Betaflight Rescue vs INAV Return to Home

Описание: In this video I tried to do a comparison of Betaflight Rescue vs INAV Return to Home functionality.
I used the exact same quad for both tests.

Quad : Flywoo Explorer LR with FLYWOOF745NANO flight controller
INAV version : INAV 7.1.1
Betaflight version : BF 4.5.0 RC 4
GPS version : Flywoo GoKu GM10 Mini V3/Compass GPS

Note : Even though the GPS is supposed to also have a compass, I could not get it to work in both INAV and Betaflight. (Maybe a wiring issue on my side). So these tests was done with Magnetometer turned off.

Here is the "diff" that I used in Inav on the Flywoo:

version
INAV/FLYWOOF745NANO 7.1.1 Apr 30 2024 / 20:50:21 (523c4839)
GCC-10.3.1 20210824 (release)

resources

Timer overrides

Outputs [servo]

safehome

Fixed Wing Approach

features
feature GPS
feature PWM_OUTPUT_ENABLE

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 2 2 115200 115200 0 115200
serial 4 1 115200 115200 0 115200

LEDs

LED color

LED mode_color

Modes [aux]
aux 0 0 0 1775 2100
aux 1 1 1 900 1200
aux 2 2 1 1300 1700
aux 3 11 2 1300 1700
aux 4 11 4 1800 2100
aux 5 10 3 1775 2100
aux 6 52 2 1800 2100
aux 7 13 4 1850 2100

Adjustments [adjrange]

Receiver rxrange

temp_sensor

Mission Control Waypoints [wp]
#wp 0 invalid

OSD [osd_layout]
osd_layout 0 0 20 1 H
osd_layout 0 1 1 1 V
osd_layout 0 7 20 14 V
osd_layout 0 8 12 14 V
osd_layout 0 9 24 12 V
osd_layout 0 14 24 1 V
osd_layout 0 15 7 12 V
osd_layout 0 20 16 10 H
osd_layout 0 21 4 8 H
osd_layout 0 22 15 12 V
osd_layout 0 23 18 12 V
osd_layout 0 24 1 12 V
osd_layout 0 28 23 11 H
osd_layout 0 30 2 13 V
osd_layout 0 32 10 1 V
osd_layout 0 33 1 11 H
osd_layout 0 109 17 1 V
osd_layout 1 32 13 7 V

Programming: logic

Programming: global variables

Programming: PID controllers

OSD: custom elements

master
set looptime = 500
set gyro_main_lpf_hz = 110
set gyro_main_lpf_type = PT1
set gyro_use_dyn_lpf = ON
set gyro_dyn_lpf_min_hz = 85
set gyro_dyn_lpf_max_hz = 300
set gyro_dyn_lpf_curve_expo = 3
set dynamic_gyro_notch_q = 250
set dynamic_gyro_notch_min_hz = 100
set setpoint_kalman_q = 200
set gyro_zero_x = 2
set gyro_zero_y = 8
set gyro_zero_z = 6
set ins_gravity_cmss = 1005.722
set acc_hardware = MPU6000
set acczero_x = 3
set acczero_y = 33
set acczero_z = 365
set accgain_x = 4107
set accgain_y = 4078
set accgain_z = 4053
set align_mag = CW270FLIP
set mag_hardware = NONE
set baro_hardware = BMP280
set serialrx_provider = CRSF
set blackbox_rate_denom = 2
set motor_pwm_protocol = DSHOT600
set failsafe_procedure = RTH
set applied_defaults = 2
set airmode_type = THROTTLE_THRESHOLD
set nav_min_rth_distance = 1000
set nav_rth_altitude = 1500
set nav_rth_home_altitude = 1000
set nav_rth_linear_descent_start_distance = 30
set nav_rth_use_linear_descent = ON
set safehome_max_distance = 3000
set osd_video_system = PAL
set osd_rssi_dbm_alarm = -100
set name = FLYWOO
set pilot_name = WERNER

mixer_profile
mixer_profile 1

set model_preview_type = 3

Mixer: motor mixer

mmix reset

mmix 0 1.000 -1.000 1.000 -1.000
mmix 1 1.000 -1.000 -1.000 1.000
mmix 2 1.000 1.000 1.000 1.000
mmix 3 1.000 1.000 -1.000 -1.000

Mixer: servo mixer

profile
profile 1

set mc_i_pitch = 90
set mc_d_pitch = 27
set mc_p_roll = 36
set mc_i_roll = 80
set mc_d_roll = 25
set mc_p_yaw = 35
set mc_i_yaw = 80
set dterm_lpf_type = PT3
set d_boost_min = 1.000
set d_boost_max = 1.000
set antigravity_gain = 2.000
set antigravity_accelerator = 5.000
set smith_predictor_delay = 1.500
set tpa_rate = 20
set tpa_breakpoint = 1200
set rc_expo = 75
set rc_yaw_expo = 75
set roll_rate = 70
set pitch_rate = 70
set yaw_rate = 60

battery_profile
battery_profile 1

set nav_mc_hover_thr = 1420

save configuration
save

end the command batch
batch end