Commit a588ee08 authored by Pawel Spychalski (DzikuVx)'s avatar Pawel Spychalski (DzikuVx)
Browse files

docs update fixes#282

parent 72050604
......@@ -15,8 +15,6 @@ The MultiWii software, from which baseflight originated, violates many good soft
## Additional Features
Cleanflight also has additional features not found in baseflight.
* 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)
* Oneshot ESC support.
* Blackbox flight recorder logging (to onboard flash or external SD card).
......@@ -70,7 +68,7 @@ Etiquette: Don't ask to ask and please wait around long enough for a reply - som
## Videos
There is a dedicated Cleanflight youtube channel which has progress update videos, flight demonstrations, instructions and other related videos.
There is a dedicated INAV youtube channel which has progress update videos, flight demonstrations, instructions and other related videos.
https://www.youtube.com/playlist?list=PL6H1fAj_XUNVBEcp8vbMH2DrllZAGWkt8
......@@ -78,7 +76,7 @@ Please subscribe and '+1' the videos if you find them useful.
## Configuration Tool
To configure Cleanflight you should use the Cleanflight-configurator GUI tool (Windows/OSX/Linux) that can be found here:
To configure INAV you should use the INAV-configurator GUI tool (Windows/OSX/Linux) that can be found here:
https://chrome.google.com/webstore/detail/cleanflight-configurator/enacoimjcgeinfnnnpajinjgmkahmfgb
......@@ -113,7 +111,5 @@ https://travis-ci.org/cleanflight/cleanflight
[![Build Status](https://travis-ci.org/cleanflight/cleanflight.svg?branch=master)](https://travis-ci.org/cleanflight/cleanflight)
## Cleanflight Releases
## INAV Releases
https://github.com/cleanflight/cleanflight/releases
......@@ -26,7 +26,7 @@ Currently supported on the SPRACINGF3, STM32F3DISCOVERY, NAZE32 (including clone
## Usage
- Plug in the USB cable and connect to your board with the CleanFlight configurator.
- Plug in the USB cable and connect to your board with the INAV configurator.
- For boards without a built in USB/UART adapter, you'll need to plug an external one in. Here is how you wire up the CC3D. Plug your USB/UART adapter into the Flexi port:
......@@ -34,9 +34,9 @@ Currently supported on the SPRACINGF3, STM32F3DISCOVERY, NAZE32 (including clone
- Open the BlHeli Suite.
- Ensure you have selected the correct Atmel or SILABS "Cleanflight" option under the "Select ATMEL / SILABS Interface" menu option.
- Ensure you have selected the correct Atmel or SILABS "INAV" option under the "Select ATMEL / SILABS Interface" menu option.
- Ensure you have port for your external USB/UART adapter selected, if you're using one, otherwise pick the same COM port that you normally use for Cleanflight.
- Ensure you have port for your external USB/UART adapter selected, if you're using one, otherwise pick the same COM port that you normally use for INAV.
- Click "Connect" and wait for the connection to complete. If you get a COM error, hit connect again. It will probably work.
......
# MSP Extensions
Cleanflight includes a number of extensions to the MultiWii Serial Protocol (MSP). This document describes
those extensions in order that 3rd party tools may identify cleanflight firmware and react appropriately.
INAV includes a number of extensions to the MultiWii Serial Protocol (MSP). This document describes
those extensions in order that 3rd party tools may identify INAV firmware and react appropriately.
Issue the MSP_API_VERSION command to find out if the firmware supports them.
