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iNavFlight / inav

INAV: Navigation-enabled flight control software
https://inavflight.github.io
GNU General Public License v3.0
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[GPS/POSHOLD] Problem with poshold, rth, slow drift in a random direction #3391

Closed ValCx closed 5 years ago

ValCx commented 6 years ago

Hi everyone,

My quad was working very well with inav 1.7.2 : rth, poshold, waypoint. During winter I let him away due to bad weather.

Since I get it back I have some problem with Gps Mode : Poshold and RTH, when I activate poshold, nothing append, the quad drift away. For RTH mode, the quad turn to the home and go in a wrong direction. If I adjust to go to the home, the quad detect home and land.

I tried to re-calibrate compass, accelerometer. I tried with older 1.7.2 version. I tried with internal compass. I tried with another GPS. I tried to re-align compass. Nothing affects, I already have the problem.

I attach a logfile and a dump of my configuration. The logfile show a straight flight, some poshold and rth mode. If someone has an Idea he is welcome!

Thanks

Valentin

Board and Version

Openpilote Revolution FW 1.9.1 Gps/compass neo-m8n and pam-7q for test

DUMP

blackbox_log_2018-06-18_203107.TXT

Entering CLI Mode, type 'exit' to return, or 'help'

# dump

# version
# INAV/REVO 1.7.3 Sep  9 2017 / 10:40:06 (974440df)

# resources

# mixer
mixer QUADX

mmix reset

# servo
servo 0 1000 2000 1500 100 -1 
servo 1 1000 2000 1500 100 -1 
servo 2 1000 2000 1500 100 -1 
servo 3 1000 2000 1500 100 -1 
servo 4 1000 2000 1500 100 -1 
servo 5 1000 2000 1500 100 -1 
servo 6 1000 2000 1500 100 -1 
servo 7 1000 2000 1500 100 -1 

# servo mix
smix reset

# feature
feature -RX_PPM
feature -VBAT
feature -RX_SERIAL
feature -MOTOR_STOP
feature -SERVO_TILT
feature -SOFTSERIAL
feature -GPS
feature -TELEMETRY
feature -CURRENT_METER
feature -3D
feature -RX_PARALLEL_PWM
feature -RX_MSP
feature -RSSI_ADC
feature -LED_STRIP
feature -DASHBOARD
feature -BLACKBOX
feature -CHANNEL_FORWARDING
feature -TRANSPONDER
feature -AIRMODE
feature -SUPEREXPO
feature -VTX
feature -RX_SPI
feature -SOFTSPI
feature -PWM_SERVO_DRIVER
feature -PWM_OUTPUT_ENABLE
feature -OSD
feature RX_PPM
feature VBAT
feature GPS
feature PWM_OUTPUT_ENABLE

# beeper
beeper RUNTIME_CALIBRATION
beeper HW_FAILURE
beeper RX_LOST
beeper RX_LOST_LANDING
beeper DISARMING
beeper ARMING
beeper ARMING_GPS_FIX
beeper BAT_CRIT_LOW
beeper BAT_LOW
beeper GPS_STATUS
beeper RX_SET
beeper ACTION_SUCCESS
beeper ACTION_FAIL
beeper READY_BEEP
beeper MULTI_BEEPS
beeper DISARM_REPEAT
beeper ARMED
beeper SYSTEM_INIT
beeper ON_USB
beeper LAUNCH_MODE

# map
map AETR1234

# name
name -

# serial
serial 20 1 115200 38400 0 115200
serial 0 2 115200 38400 0 115200
serial 2 0 115200 38400 0 115200
serial 5 1 115200 38400 0 115200

# led
led 0 0,0::C:0
led 1 0,0::C:0
led 2 0,0::C:0
led 3 0,0::C:0
led 4 0,0::C:0
led 5 0,0::C:0
led 6 0,0::C:0
led 7 0,0::C:0
led 8 0,0::C:0
led 9 0,0::C:0
led 10 0,0::C:0
led 11 0,0::C:0
led 12 0,0::C:0
led 13 0,0::C:0
led 14 0,0::C:0
led 15 0,0::C:0
led 16 0,0::C:0
led 17 0,0::C:0
led 18 0,0::C:0
led 19 0,0::C:0
led 20 0,0::C:0
led 21 0,0::C:0
led 22 0,0::C:0
led 23 0,0::C:0
led 24 0,0::C:0
led 25 0,0::C:0
led 26 0,0::C:0
led 27 0,0::C:0
led 28 0,0::C:0
led 29 0,0::C:0
led 30 0,0::C:0
led 31 0,0::C:0

# color
color 0 0,0,0
color 1 0,255,255
color 2 0,0,255
color 3 30,0,255
color 4 60,0,255
color 5 90,0,255
color 6 120,0,255
color 7 150,0,255
color 8 180,0,255
color 9 210,0,255
color 10 240,0,255
color 11 270,0,255
color 12 300,0,255
color 13 330,0,255
color 14 0,0,0
color 15 0,0,0

