Good thread.

Have you utilized the mag_align CLI command and understand it's impact. I need to learn how to tell the compass which direction is forward.

I'm new to quads, built then flew a 6" using Mamba F405 Mk2 &
BetaFlight but i really want the INAV experience. I added bmp280 baro, BN-880 compass and gps. I have this functioning on the bench, next step is to mount the gps to the quad. Two potential gps location are above the camera or on an arm.

I appreciate the navigation tuning strategies discussed above.

Robert

In answer to your questions:
I have not had reason to use the mag_align cli command because I use the mag align section which has always worked for me.

'I need to learn how to tell the compass which direction is forward': what you do is mount your gps then configure Inav with the correct compass direction. on the gps/compasses that i have used forward direction is the opposite side of the wiring harness. Using that information has allowed me to quickly setup the compass. If you mount the gps in any other configuration you will need to go into Inav and configure the gps mounting correctly (it can sometimes take several attempts of the different options to get it working. For me, I have learned to take the quad and a laptop outside away from electrical/metal influences in my shop to do any adjustments to the compass settings.

one of the more common installation mistakes occurs when the gps is installed upside down. I won't go into a detailed explanation here, there are ample photos on the internet.

'Two potential gps location are above the camera or on an arm'. It is recommended to keep the gps as far away from electrical components and wiring as possible. I mount my gps on a short 3D printed pedestal mounted on top of the quad or also on a 3D printed mount on the back of the quad which places the gps between the two arms. however some have reported  success with mounting the gps on the frame directly above the FC or on an arm (zip tied against the motor wirings). Experiment with the mounting position. If the qps is slow to lock onto sats then try to find a better location. Keep in mind that as you fly, you will/can occassionally lose a satellite lock so the quicker it can reconnect the better.

below are the two mounting options described above. the pedestal is about 45mm tall. On the rear mount photo you can see i mounted the gps with the wiring harness sticking out the back. The reason for that is my gps must be unplugged or the quad will not go into DFU mode.

These mounting locations allow me to get really quick sat locks. I live/fly in a hilly wooded area so getting a quick lock is not always easy.

(08-Jan-2021, 12:12 AM)danielcmcguire Wrote: I have the same issue Igor had, with my quad shooting to the moon after enabling ALT HOLD OR POS HOLD in Inav.  I'm using an OmnibusF4V3 with a BN-880 GPS/MAG unit, and FrSky R9MM receiver using FPORT protocol.  I have lowered my Nav Hover variable down to 1250, 1300, 1400, doesn't matter, when I use ALT HOLD, this thing shoots up 70 feet in the air, and crashes back down to earth.  I should mention that I'm using DSHOT600, as I can't get MULTISHOT to work on my ESC.  I have some blackbox data, if anyone is good at deciphering that stuff, but I don't see how it could be of any help, because blackbox doesn't keep every single variable used by Inav, just enough data to show that the thing is behaving erratically. (I already knew that).  

Thanks guys for any help you can offer.  I'm new to the forums, so this is my second time attempting to post this...

Have you found a solution to this yet? I have the same problem. Tried all of the suggestions thus far, no dice

(04-Apr-2021, 05:38 PM)Stolli Wrote: Have you found a solution to this yet? I have the same problem. Tried all of the suggestions thus far, no dice

Stolli,
If you have tried all the suggestions then I'm sorry but I have no other remedies. You may want to revisit them, and try each one again. In the past I have 
when I have had INAV issues (especially with the compass) I sometimes try the same suggestion up to 4-5  times before it starts to correctly work for me as well as reinstalling the
FC software and Inav firmware.  If you find a solution that is not listed here please post it to benefit others. Thank you

Hello,

I know this is an old post but I'm running into the exact problem. I followed your step and it actually help my quad hover alot. However, for some reason my quad is still slowly descending in a controllable landing.

I look at my blackbox and noticed that my I term for my set nav_mc_vel_z_i does not respond at all. Ive tried value from 0-250 and the graph just show that the Intergral does not respond with a downward slope.

If I set the I term high then my throttle will respond with the I term downslope. But if I set the I term low and the throttle stay constant but the craft is still descending.

I hope you can shed some light for me. I am so close but I just can't seem to get there.

Thank you for your time