FT Spear // INAV 6.1.1 Extended Mission and RTH Demo
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- Опубликовано: 31 май 2024
- I equipped my newly scratch built FT Spear with a Matek F411 WTE flight controller for RTH, waypoint missions, cruise mode and more. Here she is running a 3.5 mile/5.6 km waypoint mission. During the flight we simulate a RTH procedure.
FT Spear STL files (for personal use): drive.google.com/drive/folder...
Build Components:
Matek F411 WTE Flight Controller
Matek M10Q-5883 GPS
Matek Lost Model Beeper
AKK FX2 Ultimate VTX
iFlight LR Antenna
ZTW Beatles 40amp ESC
Flash Hobby D3536 1250kv motor
9x4.5E APC Prop
EMAX ES08MA II 12g Metal Gear Analog Servos
Foxeer Razer Mini
Foxeer Falkor Mini
TBS Nano v2 Receiver
3200 CNHL 3s Lipo
0:00 Intro
00:14 Build Overview
1:24 3d Printed Parts
2:57 VO Ground Station
3:12 Start-up Sequence
3:36 Autolaunch
4:33 Waypoint Mission
5:42 RTH Demo - FPV Loss
6:24 Waypoint Mission Resume
12:58 Waypoint Mission Complete
13:42 Landing
14:12 Craft Check
14:30 Outro 
Развлечения
![Darren Waller - Who Knew (Her Perspective) [Official Video]](http://i.ytimg.com/vi/GytDjB8u6bM/mqdefault.jpg)
This whole story was really entertaining. All that was missing was the mandatory Victory roll after the mission was complete
Haha, thanks man! I totally agree with you…lol. Next time! Thanks for watching.
"get the nerves out"
Haven't been flying a plane that long, but I know exactly what you mean. Auto launching twists my guts up every time, even though I'm getting more confident in it.
Your plane rocks by the way!
Happens every time, I suppose it's part of the thrill. Keeps you in check! Thanks for watching.
Great video! Thanks for showing some real-world situations that we'll all find ourselves in at some point!
Thanks man! Hopefully this will prepare pilots who are starting to take on missions.
It was great to run into you at the field Sunday. You're in a totally different world than I am! Very interesting to see where the technology is going. (the old guy in the van)
Nice to meet you! That was awesome seeing your gliders in flight. The future of sUAS operations is exciting! Until next time.
Great waypoint mission, and great landing! Always nice when you can fly it again without any repairs :)
Thanks for checking it out, Tom! She is ready to stretch her legs next mission.
Very cool! Thanks for stepping us through this. This is exactly my objective in learning Inav and FPV so will be following your progress closely. Thanks for generously sharing your .stl Files as well!
Thank you, that is nice to hear. Best of luck setting it up! You're welcome, more to come!
great mission
Great video! I didn't know you could switch in and out of WP missions like that.
really cool Vid and flight 💯👍👍
Thanks for checking out the video!
@@LiftVector no Problem 😎 you did a great job and 💯% good content to 👍🏻👍🏻
Thank you for ringing out a WP mission in you video. I Didn't even know you could exit and return to the mission.
You're welcome! This was meant to help others see what's possible on a mission. I'm glad you learned a new trick.
another great video, thanks for sharing with us!!!!!!
Thanks, Walt! More to come.
Awesome flight!
Thanks for watching!
very interesting video, keep the good work up
Thanks so much for watching! Will do.
Was your 25mw output reading your transmitter instead of your VTX? I think both crossfire and expresslrs support showing the transmitter output in the OSD. I noticed in the bottom right the OSD showed the VTX power was on setting 3.
I've been wanting to do some waypoint missions with my inav models, thanks for showing us the ins and outs!
You are absolutely right. I went back to my OSD config and I had enabled show crossfire power output thinking it was for the VTX power. Thanks for watching!
really great.
Thanks for watching.
You should change the landing gear to a cable tie system. This might reduce weight and they are easy and cheap yo replace considering it's a part that takes wear and tear. Otherwise that bad boy is firebdaeg! Diggin it.
Dude, thanks! I'll have to check out a video on this cable tie system, I'm always a fan of weight reduction.
@@LiftVector
Have you considered using a toroidal prop? It might help to reduce engine noise and may provide a small boost to efficiency at low RPMs.
