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Apr 03, 2018, 12:51 PM
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My Nano Talon iNav CrossFire MobileFlight Build


It's time for a new Blogpost... this time it's because I bought into the CrossFire ecosystem and with that got the ability to connect via "Bluetooth" to the FC inflight (the BT connection is actually between my iPhone and the CrossFire Tx and the CrossFire Rx connects to the "BT pads" on the FC)



Two consecutive flights, forgot to let the DVR run on the first one so started recording and did a short second flight.
iPhone // MobileFlight // CrossFire // iNav // Bluetooth relay // Telemetry (7 min 44 sec)


But lets start from the beginning:

I already was hyped when Banggood listed the Nano Talon... but did not jump on it... the single V Tail servo setup just felt wrong (Elevator only^^ but they changed that I think already with the second batch) but with more and more reviews flying in and all of them being super positive, especially with the power setup being "fun on 4S"... I knew I had to get the PNP version...

Unboxing // ZOHD Nano Talon (7 min 46 sec)


At first, I wanted to use the stock flight controller (aka stabilizer) but noticed that with a SpekSat (and the SPM4649T which I wanted to use to get vBat TLM info using that protocol) it wouldn't control the v-tail right (weird mix with ailerons)
ZOHD Nano Talon // Spektrum Sat (Remote Receiver) // iRangeX // No Ruder (1 min 15 sec)


so I went with PWM inputs and maidened it
Nano Talon // Maiden // 4S 1.0Ah // Crash (2 min 41 sec)

Crashed the hell out of it... I start to think that I am kind of always doing that hm...

Lot's of fun... but I wouldn't say more fun than my Nano Skyhunter (I know Banggood calls it Micro but I will stick to the N name^^) and I got on that one a PAN for the vTxCam... so, to give the nano talon something to stand out I decided to give it the full iNav/Crossfire treatment


As you might have spotted, the CrossFire Rx is connected to two uarts, the first one is for CRSF control and telemetry, the second is set up as Bluetooth... meaning the CrossFire will us the Bluetooth module in the CrossFire Tx to connect to my iPhone and the FC will "think" it has a BT module and I am sitting next to it

This "obviously" will work with my MacBook as well
CrossFire Relaying Bluetooth (0 min 12 sec)


First flight wasn't so great, still fun... but it ended in a hard crash... I maxed out the trims on my Taranis (full left) but had still to push the stick left to prevent the NT from rolling over... bad, but not too bad to abroad (though I should have xD)... in the end I hit a tree during a turn in which I lost too much altitude...

Nothing to see here... just me struggling with the crossfire losing connection... power cycled fixed it, but thats the next video...
DVR // NanoTalon // iNav // CrossFire // 001 (7 min 26 sec)


...insane tendency to roll to the left... maxed out the taranis trims and still had to help... with more or less luck
DVR // NanoTalon // iNav // CrossFire // 002 (5 min 16 sec)





Optimistically speaking the only thing that got destroyed is that wooden thing, luckily that's nothing a 3D printer can't "fix"

...and hot glue... lots of hot glue...

So one day later (today) I got the chance to go out again... just mapped on iNav "servo trim" to a switch (that would have saved me the first ime) and updated the CrossFire FW to 2.25b or something... (had signal loss when close).

Quite some wind so I flew LOS all the time (maybe I glanced into the googles once or twice )... I wanted this "setup" to scream: "I am a LOS plane" ...though the cam is in the nose, there is no vTx antenna sticking out... and even the CrossFire one is mostly hidden (doesn't look like an 868HHz antenna ) so that's one reason why video quality is so poor... and you could say I wanted this flight to be 100% legal... though you could argue that that short FS triggering RTH for a second made it an autonomous flight?)



max speed 107km/h (GPS speed^^)
DVR // NanoTalon // iNav // CrossFire // 003 (8 min 14 sec)


DVR // NanoTalon // iNav // CrossFire // 004 (1 min 14 sec)


As always, just sharing my experience and I would love to see some question pop up
Last edited by JulianGoesPro; Sep 02, 2018 at 11:07 AM.
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Apr 03, 2018, 12:59 PM
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Dump (special thanks to AdamGUK for getting me started):
Code:
$X>lRV
Entering CLI Mode, type 'exit' to return, or 'help'

# dump

# version
# INAV/OMNIBUSF4PRO 1.9.0 Mar  5 2018 / 00:15:43 (dc4ef594f)

# resources

# mixer
mixer CUSTOMAIRPLANE

mmix reset

mmix 0  1.000  0.000  0.000  0.000

# servo mix
smix reset

smix 0 2 0 -100 0
smix 1 3 1 -85 0
smix 2 4 1 85 0
smix 3 3 2 -75 0
smix 4 4 2 -75 0

