iNav Drone Complete Tutorial - Part 3 - GPS and Compass
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- čas přidán 21. 08. 2024
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I'm going to show you every single step of how to build this $120 FPV Drone. This is my complete beginner guide, with all the steps, and all the background information you need to know. Don't think of this as just a how-to guide. I want it to be a complete introductory course to teach you the things you need to know to build FPV drones.
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Massive thanks to Pawel Spychalski and Painless360, without whose YT tutorials, I wouldn't have been able to get through this.
czcams.com/channels/mX3OXToMBKTppgRskDzpsw.html
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Hi joshua, about airplanes and heading, big commercial airplanes determine heading with accelerometers, basically the accelerometers are so sensitive that they can sense the rotation of the earth and after some minutes they can resolve heading when they are in the ground. I would love a feature like that in betaflight 😁
Joshua check out Mateks gps/compass Mq8 8553 its tiny
Pro tip: watch series on Flixzone. I've been using it for watching loads of movies these days.
@London Kieran Yea, I've been watching on Flixzone} for years myself =)
@London Kieran Yea, been using Flixzone} for months myself :)
2:11 I was actually in my bedroom and standing about a foot away from my bed. LOL😂
I have been waiting for you to do exactly this series of INAV videos. Your intro is showing frustration. Think about how old people trying to figure this stuff out feel! I know that new areas and sketchy products (i.e. you didn’t know that no compass was included with the GPS) make everything seem to delay the completion. But, you are totally up to the challenge as usual.
@ Joshua Bardwell You´re gonna learn something today. Use the diagonal cutter the other way around. So you are pushing the insolation off the wires (with the flat side towards the end of the wire). I hope, you understand what I want to say. Stay healthy, greetings from germany.
Great everyday language and common sense approach to technical issues. I love the self talk and humor
I recently soldered a buzzer on a Happy Model Larva-X, and my goodness, I need a new pair of eyes!
I have learned a lot as I have been away from drones for a while and learned things I never knew thanks to you my friend. You have a new subscriber.
Something I found to make putting cable ends on trivial: Pressmaster EMBLA SBA or (right angle) RA EMBLA SA wire stripper 34 ~ 8 AWG along with IWISS IWS3220 (replaces PA-09 and crimps both the jacket and wire). I can do a 8 wire connector in 1:45, JST SH, GH, PH, ZH, NH made simple. I stopped using wire cutters to strip wire long ago, putting connectors on requires the wire be stripped at an exact length and 'eye balling it' don't cut it.
Thanks for doing this inav series im doing a long range 7 inch and definitely helping me set it up
Pro tip: If your FC doesn't have i2c pads, you can use a DJI Naza GPS puck and get both GPS and Compass over UART.
EvanElleDev, I have been searching for this info all night. I have a f450 I am converting from naza-m to INav. I have a black puck gps with compass, but there are only 4 wires. Everything I have seen online (as well as my long range 7” quad’s GPS) have 6 wires. So you’re saying the 4 wires are power, ground, thx, and RZ, and that will provide both gps and compass data? Any idea what the pin out is?
@@Kettenhund75 yes that should be correct. Gnd, vcc, rx and tx.
I would look for the pinout for your exact module based on number because there are clones out there as well. If gnd and vcc is clear, it's safe enough to find rx and tx through trial and error.
@@Kettenhund75 and remember to set the GPS in inav to naza and not normal gps.
Following along with my Tyro129 - thanks for this and so far all well. The barometer needed to be enabled - that done and all well. Looking forward to finding out how this works. Thanks Joshua!
A really great build along series. I’m also trying iNav for the first time. Looking forward to Part4 and beyond!
Good tip about soldering (Not over the ESC) I made that mistake a couple of years ago NEVER AGAIN.
