This video was taken few weeks ago during my tests of Waypoint Mission implemented in iNav.

Hardware setup:

  • Transporter Q7.6 600mm quadcopter frame
  • SPRacingF3 Acro with BMP085 external barometer
  • Beitian BN-880 (ublox Neo-M8M)
  • 10x4.5" APC props
  • EMAX GT2218/08 1100KV motors
  • 5000mAh 3S battery

Software setup:

  • iNav pre 1.1
  • Default navigation PIDs
  • Slightly tuned FP-PID, quite close to default values
  • GPS nav model: HIGH_G set gps_nav_model=HIGH_G
  • Velocity calculation done by GPS module set inav_use_gps_velned=ON

Mission plan:

  1. Take off in Angle model
  2. Follow 3 waypoints on total distance of about 300m, constant altitude of 10m
  3. At last waypoint goto Position Hold mode
  4. Manually engage Return To Home mode
  5. Automatic RTH and land