@@combativeThinker Hello, I have not considered a toroidal prop. I don't even know where I would buy a composite 9 inch prop, not seeing them on Amazon yet...haha! If you know where to buy them, let me know.
Awesome mission Aloha from Hawaii.
Thanks for watching!
Great design! Which 3D print material did you use for the 3D print parts?
Thanks! I used lightweight PLA (Polymaker) for the winglets and vertical fins. Regular PLA (Sunlu) for all the other parts.
Did not know can switch out of a mission and resume the mission without starting over.
Great demo, with great camera perspectives. Does resume track to next waypoint in sequence, or to the nearest located waypoint?
I'm really glad you enjoyed the mission and now you know how the default 'resume waypoint' feature works. Resume will continue the planned mission points. Yup, in sequence!
Hi! How can you get the map showing where the plane is in real time? Thx!
Hello, thanks for watching! I animated the circle using simple keyframes in Davinci Resolve.
Awesome video! Thanks for showing the FT SPEAR in detail and for sharing the STL, what is the total weight with battery? Thank you!
Thanks so much! You're welcome. CNHL 3200mAh 3S - 218 grams
@@LiftVector thanks, but weight total model, with battery.
@@fpv_wing Sorry, I misread that. 1280 grams AUW, with the Hero11 Mini.
@@LiftVector ahhh ok! CG is in the 2 points below each side?
@@fpv_wing That's right. She is a tad towards the nose front point but still in between the CG tolerance.
Hello sir, why at Inav 6.1.0 on my FC AocodaRCF4 V2 canot out PWM for servo and ESC brushless.
I don't know setting Mixer in AUTO but still not function.
Hello, thanks for checking out the video. I'm not familiar with that FC setup. I wish I could help!
Hei! Can you tell me why you build winglets with lw-pla (how much infill and how many top/bottom layers and perimeters did you use) and not with foamboard? And with what you glue the winglets to the wing? Sorry for that many questions. Thanks for STLs and video!!!
The lw-pla is tougher than the single foam winglets. I was getting creases and bends in the foam on my 1st spear with rough landings. 2 top/bottom layers, 15-20% infill and I believe 3 perimeters or 2. Hot glued the winglets (I punched tiny holes in the side of the prints so the glue had something to adhere to).
@@LiftVector Thank you for your message!!! So no worries with hot glue to melt that lw-pla, that's good to know. I can switch my hot glue gun to lower temp just to be safe:)
Hello again! Your front fpv camera is poiting exactly forward or is it at an angle pointing down? On the stl files you have a camera mount pointing at an angle, that's why I'm asking. Thanks a lot
@@TrupaVisatori It is angled slightly down. Maybe 5-10 degrees.
Thanks for your answer. Is there a reason of pointing slightly down or is just personal preference to see more ground? By the way, really like your vertical fins instead of the original foamboard! 3d printing + foamboard is the way😉 waiting for your next flights!
Keep the fpv videos coming
More missions being planned, stay tuned! o7
Hi, nice plane, I have the same FC and for some reason it is showing a fully charged battery 50% in osd, any ideas...?
I'm using a 3s Lipo and I didn't have to calibrate the battery current sensor. Next time I plug into INAV configurator I'll take a look again. In the meantime, check out Mr. D's guide here: www.mrd-rc.com/tutorials-tools-and-testing/flight-controller-therapy/setting-the-current-sensor-in-inav/
He is extremely knowledgeable with INAV!
ok, but I put scale as Matek recomennds 250 for AMPS and 1100 for VOLTAGE@@LiftVector
I'm sorry, I honestly don't know because I have two Matek FCs on INAV and even have four FCs that run Betaflight have never needed current sensor calibration. They just worked out of the box and are pretty accurate. Have you tried checking the internal cell resistance on your pack?@@Chris-vc1dh
I will check thank you...@@LiftVector
Nice fly config Congratulations .Thanks sharing your set up, what is a total weight and changes inav 6.0 to 6.1.1 how you config the autolaunch switch .
Thank you! The total all up weight of the craft is 1252 grams. INAV 6.1 to 6.1.1 mentioned a fix to 'dolphining" but I never experienced this. In the modes, if you don't permanently enable autolaunch you assign it to a switch/range.
can i have the dimensions of the foamboard you used to make the wing
20 x 30 x 3/16" Adam's Ready Board from the dollar store.
