Latest release can be downloaded from GitHub. Besides, who puts GPS on 250 or smaller racer? Currently, iNav is supported on following targets: If you have GPS equipped Cleanflight compatible flight controller I recommend to give iNav a try. Almost everything works out of the box.

I've tried that last weekend and was really impressed You program flight plan, upload it into flight controller, enable NAV WP flight mode and done. Waypoints! That means, drone can do missions.Failsafe can be enabled as any other flight mode.That means, when RC link is broken, drone will try to return (and land) where is armed instead of just falling down from the sky Return To Home can be configured as a failsafe behavior.Return To Home mode also does landing (yay!).NAV POSHOLD mode can be configured to CRUISE submode when stick deflection controls actual speed, not drone's attitude.iNav enables them in background when needed ANGLE and MAG modes does not have to be enabled manually.BARO, SONAR, GPS PH and GPS RTH flight modes are removed and replaced by NAV ALTHOLD, NAV POSHOLD and NAV RTH (Return To Home) modes.Advanced inertial position estimator uses accelerometer data to compute 3D position together with other sensors Position and altitude estimation is not done only by GPS and barometer.As well as GPS, barometer and magnetometer related code. What differs iNav from Cleanflight is fact that all autonomous flight modes were completely rewritten from scratch. But it has changed recently.įew months ago a brave developer nicknamed digitalentity decided to fix Cleanflight's poor GPS support and iNav was born. Comparing to Pixhawk (not talking even about Naza) it might as well not exists at all. 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. Cleanflight sucks in GPS and barometer support. But Cleanflight has one very serious flaw that makes its usage on bigger drones at least problematic. CTUNs BAlt (baroalt), DAlt (desired alt) and Alt (inertial nav alt. Cleanflight is an awesome piece of software for STM32 based flight controllers. This data is found in slight different columns depending upon the version and board.

Cleanflight baro mode