STM32F405RGT6_INAV_Firmware

New INAV Firmware Flight Controller

• STM32F405RGT6

• Freq: 168Mhz Max
• RAM: 192KB
• ROM:1MB

Configuration

INAV is configured primarily using the INAV Configurator GUI. Updates the Configurator version based on the INAV firmware version. Therefore, you need to download a Configurator according to which firmware version you are installing. Old versions of the configurator can be downloaded from the configurator releases page: https://github.com/iNavFlight/inav-configurator/releases See the README file that comes with the configurator for installation instructions.

You can find all other INAV installation details in the INAV documentation. https://github.com/iNavFlight/inav/blob/master/docs

Controls, Arming

The arming process is the final stage where your Quadcopter or other vehicle is ready and approved to fly. Your plane will not fly without the Armin process. To do this, you need to open the Armin process from the inav-configurator screen and the motors and servo outputs from the Output tab.

You can find all other details about INAV on YouTube and INAV documents. It is impossible to give all the information about INAV on this page and this is not my main purpose.

Basic Setup

Click on the images to enlarge them.

MPU6050 Module is very slow. That's why the Microcontroller load goes up to 90%. To avoid this, execute the following CLI command.

set looptime = 1500

For performance, you can use the MPU6500 module with SPI2.

PIN connections and details are as follows.

Click on the images to enlarge them.

Supported sensors.

EXAMPLE SPI2 SENSOR CONNECTION

Some of the sensors use the I2C bus. Some also use SPI2 connection. You can connect one sensor for each of the Gyro, Acc, Baro, Mag sensors. For example, when you connect an MPU6500, you cannot use the MPU6050. The same is true for the MPU9250. The following sensors use SPI2 connection.

1. MPU6500
2. BMI160
3. BMI270
4. MPU9250
5. ICM42605

You can use one of these sensors.

I2C SENSOR CONNECTION

You can also use I2C with multiple sensors as follows. You can use only one of the similar sensors in I2C.

Supported Internal MicroSD Card.

Supported Extranal OSD.

You can add OSD support using the MAX7456 chip by connecting it to the SPI2 pins.

RECEIVER Connection

You can connect the receiver of your transmitter to the UART2 pin input as follows. You can use one of these receivers. For SBUS support, you need to use an inverter consisting of one transistor and two resistors. Sbus receiver/Ibus receiver/PPM receiver please enable Serial RX for UART2

ESC and Motor connection

ESC and SERVO connection

Motor, ESC and LIPO battery connection

The image below is an example of motor and LIPO battery connections. You need to connect the motor sequence according to the order shown in the "INAV Configurator" settings.

Battery Monitor

To monitor the status of your LIPO Battery, you need to calculate the voltage divider according to the information given below and the battery power and connect it to the VBAT_ADC_CHANNEL PC4 Pin. You should calculate the value that will enter a maximum of 3.3 volts on the PC4 pin. More than 5V will damage the Board. (Voltage Divider Calculator site:) https://ohmslawcalculator.com/voltage-divider-calculator

WS2811 5 Volt Led Strip

There must be a 5V external voltage source. Don't buy from board source, you will burn the microcontroller.

Calibration for ESC

Instructions for setting throttle calibration for ESC high and low signal input:

1. Connect the ESC with the motor, connect the signal lead to the board according to the pin and motor port according to the diagram. You should do this for all of the motors you are going to use.
2. Open the INAV Configurator and connect to the flight control hub.
3. Adjust the gyroscope / accelerometer and magnometer calibration settings.
4. Turn on the remote control and enable the receiver protocol in the Receiver section.
5. Go to the Output field and set the ESC output protocol according to you. We describe the setup for the STANDARD protocol. 6.To calibrate ESCs, make sure the propellers are off, flick on the “I understand” toggle, raise Master to full value, and plug in your battery.
6. The ESCs will go through their tones.
7. When the double beeping sound is heard (the highest point of the throttle is confirmed), move the throttle to the lowest point.
8. ESC calibration is considered done when three beeps mean OK.
9. Now unplug, plug in again, and raise Master very slowly until the motors are spinning comfortably.

This video your can help. https://www.youtube.com/watch?v=1IrgbY0YhqM