Can you publish your settings you used in INAV 6.1?
Here is my diff, hope this helps.
diff
# version
# INAV/MATEKF411TE 6.1.1 Jun 13 2023 / 11:37:14 (42ced253)
# GCC-10.2.1 20201103 (release)
# start the command batch
batch start
# resources
# Mixer: motor mixer
mmix reset
mmix 0 1.000 0.000 0.000 0.000
# Mixer: servo mixer
smix reset
smix 0 1 0 50 0 -1
smix 1 1 1 -50 0 -1
smix 2 2 0 50 0 -1
smix 3 2 1 50 0 -1
# Outputs [servo]
servo 1 1000 2000 1674 80
servo 2 1000 2000 1406 80
# safehome
# features
feature MOTOR_STOP
feature GPS
feature PWM_OUTPUT_ENABLE
feature FW_AUTOTRIM
# beeper
# blackbox
blackbox -NAV_ACC
blackbox NAV_POS
blackbox NAV_PID
blackbox MAG
blackbox ACC
blackbox ATTI
blackbox RC_DATA
blackbox RC_COMMAND
blackbox MOTORS
blackbox -GYRO_RAW
blackbox -PEAKS_R
blackbox -PEAKS_P
blackbox -PEAKS_Y
# Receiver: Channel map
# Ports
serial 0 2 115200 115200 0 115200
serial 31 2048 115200 115200 0 115200
# LEDs
# LED color
# LED mode_color
# Modes [aux]
aux 0 0 0 1725 2100
aux 1 1 1 1775 2100
aux 2 12 1 1300 1700
aux 3 45 5 1300 1500
aux 4 53 5 1125 1300
aux 5 11 5 1500 1700
aux 6 10 3 1800 2100
aux 7 28 5 1925 2100
aux 8 3 5 1700 1875
aux 9 21 4 1700 2100
aux 10 54 4 1300 1700
aux 11 36 3 1300 1700
aux 12 19 2 1800 2100
aux 13 13 6 1300 2100
aux 14 48 2 1300 1700
# Adjustments [adjrange]
# Receiver rxrange
# temp_sensor
# Mission Control Waypoints [wp]
#wp 0 invalid
# OSD [osd_layout]
osd_layout 0 0 26 3 V
osd_layout 0 1 1 12 V
osd_layout 0 2 0 0 V
osd_layout 0 3 8 6 V
osd_layout 0 4 8 6 V
osd_layout 0 7 25 14 V
osd_layout 0 9 0 3 V
osd_layout 0 10 22 15 V
osd_layout 0 11 2 10 V
osd_layout 0 12 1 9 V
osd_layout 0 13 1 2 V
osd_layout 0 14 1 1 V
osd_layout 0 15 6 1 V
osd_layout 0 20 18 0 V
osd_layout 0 21 1 0 V
osd_layout 0 22 15 2 V
osd_layout 0 23 13 1 V
osd_layout 0 24 19 1 V
osd_layout 0 32 1 11 V
osd_layout 0 34 11 15 V
osd_layout 0 40 23 12 V
osd_layout 0 41 1 8 V
osd_layout 0 42 1 7 V
osd_layout 0 85 24 7 H
osd_layout 0 86 0 14 H
osd_layout 0 105 22 14 H
osd_layout 0 109 24 1 V
osd_layout 0 110 25 2 V
osd_layout 0 112 0 14 V
osd_layout 0 129 0 15 V
# Programming: logic
# Programming: global variables
# Programming: PID controllers
# master
set gyro_main_lpf_hz = 25
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 30
set gyro_zero_x = -3
set gyro_zero_y = -4
set gyro_zero_z = 6
set ins_gravity_cmss = 974.644
set acc_hardware = ICM42605
set acczero_y = -1
set acczero_z = 17
set accgain_x = 4097
set accgain_y = 4089
set accgain_z = 4100
set align_mag = CW270FLIP
set mag_hardware = NONE
set baro_hardware = SPL06
set motor_pwm_protocol = STANDARD
set failsafe_procedure = RTH
set platform_type = AIRPLANE
set model_preview_type = 8
set small_angle = 180
set ahrs_inertia_comp_method = ADAPTIVE
set applied_defaults = 4
set gps_sbas_mode = WAAS
set gps_ublox_use_galileo = ON
set airmode_type = STICK_CENTER_ONCE
set nav_wp_radius = 5000
set nav_wp_max_safe_distance = 500
set nav_rth_allow_landing = FS_ONLY
set nav_rth_alt_mode = MAX
set nav_rth_altitude = 5000
set nav_rth_home_altitude = 5000
set nav_fw_bank_angle = 45
set nav_fw_loiter_radius = 4500
set nav_fw_control_smoothness = 2
set nav_fw_launch_max_angle = 75
set nav_fw_launch_motor_delay = 100
set nav_fw_launch_timeout = 8000
set nav_fw_launch_max_altitude = 6000
set nav_fw_launch_climb_angle = 25