......@@ -28,7 +28,7 @@ Unassigned slots have rangeStartStep == rangeEndStep. Each element contains the
| rangeStartStep | uint8 | The start value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
| rangeEndStep | uint8 | The end value for this element in 'blocks' of 25 where 0 == 900 and 48 == 2100 |
Thus, for a cleanflight firmware with 40 slots 160 bytes would be returned in response to MSP\_MODE\_RANGES,
Thus, for a INAV firmware with 40 slots 160 bytes would be returned in response to MSP\_MODE\_RANGES,
### MSP\_SET\_MODE\_RANGE
......@@ -86,7 +86,7 @@ Unassigned slots have rangeStartStep == rangeEndStep. Each element contains the
| adjustmentFunction | uint8 | See below |
| auxSwitchChannelIndex | uint8 | The Aux channel number used to perform the function (indexed from 0) |
Thus, for a cleanflight firmware with 12 slots 72 bytes would be returned in response to MSP\_ADJUSTMENT\_RANGES,
Thus, for a INAV firmware with 12 slots 72 bytes would be returned in response to MSP\_ADJUSTMENT\_RANGES,
### MSP\_SET\_ADJUSTMENT\_RANGE
......@@ -150,12 +150,12 @@ There are many adjustments that can be made, the numbers of them and their use i
The following MSP commands are replaced by the MSP\_MODE\_RANGES and
MSP\_SET\_MODE\_RANGE extensions, and are not recognised by
cleanflight.
INAV.
* MSP\_BOX
* MSP\_SET\_BOX
See also
--------
Modes.md describes the user visible implementation for the cleanflight
Modes.md describes the user visible implementation for the INAV
modes extension.
# Battery Monitoring
Cleanflight has a battery monitoring feature. The voltage of the main battery can be measured by the system and used to trigger a low-battery warning [buzzer](Buzzer.md), on-board status LED flashing and LED strip patterns.
INAV has a battery monitoring feature. The voltage of the main battery can be measured by the system and used to trigger a low-battery warning [buzzer](Buzzer.md), on-board status LED flashing and LED strip patterns.
Low battery warnings can:
......@@ -146,7 +146,7 @@ The general method is:
1. Fully charge your flight battery
2. Fly your craft, using >50% of your battery pack capacity (estimated)
3. Note Cleanflight's reported mAh draw
3. Note INAV's reported mAh draw
4. Re-charge your flight battery, noting the mAh charging data needed to restore the pack to fully charged
5. Adjust `current_meter_scale` to according to the formula given below
6. Repeat and test
......@@ -156,7 +156,7 @@ Given (a) the reported mAh draw and the (b) mAh charging data, calculate a new `
current_meter_scale = (charging_data_mAh / reported_draw_mAh) * old_current_meter_scale
```
For example, assuming:
+ A Cleanflight reported current draw of 1260 mAh
+ A INAV reported current draw of 1260 mAh
+ Charging data to restore full charge of 1158 mAh
+ A existing `current_meter_scale` value of 400 (the default)
......@@ -166,8 +166,3 @@ current_meter_scale = (charging_data_mAh / reported_draw_mAh) * old_current_mete
= (1158 / 1260) * 400
= 368
```
......@@ -37,14 +37,14 @@ because these craft have more motors to record, they must transmit more data to
number of dropped frames. Although the browser-based log viewer supports hexacopters and octocopters, the command-line
`blackbox_render` tool currently only supports tri- and quadcopters.
Cleanflight's `looptime` setting decides how frequently an update is saved to the flight log. The default looptime on
Cleanflight is 3500. If you're using a looptime smaller than about 2400, you may experience some dropped frames due to
INAV's `looptime` setting decides how frequently an update is saved to the flight log. The default looptime on
INAV is 2000us. If you're using a looptime smaller than about 2400, you may experience some dropped frames due to
the high required data rate. In that case you will need to reduce the sampling rate in the Blackbox settings, or
increase your logger's baudrate to 250000. See the later section on configuring the Blackbox feature for details.
## Setting up logging
First, you must enable the Blackbox feature. In the [Cleanflight Configurator][] enter the Configuration tab,
First, you must enable the Blackbox feature. In the [INAV Configurator][] enter the Configuration tab,
tick the "BLACKBOX" feature at the bottom of the page, and click "Save and reboot"
Now you must decide which device to store your flight logs on. You can either transmit the log data over a serial port
......@@ -59,7 +59,7 @@ flights to a MicroSD card.
