iNavFlight
A "dumb" mode for INAV only acting as gyro / heading lock
Current Behavior
INAV is getting AETR info from the RX and manipulates the with mixer, rates, ... This makes it very hard to properly implement a full-house glider with crow-break and stuff which often incorporates heavy mixing and curves on input, mixer, and servo to achieve the desired behaviour.
Desired Behavior
A modus where INAV is just getting the info from the RX and sends them directly 1:1 to the servos outputs with one extra in the suggested solution.
Suggested Solution
E.g., FrSky S6R and S8R receivers are a simple solution for gyro, but a small FC like a SpeedyBee Wing Mini brings so much more (BEC, sensors, connect to any serial RX you like, ...). And the FrSky are bound to their "outdated" TXRX link.
They do not manipulate the RX data in "off"-mode. They have a "gyro"-mode wich directly counteracts (like ACRO) and a "stabi"-mode (like ANGLE).
Teach in is simple: You trigger teach with the plane in horizontal and vertical flight position. This teaches the position for ANGLE mode. Next you have to bring all Servos into MIN and MAX position. E.g., on a full house glider you also pull crow-break and then give full Ailerons. This procedure is to learn the servo endpoints. The gyro will never drive a servo further.
Who does this impact? Who is this for?
It would be a clever addon allowing cheap FCs to be used and still keep some basic INAV stabilization features.
Additional context
None.
You stated that the Frsky gyo has a mode somewhat similar to Acro, and a node similar to Angle.
You said you want something like Manual mode "with one extra". What is the "extra"?
You said "This makes it very hard to properly implement a full-house glider with crow-break and stuff". It's pretty simple to do crow braking. Just add a line in the mixer for those servos. I can show you how to do that. What is the "and stuff" you're having trouble with?
Why I cannot use INAV side programming (which would allow crow-break and other stuff, I know the videos describing this in detail)? The essential thing that is missing in INAV is curves. Curves on best IN, MIX and OUT side, but at least OUT side.
Why? An example: It's not possible to build 100% perfect for e.g., the flaps on full house gliders to get max crow. The servo horn and pushrods are mounted in a way that the flap is max moving up 5 mm, but down close to 90 ° (yes degree). With this high leverage ratio both flaps are never working 100% equal which is inducing heavy roll if not corrected. What's done in EdgeTX on the TX side. Have one flap servo act 1:1 from the mixer output but the other one is going thru a curve on servo OUT to completely synchronize the moves.
The servo horn and pushrods are mounted in a way that the flap is max moving up 5 mm, but down close to 90 ° (yes degree).
I see. That certainly does make things much more complicated, when using that surface for multiple purposes. I understand the mechanical curve needs different compensation when using a surface as a flap vs a brake vs for roll control.
Yes flaps for full house gliders are only some mm down (slow thermal mode) and some mm up (speed mode). Also the being able to change differential (less movement of aileron down than up) on the TX side with a trim to get best roll/curve performance.