INAV

Piper J3 Cub 1.1m - INAV

Nechal jsem se vyprovokovat příspěvkem na RC manii - FlyingRC F4 Wing kontrolér a ELRS a koupil jsem maličký flight controller který se u Číňana objevuje pod názvem "FlyingRC F4Wing Mini MK1 Fixed Wing Flight Controller F405"

Je to opravdu pidi záležitost, controller je destička 28 x 20 mm s hmotností 3g!

Rozchodil jsem to na stole s INAV 8.0.1 a přišla otázka, v čem to vyzkoušet. Jediné letadlo velikosti a ceny, kde by mi nevadil nějaký pád, byl malý Piper (Piper J3 Cub 1.1m).

Nepřišel jsem na řešení, jak Pipera vykuchat a dát vše dovnitř a tak jsem vyrobil díru v křídle a kablíky od serv a regulátoru jsem vytáhl ven z letadla. Na hřbet jsem vyrobil šasi, na kterém leží FC, přijímač a GPS. Původní přijímač šel do šuplíku. Vznikla taková demo instalace, říkám tomu DEMONSTRÁTOR. 😃

# diff

# version
# INAV/MATEKF405TE_SD 8.0.0 Jan 29 2025 / 16:54:15 (GITDIR-N) 
# GCC-13.2.1 20231009

# Outputs [servo]
servo 1 1000 2000 1500 -100
servo 2 1000 2000 1500 -100
servo 3 1000 2000 1500 -100

# features
feature -VBAT
feature -TX_PROF_SEL
feature -CURRENT_METER
feature -BLACKBOX
feature -OSD
feature SOFTSERIAL
feature GPS
feature PWM_OUTPUT_ENABLE
feature FW_AUTOTRIM

# blackbox
blackbox -NAV_ACC
blackbox NAV_POS
blackbox NAV_PID
blackbox MAG
blackbox ACC
blackbox ATTI
blackbox RC_DATA
blackbox RC_COMMAND
blackbox MOTORS
blackbox -GYRO_RAW
blackbox -PEAKS_R
blackbox -PEAKS_P
blackbox -PEAKS_Y
blackbox SERVOS

# Ports
serial 0 64 115200 115200 0 115200
serial 1 0 115200 115200 0 115200
serial 4 2 115200 115200 0 115200

# Modes [aux]
aux 0 0 0 1575 2100
aux 1 1 1 1275 1750
aux 2 2 1 1825 2100
aux 3 12 1 900 1150
aux 4 11 3 1300 1700
aux 5 10 3 1925 2100
aux 6 3 2 1325 1675
aux 7 56 2 1825 2100
aux 8 21 4 1375 1675
aux 9 13 5 1825 2100

# master
set gyro_main_lpf_hz = 25
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 30
set gyro_zero_x = 5
set gyro_zero_y = -15
set gyro_zero_z = -3
set ins_gravity_cmss =  1022.742
set gyro_adaptive_filter_min_hz = 20
set acc_hardware = ICM42605
set acczero_x = 100
set acczero_y = -158
set acczero_z = -42
set accgain_x = 4105
set accgain_y = 5660
set accgain_z = 4048
set align_mag = CW270FLIP
set mag_hardware = NONE
set baro_hardware = DPS310
set blackbox_rate_denom = 2
set motor_pwm_protocol = STANDARD
set failsafe_procedure = RTH
set align_board_roll = 40
set align_board_pitch = -100
set align_board_yaw = 1800
set vbat_meter_type = FAKE
set small_angle = 180
set applied_defaults = 3
set gps_sbas_mode = EGNOS
set gps_ublox_use_galileo = ON
set airmode_type = STICK_CENTER_ONCE
set nav_wp_radius = 800
set nav_wp_max_safe_distance = 500
set nav_rth_allow_landing = FS_ONLY
set nav_rth_altitude = 3000
set nav_rth_home_altitude = 1000
set nav_fw_loiter_radius = 1000
set nav_fw_control_smoothness = 2
set nav_fw_launch_motor_delay = 100
set nav_fw_launch_max_altitude = 5000
set nav_fw_launch_climb_angle = 25
set nav_fw_allow_manual_thr_increase = ON
set nav_fw_land_approach_length = 5000

# control_profile
control_profile 1

set fw_p_pitch = 15
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 80
set fw_p_roll = 15
set fw_i_roll = 3
set fw_d_roll = 7
set fw_p_yaw = 50
set fw_i_yaw = 0
set fw_d_yaw = 20
set fw_ff_yaw = 255
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain =  0.400
set nav_fw_pos_z_p = 25
set nav_fw_pos_z_d = 8
set nav_fw_pos_xy_p = 55
set d_boost_min =  1.000
set d_boost_max =  1.000
set rc_expo = 30
set rc_yaw_expo = 30
set roll_rate = 18
set pitch_rate = 9
set yaw_rate = 3

# mixer_profile
mixer_profile 1

set platform_type = AIRPLANE
set has_flaps = ON
set model_preview_type = 14

# Mixer: motor mixer

mmix reset

mmix 0  1.000  0.000  0.000  0.000

# Mixer: servo mixer
smix reset

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

# battery_profile
battery_profile 1

set throttle_idle =  5.000

Více o INAV a tomto FC a tomto letadle na stránce zde: Standardní postup v sekci Co s tím dělám já - aneb Můj život s INAV