The OpenLog ships from SparkFun with standard "OpenLog 3" firmware installed. Although this original OpenLog firmware
will work with the Blackbox, in order to reduce the number of dropped frames it should be reflashed with the
higher performance [OpenLog Blackbox firmware][]. The special Blackbox variant of the OpenLog firmware also ensures that
the OpenLog is using Cleanflight compatible settings, and defaults to 115200 baud.
the OpenLog is using INAV compatible settings, and defaults to 115200 baud.
You can find the Blackbox version of the OpenLog firmware [here](https://github.com/cleanflight/blackbox-firmware),
along with instructions for installing it onto your OpenLog.
......@@ -95,7 +95,7 @@ First, tell the Blackbox to log using a serial port (rather than to an onboard d
Configurator's CLI tab, enter `set blackbox_device=SERIAL` to switch logging to serial, and
save.
You need to let Cleanflight know which of [your serial ports][] you connect your OpenLog to (i.e. the Blackbox port),
You need to let INAV know which of [your serial ports][] you connect your OpenLog to (i.e. the Blackbox port),
which you can do on the Configurator's Ports tab.
You should use a hardware serial port (such as UART1 on the Naze32, the two-pin Tx/Rx header in the center of the
......@@ -124,7 +124,7 @@ telemetry pins.
Pin RC3 on the side of the board is UART2's Tx pin. If Blackbox is configured on UART2, MSP can still be used on UART1
when the board is armed, which means that the Configurator will continue to work simultaneously with Blackbox logging.
Note that in `PARALLEL_PWM` mode this leaves the board with 6 input channels as RC3 and RC4 pins are used by UART2 as Tx and Rx. Cleanflight automatically shifts logical channel mapping for you when UART2 is enabled in `Ports` tab so you'll have to shift receiver pins that are connected to Naze32 pins 3 to 6 by two.
Note that in `PARALLEL_PWM` mode this leaves the board with 6 input channels as RC3 and RC4 pins are used by UART2 as Tx and Rx. INAV automatically shifts logical channel mapping for you when UART2 is enabled in `Ports` tab so you'll have to shift receiver pins that are connected to Naze32 pins 3 to 6 by two.
The OpenLog tolerates a power supply of between 3.3V and 12V. If you are powering your Naze32 with a standard 5V BEC,
then you can use a spare motor header's +5V and GND pins to power the OpenLog with.
......@@ -192,7 +192,7 @@ On the Configurator's CLI tab, you must enter `set blackbox_device=SPIFLASH` to
then save.
[your serial ports]: https://github.com/cleanflight/cleanflight/blob/master/docs/Serial.md
[Cleanflight Configurator]: https://chrome.google.com/webstore/detail/cleanflight-configurator/enacoimjcgeinfnnnpajinjgmkahmfgb?hl=en
[INAV Configurator]: https://chrome.google.com/webstore/detail/cleanflight-configurator/enacoimjcgeinfnnnpajinjgmkahmfgb?hl=en
## Configuring the Blackbox
......@@ -204,7 +204,7 @@ every iteration.
If you're using a slower MicroSD card, you may need to reduce your logging rate to reduce the number of corrupted
logged frames that `blackbox_decode` complains about. A rate of 1/2 is likely to work for most craft.
You can change the logging rate settings by entering the CLI tab in the [Cleanflight Configurator][] and using the `set`
You can change the logging rate settings by entering the CLI tab in the [INAV Configurator][] and using the `set`
command, like so:
```
......@@ -232,8 +232,8 @@ not diagnose flight problems like vibration or PID setting issues.
The Blackbox starts recording data as soon as you arm your craft, and stops when you disarm.
If your craft has a buzzer attached, you can use Cleanflight's arming beep to synchronize your Blackbox log with your
flight video. Cleanflight's arming beep is a "long, short" pattern. The beginning of the first long beep will be shown
If your craft has a buzzer attached, you can use INAV's arming beep to synchronize your Blackbox log with your
flight video. INAV's arming beep is a "long, short" pattern. The beginning of the first long beep will be shown
as a blue line in the flight data log, which you can sync against your recorded audio track.
You should wait a few seconds after disarming your craft to allow the Blackbox to finish saving its data.
