INAV Flying Wing Fixed-Wing Parameter Tuning Guide

CoreWingAbout 12 minINAVINAV飞翼固定翼Flying WingElevon调参指南

Important

This tutorial is based on INAV 7.0.0 firmware. Operations may differ with different firmware versions!

Some content is referenced from the SpeedyBee APP pages, which are consistent with INAV ground station settings.

When tuning parameters, you can use either the SpeedyBee APP or the INAV ground station for configuration.

1. Flight Principle Introduction

A flying wing is a fixed-wing aircraft without a traditional fuselage and tail, with all control surfaces located on the wing. Compared to traditional fixed-wing aircraft, the main characteristics of flying wings include:

Higher aerodynamic efficiency: Reduces structural weight and improves endurance.
Better maneuverability: More suitable for FPV and low-altitude flying.
Different control method: Relies on elevons (combined ailerons and elevators) for pitch and roll control.

Since flying wings lack traditional rudders, yaw control mainly relies on differential wing surfaces and automatic correction by the flight controller. In ArduPilot firmware, flying wings typically use the Elevon mixing mode to achieve this type of control.

2. Equipment Preparation

Required Equipment:

1) Flight Controller: Any of the following flight controllers are suitable for this tutorial: CoreWing F405 WING V2/ SpeedyBee F405 WING APP/ SpeedyBee F405 WING MINI.

2) RC Transmitter: Using RadioMaster Boxer/RadioMaster TX16S as an example.

3) Receiver: Using SpeedyBee ELRS Nano 2.4G RX as an example.

4) GPS Module: Using Beizheng BZ-251 GPS module as an example .

5) Motor: Using 2306 KV1950 motor, suitable for AIRWING, for reference only.

6) ESC: Using 35A~45A ESC, suitable for AIRWING, for reference only.

7) Servo: Using 9g metal digital servo, suitable for AIRWING, for reference only.

8) Battery: Using 4S1P 4000mAh battery, suitable for AIRWING, for reference only.

9) Propeller: Using 7-inch 3-blade or 2-blade propellers, suitable for AIRWING, for reference only.

Optional Equipment:

1) Analog VTX: Using SpeedyBee TX 1600 VTX and RunCam Phoenix2 SE V2 camera as examples.

2) Digital VTX: Using DJI O4 AIR UNIT VTX as an example.

3) Airspeed Sensor: Digital airspeed sensor is recommended.

Important

Ground station installation can be referenced in this article: https://docs.corewing.com/plane/software/insoftware/inav-version-install.html

How to update flight controller firmware - using INAV ground station: https://docs.corewing.com/plane/beforetuning/inav-fw-update.html

III. Initial Setup

3.1 Model Configuration

Connect the flight controller (FC) to the ground control station (GCS) using a USB data cable.
Open INAV ground control station and click Connect.

Important

If a popup appears, select Airplane without a Tail (Wing, Delta, etc).

Important

Go to Mixer, select Airplane, select Flying Wing, and click Load and apply.

3.2 Accelerometer Calibration

Important

Note: When calibrating the accelerometer, be sure to remove the flight controller from the aircraft and place it on a flat surface for calibration to improve accuracy and ensure stable flight!

Go to the Configuration page.
Select Auto (auto-detect) and confirm that the accelerometer has been detected.

Important

If it shows red, try reflashing the firmware. If the issue persists, contact after-sales support!

Click Calibration.
Click Calibrate Accelerometer.
Follow the diagram for calibration.

Important

For each surface to be calibrated, click Calibrate Accelerometer once.

Important

The diagram below corresponds to the accelerometer calibration steps above.

Important

After calibration is complete, click Save and Reboot.

Important

If there are significant temperature or climate changes during use, the gyro has suffered a severe impact, or sensors have been replaced, the accelerometer needs to be recalibrated!

3.3 Port Configuration

Go to the Ports page
Configure according to the table
Click Save and Reboot

3.4 GPS Configuration

Important

Enable GPS to view the NAV RTH (Return to Home) flight mode settings in the Modes page.

Go to the GPS page.
Enable the GPS for navigation and telemetry option.
Click Save and Reboot.

3.5 RC Transmitter and Flight Mode Settings

3.5.1 RC Transmitter Settings

Important

Bind the RC transmitter to the receiver before proceeding with the following steps.
For information on how to bind an ELRS receiver to the transmitter, refer to this article: https://docs.corewing.com/plane/ardupilot/settings/rc/elrs-bind.html

Go to the Receiver page.
Configure according to the diagram.
Click Save and Reboot.

Important

For detailed information on how to set channel travel on EDGE TX, refer to this article: https://docs.corewing.com/plane/inav/settings/rc/edgetx-endpoint-setup.html

Navigate to the MDL/MIXES page and check if the transmitter's CH1-CH4 are set as follows. If not, modify the transmitter's mixer settings.

