Mikelatz]

I don't have a Blackbox log at the moment, but I can confirm the behavior is consistently tied to the Pitch sign.
​My FC is mounted upside down and backwards (align_board_roll = 1800, align_board_yaw = 1800). In the configurator, when I pitch the nose up 30°, the telemetry shows -30°.
​While ANGLE and RTH modes navigate correctly (indicating the PID loop and stabilization are functional), Auto Launch seems to be the only mode unable to handle this inverted sign. When the launch is triggered, the elevator moves to full deflection in the wrong direction because it's trying to reach a positive nav_fw_launch_climb_angle target that the sensor interprets as 'down'.

[breadoven]

In the configurator, when I pitch the nose up 30°, the telemetry shows -30°.​

This is normal, nose up should be -ve pitch angle in Configurator.

When the launch is triggered, the elevator moves to full deflection in the wrong direction because it's trying to reach a positive nav_fw_launch_climb_angle target that the sensor interprets as 'down'.

It's not clear what's happening here. Above you said it climbs but then continues to pitch up beyond 25 degs until it performs a loop. That would mean the elevator is moving in the right direction on launch but it's not controlling the climb angle correctly. Is this the case ? When you arm and launch is active, but haven't actually launched, how does the elevator move when you pitch the plane up and down ?

[Mikelatz]

It's not clear what's happening here. Above you said it climbs but then continues to pitch up beyond 25 degs until it performs a loop. That would mean the elevator is moving in the right direction on launch but it's not controlling the climb angle correctly. Is this the case ? When you arm and launch is active, but haven't actually launched, how does the elevator move when you pitch the plane up and down ?
The elevator worked as it was supposed to.

I installed the last version 9.0.1 and now it seems that it launches properly. I still dont know what really happened.
Thanks for your quick response.