......@@ -246,7 +246,7 @@ tools will ask you to pick which one of these flights you want to display/decode
Don't insert or remove the SD card while the OpenLog is powered up.
### Usage - Dataflash chip
After your flights, you can use the [Cleanflight Configurator][] to download the contents of the dataflash to your
After your flights, you can use the [INAV Configurator][] to download the contents of the dataflash to your
computer. Go to the "dataflash" tab and click the "save flash to file..." button. Saving the log can take 2 or 3
minutes.
......
......@@ -20,7 +20,7 @@ Here are the hardware specifications:
- 3.3V buck-boost power converter (newer prototypes and production versions)
- battery monitoring with an LED for buzzer functionality (actualy for an ALIENWIIF3 variant)
(*) Spektrum Compatible DSM2 satellites are supported out of the box. DSMX sat will work with DSM2 protocol with default settings (DSM2, 11bit, 11ms is preset). This is chosen for maximum compatibility. For optimal connection it is recommended to adjust settings to match the capabilities of your transmitter and satellite receiver. If possible it is recommended to use the DSMX protocol since it is known as more reliable. Also to make use of additional channels you should adjust the following two parameters with the Cleanflight Configurator.
(*) Spektrum Compatible DSM2 satellites are supported out of the box. DSMX sat will work with DSM2 protocol with default settings (DSM2, 11bit, 11ms is preset). This is chosen for maximum compatibility. For optimal connection it is recommended to adjust settings to match the capabilities of your transmitter and satellite receiver. If possible it is recommended to use the DSMX protocol since it is known as more reliable. Also to make use of additional channels you should adjust the following two parameters with the INAV Configurator.
set serialrx_provider = 1 (0 for 1024bit, 1 for 2048bit)
set spektrum_sat_bind = 5
......@@ -29,10 +29,10 @@ For more detail of the different bind modes please refer the [Spektrum Bind](Spe
Deltang receivers in serial mode will work like any other Spektrum satellite receiver (10bit, 22ms) only the bind process will be different.
The pin layout for the ALIENWIIF1 is very similar to NAZE32 or the related clones (MW32, Flip32, etc.). The hardware bind pin is connected to pin 41 (PB5). The pin layout for the ALIENWIIF3 is similar to Sparky. The hardware bind pin is connected to pin 25 (PB12). The AlienWii32 firmware will be built as target ALIENWIIF1 or ALIENWIIF3. The firmware image will come with alternative default settings which will give the user a plug and play experience. There is no computer needed to get this into the air with an small Quadcopter. An preconfigured custom mixer for an Octocopter is part of the default settings to allow clean straight wiring with the AlienWii32. The mixer can be activated with "mixer custom" in the CLI. To use the AlienWii32 in an Hexa- or Octocopter or to do some more tuning additional configuration changes can be done as usual in the CLI or the Cleanflight configurator.
The pin layout for the ALIENWIIF1 is very similar to NAZE32 or the related clones (MW32, Flip32, etc.). The hardware bind pin is connected to pin 41 (PB5). The pin layout for the ALIENWIIF3 is similar to Sparky. The hardware bind pin is connected to pin 25 (PB12). The AlienWii32 firmware will be built as target ALIENWIIF1 or ALIENWIIF3. The firmware image will come with alternative default settings which will give the user a plug and play experience. There is no computer needed to get this into the air with an small Quadcopter. An preconfigured custom mixer for an Octocopter is part of the default settings to allow clean straight wiring with the AlienWii32. The mixer can be activated with "mixer custom" in the CLI. To use the AlienWii32 in an Hexa- or Octocopter or to do some more tuning additional configuration changes can be done as usual in the CLI or the INAV configurator.
## Flashing the firmware
The AlienWii32 F1 board can be flashed like the Naze board or the related clones. All the different methods will work in the same way.
