INAV is a great firmware if you're dipping your toes into more autonomous flight. INAV is a firmware that can be flashed on a multitude of hardware. Most Betaflight hardware is also supported by INAV. The switch from Betaflight can be daunting, as even though the layout of the configurator is similar, setting up an aircraft is more complicated than Betaflight. In this post, I’ll go over how to flash, setup and test your aircraft with INAV.
What is INAV for?
INAV is a firmware that covers copters as well as planes, which explains the different layout and tabs you have access to. INAV is available on F4, F7, AT32 and H7 based flight controllers. Inav also offers navigation modes like Position Hold, Cruise, Waypoint Mission and Return to Home. INAV also offers an easy to use mixer tab, which makes additional servos and devices a breeze to setup. All of this makes INAV a more advanced firmware than Betaflight as it caters to FPV as well as more automated flight utilizations for copters and planes.
Configurator
The INAV configurator is available on GitHub with the following link : Configurator
The configurator is installed the same way as Betaflight, you can download an installer or a portable version. At first, if you are used to betaflight, the configurator will look very similar to betaflight, and that’s because it is based on the same foundation. Once installed, all of your changes have to be made through INAV. A little bonus is that INAV is supported by the SpeedyBee app, you can make changes on the fly with your phone if need be!
Flashing
Flashing INAV is very similar to Betalight. You’ll need to first put your flight controller in DFU mode (bootloader mode) and head to the Firmware Flasher tab. You’ll need to find your target, the version that works for your flight controller. You’ll also need to select the Full Chip Erase toggle to wipe the board. Press Load Online and Flash the firmware.
If this doesn’t work but you could flash betaflight before, you can download the target hex file from the INAV GitHub and use betaflight to flash that firmware. You just pick Load Firmware (local) and flash. You can then go back to the INAV configurator and use as intended.
Configuration
Once your flight controller is flashed, you’ll see what looks like Betaflight but blue. You’ll be prompted to choose a mixer setting based on your aircraft type. This will set up the basic servo, motor outputs and motor locations you’ll need to set up your aircraft.
You’ll need to start over in the Calibration tab, you’ll need to calibrate your accelerometer and compass before starting the rest of the setup. Follow the instructions on the screen. Then go to the Setup tab to verify your flight controller orientation. This will help you also calibrate your compass if you are using one, just verify the heading value at the top and aim it north, it should show around 0 deg.
If those values aren’t right, you’ll be able to go to the Alignment tool tab and modify the values of the flight controller and compass until the movements in the setup tab match.
Once the alignment and calibration is done, you’ll be able to head to the Mixer tab and double check that all the right outputs are selected and mapped correctly. You can then head to the output tab and verify your motor orientation and location. You’ll need to use an esc configurator to reverse the motor orientation if necessary.Â
You can then set up your ports as you usually would on betaflight, with the only difference being for HD FPV systems. You need to only enable the peripheral, unlike Betaflight where you also have to enable MSP on that port. You can then head to the configuration tab, the receiver tab and the OSD tab to finish the basic setup of your aircraft.
Testing
When testing your drone for the first time after an INAV setup, you’ll need to check a few things before arming.Â
First, check that with the battery installed and plugged in, the compass indicates the right heading. This will ensure that the navigation modes will function properly.
Second, Arm without the props on and check the motor orientation. Make sure it matches the diagram in the output tab.
Last, arm and raise the throttle a little and check if the aircraft moves or reacts the right way.
Once these are done, you’ll be ready for a test flight.
Conclusion
INAV offers a powerful and flexible platform for pilots seeking more advanced flight capabilities. While the initial setup may seem more complex than Betaflight, the process is well-documented and achievable with careful attention to calibration and configuration. By following the steps outlined in this guide, you can confidently flash, configure, and test your aircraft with INAV, unlocking a world of possibilities for autonomous flight and navigation.
Remember, the key to a successful INAV setup is thorough calibration and verification of your flight controller, motors, and sensors. With a little patience and attention to detail, you'll be soaring through the skies with the advanced features of INAV in no time!