"set gps_ublox_use_galileo = ON" is also available with inav ...helps to receive more satellites.With "Ground Assistance Type" to "Auto Detect" gives a faster 3D fix...give it a try
Having blown 2 gps modules using 5v from a omnibus f4 pro board i think it is wise to always use 3v3 for gps modules they get much less hot and there is no risk of blowing your module.
I know they can work off 5v but tbh they often have shitty regulators and if there are any spikes on the 5v bus your module is toast and i think for something as sensitive as a gps you should always try to use the lowest voltage available to power it especially when using cheap clone modules that might have omitted regulators.
I have the beitian 880q which is a solid single board and it works great and even lighter than the 880.
Yeah, RX to TX and TX to RX makes perfect sense.
For the SAME reasons OUT goes to IN and IN goes to OUT
When you connect 2 batteries you dont put positive to positive and negative to negative.
Also, anyone whos ever built a crystal radio transceiver you cant talk on the same freq you listen on.
It would make sense that Tx (Transmit), would go to Rx (Receive), and vice-versa, as that's how data is transmitted and received.
I think that putting a compass such close to the HV wires for the motor, which are switching so fast screws up the compass because the magnetics fields created near it. For that reason, the compass is usually mounted in a pole.
I have had this exact problem and the fix was to mount the compass up high.
The 880 compass will not be mounted on the arm like the 220 was. Compass cannot be near motor wires.
U should 3d print a mast and get that gps and compass up in the air where there be less interference
Thank you for these videos Joshua, very useful and enjoyable.
Universal asynchronous receive and transmit, older than the hills
The reason I'm watching this is because when this says everything from start to finish..it means everything..if JB is doing it..I've done a Naza gps install that works..with the help of DJI ASSISTANT..wish Ida had this then..I just bought an 880 for a redo on Walkera QR X350..was $20. The guy on utube said it will get glonass and more sats..the compass is what I've learned today..
Nice t-shirt! Dang back to the future type video, so am referring to the t-shirt from the past.
Josh, the naza gps sends compass Info over uart, it dos t work In bf, or didn't for me, but it works in Inav, u can select naza for Compass, no 12c required
That's slick! I didn't realize that. Thanks for letting me know.
@@JoshuaBardwell so does that mean we can skip buying the 880?
...what makes the video interresting but not needed?
if so, please update, im about to get the 119 and am wondering whether to order the 880 along or not...
thanks! 👍🏻
@@JoshuaBardwell does this mean the included gps unit will work?
@@JoshuaBardwell so no? or yes? o0
Waiting on my bn-880 to get here. Pulled my Mamba fc and replaced it with an fc that supports a compass and has a barometer . Looking forward to the the next part of this series. 🤓
what do you mean? my mamba supports both compass and baro...
@@MagnnifyOGx mine doesn't have a barometer nor does it have the scl & sda pads. The Mamba F722S
Thanks Joshua !!!, for a long time I was wondering if I could make this FC work with INAV
Wooooop new vid!!! :)
Good it is clear.Thank You.Do you now any of the FCs have pre installed magnetic and gyro compass in it? Many many many Thanks from Russian Fediratin.
iNav? Whoa!
Great tip about the gps requiring only 3.3 volts. It will actually intended to operate on 3.3. The Beitian-880 is the best GPS module ever made. The RDQ-880 is a relabeled Beitian-880. I tried the 180, and it wouldn't ever find satellites, and it doesn't have a compass. Despite it's small size, it isn't worth wasting your time soldering one to your fc. Get either the RDQ 880 ($15.00) or the original Beitian-880 ($20) if you want to support the creators of this fabulous GPS module.
Great iNAV DEV job. RTH is working perfectly once you configure and mount MAG it properly. In fact similar BF mode (RESCUE) that uses GPS to 'return the quad to home' is assuming predefined direction - can't remember, but let's suppose it is NORTH. If you fire RESCUE within first 10-20s of flight in BetaFlight you quad will fly away unless you really gone to North :-). There is even a dedicated feature in BetaFlight to prevent this. iNav DEV decision is to require MAG and RTH work perfectly from the beginning of flight. You will be suprised with huge RTH differences to RESCUE - it doesn't require to be 30/100m away from start point to not fall down while turning RESCUE mode :-), it will land gently above the start point if you have barometer.