The AlienWii32 F3 board needs to be flashed via the USB port in DFU mode. Flashing via the Cleanflight GUI is not possible yet. The DFU mode can be activated via setting the BOOT0 jumper during power on of the board. The second method is to connect with an terminal program (i.e. Putty) to the board and enter the character "R" immediately after connecting. Details about the flashing process can be found in the related section of the [Sparky](Board - Sparky.md) documentation. The BOOT0 jumper should be removed and the board needs to be repowerd after firmware flashing. Please be aware, during reboot of the AlienWii F3 board, the GUI will disconnect and an manual reconnect is required.
\ No newline at end of file
The AlienWii32 F3 board needs to be flashed via the USB port in DFU mode. Flashing via the INAV GUI is not possible yet. The DFU mode can be activated via setting the BOOT0 jumper during power on of the board. The second method is to connect with an terminal program (i.e. Putty) to the board and enter the character "R" immediately after connecting. Details about the flashing process can be found in the related section of the [Sparky](Board - Sparky.md) documentation. The BOOT0 jumper should be removed and the board needs to be repowerd after firmware flashing. Please be aware, during reboot of the AlienWii F3 board, the GUI will disconnect and an manual reconnect is required.
......@@ -30,6 +30,7 @@ The 8 pin RC_Input connector has the following pinouts when used in RX_PPM/RX_SE
| 8 | PPM Input | Enable `feature RX_PPM` |
*Connect to the output of a PWM-RSSI conditioner, 0v-3.3v input.
NOTE: for the CC3D\_PPM1 build PPM input is on Pin 3 and RSSI\_ADC is on Pin 8
The 6 pin RC_Output connector has the following pinouts when used in RX_PPM/RX_SERIAL mode
......@@ -106,10 +107,10 @@ You cannot use USART3 and I2C at the same time.
# Flashing
There are two primary ways to get Cleanflight onto a CC3D board.
There are two primary ways to get INAV onto a CC3D board.
* Single binary image mode - best mode if you don't want to use OpenPilot.
* OpenPilot Bootloader compatible image mode - best mode if you want to switch between OpenPilot and Cleanflight.
* OpenPilot Bootloader compatible image mode - best mode if you want to switch between OpenPilot and INAV.
## Single binary image mode.
......
......@@ -60,7 +60,7 @@ USART2 is the following pins.
In standard QUADX configuration, the motors are mapped:
| Cleanflight | CJMCU |
| INAV | CJMCU |
| ----------- | ------ |
| Motor 1 | Motor3 |
| Motor 2 | Motor2 |
......@@ -91,7 +91,7 @@ You will need a USB -> Serial UART adapter. Connect:
When first connected this should power up the board, and will be in bootloader mode. If this does not happen, check
the charge switch is set to POW.
After the flashing process has been completed, this will allow access via the cleanflight configurator to change
After the flashing process has been completed, this will allow access via the INAV configurator to change
settings or flash a new firmware.
WARNING: If the motors are connected and the board boots into the bootloader, they will start
......@@ -101,7 +101,7 @@ is flashed.
# Flashing
To flash the board:
* Open Cleanflight Configurator
* Open INAV Configurator
* Choose the latest CJMCU firmware from the list.
* Select "Load Firmware [Online]" and wait for the firmware to download.
* Tick "No Reboot Sequence" and "Full Chip Erase"
......@@ -142,4 +142,3 @@ The two nearby LEDs will show the status of charging:
for one of the the AUX channels which will result in it being always on
* Enabling the feature MOTOR_STOP helps with crashes so it doesn't try to keep spinning on its back
* When the power runs low, the quad will start jumping around a bit, if the flight behaviour seems strange, check your batteries charge
......@@ -25,7 +25,7 @@ Both boards use the STM32F303 microcontroller and have the following features:
# Flashing
The MotoLab boards use the internal DFU USB interface on the STM32F3 microcontroller which is not compatible with the Cleanflight configurator flashing tool.
The MotoLab boards use the internal DFU USB interface on the STM32F3 microcontroller which is not compatible with the INAV configurator flashing tool.
