Multirotor guide

0. Setup hardware

Balance props and motors, install FC on a vibration-damping mount if possible.

Step 1, getting your flight controller ready.

• Flash newest iNav
• Do the advanced 6-point sensor calibration.
• Select your Mixer. iNav has removed a lot of mixes and requires custom mix for exotic setups, see Custom mixes for exotic setups

2. Set your TX midpoints

Set trim on your TX to zero. Use subtrim to adjust your TX midpoints to be precisely 1500 when Roll/Pitch/Yaw sticks are centered. You can check the input values in the Receiver tab in cleanflight/iNav configurator.

3. Tune your copter's Pitch/Roll/Yaw/Level PIDs and other values

Default values for different type of aircrafts

THIS IS IMPORTANT. Stock values does not fly good on example and 250 racing quad.

4. Trim copter to level flight

DO NOT USE TRIM on your Transmitter to stop your copter drifting. Use board alignment settings or accelerometer trim stick combos. How to trim your Accelerometer

5. Setup and verify failsafe on TX and iNav

Guide for setting up failsafe

6. Determine and set hover throttle

Use blackbox or Configurator to figure out throttle stick position when your copter is hovering. Set nav_mc_hover_thr CLI variable to that value. You can also tune this without blackbox. If your copter jumps/rises when you activate altitude hold, reduce your nav_mc_hover_thr setting by 100 or so. If your copter falls, increase it by 100, fine tune until there is no jump or fall when activating altitude hold.

7. Get to know the CLI values.

iNav offers a lot of customization through CLI variables. Its strongly recommended to read through iNav CLI variables

Some important ones are:

nav_user_control_mode Defines how Pitch/Roll input from RC receiver affects flight in POSHOLD mode: ATTI - right stick controls attitude like in ANGLE mode; CRUISE - right stick controls velocity in forward and right direction.

//TODO Explain gyro_lpf