# mode_color
mode_color 0 0 1
mode_color 0 1 11
mode_color 0 2 2
mode_color 0 3 13
mode_color 0 4 10
mode_color 0 5 3
mode_color 1 0 5
mode_color 1 1 11
mode_color 1 2 3
mode_color 1 3 13
mode_color 1 4 10
mode_color 1 5 3
mode_color 2 0 10
mode_color 2 1 11
mode_color 2 2 4
mode_color 2 3 13
mode_color 2 4 10
mode_color 2 5 3
mode_color 3 0 8
mode_color 3 1 11
mode_color 3 2 4
mode_color 3 3 13
mode_color 3 4 10
mode_color 3 5 3
mode_color 4 0 7
mode_color 4 1 11
mode_color 4 2 3
mode_color 4 3 13
mode_color 4 4 10
mode_color 4 5 3
mode_color 5 0 9
mode_color 5 1 11
mode_color 5 2 2
mode_color 5 3 13
mode_color 5 4 10
mode_color 5 5 3
mode_color 6 0 6
mode_color 6 1 10
mode_color 6 2 1
mode_color 6 3 0
mode_color 6 4 0
mode_color 6 5 2
mode_color 6 6 3
mode_color 6 7 6
mode_color 6 8 0
mode_color 6 9 0
mode_color 6 10 0

# aux
aux 0 1 3 900 1750
aux 1 2 3 1875 2100
aux 2 3 3 1125 1675
aux 3 9 3 1375 1675
aux 4 8 2 1500 2100
aux 5 19 2 1225 1400
aux 6 21 0 1300 1700
aux 7 22 0 900 2100
aux 8 18 0 1950 2100
aux 9 0 0 900 900
aux 10 0 0 900 900
aux 11 0 0 900 900
aux 12 0 0 900 900
aux 13 0 0 900 900
aux 14 0 0 900 900
aux 15 0 0 900 900
aux 16 0 0 900 900
aux 17 0 0 900 900
aux 18 0 0 900 900
aux 19 0 0 900 900

# adjrange
adjrange 0 0 0 900 900 0 0
adjrange 1 0 0 900 900 0 0
adjrange 2 0 0 900 900 0 0
adjrange 3 0 0 900 900 0 0
adjrange 4 0 0 900 900 0 0
adjrange 5 0 0 900 900 0 0
adjrange 6 0 0 900 900 0 0
adjrange 7 0 0 900 900 0 0
adjrange 8 0 0 900 900 0 0
adjrange 9 0 0 900 900 0 0
adjrange 10 0 0 900 900 0 0
adjrange 11 0 0 900 900 0 0

