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Stavros Korokithakis 2021-01-01 15:50:38 +02:00
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content/drone-stuff/inav-tuning-tips.md
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Here are some general INAV tuning tips and things I've learned throughout my builds. Keep in mind that *these only apply to wings* (and maybe planes), not quads: Here are some general INAV tuning tips and things I've learned throughout my builds. Keep in mind that *these only apply to wings* (and maybe planes), not quads:
* There's a known problem with horizon drift. To ameliorate it, use `set imu_acc_ignore_rate = 10`. Setting this low is a good idea, but if it's set too low then the accelerometer will effectively be ignored and the horizon will eventually drift. To reduce the accelerometer's influence, you can also reduce `imu_dcm_ki`/`imu_dcm_kp`.
* To make turns in automatic modes smoother, use `set nav_fw_control_smoothness = 8`. * To make turns in automatic modes smoother, use `set nav_fw_control_smoothness = 8`.
* Pawel says that the idea of the software LPF is to replace the hardware LPF. Leave the hardware LPF set to 256 Hz and set the software LPF to 20-30 Hz, with a looptime of 1k. * Pawel says that the idea of the software LPF is to replace the hardware LPF. Leave the hardware LPF set to 256 Hz and set the software LPF to 20-30 Hz, with a looptime of 1k.
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_(Thanks to Michel Pastor in the INAV Telegram group for this tip.)_ _(Thanks to Michel Pastor in the INAV Telegram group for this tip.)_
## Horizon drift issues
There's a known problem with horizon drift on fixed wings. To ameliorate it, use `set imu_acc_ignore_rate = 10`. Setting this low is a good idea, but if it's set too low then the accelerometer will effectively be ignored and the horizon will eventually drift. To reduce the accelerometer's influence, you can also reduce `imu_dcm_ki` and/or `imu_dcm_kp`.
You can also try tuning `fw_turn_assist_pitch_gain`, although be careful to not set it too high because then the aircraft will stall trying to climb during a turn.
Adding a piece of black, porous foam (so wind can pass through) over the barometer has been known to help as well.
* * * * * *
*Last updated on December 30, 2020.* *Last updated on January 01, 2021.*