set osd_units = IMPERIAL
set osd_time_alarm = 15
set osd_alt_alarm = 110
set osd_dist_alarm = 0
set osd_crosshairs_style = TYPE6
set vtx_band = 5
set vtx_power = 3
set vtx_low_power_disarm = ON
# profile
profile 1
set fw_p_pitch = 15
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 150
set fw_p_roll = 15
set fw_i_roll = 3
set fw_d_roll = 7
set fw_ff_roll = 85
set fw_p_yaw = 20
set fw_i_yaw = 0
set fw_ff_yaw = 100
set max_angle_inclination_rll = 550
set max_angle_inclination_pit = 500
set dterm_lpf_hz = 10
set fw_turn_assist_pitch_gain = 0.300
set nav_fw_pos_z_p = 35
set nav_fw_pos_xy_p = 70
set d_boost_min = 1.000
set d_boost_max = 1.000
set fw_level_pitch_trim = 6.000
set rc_expo = 40
set rc_yaw_expo = 40
set roll_rate = 18
set pitch_rate = 9
set yaw_rate = 3
set manual_rc_expo = 40
set manual_roll_rate = 80
set manual_pitch_rate = 80
set manual_yaw_rate = 80
# battery_profile
battery_profile 1
set battery_capacity = 4200
set battery_capacity_warning = 840
set battery_capacity_critical = 210
set throttle_idle = 5.000
set nav_fw_cruise_thr = 1525
set nav_fw_max_thr = 1750
set nav_fw_launch_thr = 1800
set nav_fw_launch_idle_thr = 1200
# save configuration
save
# end the command batch
batch end
#
how do you load mission so fast?
It is a stick command loading the mission from Eprom. Look up INAV stick commands.
I enjoyed the video but I would love to see how you wrap or paint a plane like that I've tried but yours looks awesome
Thanks! The base coat is Rustoleum brilliant blue/gloss white. I cut out the camo by hand with scissors using sheets of square sticker vinyl from Hobby Lobby. It was a nice hot day when I painted so the paper didn't warp. I may have to make a build video if there is more interest. Thank you for watching!
Why keep taking it out of waypoint missiona
I wanted to show other pilots what it looks like to take the craft out of a mission for potential hazards, altitude adjustments and the RTH demo. Also, it would have taken much longer to finish the mission, as my cruise throttle is at default configuration. Thanks for watching!
Nice work,it's good to see Inav from another flyer's perspective, keep them coming I enjoy your work there using the basics and no HD which gets rammed down our throats all the time.
You are very lucky to have a great place to fly as well❤
@@M-H433 Great to hear! Thank you. I love my analog goggles, maybe one day I can afford an HD system and fly both. :)
brother i like you paint skin i need some of this desing can you shere in your drive
Thank you. I cut out the camo shapes with square sheets of sticker vinyl from Hobby Lobby. It took awhile but you just have to make random shapes! There is no design to share, I'm sorry!...just cut and glue.
@@LiftVector thanks for your comments iwill build ft spear soon
You did so a good job on making the video. You have slot of cams and split screens. It would be hard to make such good videos. You are good. We like that. Your presents is about to quadruple on yt. You eve narrate. Gonna pay off. I subscribed after I found last video on my feed. Peter sirpol. Rctestflit. Thinkflight, Tom Stanton, you da man
This is the feel good comment of the day! I appreciate you, David. I'm working hard on new builds and projects. Stay tuned!
where is this...? oregon? idaho?
Central Oregon. Near Bend.