# servo
servo 0 1000 2000 1500 100 -1 
servo 1 1000 2000 1500 100 -1 
servo 2 1000 2000 1493 100 -1 
servo 3 1000 2000 1398 -100 -1 
servo 4 1000 2000 1600 -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 TX_PROF_SEL
feature MOTOR_STOP
feature GPS
feature CURRENT_METER
feature PWM_OUTPUT_ENABLE
feature OSD

# 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 TAER5678

# name
name Nano Talon

# serial
serial 20 1 115200 38400 0 115200
serial 0 2 115200 38400 0 115200
serial 2 1 57600 38400 0 115200
serial 5 64 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 0 2 1700 2100
aux 1 4 1 1400 1600
aux 2 3 1 1400 1600
aux 3 8 0 1800 2100
aux 4 10 0 1400 1600
aux 5 14 1 1800 2100
aux 6 27 4 1800 2100
aux 7 28 4 1800 2100
aux 8 18 3 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 = 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 = MPU6500
set acc_lpf_hz = 15
set acczero_x = 16
set acczero_y = 3
set acczero_z = 79
set accgain_x = 4091
set accgain_y = 4095
set accgain_z = 4101
set rangefinder_hardware = NONE
set rangefinder_median_filter = OFF
set align_mag = DEFAULT
set mag_hardware = NONE
set mag_declination = 0
set magzero_x = 801
set magzero_y = 783
set magzero_z = 11
set mag_calibration_time = 30
set baro_hardware = BMP280
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 = SERIAL
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set rssi_channel = 12
set rssi_scale = 110
set rssi_invert = OFF
set rc_smoothing = ON
set serialrx_provider = CRSF
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 = 1
set blackbox_device = SDCARD
set sdcard_detect_inverted = ON
set min_throttle = 1150
set max_throttle = 1850
set min_command = 1000
set motor_pwm_rate = 400
set motor_pwm_protocol = STANDARD
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 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 = 1000
set vbat_max_cell_voltage = 420
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 = 75
set current_meter_offset = 20
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 = NONE
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 = 6
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 = NEVER
set nav_rth_alt_mode = AT_LEAST
set nav_rth_abort_threshold = 50000
set nav_rth_altitude = 12000
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_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_unit = MAH
set ibus_telemetry_type = 0
set ltm_update_rate = NORMAL
set ledstrip_visual_beeper = OFF
set osd_video_system = 0
set osd_row_shiftdown = 0
set osd_units = METRIC
set osd_stats_energy_unit = MAH
set osd_rssi_alarm = 20
set osd_time_alarm = 30
set osd_alt_alarm = 1000
set osd_artificial_horizon_reverse_roll = OFF
set osd_crosshairs_style = DEFAULT
set osd_left_sidebar_scroll = NONE
set osd_right_sidebar_scroll = NONE
set osd_sidebar_scroll_arrows = OFF
set osd_main_voltage_pos = 2400
set osd_main_voltage_decimals = 1
set osd_rssi_pos = 2138
set osd_flytimer_pos = 311
set osd_ontime_pos = 279
set osd_flymode_pos = 2112
set osd_throttle_pos = 2272
set osd_vtx_channel_pos = 200
set osd_crosshairs_pos = 2048
set osd_artificial_horizon_pos = 2248
set osd_current_draw_pos = 2240
set osd_mah_drawn_pos = 2304
set osd_wh_drawn_pos = 161
set osd_bat_remaining_capacity_pos = 193
set osd_bat_remaining_percent_pos = 225
set osd_craft_name_pos = 84
set osd_gps_speed_pos = 2266
set osd_gps_sats_pos = 2105
set osd_gps_lon_pos = 2048
set osd_gps_lat_pos = 2066
set osd_home_dir_pos = 2415
set osd_home_dist_pos = 2061
set osd_altitude_pos = 2330
set osd_vario_pos = 2231
set osd_vario_num_pos = 2298
set osd_pid_roll_pos = 322
set osd_pid_pitch_pos = 354
set osd_pid_yaw_pos = 386
set osd_power_pos = 47
set osd_air_speed_pos = 163
set osd_ontime_flytime_pos = 2424
set osd_rtc_time_pos = 407
set osd_messages_pos = 2433
set osd_gps_hdop_pos = 320
set osd_main_cell_voltage_pos = 44
set osd_throttle_auto_thr_pos = 70
set osd_heading_graph_pos = 2091
set osd_efficiency_mah_pos = 161
set osd_efficiency_wh_pos = 161
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 tz_offset = 0
set display_force_sw_blink = OFF

