900 mm FPV 飞翼

# INAV 9.1.0, SPEEDYBEEF405WING: the Configurator "Flying Wing" preset, in the CLI tab
mixer_profile 1
set platform_type = AIRPLANE
set motorstop_on_low = ON
mmix reset
mmix 0 1.000 0.000 0.000 0.000     # motor 1 = pad S1: throttle only
smix reset
smix 0 1 0 50 0 -1                 # servo 1 (pad S3): stabilised roll +50 %
smix 1 1 1 50 0 -1                 # servo 1: stabilised pitch +50 %
smix 2 2 0 -50 0 -1                # servo 2 (pad S4): stabilised roll -50 %
smix 3 2 1 50 0 -1                 # servo 2: stabilised pitch +50 %
set serialrx_provider = CRSF       # ELRS on UART1
feature GPS                        # M10 on UART3
save

# servo <n> <min us> <max us> <mid us> <rate %>: a negative rate reverses that servo
servo 1 1000 2000 1500 100
servo 2 1000 2000 1500 100         # -100 if "Check elevons" shows it backwards
set fw_level_pitch_trim = 0        # deg nose-up in ANGLE; AUTO LEVEL TRIM learns it
set align_board_yaw = 0            # decidegrees: 1800 if the FC arrow points back
save

# aux <slot> <mode id> <AUX n - 1> <from us> <to us>
aux 0 0 0 1700 2100                # ARM on AUX1 high
aux 1 12 1 900 1300                # MANUAL on AUX2 low
aux 2 1 1 1300 1700                # ANGLE on AUX2 mid
aux 3 53 1 1700 2100               # NAV CRUISE on AUX2 high
aux 4 36 2 1700 2100               # NAV LAUNCH on AUX3 high
aux 5 10 3 1700 2100               # NAV RTH on AUX4 high
save

# NAV LAUNCH: arm, select launch, raise the throttle (the prop stays still), throw
set nav_fw_launch_thr = 1700       # us after the throw
set nav_fw_launch_motor_delay = 500  # ms: the prop starts after it leaves your hand
set nav_fw_launch_climb_angle = 18 # deg nose-up climb-out
set nav_fw_launch_timeout = 5000   # ms, then normal flight
save

# Lost link: come home on GPS instead of the default LAND
set failsafe_procedure = RTH
set failsafe_delay = 5             # deciseconds before failsafe starts
set failsafe_recovery_delay = 5    # deciseconds of good link to give control back
set failsafe_stick_threshold = 50  # stick movement that takes control back
save

# No pitot tube: INAV estimates airspeed from GPS speed and the wind
set pitot_hardware = VIRTUAL
set fw_reference_airspeed = 1500   # cm/s the PIDs were tuned at
set nav_fw_cruise_speed = 1500     # cm/s, only for the remaining-time estimate
save

# ANGLE: INAV levels the wing when you let go of the sticks
aux 2 1 1 1300 1700                # ANGLE on AUX2 mid
set max_angle_inclination_rll = 450  # decidegrees: 45 deg bank limit
set fw_level_pitch_trim = 0
save

# MANUAL: the sticks drive the elevons directly, nothing levels the wing
aux 1 12 1 900 1300                # MANUAL on AUX2 low
set manual_roll_rate = 100         # % of servo travel at full stick
set manual_pitch_rate = 100
save

# NAV RTH: climb, fly home on GPS, circle the home point
aux 5 10 3 1700 2100               # NAV RTH on AUX4 high
set nav_rth_altitude = 3000        # cm: 30 m, well above the tree lines
set nav_rth_climb_first = ON
set nav_fw_loiter_radius = 5000    # cm: 50 m; a 35 deg bank at 15 m/s needs 33 m
set nav_rth_allow_landing = NEVER  # it circles home; you land it by hand
save

# Flight stats on the OSD after you disarm (INAV shows the page by itself)
set osd_stats_energy_unit = MAH
set osd_stats_page_auto_swap_time = 3  # s per stats page
set stats = ON                     # lifetime flights, time and distance
save