There are several things that in my opinion require extra information to make this tutorial more reliable (part IV ?): a) MAG orientation vs. FC board with strict checking if it work fine and b) MAG/GPS location. Especially MAG mounting is a key - forget about putting MAG/GPS on the arm or back of quad close to VTX or runcam split board :-). It will destroy hard work of you and iNav DEVs if MG/GPS will be mounted close to the 'electronic noise'. The best idea for start is to put MAG/GPS 50-70mm over top plate to make sure it work fine, then test configuration and once you have RTH/POSHOLD working fine experiment to find crash proof location. Believe me, this comfort is worth the effort. Having quad that will RETURN to you in case of problems has value :-).
RTH in 'bullet proof (dangerous) action' :-). Make sure to set SECURE HEIGHT for RTH, this quad has returned with folded props crashing the trees on the way, but did it. Wait for 0:45 in the movie czcams.com/video/hGSDlDg5Smw/video.html
You should probably use ublox 7
Waiting for your ALTHOLD PID tuning...I am pulling my hair out trying to accomplish that!
I have bad news.
Updated to 2.5rc1 over the weekend and after solving a bug issue, the default PIDs applied by the simplified 5" preset are MUCH better! I think the remainder of my POSHOLD issues are tied to the GPS and how much that signal is weighted.
Can you orient us in the different GPS protocols? Which one to use? What are the advantages of each protocol
JB,you had solid acc to 3.3v
Pad,in order to make GPS work
by only USB is connected without plug power bettary. But in the end,why it didn't work until plug the power?
Where do you get all your cool copter shirts?
Kwad Box. Also usually for sale at the rotor riot store.
Hey Joshua, great video! I came across it while researching the BN-880, even though I’m not using iNav. I’m wondering if since my FC doesn’t have SDA and SCL pads, will the 880 still be worth it or will the compass not work and I should try the 220 instead? I have a Emax Buzz that my research says has a Magnum 2 FC. Keep up the great videos
I have just try to setup Inav on my quad. Realize that ledstrip is on s5 instead of LED pad. Try to add servo. You have to re solder motors cause inav forcing servo on s1 and there is no resource remapping cause they think remapping is user unfriendly XD.
Well guys, this is a first test build, next time you will probably choose a more suitable board. I am eager to see where he is putting the gps/mag....near motors ..or just on top? We will see.
on the arm again a suspect
Who would have thought Eachine would give you the wrong GPS? Me. Well recovered JB.
it wasnt wrong as in their fault. its just how it was speced
@@MrOrangeman18 It was totally the wrong part, Eachine put the kit together with the wrong part. So who messed up?
@@chriswhitehead6095 The kit was intended for sale with Betaflight installed, the GPS being for RTH. INAV has different requirements.
@@samurphy Betaflight and Inav build as per kit description below. Betaflight has"gps rescue" not return to home. Inav has RTH.
Brand Name: Eachine
Model: GPS F4
Main control chip: STM32F405
Gyroscope: MPU6000
Barometer: BMP280
Firmware: Support betaflight / INAV firmware.
Hey Josh I literally just got an aha moment. If I were to accidentally break off the USB plug could I solder a connector to a uart and use that as usb vcp? Just curious. Also why is there even an option to disable it? I've done it a few times on accident and it's a huge pain in the ass. There should be a secondary warning once you click that to ask if you are sure.
I thought the matek f405 doesn't have a barometer
I have a ublox SparkFun GPS NEO-M9N. It comes with a 4 pin Quiic cable. Can I hook that up and it will work properly? There is a 4-pin connection on the FC (the one that is part of this build). Which UART would that be?
nice, thats aktuell my problem.the gps is working, but in the osd the compass will not work.why?
