Board alignment and arming

The alignment numbers describe how the flight controller is screwed into the frame, not how the craft is flying. A board turned 90 degrees on the stack needs a yaw of 90. A board flipped over needs the roll or pitch that matches that flip. Each axis accepts -180 to 360 degrees.

Get this wrong and the sticks move the wrong axis. Roll the stick and the craft pitches, or yaw turns the wrong way. Fix the alignment, then check on the ground with the props off. The motors tab is where motor order and spin direction are set. This tab only tells the firmware which way the board faces.

INAV stores board roll, pitch and yaw in tenths of a degree, so the step on that firmware is finer than the whole degrees Betaflight uses here. Do not copy a Betaflight alignment number onto an INAV board and expect the same mount.

Maximum arming angle runs from 0 to 180 degrees. Arming is blocked when the craft is tilted more than that. The demo starts at 25 degrees, which is a craft that is almost level. A wing or a plane on a slope may need a larger angle. A quad that arms while lying on its side usually has this number set too high.

Auto-disarm delay runs from 0 to 60 seconds. It applies when motor stop is on and you arm from the sticks rather than a switch. After that many seconds at zero throttle, the motors disarm. 0 means they stay armed. The demo uses 5 seconds. A switch-armed craft does not use this timer.

Accelerometer trim is separate. Roll trim and pitch trim each run from -300 to 300, and 0 leaves the calibrated reading. The trim is subtracted so Angle and Horizon hold level. A calibration on the Setup tab replaces these numbers. Do not stack a trim on top of a fresh calibration and expect both to apply.

The accelerometer, barometer and magnetometer each have a switch. Turn a sensor off when the board does not have it, or when a bad sensor is stopping arming. A board with no magnetometer leaves the declination field unused.

Calibration runs while the flight controller powers up. The time is 0.5 to 30 seconds, in steps of 0.05. The craft has to stay still for that long. The movement limit runs from 0 to 200. 0 finishes even if the craft moves. A higher limit restarts the calibration when the gyro is noisy.

Gyro overflow is off, yaw, or all axes. It disarms if the gyro hits its limit, which looks like a stuck gyro. The demo uses all axes. Leave it on unless you know that board reports a false overflow.

The PID loop is not a separate clock. The tab shows the gyro rate from the board, and the PID loop is that rate divided by 1 to 8. If the gyro cycle is 125 microseconds, that is 8 kHz, and a divider of 2 makes a 4 kHz PID loop. The number on the card is the one this board reported. It is not the same on every flight controller.

Debug mode picks what the sensors debug graph and the blackbox debug fields record. None leaves those fields at zero. The names match set debug_mode in the CLI. A build with no debug names hides the choice.

The craft name is 16 characters. The pilot name is 16 characters and is drawn by the OSD pilot-name element. Firmware without a pilot name hides that card. Neither name changes how the craft flies. They are labels.

Magnetic declination on this tab runs from -180 to 180 degrees, in steps of 0.1. East is positive and west is negative, so 4.5 degrees west is -4.5. Zero keeps magnetic north. This is a Betaflight compass shift. The INAV compass page is the one that aligns the sensor and runs the calibration sweep.

Feature switches turn whole subsystems on. Air mode keeps PID control at zero throttle. Motor stop means the motors do not spin when armed at zero throttle, and it is the switch auto-disarm depends on. OSD, GPS, telemetry and the LED strip do nothing while their feature is off. Soft serial, the ESC sensor, RSSI from an ADC pin, 3D mode, the rangefinder, in-flight accelerometer calibration, servo tilt, the OLED display, channel forwarding and the transponder are the rest of the list. A small build can omit some of them.

Chrome or Edge connects over USB or Bluetooth. Android adds Wi-Fi. iPhone uses Bluetooth or Wi-Fi and has no USB host. Arming flags and the accelerometer calibration itself are on the Setup tab. The LED strip feature has to be on before the LED strip layout will light.