INAV Configurator - Installing on a Mac

Mac computers will give an error message when you try to install and open INAV Configurator.  This is because the INAV devs can't add the required attributions without an Apple Developer account.

To get around this problem we need to open Terminator utility and enter a command line to change the attributions of the INAV app

The command is:  xattr -cr 'file-path-to-the-INAV app'

Normally INAV Configurator.app is stored in the Applications folder, so the command should be as follows:

xattr -cr  '/Applications/INAV Configurator.app'

Enter the command, including the spaces and single quotation marks, then hit return.

INAV Configurator should now open normally.

Here is the Important warning on the INAV GitHub downloads page.

FLYSKY FS-i6 Flaperons / Spoilerons

Flaperons / Spoilerons using the SWC switch 

FS-i6 radio has 3 mixes available.

Important: SAVE = LONG PRESS of the Cancel button 

Short press of Cancel will go back to the previous screen and discard any changes

Connections to the receiver. 

Ch1 - Left Aileron

Ch2 - Elevator

Ch3 - ESC / Throttle

Ch4 - Rudder

Ch5 - Right Aileron 

Long Press OK to access the MENU Screen

Press UP or DOWN to highlight System setup

Press OK to open SYSTEM

Press OK to choose Model select

Press UP or DOWN to locate your model (20 model slots available)

LONG PRESS Cancel to Save 

Press Cancel to return to MENU

Aux Channels

Press UP to highlight Function setup

Press OK 

Press Down to go to Aux Channels

Press OK

Scroll through Aux Channels by pressing OK

Scroll through Source by pressing Up or Down

Select Source = None for Ch5

Select Source = SwC for Ch6

LONG PRESS Cancel to save

The FS-i6 does not allow a switch to be used as the Master for mixing, but we can use the switch as the source for a channel then use that channel as the Master for the mix.

MIXING Setup

Press Down until you get to Mixes

Press OK

Press UP or DOWN to change Mix number to Mix #1

Mix #1 (Mixing right aileron to left aileron)

Press OK to move down to Mix Is OFF

Press UP or DOWN to change to MIX is ON

Press OK to go down to Master Ch

Press UP or DOWN to change to Master Ch1

Press OK to go down to Slave Ch

Press Up or Down to change to Slave Ch5

Press OK to move down to Pos. Mix

Press UP or DOWN to change to 100%

Press OK to move down to Neg. Mix

Press UP or DOWN to change to 100%

LONG PRESS Cancel to save

Press Down until you get to Mixes

Press OK

Change to Mix #2 as above

Mix #2 (Flaperon / Spoileron mix for L Aileron)

Press OK to move down to Mix Is OFF

Press UP or DOWN to change to MIX is ON

Press OK to go down to Master Ch

Press UP or DOWN to change to Master Ch6

Press OK to go down to Slave Ch

Press Up or Down to change to Slave Ch1

Press OK to move down to Pos. Mix

Press UP or DOWN to change to 50%

Press OK to move down to Neg. Mix

Press UP or DOWN to change to 50%

LONG PRESS Cancel to save

Change to Mix #3 as above

Mix #3 (Flaperon / Spoileron mix for R Aileron)

Press OK to move down to Mix Is OFF

Press UP or DOWN to change to MIX is ON

Press OK to go down to Master Ch

Press UP or DOWN to change to Master Ch6

Press OK to go down to Slave Ch

Press Up or Down to change to Slave Ch5

Press OK to move down to Pos. Mix

Press UP or DOWN to change to -50%

Press OK to move down to Neg. Mix

Press UP or DOWN to change to -50%

LONG PRESS Cancel to save

Control surface movements

Make sure your receiver is bound to this model.

Now connect servos and power to the receiver and check control surface movements.

If any control surface movements are reversed, go to the Functions > Reverse screen and make the necessary changes.

Be careful not to reverse the Throttle Channel Ch 3.

LONG PRESS Cancel to save

If the flaperon / spoileron action is reversed go back in to the Mixes menu and change Pos and Neg Mix values from +50% to -50% or vice versa.

Note that any of the weights used above can be reduced or increased to suit your model. For expample you could reduce aileron weights to something like 75% and flaperon / spoileron weights to 40%.

How to use

Flaperons (5 to 20º) can add lift for shorter takeoffs and slower flight

Extreme flaperons (70º) can act as air brakes for landing or hand catching (DLG) but they need to go down a long way for this to work, and have elevator compensation.

Spoilerons (just a few degrees) reduce lift for extra speed 

More spoilerons (20º) can reduce lift and reduce speed for shorter landings.

INAV configuration for Spektrum Radios

 I don't have any Spektrum gear to check this but INAV setup is the same as any other radio system apart from channel order and Serial Receiver Provider.

Spektrum radios use TAER channel order and Serial Receiver Provider is SRXL2 (or SBUS if available). Make these selections in the INAV Receiver page. 

SRXL2 signal wire connects to the T pin of your selected Serial Receiver UART.

Configure the INAV Model Mix in the radio with 100% for the first 4 channels (TAER), and the Arming and Mode switches. This may be the Multirotor premix in Spektrum radios.

In the INAV Receiver page, check that the channel graph bars move to the right when you move the sticks up and right. Check that channel bars go from 1000 to 2000, specially the the throttle channel. 