# rxrange
rxrange 0 1000 2000
rxrange 1 1000 2000
rxrange 2 1000 2000
rxrange 3 1000 2000

# master
set looptime = 2000
set gyro_sync = OFF
set gyro_sync_denom = 2
set align_gyro = DEFAULT
set gyro_hardware_lpf = 42HZ
set gyro_lpf_hz = 60
set moron_threshold = 32
set gyro_notch1_hz = 0
set gyro_notch1_cutoff = 1
set gyro_notch2_hz = 0
set gyro_notch2_cutoff = 1
set vbat_adc_channel = 2
set rssi_adc_channel = 3
set current_adc_channel = 1
set airspeed_adc_channel = 0
set acc_notch_hz = 0
set acc_notch_cutoff = 1
set align_acc = DEFAULT
set acc_hardware = MPU6000
set acc_lpf_hz = 15
set acczero_x = 84
set acczero_y = 8
set acczero_z = -515
set accgain_x = 4109
set accgain_y = 4064
set accgain_z = 4010
set rangefinder_hardware = NONE
set align_mag = CW270FLIP
set mag_hardware = HMC5883
set mag_declination = 120
set magzero_x = 56
set magzero_y = 39
set magzero_z = 62
set mag_calibration_time = 30
set baro_hardware = MS5611
set baro_use_median_filter = ON
set pitot_hardware = NONE
set pitot_use_median_filter = ON
set pitot_noise_lpf =  0.600
set pitot_scale =  1.000
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set rssi_channel = 0
set rssi_scale = 30
set rssi_invert = OFF
set rc_smoothing = ON
set serialrx_provider = SPEK1024
set sbus_inversion = ON
set rx_spi_rf_channel_count = 0
set spektrum_sat_bind = 0
set rx_min_usec = 885
set rx_max_usec = 2115
set serialrx_halfduplex = OFF
set blackbox_rate_num = 1
set blackbox_rate_denom = 2
set blackbox_device = SPIFLASH
set min_throttle = 1050
set max_throttle = 1850
set min_command = 1000
set motor_pwm_rate = 1000
set motor_pwm_protocol = ONESHOT125
set failsafe_delay = 5
set failsafe_recovery_delay = 5
set failsafe_off_delay = 200
set failsafe_throttle = 1000
set failsafe_throttle_low_delay = 100
set failsafe_procedure = RTH
set failsafe_stick_threshold = 50
set failsafe_fw_roll_angle = -200
set failsafe_fw_pitch_angle = 100
set failsafe_fw_yaw_rate = -45
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 0
set gimbal_mode = NORMAL
set battery_capacity = 0
set vbat_scale = 110
set vbat_max_cell_voltage = 43
set vbat_min_cell_voltage = 33
set vbat_warning_cell_voltage = 35
set current_meter_scale = 400
set current_meter_offset = 0
set multiwii_current_meter_output = OFF
set current_meter_type = ADC
set yaw_motor_direction = -1
set yaw_jump_prevention_limit = 200
set 3d_deadband_low = 1406
set 3d_deadband_high = 1514
set 3d_neutral = 1460
set servo_center_pulse = 1500
set servo_pwm_rate = 50
set servo_lpf_hz = 20
set flaperon_throw_offset = 200
set tri_unarmed_servo = ON
set reboot_character = 82
set imu_dcm_kp = 2500
set imu_dcm_ki = 50
set imu_dcm_kp_mag = 10000
set imu_dcm_ki_mag = 0
set small_angle = 25
set fixed_wing_auto_arm = OFF
set disarm_kill_switch = OFF
set auto_disarm_delay = 5
set gps_provider = UBLOX7
set gps_sbas_mode = AUTO
set gps_dyn_model = AIR_1G
set gps_auto_config = ON
set gps_auto_baud = ON
set gps_min_sats = 1
set deadband = 5
set yaw_deadband = 5
set pos_hold_deadband = 20
set alt_hold_deadband = 50
set 3d_deadband_throttle = 50
set fw_autotune_overshoot_time = 100
set fw_autotune_undershoot_time = 200
set fw_autotune_threshold = 50
set fw_autotune_ff_to_p_gain = 10
set fw_autotune_ff_to_i_tc = 600
set inav_auto_mag_decl = ON
set inav_gravity_cal_tolerance = 5
set inav_use_gps_velned = ON
set inav_gps_delay = 200
set inav_reset_altitude = FIRST_ARM
set inav_max_surface_altitude = 200
set inav_w_z_surface_p =  3.500
set inav_w_z_surface_v =  6.100
set inav_w_z_baro_p =  0.350
set inav_w_z_gps_p =  0.200
set inav_w_z_gps_v =  0.500
set inav_w_xy_gps_p =  1.000
set inav_w_xy_gps_v =  2.000
set inav_w_z_res_v =  0.500
set inav_w_xy_res_v =  0.500
set inav_w_acc_bias =  0.010
set inav_max_eph_epv =  1000.000
set inav_baro_epv =  100.000
set nav_disarm_on_landing = OFF
set nav_use_midthr_for_althold = OFF
set nav_extra_arming_safety = ON
set nav_user_control_mode = ATTI
set nav_position_timeout = 5
set nav_wp_radius = 100
set nav_wp_safe_distance = 10000
set nav_auto_speed = 1000
set nav_auto_climb_rate = 700
set nav_manual_speed = 1000
set nav_manual_climb_rate = 1000
set nav_landing_speed = 275
set nav_land_slowdown_minalt = 500
set nav_land_slowdown_maxalt = 2000
set nav_emerg_landing_speed = 500
set nav_min_rth_distance = 500
set nav_rth_climb_first = ON
set nav_rth_climb_ignore_emerg = OFF
set nav_rth_tail_first = OFF
set nav_rth_allow_landing = ON
set nav_rth_alt_mode = MAX
set nav_rth_abort_threshold = 50000
set nav_rth_altitude = 1000
set nav_mc_bank_angle = 45
set nav_mc_hover_thr = 1500
set nav_mc_auto_disarm_delay = 2000
set nav_fw_cruise_thr = 1400
set nav_fw_min_thr = 1200
set nav_fw_max_thr = 1700
set nav_fw_bank_angle = 20
set nav_fw_climb_angle = 20
set nav_fw_dive_angle = 15
set nav_fw_pitch2thr = 10
set nav_fw_loiter_radius = 5000
set nav_fw_land_dive_angle = 2
set nav_fw_launch_velocity = 1863
set nav_fw_launch_accel = 1863
set nav_fw_launch_max_angle = 45
set nav_fw_launch_detect_time = 1000
set nav_fw_launch_thr = 1700
set nav_fw_launch_idle_thr = 1700
set nav_fw_launch_motor_delay = 100
set nav_fw_launch_spinup_time = 100
set nav_fw_launch_timeout = 11538
set nav_fw_launch_climb_angle = 18
set telemetry_switch = OFF
set telemetry_inversion = OFF
set frsky_default_latitude =  0.000
set frsky_default_longitude =  0.000
set frsky_coordinates_format = 0
set frsky_unit = METRIC
set frsky_vfas_precision = 0
set frsky_vfas_cell_voltage = OFF
set hott_alarm_sound_interval = 5
set smartport_uart_unidir = OFF
set smartport_fuel_percent = OFF
set ibus_telemetry_type = 0
set ltm_update_rate = NORMAL
set ledstrip_visual_beeper = OFF
set i2c_speed = 400KHZ
set debug_mode = NONE
set acc_task_frequency = 500
set attitude_task_frequency = 250
set async_mode = NONE
set throttle_tilt_comp_str = 0
set input_filtering_mode = OFF
set mode_range_logic_operator = OR
set stats = OFF
set stats_total_time = 0
set stats_total_dist = 0