3.5.2 Arm Channel Settings

1. Transmitter Settings

Select a two-position switch
Navigate to the MDL/MIXES page and configure its mixer as CH5

2. Ground Control Station Settings

Important

Note: Arming can only be done in flight modes that do not use GPS, such as ANGLE (self-leveling). It cannot be done in GPS-dependent modes like NAV ALTHOLD!

Go to Modes.
Set the ARM (arm/disarm) channel to CH5 with values between min:1700-max:2100.
Click Save.

3.5.3 Return-to-Home Channel Settings

1. Transmitter Settings

Select a two-position switch.
Navigate to the MDL/MIXES page and configure its mixer as CH6 (can be set according to actual situation, for reference only).

2. Enable Return-to-Home Switch Settings

Important

By default, the return-to-home mode can only be activated when more than 5 meters away from the takeoff point. Within 5 meters, the OSD will not display the return-to-home mode!

Go to Modes.
Set the NAV RTH (RTH) channel to CH6 with values between min:1700-max:2100.
Click Save.

3.5.4 Flight Mode Settings

1. Transmitter Settings

Select a three-position switch and set it as a three-stage flight mode switch.
Navigate to the MDL/MIXES page and configure its mixer as CH8.

2. Ground Control Station Settings

Go to Modes.
Set the ANGLE (Angle Mode) channel to CH8 and configure according to the diagram below. Click Add range to expand the value range.
Use AUTOTUNE and ANGLE together and configure according to the diagram below.
Click Save.

Important

Result: Position 1 is ACRO mode, Position 2 is ANGLE mode, Position 3 is automatic tuning in ANGLE mode.

Important

For detailed information on flight modes, refer to this article: https://docs.corewing.com/plane/inav/settings/fc/flight-modes.html

4. Equipment Installation

4.1 Flight Controller Wiring

Power Wiring

Important

Note:

The positive power lead must be connected to the designated pad.
ESC refers to the Electronic Speed Controller.
When soldering, ensure there are no cold joints.

4.2 Flight Controller Installation

Important

The standard orientation for the flight controller should align with the aircraft's nose direction, but on this aircraft, it's not convenient to install in this orientation, so the installation orientation needs to be changed.

If you need to adjust other installation orientations for the flight controller, refer to this article for setup: https://docs.corewing.com/plane/inav/settings/fc/fc-orientation.html

The flight controller should be installed at the aircraft's center of gravity. Refer to the image below for installation:

4.3 Peripheral Installation and Setup

Peripheral Wiring

4.3.1 Receiver Installation

The installation position is shown in the figure. Route the antenna outside the fuselage and secure it with tape:

4.3.2 Mixer Setup (Servo and Motor Configuration) and Control Surface Check

Enable Servo and Motor Outputs:

Important

After enabling servo and motor outputs, the motors and servos can operate.
In fixed-wing mode, enable motor prohibition at low throttle to prevent unnecessary damage when the motor starts spinning after arming.
For multirotor mixing, remember to set motors to stop at low throttle to enable idle.

Output Wiring:

Important

The flight controller has its own BEC (Battery Eliminator Circuit). If the ESC also has a BEC, you must remove the middle power wire and insulate it properly to prevent vibration during flight from causing it to contact a conductor and cause a short circuit!!!

Parameter Configuration:

Enter the Mixer page
Configure according to the diagram
Click Save and Reboot

Channel	Output	Description
S1	Throttle	Throttle
S2	ElevonLeft	Left Elevon
S3	ElevonRight	Right Elevon

Control Surface Check:

a. In stabilized mode, control surface feedback check

Important

You must first click to calibrate the compass, wait 30 seconds, then click Save and Reboot

Important

Switch the flight mode to ANGLE

When the aircraft rolls left, the left wing control surface deflects down, and the right wing control surface deflects up.
When the aircraft rolls right, the left wing control surface deflects up, and the right wing control surface deflects down.

When the aircraft pitches up, the response is both control surfaces deflecting down simultaneously.
When the aircraft pitches down, the response is both control surfaces deflecting up simultaneously.

b. In manual mode, control surface feedback check

Important

Switch the flight mode to ACRO

When the aileron stick is moved left, the response is the left wing control surface deflecting up and the right wing control surface deflecting down.
When the aileron stick is moved right, the response is the left wing control surface deflecting down and the right wing control surface deflecting up.

When the elevator stick is moved up, the response is both control surfaces deflecting down simultaneously.
When the elevator stick is moved down, the response is both control surfaces deflecting up simultaneously.

First check if the stabilized feedback is correct. If not, add a negative sign to the Weight value of the corresponding servo mixer for the incorrect control surface response, changing it to a negative value will reverse the control surface direction.