How do you know if your flight controller can utilize a GPS with a compass? What spec should I be looking for in the FC that would tell me this?
It needs an i2c interface which will be two pads labeled SDA and SCL.
Ok then....my "RADIX BRAINGPS" is useless (no Mag onboard - despite the fact that the product description says "This enables you to have GPS coordinates, altitude, and velocity (ground speed) in your OSD, as well as the use of “GPS Rescue Mode” in betaflight and autonomous fixed-wing modes, such as return-to-home, cruise, and loiter, in iNav." )
Also -
The RDQ Micro M8N GLONASS GPS Module that I just ordered is equally useless.
Very often, in this hobby, I find myself saying "FML".
Wanted to do this to my hexplorer. But now seeing I need gps with compass
I still have no GPS, barometer, and compass they are all red on my inav😪
My SDA and SCL are wired appropriately but magnetometer is unresponsive. any ideas? It is turned on in configuration as well. Omnibus F4 PRO V3
Does something need to be selected in ports for this?
2:11 stop spying on people. I was at my bedroom wtf 😲
Are Kakute F7 5v pads disabled on USB power or can I safely connect to any pad with my BN-880 GPS?
Most FC, all 5v pads are disabled from USB, except sometimes there is one 5v pad that is used for the receiver. I suggest using the 3.3v pad which should always be powered from USB.
When I rotate my Tyro 129 on the bench, it shows it is rotating in iNav. Does that mean my new (July 2020) GPS *does* have a built in compass?
Rotation is based on the gyro. The fact that it rotates doesn't tell you whether the GPS has a compass.
If the GPS has a compass most likely it will hav SDA SCL wires.
Joshua, first of all, thanks for this part. Just two things:
1) some resources are telling that for BN-880 the UBLOX7 protocol can be used instead of regular UBLOX. Any comments from your side to that?
2) I am REALLY looking forwards to part with magnetometer setup, all those "align_mag..." CLI variable meanings, etc. Actually, I am wearing BN-880 on my quad tilted 25° back with connector heading to front and it's a nightmare to set it up... 😄 ( kibinek007.sweb.cz/fpv/dwarf/dwarf.jpg )
I'm also curious about the difference between Ublox and Ublox-7 for the m8n/compatible devices. I'm currently using Ublox-7
Are you sure you need additional compass? I always thought that the FC already has a compass on board (the accelerometer does orientation detection). BF shows me orientation - even if it's being re-calibrated by the software on each plug in. Am I wrong somewhere?
Betaflight has the ability to estimate heading based on gyro and accelerometer, but this dead-reckoning is not accurate enough for iNav to rely on, and iNav insists you have an actual compass before it will let you use GPS-based flight modes.
@@JoshuaBardwell Thanks Joshua for the answer. Now it makes a lot more sense why BF let me calibrate the heading basically tell the FC where true North is (or its assuming the north heading when I plug in the USB).
iNav 3.0 Drone compass matches hand compass pointing north. In set up screen, drone simulator moves in the same directions as Drone that is facing into the screen. One problem the arrow on simulated drone is facing 20 to 40 degrees to left. I cannot change the arrow direction w/o moving heading. Is there a solution or is this just an anomaly and of no significance
The 3d model of the drone is not expected to line up with the direction the drone is actually facing in real life. Think about it: how does iNav know which direction your computer monitor is facing? If the drone on screen was facing the "right" direction, then you turn the monitor 45 degrees to the side, now it's not any more. As long as the drone on screen moves the correct direction when you tilt the drone in real life, everything is fine.
hello! new to this hobby and discovered that my receiver only has 1 of the 2 possible antennas stuck to it on the drone. what effect does this have? is it just range increase with both of the antennas? should i remove my receiver and put the otheroone in or does it not make any difference? thanks in advance :)
Is this question GPS related?