# profile
profile 1

set mc_p_pitch = 40
set mc_i_pitch = 30
set mc_d_pitch = 23
set mc_p_roll = 40
set mc_i_roll = 30
set mc_d_roll = 23
set mc_p_yaw = 85
set mc_i_yaw = 45
set mc_d_yaw = 0
set mc_p_level = 20
set mc_i_level = 15
set mc_d_level = 75
set fw_p_pitch = 5
set fw_i_pitch = 7
set fw_ff_pitch = 50
set fw_p_roll = 5
set fw_i_roll = 7
set fw_ff_roll = 50
set fw_p_yaw = 6
set fw_i_yaw = 10
set fw_ff_yaw = 60
set fw_p_level = 20
set fw_i_level = 5
set fw_d_level = 75
set max_angle_inclination_rll = 300
set max_angle_inclination_pit = 300
set dterm_lpf_hz = 40
set yaw_lpf_hz = 30
set dterm_setpoint_weight =  0.000
set fw_iterm_throw_limit = 165
set fw_reference_airspeed =  1000.000
set fw_turn_assist_yaw_gain =  1.000
set dterm_notch_hz = 0
set dterm_notch_cutoff = 1
set pidsum_limit = 500
set yaw_p_limit = 300
set iterm_ignore_threshold = 200
set yaw_iterm_ignore_threshold = 50
set rate_accel_limit_roll_pitch = 0
set rate_accel_limit_yaw = 10000
set heading_hold_rate_limit = 90
set nav_mc_pos_z_p = 50
set nav_mc_pos_z_i = 0
set nav_mc_pos_z_d = 0
set nav_mc_vel_z_p = 100
set nav_mc_vel_z_i = 50
set nav_mc_vel_z_d = 10
set nav_mc_pos_xy_p = 65
set nav_mc_pos_xy_i = 120
set nav_mc_pos_xy_d = 10
set nav_mc_vel_xy_p = 180
set nav_mc_vel_xy_i = 15
set nav_mc_vel_xy_d = 100
set nav_fw_pos_z_p = 50
set nav_fw_pos_z_i = 0
set nav_fw_pos_z_d = 0
set nav_fw_pos_xy_p = 75
set nav_fw_pos_xy_i = 5
set nav_fw_pos_xy_d = 8
set rc_expo = 70
set rc_yaw_expo = 20
set thr_mid = 50
set thr_expo = 0
set roll_rate = 20
set pitch_rate = 20
set yaw_rate = 20
set tpa_rate = 0
set tpa_breakpoint = 1500

#
Risineo commented 6 years ago

Sounds like you did not have ANGLE or HORIZON mode turned on when switching to RTH or POSHOLD. Both RTH and POSHOLD require you to also have ANGLE or HORIZON active at the same time.

Mick51 commented 6 years ago

I have exactly the same problem, whether with Angle activate or horizon, there is a bug in Inav 1.9.1

stronnag commented 6 years ago

@ValCx you have a pre-1.9 setting fornav_mc_vel_xy_p; the release note explains that the scaling has changed. A value in the range 35-40 should be more appropriate. Please see the release note and retest with a proper value.

Note: If you are restoring settings between versions, it is advisable to read the release notes, and remove any modified variables, so the defaults will be restored.

Please let us know if this resolves your issue. ~If you still have a problem, a blackbox log will be necessary for further analysis.~ noted there is a log.

stronnag commented 6 years ago

Additionally, please also confirm that the baro is well covered with open cell foam in order to protect it from sunlight and wind. The baro is behaving somewhat erratically; you may also want it reset on each arm rather than first arm.

The GPS bahaviour is marginal for navigation modes, it may be that you have other emitters (VTX for example) causing intererence that degrades GPS performance; for a M8N one would expect at least 12 satellites. HDOP > 2 I would consider marginal and would not fly under those conditions.

These, together with the obsolete nav_mc_vel_xy_p setting may explain the behaviour.

The machine is not flying away on RTH, it is attempting to gain altitude prior to turning for home. The combination of poor baro performance, marginal GPS and inappropriate nav_mc_vel_xy_p may contribute to the long time (5+seconds) in this phase.

The wandering route home is typical of inappropriate vel_xy_p and marginal GPS behaviour. It is noticeable how the craft flys directly in the home direction once the HDOP drops below 2.