Instead, on Windows you can use the Impulse Flashing Utility from ImpulseRC, available here:
......@@ -99,4 +99,3 @@ dd if=/dev/zero of=zero.bin bs=1 count=262144
## Todo
Pinout documentation
......@@ -49,8 +49,8 @@ When SOFTSERIAL is enabled, LED_STRIP and CURRENT_METER are unavailable, but two
+ Apply power to the board
+ Remove the short on the board
### Cleanflight configurator
+ Select the correct hardware and the desired release of the Clearflight firmware
### INAV configurator
+ Select the correct hardware and the desired release of the INAV firmware
+ Put a check in the "No reboot sequence"
+ Flash firmware
......@@ -66,4 +66,3 @@ When SOFTSERIAL is enabled, LED_STRIP and CURRENT_METER are unavailable, but two
|O O|
\-------[USB]-------/
```
# Board - SPRacingF3
The Seriously Pro Racing MOF3 board (SPRacingF3) is the first board designed specifically for Cleanflight.
The Seriously Pro Racing MOF3 board (SPRacingF3) is the first board designed specifically for INAV.
Full details available on the website, here:
......@@ -125,4 +125,3 @@ The port cannot be used at the same time as UART2.
| 2 | NRST | Voltage as-supplied by BEC OR USB, always on |
| 3 | SWDIO | |
| 4 | SWDCLK | |
......@@ -74,7 +74,7 @@ The status bar will show the upload progress and confirm that the upload is comp
```
Disconnect and reconnect the board from USB and continue to configure it via the Cleanflight configurator as per normal
Disconnect and reconnect the board from USB and continue to configure it via the INAV configurator as per normal
## Via Device Firmware Upload (DFU, USB) - Mac OS X / Linux
......
......@@ -12,7 +12,7 @@ The core set of supported flyable boards are:
* Sparky
* SPRacingF3
Cleanflight also runs on the following developer boards:
INAV also runs on the following developer boards:
* STM32F3Discovery
* Port103R
......@@ -33,4 +33,4 @@ Please see the board-specific chapters in the manual for wiring details.
There are off-shoots (forks) of the project that support the STM32F4 processors as found on the Revo and Quanton boards.
Where applicable the chapters also provide links to other hardware that is known to work with Cleanflight, such as receivers, buzzers, etc.
Where applicable the chapters also provide links to other hardware that is known to work with INAV, such as receivers, buzzers, etc.
# Buzzer
Cleanflight supports a buzzer which is used for the following purposes:
INAV supports a buzzer which is used for the following purposes:
* Low and critical battery alarms (when battery monitoring enabled)
* Arm/disarm tones (and warning beeps while armed)
......@@ -12,7 +12,7 @@ Cleanflight supports a buzzer which is used for the following purposes:
If the arm/disarm is via the control stick, holding the stick in the disarm position will sound a repeating tone. This can be used as a lost-model locator.
Three beeps immediately after powering the board means that the gyroscope calibration has completed successfully. Cleanflight calibrates the gyro automatically upon every power-up. It is important that the copter stay still on the ground until the three beeps sound, so that gyro calibration isn't thrown off. If you move the copter significantly during calibration, Cleanflight will detect this, and will automatically re-start the calibration once the copter is still again. This will delay the "three beeps" tone. If you move the copter just a little bit, the gyro calibration may be incorrect, and the copter may not fly correctly. In this case, the gyro calibration can be performed manually via [stick command](Controls.md), or you may simply power cycle the board.
Three beeps immediately after powering the board means that the gyroscope calibration has completed successfully. INAV calibrates the gyro automatically upon every power-up. It is important that the copter stay still on the ground until the three beeps sound, so that gyro calibration isn't thrown off. If you move the copter significantly during calibration, INAV will detect this, and will automatically re-start the calibration once the copter is still again. This will delay the "three beeps" tone. If you move the copter just a little bit, the gyro calibration may be incorrect, and the copter may not fly correctly. In this case, the gyro calibration can be performed manually via [stick command](Controls.md), or you may simply power cycle the board.
There is a special arming tone used if a GPS fix has been attained, and there's a "ready" tone sounded after a GPS fix has been attained (only happens once). The tone sounded via the TX-AUX-switch will count out the number of satellites (if GPS fix).
