Betaflight Rescue vs INAV Return to Home скачать в хорошем качестве

Betaflight Rescue vs INAV Return to Home

In this video I tried to do a comparison of Betaflight Rescue vs INAV Return to Home functionality. I used the exact same quad for both tests. Quad : Flywoo Explorer LR with FLYWOOF745NANO flight controller INAV version : INAV 7.1.1 Betaflight version : BF 4.5.0 RC 4 GPS version : Flywoo GoKu GM10 Mini V3/Compass GPS Note : Even though the GPS is supposed to also have a compass, I could not get it to work in both INAV and Betaflight. (Maybe a wiring issue on my side). So these tests was done with Magnetometer turned off. Here is the "diff" that I used in Inav on the Flywoo: version INAV/FLYWOOF745NANO 7.1.1 Apr 30 2024 / 20:50:21 (523c4839) GCC-10.3.1 20210824 (release) resources Timer overrides Outputs [servo] safehome Fixed Wing Approach features feature GPS feature PWM_OUTPUT_ENABLE beeper 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 Receiver: Channel map Ports serial 2 2 115200 115200 0 115200 serial 4 1 115200 115200 0 115200 LEDs LED color LED mode_color Modes [aux] aux 0 0 0 1775 2100 aux 1 1 1 900 1200 aux 2 2 1 1300 1700 aux 3 11 2 1300 1700 aux 4 11 4 1800 2100 aux 5 10 3 1775 2100 aux 6 52 2 1800 2100 aux 7 13 4 1850 2100 Adjustments [adjrange] Receiver rxrange temp_sensor Mission Control Waypoints [wp] #wp 0 invalid OSD [osd_layout] osd_layout 0 0 20 1 H osd_layout 0 1 1 1 V osd_layout 0 7 20 14 V osd_layout 0 8 12 14 V osd_layout 0 9 24 12 V osd_layout 0 14 24 1 V osd_layout 0 15 7 12 V osd_layout 0 20 16 10 H osd_layout 0 21 4 8 H osd_layout 0 22 15 12 V osd_layout 0 23 18 12 V osd_layout 0 24 1 12 V osd_layout 0 28 23 11 H osd_layout 0 30 2 13 V osd_layout 0 32 10 1 V osd_layout 0 33 1 11 H osd_layout 0 109 17 1 V osd_layout 1 32 13 7 V Programming: logic Programming: global variables Programming: PID controllers OSD: custom elements master set looptime = 500 set gyro_main_lpf_hz = 110 set gyro_main_lpf_type = PT1 set gyro_use_dyn_lpf = ON set gyro_dyn_lpf_min_hz = 85 set gyro_dyn_lpf_max_hz = 300 set gyro_dyn_lpf_curve_expo = 3 set dynamic_gyro_notch_q = 250 set dynamic_gyro_notch_min_hz = 100 set setpoint_kalman_q = 200 set gyro_zero_x = 2 set gyro_zero_y = 8 set gyro_zero_z = 6 set ins_gravity_cmss = 1005.722 set acc_hardware = MPU6000 set acczero_x = 3 set acczero_y = 33 set acczero_z = 365 set accgain_x = 4107 set accgain_y = 4078 set accgain_z = 4053 set align_mag = CW270FLIP set mag_hardware = NONE set baro_hardware = BMP280 set serialrx_provider = CRSF set blackbox_rate_denom = 2 set motor_pwm_protocol = DSHOT600 set failsafe_procedure = RTH set applied_defaults = 2 set airmode_type = THROTTLE_THRESHOLD set nav_min_rth_distance = 1000 set nav_rth_altitude = 1500 set nav_rth_home_altitude = 1000 set nav_rth_linear_descent_start_distance = 30 set nav_rth_use_linear_descent = ON set safehome_max_distance = 3000 set osd_video_system = PAL set osd_rssi_dbm_alarm = -100 set name = FLYWOO set pilot_name = WERNER mixer_profile mixer_profile 1 set model_preview_type = 3 Mixer: motor mixer mmix reset mmix 0 1.000 -1.000 1.000 -1.000 mmix 1 1.000 -1.000 -1.000 1.000 mmix 2 1.000 1.000 1.000 1.000 mmix 3 1.000 1.000 -1.000 -1.000 Mixer: servo mixer profile profile 1 set mc_i_pitch = 90 set mc_d_pitch = 27 set mc_p_roll = 36 set mc_i_roll = 80 set mc_d_roll = 25 set mc_p_yaw = 35 set mc_i_yaw = 80 set dterm_lpf_type = PT3 set d_boost_min = 1.000 set d_boost_max = 1.000 set antigravity_gain = 2.000 set antigravity_accelerator = 5.000 set smith_predictor_delay = 1.500 set tpa_rate = 20 set tpa_breakpoint = 1200 set rc_expo = 75 set rc_yaw_expo = 75 set roll_rate = 70 set pitch_rate = 70 set yaw_rate = 60 battery_profile battery_profile 1 set nav_mc_hover_thr = 1420 save configuration save end the command batch batch end