Summary. Fix your settings, sort out your sensors. Some basic tuning is required.

zipray commented 6 years ago

My FC is F3 evo. After inav 1.9, I found that the default compass direction of MPU9250 is not correct, and it must be set to flip90CW.I adjusted nav_mc_vel_xy_p=35, calibrated the compass and switched to return mode in the case of GPS hop<2, and the aircraft would still start to wander back.After entering loiter mode, the flight trajectory is that the spiral will fly farther and farther, and then enter ANGLE mode automatically when it exceeds the maximum return range.

giacomo892 commented 6 years ago

@ValCx are you sure have you selected to use external compass instead of the internal one?

ValCx commented 6 years ago

@stronnag Thanks for answers, here it is a dump with the old version 1.7.3, with all params reset and re-configured. I updated to 1.9.1 with a reset of all params, I will let a dump and a new log with this version soon. mag_to_use is set to 1, to select the external compass.

I will try with nav_mc_vel_xy_p=35 and min sat=12. The Althold mode is ok, and Angle mode is activate during poshold.

teckel12 commented 6 years ago

@ValCx I've noticed this type of behavior on rare occasion because I really don't have a good GPS lock. What I notice is that even though INAV says the HDOP is good and I have 6+ satellite locks, the GPS altitude is wrong. I know where I launch is about 600' above sea level. But, I've seen it be hundreds of feet off (one time -2700'). When this happens, I get a lot of drift until it finally gets a good GPS lock.

In any case, monitor GPS altitude and verify with your phone they basically match and it's not moving all over the place (classic sign of a bad GPS lock).

ValCx commented 6 years ago

@teckel12 I tried with a new gps cam m8. I get 10+ sats, the gps lock is pretty good HDOP = 1.6, it's not moving all over the place. And I still have the problem.

teckel12 commented 6 years ago

Are you sure set align_mag = CW270FLIP is correct?

ValCx commented 6 years ago

I'm pretty sure, I align my quad with a compass ans he is pretty good for each point : 0 90 180 and 270. Here it is a dump of my last configuration with inav 1.9.1 :

dump

version

INAV/REVO 1.9.1 Apr 21 2018 / 13:17:09 (03a5c1922)

resources

mixer

mixer QUADX

mmix reset

servo mix

smix reset

servo

servo 0 1000 2000 1500 100 -1 servo 1 1000 2000 1500 100 -1 servo 2 1000 2000 1500 100 -1 servo 3 1000 2000 1500 100 -1 servo 4 1000 2000 1500 100 -1 servo 5 1000 2000 1500 100 -1 servo 6 1000 2000 1500 100 -1 servo 7 1000 2000 1500 100 -1

feature

feature -RX_PPM feature -VBAT feature -TX_PROF_SEL feature -MOTOR_STOP feature -SERVO_TILT feature -SOFTSERIAL feature -GPS feature -TELEMETRY feature -CURRENT_METER feature -3D feature -RX_PARALLEL_PWM feature -RX_MSP feature -RSSI_ADC feature -LED_STRIP feature -DASHBOARD feature -BLACKBOX feature -CHANNEL_FORWARDING feature -TRANSPONDER feature -AIRMODE feature -SUPEREXPO feature -VTX feature -RX_SPI feature -PWM_SERVO_DRIVER feature -PWM_OUTPUT_ENABLE feature -OSD feature -FW_LAUNCH feature -TRACE feature VBAT feature GPS feature PWM_OUTPUT_ENABLE

beeper

beeper RUNTIME_CALIBRATION beeper HW_FAILURE beeper RX_LOST beeper RX_LOST_LANDING beeper DISARMING beeper ARMING beeper ARMING_GPS_FIX beeper BAT_CRIT_LOW beeper BAT_LOW beeper GPS_STATUS beeper RX_SET beeper ACTION_SUCCESS beeper ACTION_FAIL beeper READY_BEEP beeper MULTI_BEEPS beeper DISARM_REPEAT beeper ARMED beeper SYSTEM_INIT beeper ON_USB beeper LAUNCH_MODE beeper CAM_CONNECTION_OPEN beeper CAM_CONNECTION_CLOSED

map

map AETR

name

name -

serial

serial 20 1 115200 38400 0 115200 serial 0 2 115200 115200 0 115200 serial 2 0 115200 38400 0 115200 serial 5 1 115200 38400 0 115200

led

led 0 0,0::C:0 led 1 0,0::C:0 led 2 0,0::C:0 led 3 0,0::C:0 led 4 0,0::C:0 led 5 0,0::C:0 led 6 0,0::C:0 led 7 0,0::C:0 led 8 0,0::C:0 led 9 0,0::C:0 led 10 0,0::C:0 led 11 0,0::C:0 led 12 0,0::C:0 led 13 0,0::C:0 led 14 0,0::C:0 led 15 0,0::C:0 led 16 0,0::C:0 led 17 0,0::C:0 led 18 0,0::C:0 led 19 0,0::C:0 led 20 0,0::C:0 led 21 0,0::C:0 led 22 0,0::C:0 led 23 0,0::C:0 led 24 0,0::C:0 led 25 0,0::C:0 led 26 0,0::C:0 led 27 0,0::C:0 led 28 0,0::C:0 led 29 0,0::C:0 led 30 0,0::C:0 led 31 0,0::C:0