Then check if the manual feedback is correct. If not, you need to modify the RC transmitter settings.

For example, with an EdgeTX system transmitter, navigate to MDL→INPUT page and set the Weight value to -100 to reverse the manual feedback.

4.3.3 GPS Module Installation and Configuration

The installation position is shown in the figure. Secure the bottom of the module with 3M adhesive ensure the module is installed securely, otherwise it will significantly affect flight performance:

Important

During installation, ensure it is mounted horizontally and vertically without tilting, otherwise the installation angle cannot be set correctly.

Important

Install away from metal components such as magnetic battery covers, metal pushrods, etc., as they will interfere with the compass.
Install away from devices like receivers, servo wires, motors, etc., as they will interfere with the compass.
Confirm that the installation is secure.
For detailed installation procedures for different modules, please refer to their respective manuals.

Important

For detailed information on how to install and set the compass installation direction, refer to this article: https://docs.corewing.com/plane/inav/settings/gps/inav-compass-setup.html

Parameter Configuration:

4.3.4 Video Transmitter Installation and OSD Configuration

Analog Video Transmitter Installation:

Analog Video Transmitter Parameter Configuration:

HD Video Transmitter Installation:

HD Video Transmitter Parameter Configuration:

OSD Configuration:

OSD configuration file: INAV_OSD file.zip, can be downloaded and imported directly.
Enter the CLI page.
Click Load from File.
Select the OSD file.
Wait for import to complete.
Click Save Setting.

4.3.5 Airspeed Sensor Installation and Configuration

Refer to the following for airspeed sensor installation position:

Important

For detailed information on airspeed sensor installation, parameter configuration, and calibration, refer to this article: https://docs.corewing.com/plane/inav/settings/airspeed/setup.html

5. Pre-flight Tuning

5.1 ESC Calibration

Important

Ensure the battery is disconnected and propellers are removed!

① Enter the Output page.

② Check the risk acknowledgment option.

③ Immediately push the Master to 100%.

④ Power the flight controller with the battery.

⑤ The ESC will beep → immediately push the Master to 0% → the ESC beeping will stop.

BLHeli32/BLHeli_S ESC Calibration Sounds:

Connect the battery and wait 2 seconds → "Play a song" is the throttle maximum confirmation tone → wait for the song to finish → push the throttle to minimum and wait 1 second → "Play another song, dee-dee-" is the throttle minimum confirmation tone → calibration complete

PWM ESC Calibration Sounds:

Connect the battery and wait 2 seconds → "Beep-beep" is the throttle maximum confirmation tone → push the throttle to minimum and wait 1 second, N short beeps indicate the number of LiPo cells → "Beep" is the throttle minimum confirmation tone → calibration complete

⑤ Gently push the throttle, the motor should start immediately. Push the throttle from 0% to 20% and check if the response is linear.

⑥ If the result differs from the above, disconnect the battery and return to step ② to recalibrate.

Important

For detailed information on enabling Dshot protocol, refer to this article: https://docs.corewing.com/plane/inav/settings/esc/esc-calib-dshot.html

5.2 Motor Direction Check and Propeller Installation

Choose regular or reverse propellers based on motor rotation direction
When installing propellers, ensure the side with text faces the nose of the aircraft

To counteract motor torque, adjust the control surfaces as follows:

5.3 Compass Calibration

Important

Please confirm the compass installation direction before calibration!

Enter the Configuration page.
Select Auto for automatic detection, ensure the compass is correctly identified.

Important

If the compass icon is red, it indicates incorrect identification. Please check the wiring or if the compass is functioning properly!

Enter the Calibrate page.
Click Calibrate Compass.
Within 30 seconds, rotate the aircraft 360° along each axis.

5.5 Failsafe Parameter Configuration

Enter the Failsafe page.
Select RTH to ensure the aircraft can autonomously return to a hover above its position when signal is lost.
Click Save and Reboot.

Click Advanced Tuning.
Configure according to the diagram.
Note that the parameter in the red box needs to be set to NEVER.

Important

After configuration, remember to click Save and Reboot to save the parameters.

Click Advanced Tuning.
You can configure according to the diagram, adjust the cruise throttle based on actual conditions.
Click Save and Reboot.

Important

It is recommended that during the first return flight, enter the Advanced Tuning option to manually increase throttle to avoid the default return speed being too low and prevent accidents.

6. Flight Test

6.1 Pre-flight Parameter Check

Important

For detailed solutions to common arming issues, please refer to this article: https://docs.corewing.com/plane/inav/settings/fc/fcproblem/unlock-fail-common.html

6.2 Pre-flight Inspection

6.2.1 Center of Gravity Check

1. Reference aircraft markings:

Many flying wing or fixed-wing aircraft have recommended center of gravity positions marked on the fuselage, typically 25-30% back from the leading edge of the main wing.

