Hold the thrust

Compensation strength is a number with two decimals, from 0 to 2, in steps of 0.05. The demo starts at 1.00. The hint says 1 means full: throttle times full voltage divided by the sag-corrected voltage. It says 0 means none. The field can go past 1, up to 2, and the hint does not give that case its own sentence.

INAV's battery notes write the whole rule as requested throttle times one plus the quantity full voltage divided by sag-corrected voltage, minus one, times the weight. At a weight of 1 that is the hint. At a weight of 0 the added part is zero and the stick is unchanged. The picture uses that rule. Full voltage in the picture is 16.8 V, the stick is 50 percent, and the sag starts at 14.0 V, so strength 1.00 shows 60 percent. Strength 0.50 shows 55 percent. Strength 2.00 shows 70 percent. The picture stops at 100 percent if the result would go higher.

Those notes also give a way to pick a weight from two flights. If 100 W takes 53 percent throttle at 12.6 V and 58 percent when the sag-corrected voltage is 11.0 V, the weight is (58 divided by 53, minus 1) divided by (12.6 divided by 11.0, minus 1), which is 0.649. That is their worked example, not a number the card calculates. The card only stores the strength you type.

When the sag slider is back at 16.8 V the picture says no sag and the throttle stays at 50 percent, whatever the strength is. A pack that has not fallen yet has nothing for the rule to add.

The footer says the raise needs the Throttle voltage compensation feature on the Configuration tab, plus voltage monitoring and a current sensor. On that tab the feature is a switch named Throttle voltage compensation. Voltage monitoring is the switch named Battery voltage monitoring. The current sensor is the switch named Current sensor. INAV's notes say the sag-corrected voltage, which this feature uses, needs a current sensor, real or virtual.

In the demo those three start off. The strength field is still on the Power tab, and it still starts at 1.00, because the card is drawn whenever the board has the setting. A strength of 1.00 does not by itself turn the feature on. Open Configuration, turn the three switches on, then save.

The card is missing only when the board has no compensation strength setting. A board that has the setting and the feature left off will show 1.00 and still not raise the throttle. That is the footer's condition, not a broken field.

Open Power on INAV and find Throttle voltage compensation. Chrome or Edge connects over USB or Bluetooth. Android adds Wi-Fi. iPhone uses Bluetooth or Wi-Fi and has no USB host.

Set the strength, turn the feature on, and save. Props stay off while you only change the field. Confirm the voltage and the current agree with a meter first. A current sensor that reads low will build a sag-corrected voltage the pack is not really at, and the throttle raise will follow that reading.

This is a different job from power limits. Those cut the throttle once the draw passes a current or a power you set, and 0 A there means no limit. Compensation raises the throttle as voltage falls, so the same stick keeps its thrust. Leave the strength at 0 when you want the stick left alone. Return energy is the reserve for the trip home, not this raise.