color

color 0 0,0,0 color 1 0,255,255 color 2 0,0,255 color 3 30,0,255 color 4 60,0,255 color 5 90,0,255 color 6 120,0,255 color 7 150,0,255 color 8 180,0,255 color 9 210,0,255 color 10 240,0,255 color 11 270,0,255 color 12 300,0,255 color 13 330,0,255 color 14 0,0,0 color 15 0,0,0

mode_color

mode_color 0 0 1 mode_color 0 1 11 mode_color 0 2 2 mode_color 0 3 13 mode_color 0 4 10 mode_color 0 5 3 mode_color 1 0 5 mode_color 1 1 11 mode_color 1 2 3 mode_color 1 3 13 mode_color 1 4 10 mode_color 1 5 3 mode_color 2 0 10 mode_color 2 1 11 mode_color 2 2 4 mode_color 2 3 13 mode_color 2 4 10 mode_color 2 5 3 mode_color 3 0 8 mode_color 3 1 11 mode_color 3 2 4 mode_color 3 3 13 mode_color 3 4 10 mode_color 3 5 3 mode_color 4 0 7 mode_color 4 1 11 mode_color 4 2 3 mode_color 4 3 13 mode_color 4 4 10 mode_color 4 5 3 mode_color 5 0 9 mode_color 5 1 11 mode_color 5 2 2 mode_color 5 3 13 mode_color 5 4 10 mode_color 5 5 3 mode_color 6 0 6 mode_color 6 1 10 mode_color 6 2 1 mode_color 6 3 0 mode_color 6 4 0 mode_color 6 5 2 mode_color 6 6 3 mode_color 6 7 6 mode_color 6 8 0 mode_color 6 9 0 mode_color 6 10 0

aux

aux 0 1 3 900 1500 aux 1 2 3 1550 1650 aux 2 3 3 1125 1500 aux 3 9 3 1125 1500 aux 4 8 2 1500 1750 aux 5 19 2 1300 1400 aux 6 21 0 1325 1575 aux 7 22 0 900 2100 aux 8 18 0 1800 2100 aux 9 0 0 900 900 aux 10 0 0 900 900 aux 11 0 0 900 900 aux 12 0 0 900 900 aux 13 0 0 900 900 aux 14 0 0 900 900 aux 15 0 0 900 900 aux 16 0 0 900 900 aux 17 0 0 900 900 aux 18 0 0 900 900 aux 19 0 0 900 900

adjrange

adjrange 0 0 0 900 900 0 0 adjrange 1 0 0 900 900 0 0 adjrange 2 0 0 900 900 0 0 adjrange 3 0 0 900 900 0 0 adjrange 4 0 0 900 900 0 0 adjrange 5 0 0 900 900 0 0 adjrange 6 0 0 900 900 0 0 adjrange 7 0 0 900 900 0 0 adjrange 8 0 0 900 900 0 0 adjrange 9 0 0 900 900 0 0 adjrange 10 0 0 900 900 0 0 adjrange 11 0 0 900 900 0 0