2. Finger support method:

Place the aircraft on two fingers at the recommended center of gravity point under the main wing, balancing the fuselage gently.
If the nose is too heavy or the tail is too heavy, adjust the battery or add ballast.

Nose heavy (center of gravity too far forward):

The aircraft will have difficulty climbing during flight, which may cause takeoff failure and crash.
Try moving the battery rearward or reducing nose ballast.

Tail heavy (center of gravity too far back):

The aircraft is prone to stall on climb.
Solution: Move the battery forward or add nose ballast.

6.2.2 Pre-flight Control Surface Check

Important

Switch flight mode to ANGLE

When the aircraft rolls left, the left wing control surface deflects down, and the right wing control surface deflects up.
When the aircraft rolls right, the left wing control surface deflects up, and the right wing control surface deflects down.
When the aircraft pitches up, both control surfaces deflect down.
When the aircraft pitches down, both control surfaces deflect up.

Important

Switch flight mode to ACRO

When the aileron stick is moved left, the left wing control surface deflects up, and the right wing control surface deflects down.
When the aileron stick is moved right, the left wing control surface deflects down, and the right wing control surface deflects up.
When the elevator stick is moved up, both control surfaces deflect down.
When the elevator stick is moved down, both control surfaces deflect up.

6.2.3 Satellite Number Check

Important

Outdoors, check if the satellite number is greater than 8. Only take off when it's greater than 8!

If the satellite number remains below 8, move to an open area. If there's no improvement, replace the GPS module.

6.2.4 Wind Direction Confirmation

Observe wind direction:
- Observe wind indicators such as smoke, wind vanes, flags.
- Throw light objects (like grass leaves) into the air and observe their drift direction.
Determine upwind takeoff direction:
- Upwind takeoff provides greater lift and reduces takeoff speed requirements.
- Downwind takeoff may cause stalling or the nose being pushed down by the wind, easily leading to a crash.

6.3 Takeoff Instructions

Depending on the aircraft configuration, choose either hand-launch or runway takeoff to ensure a successful takeoff.

6.3.1 Hand Launch

1. Mode preparation:

Select ACRO 模式 to ensure sufficient control surface deflection.
Throttle to 60-80% to ensure sufficient takeoff thrust.

2. Launch posture:

Hold under the wings. For flying wings, hold the wings directly to prevent hand injury.
Launch at a 30° upward angle to ensure sufficient lift.

3. Launch technique:

Use moderate force, avoiding too strong or too light (insufficient for climb).
Follow through with the motion, rather than throwing downward.

Important

Precautions:

Avoid hand launching at low throttle. Ensure sufficient takeoff power. Immediately take control of the ailerons after launching to prevent the aircraft from rolling out of control.

6.3.2 Runway Takeoff

Select ACRO 模式.
Throttle to 60%-70% to maintain moderate acceleration.
Maintain directional stability to prevent the aircraft from yawing out of control during taxi.
After sufficient speed, slowly pull up the pitch for a smooth takeoff.

Important

Precautions:

Ensure sufficient takeoff distance to avoid stalling from rapid climb in a short distance.
Takeoff into the wind to increase lift and avoid crosswind effects.
Monitor flight status to prevent excessive climb or rapid banking.

6.4 In-flight Testing

1. Control surface test:

After successful takeoff, switch the flight mode to ANGLE 模式 to check if the aircraft automatically corrects its attitude.

Important

If the aircraft attitude is abnormal, switch to ACRO mode to land, and check the control surfaces under ANGLE 模式.

2. Level flight test

Keep the throttle at 45%-55% and check if the aircraft can maintain level flight without any signs of diving or climbing.

Important

If the aircraft dives or climbs, recalibrate the level—use AutoLevel to calibrate level, making the flight controller parallel to the wing.

For detailed instructions on using AUTOLEVEL, please refer to this article: https://docs.corewing.com/plane/inav/settings/fc/autolevel-autotune.html

3. Automatic tuning:

Switch the flight mode to AUTOTUNE 模式 to perform automatic tuning.

Important

For detailed instructions on using automatic tuning, please refer to this article: https://docs.corewing.com/plane/inav/settings/fc/autolevel-autotune.html

4. Flight data check:

Monitor the OSD data to confirm that GPS, heading, altitude, ground speed, voltage, current and other data are normal.

Important

If abnormal data is detected, land promptly and check the equipment!

5. Return-to-home (RTH) function test:

Switch the flight mode to RTH to test if the aircraft returns to circle near the takeoff/arming point.

Important

If the aircraft attitude is abnormal in RTH mode, promptly switch to ACRO or ANGLE and check the RTH parameter settings!

6. Pre-landing check:

Confirm battery remaining capacity to ensure sufficient power for landing.
Observe wind direction and choose an upwind landing direction.

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