......@@ -24,7 +24,7 @@ Buzzer is enabled by default on platforms that have buzzer connections.
Buzzer tone sequences (square wave generation) are made so that : 1st, 3rd, 5th, .. are the delays how long the beeper is on and 2nd, 4th, 6th, .. are the delays how long beeper is off. Delays are in milliseconds/10 (i.e., 5 => 50ms).
Sequences available in Cleanflight v1.9 and above are :
Sequences:
0 GYRO_CALIBRATED 20, 10, 20, 10, 20, 10 Gyro is calibrated
1 RX_LOST_LANDING 10, 10, 10, 10, 10, 40, 40, 10, 40, 10, 40, 40, 10, 10, 10, 10, 10, 70 SOS morse code
......
# Command Line Interface (CLI)
Cleanflight has a command line interface (CLI) that can be used to change settings and configure the FC.
INAV has a command line interface (CLI) that can be used to change settings and configure the FC.
## Accessing the CLI.
......
# Configuration
Cleanflight is configured primarily using the Cleanflight Configurator GUI.
INAV is configured primarily using the INAV Configurator GUI.
Both the command line interface and GUI are accessible by connecting to a serial port on the target,
be it a USB virtual serial port, physical hardware UART port or a SoftSerial port.
......@@ -15,12 +15,12 @@ __Due to ongoing development, the fact that the GUI cannot yet backup all your s
## GUI
![Cleanflight Gui](Screenshots/cleanflight-gui.png)
![INAV Gui](Screenshots/cleanflight-gui.png)
The GUI tool is the preferred way of configuration. The GUI tool also includes a terminal which
can be used to interact with the CLI.
[Cleanflight Configurator on Chrome store](https://chrome.google.com/webstore/detail/cleanflight-configurator/enacoimjcgeinfnnnpajinjgmkahmfgb)
[INAV Configurator on Chrome store](https://chrome.google.com/webstore/detail/cleanflight-configurator/enacoimjcgeinfnnnpajinjgmkahmfgb)
If you cannot use the latest version of the GUI to access the FC due to firmware compatibility issues you can still access the FC via the CLI to backup your settings, or you can install an old version of the configurator.
......@@ -30,6 +30,6 @@ See the README file that comes with the configurator for installation instructio
## CLI
Cleanflight can also be configured by a command line interface.
INAV can also be configured by a command line interface.
See the CLI section of the documentation for more details.
# Display
Cleanflight supports displays to provide information to you about your aircraft and cleanflight state.
INAV supports displays to provide information to you about your aircraft and cleanflight state.
When the aircraft is armed the display does not update so flight is not affected. When disarmed the display cycles between various pages.
......@@ -68,5 +68,3 @@ More can be read about this procedure here: http://www.multiwii.com/forum/viewto
Connect +5v, Ground, I2C SDA and I2C SCL from the flight controller to the display.
On Naze32 rev 5 boards the SDA and SCL pads are underneath the board.
# Getting Started
This is a step-by-step guide that can help a person that has never used Cleanflight before set up a flight controller and the aircraft around it for flight. Basic RC knowledge is required, though. A total beginner should first familiarize themselves with concepts and techniques of RC before using this (e.g. basic controls, soldering, transmitter operation etc). One could use [RCGroups](http://www.rcgroups.com/forums/index.php) and/or [the Youtube show FliteTest](https://www.youtube.com/user/flitetest) for this.
This is a step-by-step guide that can help a person that has never used INAV before set up a flight controller and the aircraft around it for flight. Basic RC knowledge is required, though. A total beginner should first familiarize themselves with concepts and techniques of RC before using this (e.g. basic controls, soldering, transmitter operation etc). One could use [RCGroups](http://www.rcgroups.com/forums/index.php) and/or [the Youtube show FliteTest](https://www.youtube.com/user/flitetest) for this.
DISCLAIMER: This documents is a work in progress. We cannot guarantee the safety or success of your project. At this point the document is only meant to be a helping guide, not an authoritative checklist of everything you should do to be safe and successful. Always exercise common sense, critical thinking and caution.
