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Since release 3.0, iNav directly supports embedded video telemetry data to drive the VirtualPilot Sentinel antenna tracker.
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Since release 3.0, INAV directly supports embedded video telemetry data to drive the VirtualPilot Sentinel antenna tracker.
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This enables the use of directional higher gain antennas to maintain higher quality video in all directions, provide the ability to use lower video transmission power or increase the maximum reception distance over traditional omnidirectional antennas. The AAT provides the benefit of maintaining a more accurate direction over manually mounted antennas without the concern of the aircraft moving outside of the antenna’s dominant reception area.
* Requires minimum of iNav 3.0 and fonts installed
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* Requires minimum of INAV 3.0 and fonts installed
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* Enable AAT telemetry in the cli: set osd_telemetry = ON
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## Configuring - iNAV earlier versions
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* Check content at the link here: [iNAV AAT for earlier versions](https://github.com/aat-sentinel/Documentation/blob/main/Sentinel%20AAT%20lite%20User%20Guide.pdf)
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* Check content at the link here: [INAV AAT for earlier versions](https://github.com/aat-sentinel/Documentation/blob/main/Sentinel%20AAT%20lite%20User%20Guide.pdf)
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## Testing
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As telemetry data is not normally visible, the telemetry data can be viewed on the OSD using a cli command:
@@ -17,13 +17,13 @@ The usage is taken directly from the source code, the following interpretation i
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| LED | LED strip |
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| PWM, ANY | Some other PWM function |
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*List generated 2022-01-30 from the [inav master branch](https://github.com/iNavFlight/inav/) by [`parse_targets.rb`](http://seyrsnys.myzen.co.uk/parse_targets.rb). Some targets may not be available in official or prior releases.***E&OE.**
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*List generated 2022-06-05 from the [INAV release_5.0.0 branch](https://github.com/iNavFlight/inav/) by [`parse_targets.rb`](/img/content/parse_targets.rb). Some targets may not be available in official or prior releases.***E&OE.**
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You are strongly advised to check the board documentation as to the suitability of any particular board.
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The configurations listed above are those supported by the inav developers; other configurations may be possible with a custom target. The source tree contains other, unofficial targets that may (or not) work. A full report, including non-release targets may be generated with `parse_targets.rb --all`.
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The configurations listed above are those supported by the INAV developers; other configurations may be possible with a custom target. The source tree contains other, unofficial targets that may (or not) work. A full report, including non-release targets may be generated with `parse_targets.rb --all`.
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Note also that due to the complexity of output options available in inav, dynamic resource allocation is not available. Paweł Spychalski has published a [video](https://www.youtube.com/watch?v=v4R-pnO4srU) explaining why resource allocation is not supported by inav; [see also #1154](https://github.com/iNavFlight/inav/issues/1145)
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Note also that due to the complexity of output options available in INAV, dynamic resource allocation is not available. Paweł Spychalski has published a [video](https://www.youtube.com/watch?v=v4R-pnO4srU) explaining why resource allocation is not supported by INAV; [see also #1154](https://github.com/iNavFlight/inav/issues/1145)
***Warning*** this is highly experimental, not documented, not tested in real life conditions and I'm pretty sure there are not more than few in the whole world!
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**_Warning_** this is highly experimental, not documented, not tested in real life conditions and I'm pretty sure there are not more than few in the whole world!
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Mixer configuration below is reverse engineered from CF code.
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```
@@ -130,8 +130,9 @@ smix 3 5 1 100 0 # Servo 5 for right motor pitch change
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## Dualcopter
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***Warning*** this is highly experimental, not documented, not tested in real life conditions and I'm pretty sure there are not more than few in the whole world!
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**_Warning_** this is highly experimental, not documented, not tested in real life conditions and I'm pretty sure there are not more than few in the whole world!
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Mixer configuration below is reverse engineered from CF code.
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```
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mmix reset
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mmix 0 1.0 0.0 0.0 -1.0 # Left
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```
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## Nano Talon with 2 Servos for the V-Tail
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Note: See [this video](https://www.youtube.com/watch?v=IOApkFPGKtc) for details on the V-Tail mod.
smix reverse 3 14 r #Reverse the Flaps on PWM 4/5, skip this if you want spoilerons
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smix reverse 3 14 r #Reverse the Flaps on PWM 4/5, skip this if you want spoilerons
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smix reverse 4 14 r #or if it works based on servo orientation
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# servo
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## MIXER_GIMBAL
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Use feature ***SERVO_TILT*** instead.
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Use feature **_SERVO_TILT_** instead.
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## Singlecopter
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***Warning*** this is highly experimental, not documented and I'm pretty sure there are not more than few in the whole world!
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Mixer configuration below is reverse engineered from CF code. Mixer is capable of processing this setup, but servo output will not work due to BF/CF PWM output limitations.
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**_Warning_** this is highly experimental, not documented and I'm pretty sure there are not more than few in the whole world!
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Mixer configuration below is reverse engineered from CF code. Mixer is capable of processing this setup, but servo output will not work due to BF/CF PWM output limitations.
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