Default values for different type of aircrafts

oleost edited this page Feb 28, 2017 · 10 revisions

This is outdated, INAV 1.6 is out and is using PRESET. Values here are old.

Values written here must be based on 1.2 or later!

This is not a replacement for tuning your PIDs, this is only a starting point from you to tune from. There are various tutorials on the internet on how to tune your PIDs.

Worth reading regards to deciding to use asynchronous mode. https://quadmeup.com/inav-how-to-setup-asynchronous-gyro/

History: PLEASE WRITE HERE IF YOU CHANGE ANYTHING AND WHY.

05.01.3017 oleøst: Changed some settings in 250 class.
21.11.2016 oleoat: Removed disabling of baro because fixed in iNav 1.4
21.11.2016 oleoat: Changed recommend gyro_lpf on flying wing, should probably be changed on acrobatic airplanes aswell
17.11.2016 oleost: Added disabled baro for fixedwing until [543](https://github.com/iNavFlight/inav/pull/543) is fixed
17.11.2016 oleost: Added values for fixed wing.
03.10.2016 artekw: Added default settings for F450
01.10.2016 oleost: Removed old PIDs based on pre 1.2
10.07.2016 oleost: Added disabling mag on flying wing aswell
24.06.2016 oleost: Created first version of this wiki
24.06.2016 oleost: Changed default to "mag_hardware = 1" on regular regular airplane because airplanes flies better with gps heading instead of mag heading.
24.06.2016 oleost: removed looptime 1000, to low for f1 targets.
2016-11-21 stronnag Added Quad 250 settings for F3/ iNav 1.4
2016-11-21 stronnag Added Tri 600 settings for F3/ iNav 1.4

Change to default iNav settings

Changes you think that should be done to iNav globally:

24.06.2016 oleost: Change default to velned on because it generally looks like a better solution. (use_gps_velned = 1)

Multirotor

150 Size:

PIDs:


Navigation PIDs:


Other Values:


250 Size:

PIDs:

set p_pitch = 55
set i_pitch = 40
set d_pitch = 15
set p_roll = 55
set i_roll = 40
set d_roll = 15
set p_yaw = 90
set i_yaw = 45
set d_yaw = 20
set p_level = 20
set i_level = 15
set d_level = 75

Navigation PIDs:


Other Values:

set gyro_lpf = 256hz
set tpa_rate = 10
set tpa_breakpoint = 1650

Also reduce looptime if your FC is capable of it.
set looptime = 1000
set gyro_sync = on
set gyro_sync_denom = 8

450 Size:

Weight: ~1200g (with battery)
Props: 10x4.5
Battery: 3s 5200mAh

PIDs:

set p_pitch = 90
set i_pitch = 34
set d_pitch = 54
set p_roll = 90
set i_roll = 34
set d_roll = 54
set p_yaw = 70
set i_yaw = 20
set d_yaw = 0
set p_level = 22
set i_level = 15
set d_level = 75

Navigation PIDs:

set nav_alt_p = 50
set nav_alt_i = 0
set nav_alt_d = 0
set nav_vel_p = 100
set nav_vel_i = 50
set nav_vel_d = 10
set nav_pos_p = 65
set nav_pos_i = 120
set nav_pos_d = 10
set nav_posr_p = 180
set nav_posr_i = 15
set nav_posr_d = 100
set nav_navr_p = 10
set nav_navr_i = 5
set nav_navr_d = 8

Other Values:

set imu_dcm_ki = 0
set gyro_sync = ON
set gyro_sync_denom = 2
set gyro_lpf = 42HZ

600 Tricopter:

Home design 600mm tricopter. Same amateur pilot who only ever flies in horizon /LOS.

3S, 4200mAh (Graphene), 10x5 HQ Thin Electic props, 1000kv. c. 900grams all up.
iNav 1.4 for the rockin' async_gyro. 
Gets about 18 minutes gentle / nav modes, maybe 16 mins for aggressive manual flying.

F3 (SPEVO). Enjoys the relatively high PIDs.

PIDs:

set p_pitch = 110
set i_pitch = 20
set d_pitch = 52
set p_roll = 110
set i_roll = 20
set d_roll = 52
set p_yaw = 75
set i_yaw = 20
set d_yaw = 0
set p_level = 20
set i_level = 20
set d_level = 75

Navigation PIDs:

set nav_alt_p = 50
set nav_alt_i = 0
set nav_alt_d = 0
set nav_vel_p = 100
set nav_vel_i = 50
set nav_vel_d = 10
set nav_pos_p = 65
set nav_pos_i = 120
set nav_pos_d = 0
set nav_posr_p = 180
set nav_posr_i = 15
set nav_posr_d = 100
set nav_navr_p = 10
set nav_navr_i = 5
set nav_navr_d = 8

Other Values:

smix reverse 5 2 r # for the tail servo :)
set looptime = 1000
set gyro_sync = ON
set gyro_sync_denom = 8
set async_mode = GYRO
set gyro_lpf = 256HZ
set motor_pwm_rate = 2000
set motor_pwm_protocol = ONESHOT125
set servo_pwm_rate = 160

set gps_provider = UBLOX
set gps_sbas_mode = EGNOS
set gps_dyn_model = AIR_1G

set rc_expo = 70
set rc_yaw_expo = 20
set thr_mid = 50
set thr_expo = 0
set roll_rate = 55
set pitch_rate = 48
set yaw_rate = 20
set tpa_rate = 20
set tpa_breakpoint = 1650

600 Size:

PIDs:


Navigation PIDs:


Other Values:


Fixedwing

Regular plane

PIDs:


Navigation PIDs:

set nav_alt_p = 50
set nav_alt_i = 0
set nav_alt_d = 0
set nav_vel_p = 100
set nav_vel_i = 50
set nav_vel_d = 10
set nav_pos_p = 65
set nav_pos_i = 120
set nav_pos_d = 10
set nav_posr_p = 180
set nav_posr_i = 150
set nav_posr_d = 100
set nav_navr_p = 200
set nav_navr_i = 10
set nav_navr_d = 0

Other Values:

set mag_hardware = 1
set auto_disarm_delay = 0
set small_angle= 70

Flying wing

PIDs:

set p_pitch = 20
set i_pitch = 30
set d_pitch = 15
set p_roll = 25
set i_roll = 30
set d_roll = 15
set p_yaw = 0
set i_yaw = 0
set d_yaw = 0
set p_level = 20
set i_level = 5
set d_level = 75

Navigation PIDs:


Other Values:

set mag_hardware = none
set gyro_sync = ON
set gyro_sync_denom = 1
set gyro_lpf = 98HZ
set gyro_soft_lpf_hz = 40
set acc_soft_lpf_hz = 15
set dterm_lpf_hz = 30
set nav_fw_launch_accel = 1500
set nav_fw_launch_detect_time = 40
set nav_fw_launch_thr = 1600
set nav_fw_launch_motor_delay = 150
set naw_fw_launch_timeout = 5000
set naw_fw_launch_climb_angle = 13
set max_angle_inclination_rll = 600
set max_angle_inclination_pit = 450

set rc_expo = 40
set tpa_rate = 33
set tpa_breakpoint = 1300

set auto_disarm_delay = 0
set small_angle= 70
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