Read the [Introduction](Introduction.md) chapter for an overview of Cleanflight and how the community works.
Read the [Introduction](Introduction.md) chapter for an overview of INAV and how the community works.
## Hardware
NOTE: Flight Controllers are typically equipped with accelerometers. These devices are sensitive to shocks. When the device is not yet installed to an aircraft, it has very little mass by itself. If you drop or bump the controller, a big force will be applied on its accelerometers, which could potentially damage them. Bottom line: Handle the board very carefully until it's installed on an aircraft!
For an overview of the hardware Cleanflight (hereby CF) can run on, see [Boards.md](Boards.md). For information about specific boards, see the board specific documentation.
For an overview of the hardware INAV (hereby CF) can run on, see [Boards.md](Boards.md). For information about specific boards, see the board specific documentation.
* Assuming that you have a flight controller board (hereby FC) in hand, you should first read through the manual that it came with. You can skip the details about software setup, as we'll cover that here.
......@@ -32,11 +32,11 @@ For an overview of the hardware Cleanflight (hereby CF) can run on, see [Boards.
## Software setup
Now that your board has pins on it, you are ready to connect it to your PC and flash it with CF. Install the Chromium browser or Google Chrome to your PC, if you don't have it already, add the [Cleanflight Configurator](https://chrome.google.com/webstore/detail/cleanflight-configurator/enacoimjcgeinfnnnpajinjgmkahmfgb) to it, and start it.
Now that your board has pins on it, you are ready to connect it to your PC and flash it with CF. Install the Chromium browser or Google Chrome to your PC, if you don't have it already, add the [INAV Configurator](https://chrome.google.com/webstore/detail/cleanflight-configurator/enacoimjcgeinfnnnpajinjgmkahmfgb) to it, and start it.
Then follow these instructions for [Installation](Installation.md) of the firmware to the FC.
## Cleanflight Configuration
## INAV Configuration
Your FC should now be running CF, and you should be able to connect to it using the Configurator. If that is not the case, please go back to the previous sections and follow the steps carefully.
......@@ -105,4 +105,3 @@ Some advanced configurations and features are documented in the following pages,
* [Telemetry](Telemetry.md)
* [Using a Display](Display.md)
* [Using a LED strip](LedStrip.md)
* [Migrating from baseflight](Migrating from baseflight.md)
# GPS
GPS features in Cleanflight are experimental. Please share your findings with the developers.
GPS features in INAV are experimental. Please share your findings with the developers.
GPS works best if the GPS receiver is mounted above and away from other sources of interference.
......@@ -19,7 +19,7 @@ Enable the GPS from the CLI as follows:
1. connect your GPS to the serial port configured for GPS.
1. save and reboot.
Note: GPS packet loss has been observed at 115200. Try using 57600 if you experience this.
Note: GPS packet loss has been observed at 115200. Try using 38400 is enough in most of the cases.
For the connections step check the Board documentation for pins and port numbers.
......@@ -131,7 +131,7 @@ Select `Save current configuration` and click `Send`.
### UBlox Navigation model
If GPS auto configuration is used Cleanflight will use `Airborne<1G` when `gps_nav_model=LOW_G` and `Airborne<4G` when `gps_nav_model=HIGH_G`.
If GPS auto configuration is used INAV will use `Airborne<1G` when `gps_nav_model=LOW_G` and `Airborne<4G` when `gps_nav_model=HIGH_G`.
From the UBlox documentation:
......
......@@ -6,7 +6,7 @@ The algorithm has been originally developed by Mohammad Hefny (mohammad.hefny@gm
> http://diydrones.com/profiles/blogs/zero-pid-tunes-for-multirotors-part-2
> http://www.multiwii.com/forum/viewtopic.php?f=8&t=5190
The G-Tune functionality for Cleanflight is ported from the Harakiri firmware.
The G-Tune functionality for INAV is ported from the Harakiri firmware.
## Safety preamble: _Use at your own risk_
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