Commit 9363259a authored by Pawel Spychalski (DzikuVx)'s avatar Pawel Spychalski (DzikuVx)
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README update

parent 9cdebca1
# INAV # INAV - navigation capable flight controller
![INAV](http://static.rcgroups.net/forums/attachments/6/1/0/3/7/6/a9088858-102-inav.png) ![INAV](http://static.rcgroups.net/forums/attachments/6/1/0/3/7/6/a9088858-102-inav.png)
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[![Join the chat at https://gitter.im/iNavFlight/inav](https://badges.gitter.im/iNavFlight/inav.svg)](https://gitter.im/iNavFlight/inav?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge) ![Travis CI status](https://travis-ci.org/iNavFlight/inav.svg?branch=master)
Clean-code version of baseflight flight-controller with improved navigational capabilities - flight controllers are used to fly multi-rotor craft and fixed wing craft.
## Important: PID values and scaling
Starting at 22-06-2016 INAV uses the same scaling for PIDs as Cleanflight/Betaflight LuxFloat and MWRewrite PID controllers. That means the following:
* PIDs from CF/BF can be used in INAV, no need to retune for INAV
* INAV uses the same PID defaults that Cleanflight and Betaflight
* Current INAV tunes can be converted to new using [this guide](https://github.com/iNavFlight/inav/wiki/PID-conversion-from-pre-1.2-to-1.2). This applies to all INAV 1.1
* [Conversion spreadsheet](https://docs.google.com/spreadsheets/d/133vfzz6_38W5nUmoRNuP7ZX9V1E-8IG6x0FxuxkBuQg/edit?usp=sharing)
## Features ## Features
* Multi-color RGB LED Strip support (each LED can be a different color using variable length WS2811 Addressable RGB strips - use for Orientation Indicators, Low Battery Warning, Flight Mode Status, etc) * Outstanding navigation performance out of the box
* Oneshot ESC support. * Position Hold, Altitude Hold, Return To Home and Missions
* Excellent support for fixed wing UAVs: airplanes, flying wings
* Pitot tube support
* Rangefinder support (sonar and laser)
* Oneshot and Multishot ESC support.
* Blackbox flight recorder logging (to onboard flash or external SD card). * Blackbox flight recorder logging (to onboard flash or external SD card).
* Support for additional targets that use the STM32F3 processors (baseflight only supports STM32F1).
* Support for the Seriously Pro Racing F3 board (STM32F303, I2C sensors, large flash, excellent I/O.)
* Support for the TauLabs Sparky board (STM32F303, I2C sensors, based board with acc/gyro/compass and baro, ~$35)
* Support for the OpenPilot CC3D board. (STM32F103, board, SPI acc/gyro, ~$20)
* Support for the CJMCU nano quadcopter board.
* Support for developer breakout boards: (Port103R, EUSTM32F103RC, Olimexino, STM32F3Discovery).
* Support for more than 8 RC channels - (e.g. 16 Channels via FrSky X4RSB SBus). * Support for more than 8 RC channels - (e.g. 16 Channels via FrSky X4RSB SBus).
* Support for N-Position switches via flexible channel ranges - not just 3 like baseflight or 3/6 in MultiWii * Support for N-Position switches via flexible channel ranges - not just 3 like baseflight or 3/6 in MultiWii
* Lux's new PID (uses float values internally, resistant to looptime variation). * Lux's new PID (uses float values internally, resistant to looptime variation).
* Simultaneous Bluetooth configuration and OSD. * Simultaneous Bluetooth configuration and OSD.
* Better PWM and PPM input and failsafe detection than baseflight. * Better PWM and PPM input and failsafe detection than baseflight.
* Better FrSky Telemetry than baseflight. * Better FrSky Telemetry than baseflight.
...@@ -39,49 +24,40 @@ Starting at 22-06-2016 INAV uses the same scaling for PIDs as Cleanflight/Betafl ...@@ -39,49 +24,40 @@ Starting at 22-06-2016 INAV uses the same scaling for PIDs as Cleanflight/Betafl
* OLED Displays - Display information on: Battery voltage, profile, rate profile, version, sensors, RC, etc. * OLED Displays - Display information on: Battery voltage, profile, rate profile, version, sensors, RC, etc.
* In-flight manual PID tuning and rate adjustment. * In-flight manual PID tuning and rate adjustment.
* Rate profiles and in-flight selection of them. * Rate profiles and in-flight selection of them.
* Graupner PPM failsafe.
* Graupner HoTT telemetry.
