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Stavros Korokithakis 2020-12-28 01:18:04 +02:00
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content/drone-stuff/inav-tuning-tips.md
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@ -13,14 +13,16 @@ Here are some general INAV tuning tips and things I've learned throughout my bui
## Battery monitoring
To monitor how much battery you have left in flight, voltage isn't a good indication because it can sag a lot. mAh is also not a good indication, because it doesn't decrease linearly with voltage. Energy is a better way, using the "Wh drawn" INAV OSD item. In addition, INAV has heat loss compensation for the energy meter, which gives you a more accurate reading.
To monitor how much battery you have left in flight, voltage isn't a good indication because it can sag a lot. mAh is also not a good indication, because it doesn't decrease linearly with voltage (when voltage drops, you need to consume more amps for the same amount of motor RPM, and thus thrust). Energy is a better way, using the "Wh drawn" INAV OSD item. In addition, INAV has heat loss compensation for the energy meter, which gives you a more accurate reading.
To calculate the Wh a battery can give, the best way is to charge or discharge it and see how many Wh were spent, if your charger shows you. Another way is to get a rough estimate using the formula `no_cells * 3.7 * Ah`. So, for a 1800 4S battery, the maximum Watt-hours are `4 * 3.7 * 1.8 = 26.64 Wh`. You should not discharge more than 80% of that value, or you risk excessive wear to the battery.
For a 4S battery, I go with a rule of thumb: The maximum Wh is `mAh / 85`, so for a 5000 mAh battery I'll land after 58 Wh consumed, which is around 80% of the battery consumed and gives a small margin for error.
More details can be found in the [battery page](https://notes.stavros.io/drone-stuff/inav-tuning-tips/#battery-monitoring) in the INAV wiki.
_(Thanks to Michel Pastor in the INAV Telegram group for this tip.)_
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*Last updated on December 20, 2020.*
*Last updated on December 28, 2020.*