1a.5 SBee INAV tuning missions

PDF list of all flight modes https://www.rcgroups.com/forums/showatt.php?attachmentid=11240541
https://github.com/iNavFlight/inav/wiki/Modes

24.0605 flight test

this is junkware

anyway...

default 29500, 200, 5

wp1 29600, SLR, 201

wp2 29700, SLR, 202, RTH

save mission file... then

save to eeprom

2024-06-05 @ 10:34:50 -- mission_24.0605_1034am.mission has been saved successfully !

2024-06-05 @ 10:35:43 -- Start send point

2024-06-05 @ 10:35:43 -- Send time: 70ms

2024-06-05 @ 10:35:43 -- End send point

2024-06-05 @ 10:35:43 -- EEPROM saved

2024-06-05 @ 10:35:46 -- Mission active index saved

delete all... home is still theere

load eeprom mission

I deleted safe home.. and all hell broke loose .. THIS IS TOTAL JUNKWARE CRAP

added new safe home

2024-06-05 @ 10:49:18 -- Start send point

2024-06-05 @ 10:49:19 -- Send time: 125ms

2024-06-05 @ 10:49:19 -- End send point

2024-06-05 @ 10:49:19 -- EEPROM saved

2024-06-05 @ 10:49:22 -- Mission active index saved

exit cli (mistake)

#wp
#wp 3 valid
wp 0 1 392902958 -852124870 29600 201 0 1 0
wp 1 1 392906644 -852124913 29700 202 0 1 0
wp 2 4 0 0 0 0 0 0 165
wp 3 0 0 0 0 0 0 0 0

24.0604 flight test

i forgot to move sticks to load mission. but i set it to auto add.

video4

started to move toward wp 1, but gradually went down and hit the ground.

at home load from eeprom and got this crap.. home-x,y=0

messed around with the UI.. seems like total rats nest programming. cant make any sense of it.

later i flew around.. messed up, crashed in wet spot.

got lucky.. seems all still working. motors?

i disconnect usb, no batteryu, reconnect, and wp.. waypoints are there.

24.0604

YOU MUST RUN COMMAND "SAVE" !!!!!!!!!!!!!!!!!!

inav_mission_1b_24.0604.mission

https://github.com/iNavFlight/inav/wiki/iNavFlight-Missions

INAV Position HOLD Tuning

UAV Tech

https://www.youtube.com/watch?v=FEzYaRBpTuI

mr.d iNav Return to Home Explained

https://www.youtube.com/watch?v=J9mv7gNRD9U&t=16s

mr.d 24.0530 test

Setting up and flying Waypoint Missions in INAV

https://www.youtube.com/watch?v=5TFfkJmNmhY Mr.D uses HITL to fly mission .. MAKE SURE RTH WORKS!!

deleted all point then loaded mission from fc

altitude missing... this seems like a buggy crude implementation.. i would only try this with HITL.

INAV xplane HITL only works for plane (not copter)

this is xplane.. copter is connected, all setup.

just saw this

p360

2024

Flying INAV Missions on your Quad

https://www.youtube.com/watch?v=f-VKuvcnVgs&t=100s

@225 must work

GPS
compass

must work

POS HOLD
RTH

@420 MP settings

@715 waypoints, home

@xx (point of interest... ignore for this first test)
@1330 save to file

save to eeprom, delete, then load eeprom mission

2024-06-01 @ 08:02:48 -- Start send point

2024-06-01 @ 08:02:55 -- Send time: 6116ms

2024-06-01 @ 08:02:55 -- End send point

2024-06-01 @ 08:02:55 -- EEPROM saved

delete, load from eeprom

@1355 must have nav wp

7. @1420 arm into horizon, then while hovering switch to nav waypoint

hold right stick to upper right to load mission into FC memory (from eeprom??)

(he said flying in angle mode, then flick to nav wp)

@1615 "and its that easy" ... moron...
@1620 navposhold and rth must be solid.

MINE:

i added 2 switches

i verified GPS outside at home... looks good

also now no ziptie across top of gps unit

Failsafe, killswitch... seems these are junk ??