rxrange

rxrange 0 1000 2000 rxrange 1 1000 2000 rxrange 2 1000 2000 rxrange 3 1000 2000

master

set looptime = 2000 set gyro_sync = ON set align_gyro = DEFAULT set gyro_hardware_lpf = 188HZ set gyro_lpf_hz = 90 set moron_threshold = 32 set gyro_notch1_hz = 200 set gyro_notch1_cutoff = 100 set gyro_notch2_hz = 0 set gyro_notch2_cutoff = 1 set vbat_adc_channel = 2 set rssi_adc_channel = 3 set current_adc_channel = 1 set airspeed_adc_channel = 0 set acc_notch_hz = 0 set acc_notch_cutoff = 1 set align_acc = DEFAULT set acc_hardware = MPU6000 set acc_lpf_hz = 15 set acczero_x = 76 set acczero_y = 10 set acczero_z = -481 set accgain_x = 4110 set accgain_y = 4063 set accgain_z = 4010 set rangefinder_hardware = NONE set rangefinder_median_filter = OFF set opflow_hardware = NONE set opflow_scale = 1.000 set align_mag = CW270FLIP set mag_hardware = HMC5883 set mag_declination = 0 set magzero_x = -11 set magzero_y = -160 set magzero_z = 386 set mag_calibration_time = 30 set mag_to_use = 1 set align_mag_roll = 0 set align_mag_pitch = 0 set align_mag_yaw = 0 set baro_hardware = MS5611 set baro_median_filter = ON set pitot_hardware = NONE set pitot_use_median_filter = ON set pitot_noise_lpf = 0.600 set pitot_scale = 1.000 set receiver_type = PPM set mid_rc = 1500 set min_check = 1100 set max_check = 1900 set rssi_channel = 0 set rssi_scale = 100 set rssi_invert = OFF set rc_smoothing = ON set serialrx_provider = SPEK1024 set serialrx_inverted = OFF set rx_spi_rf_channel_count = 0 set spektrum_sat_bind = 0 set rx_min_usec = 885 set rx_max_usec = 2115 set serialrx_halfduplex = OFF set blackbox_rate_num = 1 set blackbox_rate_denom = 1 set blackbox_device = SPIFLASH set min_throttle = 1150 set max_throttle = 1850 set min_command = 1000 set motor_pwm_rate = 1000 set motor_pwm_protocol = ONESHOT125 set failsafe_delay = 5 set failsafe_recovery_delay = 5 set failsafe_off_delay = 200 set failsafe_throttle = 1000 set failsafe_throttle_low_delay = 0 set failsafe_procedure = SET-THR set failsafe_stick_threshold = 50 set failsafe_fw_roll_angle = -200 set failsafe_fw_pitch_angle = 100 set failsafe_fw_yaw_rate = -45 set failsafe_min_distance = 0 set failsafe_min_distance_procedure = DROP set align_board_roll = 0 set align_board_pitch = 0 set align_board_yaw = 0 set gimbal_mode = NORMAL set vbat_scale = 1100 set vbat_max_cell_voltage = 424 set vbat_min_cell_voltage = 330 set vbat_warning_cell_voltage = 350 set battery_capacity = 0 set battery_capacity_warning = 0 set battery_capacity_critical = 0 set battery_capacity_unit = MAH set current_meter_scale = 400 set current_meter_offset = 0 set current_meter_type = ADC set yaw_motor_direction = -1 set yaw_jump_prevention_limit = 200 set 3d_deadband_low = 1406 set 3d_deadband_high = 1514 set 3d_neutral = 1460 set servo_center_pulse = 1500 set servo_pwm_rate = 50 set servo_lpf_hz = 20 set flaperon_throw_offset = 200 set tri_unarmed_servo = ON set reboot_character = 82 set imu_dcm_kp = 2500 set imu_dcm_ki = 50 set imu_dcm_kp_mag = 10000 set imu_dcm_ki_mag = 0 set small_angle = 25 set fixed_wing_auto_arm = OFF set disarm_kill_switch = ON set auto_disarm_delay = 5 set gps_provider = UBLOX set gps_sbas_mode = AUTO set gps_dyn_model = AIR_1G set gps_auto_config = ON set gps_auto_baud = ON set gps_ublox_use_galileo = OFF set gps_min_sats = 5 set deadband = 5 set yaw_deadband = 5 set pos_hold_deadband = 20 set alt_hold_deadband = 50 set 3d_deadband_throttle = 50 set fw_autotune_overshoot_time = 100 set fw_autotune_undershoot_time = 200 set fw_autotune_threshold = 50 set fw_autotune_ff_to_p_gain = 10 set fw_autotune_ff_to_i_tc = 600 set inav_auto_mag_decl = ON set inav_gravity_cal_tolerance = 5 set inav_use_gps_velned = ON set inav_reset_altitude = FIRST_ARM set inav_max_surface_altitude = 200 set inav_w_z_surface_p = 3.500 set inav_w_z_surface_v = 6.100 set inav_w_z_baro_p = 0.350 set inav_w_z_gps_p = 0.200 set inav_w_z_gps_v = 0.500 set inav_w_xy_gps_p = 1.000 set inav_w_xy_gps_v = 2.000 set inav_w_z_res_v = 0.500 set inav_w_xy_res_v = 0.500 set inav_w_acc_bias = 0.010 set inav_max_eph_epv = 1000.000 set inav_baro_epv = 100.000 set nav_disarm_on_landing = OFF set nav_use_midthr_for_althold = OFF set nav_extra_arming_safety = ON set nav_user_control_mode = ATTI set nav_position_timeout = 5 set nav_wp_radius = 100 set nav_wp_safe_distance = 10000 set nav_auto_speed = 300 set nav_auto_climb_rate = 500 set nav_manual_speed = 500 set nav_manual_climb_rate = 200 set nav_landing_speed = 200 set nav_land_slowdown_minalt = 500 set nav_land_slowdown_maxalt = 2000 set nav_emerg_landing_speed = 500 set nav_min_rth_distance = 500 set nav_rth_climb_first = ON set nav_rth_climb_ignore_emerg = OFF set nav_rth_tail_first = OFF set nav_rth_allow_landing = ALWAYS set nav_rth_alt_mode = AT_LEAST set nav_rth_abort_threshold = 50000 set nav_rth_altitude = 1000 set nav_mc_bank_angle = 30 set nav_mc_hover_thr = 1500 set nav_mc_auto_disarm_delay = 2000 set nav_fw_cruise_thr = 1400 set nav_fw_min_thr = 1200 set nav_fw_max_thr = 1700 set nav_fw_bank_angle = 20 set nav_fw_climb_angle = 20 set nav_fw_dive_angle = 15 set nav_fw_pitch2thr = 10 set nav_fw_loiter_radius = 5000 set nav_fw_land_dive_angle = 2 set nav_fw_launch_velocity = 300 set nav_fw_launch_accel = 1863 set nav_fw_launch_max_angle = 45 set nav_fw_launch_detect_time = 40 set nav_fw_launch_thr = 1700 set nav_fw_launch_idle_thr = 1000 set nav_fw_launch_motor_delay = 500 set nav_fw_launch_spinup_time = 100 set nav_fw_launch_min_time = 0 set nav_fw_launch_timeout = 5000 set nav_fw_launch_max_altitude = 0 set nav_fw_launch_climb_angle = 18 set telemetry_switch = OFF set telemetry_inverted = OFF set frsky_default_latitude = 0.000 set frsky_default_longitude = 0.000 set frsky_coordinates_format = 0 set frsky_unit = METRIC set frsky_vfas_precision = 0 set report_cell_voltage = OFF set hott_alarm_sound_interval = 5 set smartport_uart_unidir = OFF set smartport_fuel_unit = MAH set ibus_telemetry_type = 0 set ltm_update_rate = NORMAL set ledstrip_visual_beeper = OFF set i2c_speed = 400KHZ set debug_mode = NONE set acc_task_frequency = 500 set attitude_task_frequency = 250 set async_mode = NONE set throttle_tilt_comp_str = 0 set input_filtering_mode = OFF set mode_range_logic_operator = OR set stats = OFF set stats_total_time = 0 set stats_total_dist = 0 set stats_total_energy = 0 set tz_offset = 0 set display_force_sw_blink = OFF