# 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_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 rc_expo = 70
set rc_yaw_expo = 20
set roll_rate = 20
set pitch_rate = 20
set yaw_rate = 20
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

#
Last edited by JulianGoesPro; May 04, 2018 at 01:38 PM.
Apr 03, 2018, 01:02 PM
Registered User
JulianGoesPro's Avatar
Thread OP
Banggood Parts:

ZOHD NanoTalon

OmniBusF4ProV2

Ublox NEO M8N GPS

Swift CCD Cam


TBS Parts:

"big" CrossFire Tx Module

CrossFire Nano Rx SE

TBS UNIFY PRO 5G8 HV - RACE (SMA)

Software:
iNav

MobileFlight
Last edited by JulianGoesPro; Apr 03, 2018 at 05:23 PM.
Apr 03, 2018, 04:18 PM
Registered User
JulianGoesPro's Avatar
Thread OP
CrossFire // iNav // iPhone Setup:

CrossFire:

Rx: ch1 CRSF, ch2 TLM, ch3 Rx, ch4 Tx
FC: UART6 Tx to ch1, Rx to ch2, UART3 Tx to ch3, Rx to ch4


iNav:
Dump (special thanks to AdamGUK getting me started):
Code:
$X>lRV
Entering CLI Mode, type 'exit' to return, or 'help'

# dump

# version
# INAV/OMNIBUSF4PRO 1.9.0 Mar  5 2018 / 00:15:43 (dc4ef594f)

# resources

# mixer
mixer CUSTOMAIRPLANE

mmix reset

mmix 0  1.000  0.000  0.000  0.000

# servo mix
smix reset

smix 0 2 0 -100 0
smix 1 3 1 -85 0
smix 2 4 1 85 0
smix 3 3 2 -75 0
smix 4 4 2 -75 0

# servo
servo 0 1000 2000 1500 100 -1 
servo 1 1000 2000 1500 100 -1 
servo 2 1000 2000 1493 100 -1 
servo 3 1000 2000 1398 -100 -1 
servo 4 1000 2000 1600 -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 TX_PROF_SEL
feature MOTOR_STOP
feature GPS
feature CURRENT_METER
feature PWM_OUTPUT_ENABLE
feature OSD