Do i need a barometer for gps inav flight? Or will the gps unit determine the altitude instead?
Almost all current flight controllers have barometers on the board natively.
If I fly up to a gate and reverse back a compass will read the same heading both up to and back from the gate. GPS heading on the other hand would know I was heading from the start position to the gate and then from the gate back to the start? Or have I got that wrong?
If you fly up to a gate then pitch back and back away from the gate without yawing to turn around, then GPS heading will point backwards, 180 degrees from your true heading. GPS heading always points the direction you are moving. Compass heading always correctly points the direction you are facing.
Cheers JB
If my fc does not support compass. Can i still use the gps position hold or teturn to home function?
iNav requires a compass for these functions because GPS heading is not reliable enough all by itself.
Hi Joshua, none of my flight controllers have I2C tabs, but several spare uarts. Is there a way to resource any of the uarts to use them as I2Cs? Thanks!
On a few FC the designer made it possible to remap a UART to i2c, but in general, this isn't possible. The i2c pins are determined by the micro-processor's designer and can't be reassigned.
If your FC doesn't have SCL and SDA is there a workaround using URTs?
I believe the DJI GPS unit sends compass readings over UART and iNav supports that unit.
@@JoshuaBardwell Thanks, I will give it a go on my new iNav DJI 7"!!
So if i don't have compass i won't be able to do rth on inav? only betaflight can do rth with only the gps?
Correct. Betaflight does not require compass to do RTH, but it has other restrictions like you cannot activate RTH within 100 meters of home position. iNav's RTH is much better than BF's, but it requires more sensors too.
@@JoshuaBardwell i've seen a video of a guy using rth on inav without compass, thats weird... I can't buy a new gps module now bc of the virus so i'll just test it with the bn 220 i have. Thanks!
@@MagnnifyOGx You don't need a compass to use RTH in inav with a wing, but you do with a quad.
Will an external hmc5883l work with the original gps?
Yes.
Hi, do I have to solder to connect the GPS? Can I use the entrance where there was the old GPS by placing the connector? Thanks
You have to solder somewhere. The reason you can't use the stock one is that the stock one doesn't have a compass. The compass is i2c while the gps is serial (UART)
@@samurphy thank you very much for your reply
The stock plug does have pins for SDA/SCL but the plug that comes with the 880 GPS does not plug into the receptacle on the FC.
Question... When looking in Beta Flight, my Compass updates as I rotate the frame around... What information is being drawn from this if it's not the GPS?
The compass heading is estimated based on the gyro data. The quad does not know which direction true north is, but it can tell that you rotated it 90 degrees -- or more correctly, it can tell that it moved X degrees/s CCW for Y seconds, and integrate that to determine its new heading.
Joshua Bardwell thanks! That explains it! Also thanks for all these videos. Literally a week into this hobby outside of owning and flying an Inspire 1, so learning the “non-apple” version of this. Your channel is a wealth of knowledge for me.
Sir, I have been facing an issue of flashing firmware of SP racing F3 flight controller in beta light. Please give a solution.
Betaflight no longer supports F3 flight controllers. I had the same issue with my old flight controllers - had to upgrade. I chose the HolyBro kakute f7, and Matek F722-se. Both are supported by INav.
Hi Joshua I recently installed Inav 2.6, but i have a strange problem with the Nav modes. in fact I have no Nav modes in my mode list. The thing flies ok with only Horizon and Angle modes. My problem is that I need Waypoint, RTH and the other Nav Modes so that I can use the drone as i want to..I asked Pawal the same question, but have had no reply yet Can you help?
You have to have a GPS, compass, baro, or whatever other sensor is required before those modes appear. So it suggests that the sensor is not set up right.
@@JoshuaBardwell THANKS FOR REPLYING JOSHUA, I FOUND OUT WHAT THE PROBLEM IS. I AM USING A BRAIN RADIX FLIGHT CONTROLLER WHICH DOESN'T HAVE A MAGNETOMETER SO I'LL NEVER GET IT TO WORK.
