New release of iNav is at the doors. Today I took testing version for a spin and tried few navigation scenarios. For example, transition for Position Hold to Return To Home with landing. It looked like this:
It behaved fantastically: nice accuracy, precise landing. There were few wobbles on descend, but that was caused not yet tuned FP-PID of Angle mode and hard flying conditions: gusty wind up to 15m/s.