Output end points may need to be adjusted in the radio to get this range.

If all this is working but Arming is still not possible check this Troubleshooting checklist

Crow braking

EdgeTX mix for a glider with Flaps and Crow Braking on the S1 slider

I like to shorten flap pushrods so the flaps go from Level with wing to Full down using full servo movement.

Start with a basic mix. 

Note: "IAil" is the Input named "Ail" from the Inputs Page. 

Ch1 100 IAil - Aileron L
Ch2 100 IEle - Elevator
Ch3 100 IThr - Throttle
Ch4 100 IRud - Rudder
Ch5 100 IAil - Aileron R
Ch6 100 S1 - Flap L
Ch7 100 S1 - Flap R

Check control surface movements and change weight to -100 if throw direction is reversed
Reduce rates from 100 if desired, but it's better to move the pushrods to an inner servo arm hole to reduce throws.

Now add mixer lines to Ch1 and Ch5 
Source S1, Weight 30 (or -30 if required), Curve Func x>0, Multiplex Add (+=) 

Mixer lines should now look like this

Ch1 100 IAil 

+= 30 S1 x>0

Ch5 100 IAil 

+= -30 S1 x>0

Change the weight from 30 to -30 to reverse the movement if required. Ailerons should move up as flaps go down.  30% weight is just a suggestion, adjust as required.

Func x>0 means the Ailerons will only move UP for the bottom half of S1 rotation. Otherwise Offset will be required to re-level the ailerons when the flaps are up.

If Elevator compensation is required to prevent pitching up when flaps are dropped

Add mixer line to Ch2 .

Source S1, Weight 5 (or -5 if required), Curve Func x>0, Multiplex Add (+=) 

Ch2 100 IEle

+= 5 S1 x>0

Make sure the elevator moves down with S1.  Fly and test whether weight of 5 is suitable. Adjust as required.

If Expo is required, add it in the INPUTS page

Curve Expo 30

If Differential is required, add it in the Mixer page for each Aileron channel

Curve Diff 50 (or -50 as required)

INAV Troubleshooting - Quick Tips

1. FIRMWARE  

Are you using the correct firmware target for your board? 

Note that the SpeedyBee F405 Wing Mini board uses the WING target, NOT the MINI target.

2. BOARD ORIENTATION 

Does the animation move the same way as your plane?

Set FC orientation using the Alignment Tool if the board is not facing forward

3. INAV MIX in the RADIO

Do Not set up V-Tail or Elevon mixing in the radio, that is done in the INAV Mixer

Must use this basic mix in the radio. I call it the INAV Mix.

Ch1 100 AIL

Ch2 100 ELE

Ch3 100 THR

Ch4 100 RUD

Ch5 ARM Switch (must be Ch5 for ELRS)

Ch6 7 8 etc. for your desired flight modes, but always include a switch position where no modes are selected. This will allow for ACRO.

In the radio, adjust the endpoints of Ch 1 to 4 to give PWM range of 1000 to 2000 in the INAV Receiver graphs.

4. OUPUTS Page - Enable Motor and Servo Output

Choose the correct ESC Protocol and Servo Refresh Rate for your gear. 

Use STANDARD and 50 Hz if they are unknown.

Use the slider controls on this page to calibrate Standard ESCs, and check if the motor runs. 

5. PORTS - Enable separate UARTs for Serial RX, GPS and Digital FPV if required. 

SBUS Rx with F405 boards require Serial RX to be on UART2.

6. CONFIGURATION - Turn On "GPS for Navigation and Telemetry" (if GPS will be used)

7. FAILSAFE - Only set as RTH if you have a GPS setup.

Arming will be prevented if failsafe is RTH on a non-GPS setup.

8. RECEIVER - Connect the receiver to the Serial RX UART 
Choose the Channel Order for your type of radio. AETR is most common
Choose the Serial Receiver Provider for your receiver - CRSF for ELRS, SBUS for SBUS etc.

Check that the Rx is bound to your radio.

Check that the INAV Channel bars for Roll, Pitch, Yaw and Throttle move to the RIGHT when moving the radio sticks UP and RIGHT?

If one moves to the left then you may have reversed a channel in the radio.

Make sure Throttle can go right down to 1000. 

9. ARMING PROBLEMS - Read the Arming Flags message along the bottom of the INAV window (may need to maximise the window) and in your FPV goggles. Also type STATUS in to the CLI for more clues.

Arming is only possible in ACRO, HORIZON, ANGLE or MANUAL modes, and GPS must have acquired at least 6 satellites and a 3D lock.

To bypass the Arming Flags, hold the throttle stick down and yaw right while arming. 

BEWARE this is for troubleshooting only and is not a safe flying condition. 

Disconnect the battery to clear Arming Flag bypass.

More detailed troubleshooting information

INAV Troubleshooting videos

FLYSKY Paladin PL18 Ultra internals

 

4 rubber pads and 8 screws / bolts to remove the back 

2 x Patch antennas

No ratchet spring on the throttle

Wiring for Eachine Sphere Link - Open IPC HD FPV

The two G and two 9V wires from the VTx can be combined into one G and one 9V for the FC HD FPV UART input.

Tx and Rx wires from the camera also go to the FC HD FPV UART. Camera ground wire not required when connected like this.

3D print file for mount

My YouTube review video