INAV: Failsafe Tab

https://www.youtube.com/watch?v=jyk3EjRFCl0

MINE:

NAV RTH - return to home mode

https://github.com/iNavFlight/inav/blob/master/docs/Navigation.md

Home for RTH is the position where vehicle was first armed. This position may be offset by the CLI settings nav_rth_home_offset_distance and nav_rth_home_offset_direction. This position may also be overridden with Safehomes. RTH requires accelerometer, compass and GPS sensors.

RTH requires barometer for multirotor, unless unless inav_use_gps_no_baro is enabled.

RTH will maintain altitude during the return. When home is reached, a copter will attempt automated landing. An airplane will either loiter around the home position, or attempt an automated landing, depending on your settings. When deciding what altitude to maintain, RTH has 6 different modes of operation (controlled by nav_rth_alt_mode and nav_rth_altitude cli variables):

0 (NAV_RTH_NO_ALT) - keep current altitude during whole RTH sequence (nav_rth_altitude is ignored)
1 (NAV_RTH_EXTRA_ALT) - climb to current altitude plus extra margin prior to heading home (nav_rth_altitude defines the extra altitude (cm))
2 (NAV_RTH_CONST_ALT) - climb/descend to predefined altitude before heading home (nav_rth_altitude defined altitude above launch point (cm))
3 (NAV_RTH_MAX_ALT) - track maximum altitude of the whole flight, climb to that altitude prior to the return (nav_rth_altitude is ignored)
4 (NAV_RTH_AT_LEAST_ALT) - same as 2 (NAV_RTH_CONST_ALT), but only climb, do not descend
5 (NAV_RTH_AT_LEAST_ALT_LINEAR_DESCENT) - Same as 4 (NAV_RTH_AT_LEAST_ALT). But, if above the RTH Altitude, the aircraft will gradually descend to the RTH Altitude. The target is to reach the RTH Altitude as it arrives at the home point. This is to save energy during the RTH.

CLI command wp to manage waypoints

https://github.com/iNavFlight/inav/blob/master/docs/Navigation.md

wp - List all waypoints.

wp load - Load list of waypoints from EEPROM to FC.

(lots more text)

Entering CLI Mode, type 'exit' to return,
# Building AutoComplete Cache ... Done!
#
# wp
#wp 0 invalid
wp 0 0 0 0 0 0 0 0 0
wp 1 0 0 0 0 0 0 0 0
..............
wp 118 0 0 0 0 0 0 0 0
wp 119 0 0 0 0 0 0 0 0
# wp load # wp
#wp 4 valid
wp 0 1 392902958 -852124870 29600 50 0 1 0
wp 1 4 0 0 0 0 0 0 0
wp 2 1 392906644 -852124913 29600 0 0 1 0
wp 3 4 0 0 0 0 0 0 165
wp 4 0 0 0 0 0 0 0 0
wp 5 0 0 0 0 0 0 0 0
......
wp 119 0 0 0 0 0 0 0 0

after restart i used stick to load waypoints

hold right stick in upper left

Entering CLI Mode, type 'exit' to return, or 'help' # # Building AutoComplete Cache ... Done! # # wp #wp 4 valid wp 0 1 392902958 -852124870 29600 50 0 1 0 wp 1 4 0 0 0 0 0 0 0 wp 2 1 392906644 -852124913 29600 0 0 1 0 wp 3 4 0 0 0 0 0 0 165 wp 4 0 0 0 0 0 0 0 0 ....... wp 119 0 0 0 0 0 0 0 0

restarted... then checked wp's.. none with no stick load

THE EXACT STARTUP SEQUENCE

the great experts will never tell you EXACTLY how to do something. no, that would be too easy. its always fuzzy, unclear a bit. and loading the wp's is no exception. p360 goes to the fields, moves the stick.. and magic! it works. https://youtu.be/f-VKuvcnVgs?t=872 however, when i tried this at home, the wp's were not loading. there is some logic problem here.. you have to do things in a certain order.

here is what i did that works.