iNav: Cleanflight learned how to do missions

In my recent post I mentioned that iNav flight controller software (fork of Cleanflight) introduced missions. Missions are preprogrammed waypoints that drone will fly to in specified order and/or do specified action at each of them. For example, if pilot wants to make a video on specified route, he does not have to pilot his drone all the time. He enters waypoints and lets machine do everything else. In this entry I will show how to configure iNav to do missions.


  • iNav compatible drone flight controller flashed with iNav software. Currently supported boards are: Naze32, Flip32, CC3D, SPracingF3, Sparky, RDMO
  • GPS module connected to flight controller board. This example shows how to do it for Flip32, but it will work for all other boards, only UART pins might be different
  • Magnetometer connected and properly calibrated
  • Barometer connected
  • EZ-GUI Ground Station Android application that will act as Mission Planner. Official Cleanflight Configurator does not support this function yet
  • Bluetooth telemetry. Some time ago I have written how to do it for Flip32, but it will work almost the same for all other flight controllers, only UART pins might be different

Continue reading iNav: Cleanflight learned how to do missions

Better GPS for Cleanflight: iNav

Cleanflight is an awesome piece of software for STM32 based flight controllers. But Cleanflight has one very serious flaw that makes its usage on bigger drones at least problematic. Cleanflight sucks in GPS and barometer support. Sucks a lot. It can handle Position Hold (somehow), Return To Home (barely) and Altitude Hold (oh man, up and down, up and down) but if you at least one tried that, you should know that is not only not reliable, but also not precise and hard to tune. Personally I gave up after few tires. It was not worth it. Comparing to Pixhawk (not talking even about Naza) it might as well not exists at all. But it has changed recently…. Continue reading Better GPS for Cleanflight: iNav

Multiple flight modes for Cleanflight with Taranis

FrSky X9D Plus Taranis or cheaper FrSky Taranis Q X7 or even more expensive X10S Horus, are incredible radios. But also can be intimidation when migrating from simpler radios. A great example is mixing multiple switches into 1 channel to pass flight mode to the flight controller. Yes, you can do it, but it can be a pain in the ass on a Mixer level. I've lost a lot of time trying to understand the logic behind mixer weight and offset only to discover possibility to replace channel value, not add. And everything was simple again. So, here what I wanted, and what I did.

What I wanted

When I fly bigger FPV quadcopter, I want to use 7 different flight modes:

  • Angle without Altitude Hold (no BARO),
  • Horizon without Altitude Hold (no BARO),
  • Acro/Rate without Altitude Hold,
  • Angle with Altitude Hold (BARO),
  • Horizon with Altitude Hold (BARO),
  • Position Hold with Altitude Hold (BARO),
  • Return To Home with Altitude Hold (BARO)
    And I've figured out, that 3 switches should be used to enable all the flight modes: SC, SD, and SG. SC toggles Angle/Horizon/Acro. SD switches PosHold and RTH (as well as BARO and overrides SC and SG). SG enables Altitude Hold but only when SC is in up or middle position. 3 switches, 7 modes. I could do it with 3 radio channels, but that would have few flaws: would use 3 channels instead of one, and would allow for mistakes like no BARO with POSHOLD. So, advanced mixes and logical switches that is. Continue reading Multiple flight modes for Cleanflight with Taranis