901 B
901 B
+++ title = "INAV tuning tips" weight = 3 sort_by = "weight" insert_anchor_links = "right" +++ 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 reduceimu_dcm_ki/imu_dcm_kp. - 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.
Last updated on December 15, 2020.