Inav Guided mode

[kasatka60]

Connection method:
Mission planner -> Express Lrs (Mavlink mode+WiFi backpack) -> inav 9.0.1 (MAV_AUTOPILOT_TYPE=ARDUPILOT).
The quadcopter flies to the points, but does not want to turn its head along the route.
Is there any way to fix this?

[sensei-hacker]

You might have better luck using one of the three INAV-compatible ground stations, which speak the native language of INAV and Betaflight, which is MSP.

INAV understands some words in Ardupilot language (Mavlink), and will pick up some more in INAV 9.1 or 10.0. But it's still a foreign language, using an interface made for Ardupilot. Ardupilot Mission Planner doesn't even know which flight modes INAV has.

[kasatka60]

Express lrs does not support MSP. And there is no desire to buy additional equipment.

[sensei-hacker]

mLRS works on some hardware sold for ELRS, and does MSP natively.

[kasatka60]

And with MSP in GS Nav mode, will the quadcopter turn along the course?

[ja51d]

couple things going on here. on multirotor inav does yaw toward the next waypoint during a mission - try setting nav_mc_wp_slowdown = ON, that makes it prioritize turning over forward movement so the nose-around is much more obvious. with it OFF it just carries on and turns lazily as it goes.

but the bigger thing is how you're loading the mission. heading behaviour (and explicit SET_HEAD / POI waypoint actions) live in inav's own mission control, and those don't fully come across when you upload via mission planner over mavlink - inav's mavlink mission support is only partial in 9.0.1. so mission planner can push the positions but not the inav-specific heading bits.

quick test to confirm: upload the exact same mission through inav configurator's mission control over usb and fly it. if the heading works that way, you've found it - it's the mavlink path dropping the heading info, not your tune. that also matches what @sensei-hacker said about mavlink being a partial fit.

[kasatka60]

I'm not uploading a mission, I'm transmitting a point. The Inav configurator cannot transmit a point.
https://github.com/iNavFlight/inav/wiki/Navigation-modes#gcs_nav---ground-control-station

[ja51d]

ah I misread, you're pushing live guided points (gcs_nav / wp255), not an uploaded mission — that changes things.

dug through the 9.0.1 source. on a guided single point inav only sets the position (xy + alt). it never tells the nav controller to face the bearing to the target — that "nose toward the next point" behaviour only gets switched on for an actual uploaded wp mission, not for live points. so on guided it just slides to the spot keeping whatever heading it already had. no param will change that.

the one exception: a guided point can carry a heading, but only if the gcs sends it as DO_REPOSITION with a yaw in param4 (1–359). mission planner's right-click "fly to here" sends it the legacy way with heading hardcoded to 0, so inav reads that as "don't touch yaw". that's the path you're hitting.

two ways to get the nose to follow:

• upload it as a normal wp mission instead of a live point (even a 1–2 wp one) — wp mode does point at the next waypoint.
• or get the gcs to send DO_REPOSITION with an explicit yaw, if it can. mission planner doesn't make that easy for arbitrary headings.

short version: not a bug or a setting — guided single-point just doesn't do nose-to-route, mission mode does.

[kasatka60]

Thank you. I'll try to study it.