profile

profile 1

set mc_p_pitch = 58 set mc_i_pitch = 50 set mc_d_pitch = 22 set mc_p_roll = 43 set mc_i_roll = 40 set mc_d_roll = 20 set mc_p_yaw = 70 set mc_i_yaw = 45 set mc_d_yaw = 0 set mc_p_level = 20 set mc_i_level = 15 set mc_d_level = 75 set fw_p_pitch = 5 set fw_i_pitch = 7 set fw_ff_pitch = 50 set fw_p_roll = 5 set fw_i_roll = 7 set fw_ff_roll = 50 set fw_p_yaw = 6 set fw_i_yaw = 10 set fw_ff_yaw = 60 set fw_p_level = 20 set fw_i_level = 5 set fw_d_level = 75 set max_angle_inclination_rll = 300 set max_angle_inclination_pit = 300 set dterm_lpf_hz = 80 set yaw_lpf_hz = 30 set dterm_setpoint_weight = 0.000 set fw_iterm_throw_limit = 165 set fw_reference_airspeed = 1000.000 set fw_turn_assist_yaw_gain = 1.000 set dterm_notch_hz = 200 set dterm_notch_cutoff = 100 set pidsum_limit = 500 set yaw_p_limit = 300 set iterm_ignore_threshold = 200 set yaw_iterm_ignore_threshold = 50 set rate_accel_limit_roll_pitch = 0 set rate_accel_limit_yaw = 10000 set heading_hold_rate_limit = 90 set nav_mc_pos_z_p = 50 set nav_mc_pos_z_i = 0 set nav_mc_pos_z_d = 0 set nav_mc_vel_z_p = 100 set nav_mc_vel_z_i = 50 set nav_mc_vel_z_d = 10 set nav_mc_pos_xy_p = 65 set nav_mc_pos_xy_i = 120 set nav_mc_pos_xy_d = 10 set nav_mc_vel_xy_p = 40 set nav_mc_vel_xy_i = 15 set nav_mc_vel_xy_d = 100 set nav_mc_heading_p = 60 set nav_fw_pos_z_p = 50 set nav_fw_pos_z_i = 0 set nav_fw_pos_z_d = 0 set nav_fw_pos_xy_p = 75 set nav_fw_pos_xy_i = 5 set nav_fw_pos_xy_d = 8 set nav_fw_heading_p = 60 set thr_mid = 50 set thr_expo = 0 set tpa_rate = 0 set tpa_breakpoint = 1500 set fw_tpa_time_constant = 0 set rc_expo = 70 set rc_yaw_expo = 20 set roll_rate = 50 set pitch_rate = 50 set yaw_rate = 45 set manual_rc_expo = 70 set manual_rc_yaw_expo = 20 set manual_roll_rate = 100 set manual_pitch_rate = 100 set manual_yaw_rate = 100

stale[bot] commented 6 years ago

This issue / pull request has been automatically marked as stale because it has not had any activity in 60 days. The resources of the INAV team are limited, and so we are asking for your help. This issue / pull request will be closed if no further activity occurs within two weeks.

stale[bot] commented 5 years ago

Automatically closing as inactive.