Tyro129 Gone INAV 2.4.1 (RTH, failsafe, Althold testing)

1:54 HD Flight Footage
4:22 BN-880 GPS Module & Mast
5:22 BN-880 wiring
7:00 Inav Telemetry
7:44 Inav Failsafe, RTH, Landing Test
8:33 Failsafe Blooper

This is my Tyro INAV. The drone is flying great, and I have now access to multiple autonomous flight modes. RTH flight mode is a must for endurance and long range drone. I have tried it multiple times, and it does work. I have my failsafe setup to RTH , and it work fine. I am very please with INAV . The setup was easy. It took my about twenty minutes to have the drone ready to fly. I hope you enjoy the video. The following are my Diff configuration. If you are going to use my Diff file make sure to make appropriate change based you TX and RX. I have change to GPS module to the BN880 because it has a magnetometer/compass. If you are going to use my Diff conf, you need to make sure the BN880 connector is facing the back of the drone.
# diff

# version
# INAV/MATEKF405 2.4.0 Feb 11 2020 / 22:43:00 (bcd4caef9)
# GCC-8.2.1 20181213 (release) [gcc-8-branch revision 267074]

# start the command batch
batch start

# resources

# mixer
mmix 0 1.000 -1.000 1.000 -1.000
mmix 1 1.000 -1.000 -1.000 1.000
mmix 2 1.000 1.000 1.000 1.000
mmix 3 1.000 1.000 -1.000 -1.000

# servo mix

# servo

# logic

# gf

# feature
feature DYNAMIC_FILTERS
feature GPS
feature PWM_OUTPUT_ENABLE

# beeper

# map
map TAER

# serial
serial 0 2 115200 38400 0 115200
serial 2 4096 115200 115200 0 115200
serial 3 1024 115200 115200 0 115200
serial 4 32 115200 115200 0 115200

# led

# color

# mode_color

# aux
aux 0 0 0 1700 2100
aux 1 4 5 1300 2100
aux 2 3 5 1300 2075
aux 3 9 5 1800 2100
aux 4 8 2 1800 2100
aux 5 19 2 1300 1700
aux 6 18 1 1700 2100
aux 7 32 4 900 1200
aux 8 33 4 1300 1625
aux 9 34 4 1875 2100

# adjrange

# rxrange
rxrange 0 987 2011
rxrange 1 987 2011
rxrange 2 987 2011
rxrange 3 987 2011

# temp_sensor

# wp
#wp 0 invalid

# osd_layout
osd_layout 1 0 3 12 V
osd_layout 1 6 22 11 V
osd_layout 1 7 13 12 V
osd_layout 1 13 2 10 V
osd_layout 1 14 2 11 V
osd_layout 1 30 1 13 V
osd_layout 1 32 23 12 V
osd_layout 2 0 4 11 V
osd_layout 2 1 22 11 V
osd_layout 2 7 13 12 V
osd_layout 2 9 22 8 V
osd_layout 2 13 3 9 V
osd_layout 2 14 3 10 V
osd_layout 2 15 3 8 V
osd_layout 2 20 18 12 V
osd_layout 2 21 0 12 V
osd_layout 2 22 14 11 V
osd_layout 2 23 22 10 V
osd_layout 2 30 1 13 V
osd_layout 2 40 22 9 V
osd_layout 3 0 4 12 V
osd_layout 3 7 13 12 V
osd_layout 3 30 1 13 V
osd_layout 3 32 22 12 V

# master
set looptime = 500
set gyro_hardware_lpf = 256HZ
set gyro_lpf_hz = 100
set gyro_lpf_type = PT1
set gyro_stage2_lowpass_hz = 200
set acc_hardware = MPU6000
set acczero_x = 41
set acczero_y = -4
set acczero_z = -120
set accgain_x = 4091
set accgain_y = 4091
set accgain_z = 4024
set align_mag = CW270FLIP
set mag_hardware = HMC5883
set magzero_x = -1
set magzero_z = -1
set baro_hardware = BMP280
set pitot_hardware = NONE
set rssi_channel = 16
set motor_pwm_rate = 16000
set motor_pwm_protocol = DSHOT600
set throttle_idle = 6.000
set failsafe_throttle = 1300
set failsafe_procedure = RTH
set model_preview_type = 3
set applied_defaults = 2
set gps_sbas_mode = WAAS
set gps_ublox_use_galileo = ON
set mc_airmode_type = THROTTLE_THRESHOLD
set nav_disarm_on_landing = ON
set vtx_band = 5
set vtx_channel = 7
set vtx_power = 5
set vtx_freq = 5880

# profile
profile 1

set mc_p_pitch = 60
set mc_i_pitch = 45
set mc_d_pitch = 39
set mc_i_roll = 45
set mc_d_roll = 35
set mc_p_yaw = 80
set mc_i_yaw = 55
set dterm_lpf_hz = 90
set use_dterm_fir_filter = OFF
set d_boost_factor = 1.500
set antigravity_gain = 2.000
set antigravity_accelerator = 5.000
set rc_yaw_expo = 70
set roll_rate = 70
set pitch_rate = 70
set yaw_rate = 60

# battery_profile
battery_profile 1
# end the command batch
batch end

Видео Tyro129 Gone INAV 2.4.1 (RTH, failsafe, Althold testing) канала G Boni