What is better dji og fat shark for long rang. For a begginer
For long range, I still think analog has the edge.
Do you play videogames?
No RTH without a compass in Inav? Really???? Well that's a bit of a letdown... Even a best guess GPS compass would have been better than "a don't have a real compass so can't be bothered" approach!
I respect the devs' decision here. If you don't know your heading and you start to fly home, you will begin to fly in an unintended direction. GPS heading is not as accurate as compass heading. The devs are taking autonomous flight safety seriously by saying, "we're not going to let the quad fly itself unless we are sure we are getting accurate position and heading information."
i've seen a guy doing it. ill just try to make sure...
@@MagnnifyOGx Awesome if someone else has manages to use RTH without a compass. I only fly in wide open spaces, so 30 seconds in the wrong direction are of no odds to me. Would rather have an emergency RTH option than none a mile away from me!. Out of interest I just grabbed my hand held mountaineering GPS unit, turned the compass option off (so GPS calculations for compass bearings) and turned the unit sideways to confuse it. It picked up north and the fact that I was walking east within 5 seconds of me setting off. I changed direction and orientation of the unit several times along with me changing direction, and it never lost direction once... Kind of should be a 'precision' RTH using an actual compass, and a emergency RTH using GPS compass (with the usual not as accurate etc disclaimer)... I do understand the developers wanting a reliable system though.
@@Ra-zor i'll see in the next days and will post here. I can't get a bn 880 now so the bn 220 will have to work. I was thinking about gps rescue from bf if it doesn't work, but i'm afraid of it failing and then you know...
HELP
I have a Skystars g730l with gps and inav. I can't get my gps sign blue. I tried everything.
I have the same problem whith the same quad, I solved solding the + volt wire in de 3v3 plug. Have Luke
@@cristobalvidal5730 i finaly did it without soldering
@@macualey Did it work?
@@cristobalvidal5730 yes, it's now perfectly working without any soldering but it took me many hours.
I love your videos!
but... using american measurements instead of international is really mean :) (temperature, distance, etc)
even though american system is actually metric but being converted for the people ^^
hahaha "don't twist them together with each other!" I love that :D
Somebody tried the new BF4.2 RC ? :)
Tearing the remainder of my hair out now lol. I cannot get telemetry. I'm using the same receiver jumper r1. Soldered to the same uarts s port is tx5. Do I need to set up anything in ports menu. My radio says telemetry received but I only get 4 sensors. TRRS TQLY RSSI RXBT.. does anyone have an idea of my error. Thanks
What about go into CLI and type
set tlm_halfduplex=on
save
@@JoshuaBardwell I just get invalid name when I type it. @Paweł Spychalski I seem to have tried everything. i soldered s bus wire to sbus tab .the s port wire is on tx 5 I've tried it on tx4 I've not shorted the 2 tiny tabs for inverted as it seems I don't have to if I use the tab underneath the board. I'm not sure though. My goggles seem to give me data .. battery Sat's distance etc. But nothing on the transmitter. Although the goggle do without the receiver. . It flies ok though I give up .
If you got "invalid name" then I think you typed the command wrong. Try typing it exactly as shown above or even copy/paste it.
@@JoshuaBardwell no good lol it won't accept that command. There is a half duplex option on the receiver page I tried that too. I've ordered an fbus receiver hopefully it will work. Thanks
I dont know that soldering the GPS to be powered by USB is strictly necessary. I set up my plane without it and had no issues.
Powered up vtx without antenna 😂😂😂
help with discord?
You're asking this question in various places but it's not enough detail for me to help you.
TX has to go to RX for the same reason you can not listen with your mouth. Just remember TX = Mouth RX = Ears.
🤣
First
is this still something that beta flight doesn't support? i want the capabilities of a dji drone on a diy. i saw this is an old how to so was curious if beta flight is still not supported with this.