iNav snippets to make things easy

iNav is about to become more and more sophisticated with every upcoming version. To don’t get caught in the Jungle of settings here are some nifty snippes I use and apply on every build.

If you need them completed, then they are as one code in the end of the post.

Arming at almost any angle

### arm ... always
set small_angle = 180

This line enables you to arm you wing at any angle and not only if its perfectly levelled which is unlikely to happen in the field 😀

NEVER disarm if throttle goes 0

### Never disarm if throttle = 0 !
set failsafe_throttle_low_delay = 0

Imagine you are flying and want to glide down for a while. You slide the throttle stick back at 0 and start to smooth your way down. But suddenly iNav disarms as throttle is zero! A very unpleasant moment which in my case ended with an almost disaster. The above prevents that!

First Arm stays the home location

### first ARM sets the home location
set inav_reset_home = FIRST_ARM

Let’s take the example from “NEVER disarm” back to the next setting. If you now are mid-air and disarmed somewhere on your way home, then you perhaps are lucky to re-arm iNav and continue your flight. BUT then the position where you re-armed becomes your HOME LOCATION … very bad when you are on a new location and don’t know the surroundings. We can tell iNav to stick with the position of the first arm as long as the battery is connected.

More satellites connections

### Add Galileo to the GPS ###
set gps_ublox_use_galileo = ON

This setting adds the Galileo satellites to be included to your GPS fix. I was used to have about 12-16 connections before. With this I reach about 20-24. But perhaps this is only of interest, if you are located in Europe.

Auto Launch a bit modified

### Auto Launch : 80% thrust, 10sec at 20 degrees angle!
set nav_fw_launch_thr = 1800
set nav_fw_launch_timeout = 10000
set nav_fw_launch_climb_angle = 20

Everybody seem to love the auto launch feature. And I do too! But I did tweak the settings a bit to make them more suitable to my launch. The comment above describes the settings pretty good I guess.

Compensating the horizon drift issue

### patch to Horizon drift. 10° seems a good value ###
set imu_acc_ignore_rate=10

Sometimes the AHI (artificial horizon indicator) in the OSD gets a bit off after long turns and only eases out are some time. This is sometimes confusing. The above setting tries to reduce the effect. Perhaps this will get obsolete one day when all FCs carry two IMUs and one tries to sanitise the AHI but thats not ready so far! Until then this setting can help out for a while.

iNav Radar defaults

### iNav Radar settings ###
set osd_crosshairs_style = TYPE6
set osd_hud_homing = ON
set osd_hud_homepoint = OFF
set osd_hud_radar_disp = 4
set osd_hud_radar_range_min = 1
set osd_hud_radar_range_max = 4000
set osd_hud_radar_nearest = 50

Olivier C has put a lot of work into the iNav Radar code but sometimes on new builds we went nuts as we didn’t know how to activate the stuff! So these lines will enable the common stuff on the radar.

DragonLink rssi

### adjust rssi to match with DLA ###
set rssi_max = 91
set rssi_min = 10

If you use DragonLink then the rssi values won’t match. We can correct this like above!

All combined

Im sure the list will continue to grow over time. But for now these are our defaults. I skipped out the DragonLink settings as not all of you guys will use that:

### arm ... always
set small_angle = 180

### Never disarm if throttle = 0 !
set failsafe_throttle_low_delay = 0

### first ARM sets the home location
set inav_reset_home = FIRST_ARM

### Add Galileo to the GPS ###
set gps_ublox_use_galileo = ON

### Auto Launch : 80% thrust, 10sec at 20 degrees angle!
set nav_fw_launch_thr = 1800
set nav_fw_launch_timeout = 10000
set nav_fw_launch_climb_angle = 20

### patch to Horizon drift. 10° seems a good value ###
set imu_acc_ignore_rate=10

### iNav Radar settings ###
set osd_crosshairs_style = TYPE6
set osd_hud_homing = ON
set osd_hud_homepoint = OFF
set osd_hud_radar_disp = 4
set osd_hud_radar_range_min = 1
set osd_hud_radar_range_max = 4000
set osd_hud_radar_nearest = 50

Do you have any good defaults we could and perhaps should append? Write them in the comments below and let’s go flying with them then.

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