* Multiple simultaneous telemetry providers. * Multiple simultaneous telemetry providers.
* Configurable serial ports for Serial RX, Telemetry, MSP, GPS - Use most devices on any port, softserial too. * Configurable serial ports for Serial RX, Telemetry, MSP, GPS - Use most devices on any port, softserial too.
* Multi-color RGB LED Strip support (each LED can be a different color using variable length WS2811 Addressable RGB strips - use for Orientation Indicators, Low Battery Warning, Flight Mode Status, etc)
* PIDs from CF/BF can be used in INAV, no need to retune for INAV
* And many more minor bug fixes. * And many more minor bug fixes.
For a list of features, changes and some discussion please review the thread on RCGroups forums and consult the documentation. For a list of features, changes and some discussion please review the thread on RCGroups forums and consult the documentation.
http://www.rcgroups.com/forums/showthread.php?t=2495732 ## Tools
## Installation
See: https://github.com/iNavFlight/inav/blob/master/docs/Installation.md
## Documentation
There is lots of documentation here: https://github.com/iNavFlight/inav/tree/master/docs
If what you need is not covered then refer to the [Cleanflight documentation](https://github.com/cleanflight/cleanflight/tree/master/docs). If you still can't find what you need then visit the Gitter room or the IRC Channel at #inavflight
## Gitter Support and Developers Channel ### INAV Configurator
There's a dedicated Gitter room here: Official too for INAV can be downloaded [here](https://github.com/iNavFlight/inav-configurator/releases). It can be run on Windows, MacOS and Linux machines and standalone application.
https://gitter.im/iNavFlight/inav
There's a dedicated INAV IRC channel on the Freenode IRC network. Users and some of the developers are there, and it is a helpful and friendly community - but there are two important things to keep in mind: First and most importantly, please go ahead and ask if you have questions, but make sure you wait around long enough for a reply. Next, sometimes people are out flying, asleep or at work and can't answer immediately, even though they are present in the channel. This is how IRC works: Many people stay logged in, even though they are not actively participating in the discussion all the time. Have a seat, grab a drink and hang around if it's a quiet time of day. ### INAV Blackbox Explorer
irc://irc.freenode.net/#inavflight Tool for Blackbox logs analysis is available [here](https://github.com/iNavFlight/blackbox-log-viewer/releases)
## Configuration Tool ### Telemetry screen for OpenTX
To configure INAV you should use the [INAV-configurator GUI tool](https://chrome.google.com/webstore/detail/inav-configurator/fmaidjmgkdkpafmbnmigkpdnpdhopgel) (Windows/OSX/Linux). Users of FrSky Taranis X9 and Q X7 can use INAV Lua Telemetry screen created by @teckel12 . Software and installation instruction are available here: [https://github.com/iNavFlight/LuaTelemetry](https://github.com/iNavFlight/LuaTelemetry)
The source for it is here:
https://github.com/iNavFlight/inav-configurator ## Installation
If you rather just want to use Cleanflight configurator you can download from here: See: https://github.com/iNavFlight/inav/blob/master/docs/Installation.md
https://chrome.google.com/webstore/detail/cleanflight-configurator/enacoimjcgeinfnnnpajinjgmkahmfgb
## Telemetry screen for OpenTX ## Documentation, support and learning resources
Users of FrSky Taranis X9 and Q X7 can use INAV Lua Telemetry screen created by @teckel12 . Software and installation instruction are available here: [https://github.com/iNavFlight/LuaTelemetry](https://github.com/iNavFlight/LuaTelemetry) * [Official documentation](https://github.com/iNavFlight/inav/tree/master/docs)
* [Official Wiki](https://github.com/iNavFlight/inav/wiki)
* [Slack channel](https://inavflight.signup.team/)
* [RC Groups Support](https://www.rcgroups.com/forums/showthread.php?2495732-Cleanflight-iNav-(navigation-rewrite)-project)
* [Video series by Painless360](https://www.youtube.com/playlist?list=PLYsWjANuAm4qdXEGFSeUhOZ10-H8YTSnH)
* [Video series by Paweł Spychalski](https://www.youtube.com/playlist?list=PLOUQ8o2_nCLloACrA6f1_daCjhqY2x0fB)
## Contributing ## Contributing
...@@ -107,4 +83,4 @@ Please refer to the development section in the [docs/development](https://github ...@@ -107,4 +83,4 @@ Please refer to the development section in the [docs/development](https://github
## INAV Releases ## INAV Releases
https://github.com/iNavFlight/inav/releases https://github.com/iNavFlight/inav/releases
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