# 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 TAER5678

# name
name Nano Talon

# serial
serial 20 1 115200 38400 0 115200
serial 0 2 115200 38400 0 115200
serial 2 1 57600 38400 0 115200
serial 5 64 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 0 2 1700 2100
aux 1 4 1 1400 1600
aux 2 3 1 1400 1600
aux 3 8 0 1800 2100
aux 4 10 0 1400 1600
aux 5 14 1 1800 2100
aux 6 27 4 1800 2100
aux 7 28 4 1800 2100
aux 8 18 3 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 = 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 = MPU6500
set acc_lpf_hz = 15
set acczero_x = 16
set acczero_y = 3
set acczero_z = 79
set accgain_x = 4091
set accgain_y = 4095
set accgain_z = 4101
set rangefinder_hardware = NONE
set rangefinder_median_filter = OFF
set align_mag = DEFAULT
set mag_hardware = NONE
set mag_declination = 0
set magzero_x = 801
set magzero_y = 783
set magzero_z = 11
set mag_calibration_time = 30
set baro_hardware = BMP280
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 = SERIAL
set mid_rc = 1500
set min_check = 1100
set max_check = 1900
set rssi_channel = 12
set rssi_scale = 110
set rssi_invert = OFF
set rc_smoothing = ON
set serialrx_provider = CRSF
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 = 1
set blackbox_device = SDCARD
set sdcard_detect_inverted = ON
set min_throttle = 1150
set max_throttle = 1850
set min_command = 1000
set motor_pwm_rate = 400
set motor_pwm_protocol = STANDARD
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 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 = 1000
set vbat_max_cell_voltage = 420
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 = 75
set current_meter_offset = 20
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 = NONE
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 = 6
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 = NEVER
set nav_rth_alt_mode = AT_LEAST
set nav_rth_abort_threshold = 50000
set nav_rth_altitude = 12000
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_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_unit = MAH
set ibus_telemetry_type = 0
set ltm_update_rate = NORMAL
set ledstrip_visual_beeper = OFF
set osd_video_system = 0
set osd_row_shiftdown = 0
set osd_units = METRIC
set osd_stats_energy_unit = MAH
set osd_rssi_alarm = 20
set osd_time_alarm = 30
set osd_alt_alarm = 1000
set osd_artificial_horizon_reverse_roll = OFF
set osd_crosshairs_style = DEFAULT
set osd_left_sidebar_scroll = NONE
set osd_right_sidebar_scroll = NONE
set osd_sidebar_scroll_arrows = OFF
set osd_main_voltage_pos = 2400
set osd_main_voltage_decimals = 1
set osd_rssi_pos = 2138
set osd_flytimer_pos = 311
set osd_ontime_pos = 279
set osd_flymode_pos = 2112
set osd_throttle_pos = 2272
set osd_vtx_channel_pos = 200
set osd_crosshairs_pos = 2048
set osd_artificial_horizon_pos = 2248
set osd_current_draw_pos = 2240
set osd_mah_drawn_pos = 2304
set osd_wh_drawn_pos = 161
set osd_bat_remaining_capacity_pos = 193
set osd_bat_remaining_percent_pos = 225
set osd_craft_name_pos = 84
set osd_gps_speed_pos = 2266
set osd_gps_sats_pos = 2105
set osd_gps_lon_pos = 2048
set osd_gps_lat_pos = 2066
set osd_home_dir_pos = 2415
set osd_home_dist_pos = 2061
set osd_altitude_pos = 2330
set osd_vario_pos = 2231
set osd_vario_num_pos = 2298
set osd_pid_roll_pos = 322
set osd_pid_pitch_pos = 354
set osd_pid_yaw_pos = 386
set osd_power_pos = 47
set osd_air_speed_pos = 163
set osd_ontime_flytime_pos = 2424
set osd_rtc_time_pos = 407
set osd_messages_pos = 2433
set osd_gps_hdop_pos = 320
set osd_main_cell_voltage_pos = 44
set osd_throttle_auto_thr_pos = 70
set osd_heading_graph_pos = 2091
set osd_efficiency_mah_pos = 161
set osd_efficiency_wh_pos = 161
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 tz_offset = 0
set display_force_sw_blink = OFF

# 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_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 rc_expo = 70
set rc_yaw_expo = 20
set roll_rate = 20
set pitch_rate = 20
set yaw_rate = 20
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

#


iPhone:
Mobile Flite App... just click on the listed BT device after establishing the iPhone - CrossFire Bluetooth connection
Last edited by JulianGoesPro; Apr 03, 2018 at 05:01 PM.
May 04, 2018, 10:05 AM
Registered User

You need to update your font


Julian:

See those weird glitchy characters blinking on your OSD? You need to upload a font from iNav. Until you do that, the home arrow won't work properly - it will appear, but point in the wrong direction, for example. And there may be other problems I'm not aware of.

Unfortunately I don't think there is a way for the iNav software to READ fonts from the OSD component, so there's no way for the software to really know the fonts have been updated. Well, no perfectly reliable way anyhow. So at the moment iNav configurator does not warn you.
May 04, 2018, 01:36 PM
Registered User
JulianGoesPro's Avatar
Thread OP
Quote:
Originally Posted by Schtubb
Julian:

See those weird glitchy characters blinking on your OSD? You need to upload a font from iNav. Until you do that, the home arrow won't work properly - it will appear, but point in the wrong direction, for example. And there may be other problems I'm not aware of.

Unfortunately I don't think there is a way for the iNav software to READ fonts from the OSD component, so there's no way for the software to really know the fonts have been updated. Well, no perfectly reliable way anyhow. So at the moment iNav configurator does not warn you.
Thanks for mentioning that with the arrow... I actually updated the fronts already because of the other glitches in the OSD but would have never thought the arrow "malfunction" was because of the default fonts! Thanks a lot
Aug 25, 2018, 05:45 PM
Registered User
JulianGoesPro's Avatar
Thread OP
Little Update on my Nano Talon!

Sadly haven't gotten to fly it again because of being lazy or busy or bad weather... but I got my RunCam Split 2 in
I am powering it straight off the Unify Pro HV's 5V out so I literally unplugged my Swift 2 and used that plug to plug it into the Split 2




DVR // RunCam Split // QuickTest (0 min 27 sec)


RunCam Split // RC VID 0002 // QuickTest (0 min 11 sec)


...had to move the cam a bit more "forward"... too much foam in the HD footage...
just added two screws... punctured the foam and screwed them in... much more secure now... but am printing an mount right now...



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