INAV Y3 VTOL Parameter Tuning Guide

Important

This tutorial is based on INAV 7.0.0 firmware, and operations may differ with different firmware versions!

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

When tuning parameters, you can use CoreWing APP / SpeedyBee APP for settings, or use INAV ground station.

Important

SpeedyBee APP download link: https://www.speedybee.cn/speedybee-app.html

一、Flight Principle Introduction

Vertical Take-Off and Landing (VTOL) fixed-wing drones combine multirotor and fixed-wing technologies. They use multirotors for vertical take-off and landing, and switch to fixed-wing mode through a transition mechanism for efficient horizontal flight. During horizontal flight, they rely on the wings to generate lift and control direction and attitude through control surfaces.

二、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: For example, RadioMaster Boxer /RadioMaster TX16S RC transmitter.

3) Receiver: For example, SpeedyBee ELRS Nano 2.4G RX receiver.

4) GPS Module: For example, 北征 BZ-251GPS module .

5) Motors: Use 2306 KV1250 motors, suitable for 中航电 ALTUS VTOL, for reference only.

6) ESCs: Use 45A ESCs, suitable for 中航电 ALTUS VTOL, for reference only.

7) Servos: Use 9g metal digital servos, suitable for 中航电 ALTUS VTOL, for reference only.

8) Battery: Use 4S1P 4000mah 21700 battery, suitable for 中航电 ALTUS VTOL, for reference only.

9) Propellers: Use 7-inch three-blade propellers, suitable for 中航电 ALTUS VTOL, for reference only.

Optional Equipment:

1) Analog VTX: For example, SpeedyBee TX 1600 VTX and RunCam Phoenix2 SE V2 camera.

2) HD VTX: For example, DJI O4 AIR UNIT VTX.

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 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!

• Enter the Configuration page.
• Select Auto (auto-detect), and confirm that the accelerometer has been recognized.

Important

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

• Click Calibration.
• Click Calibrate Accelerometer.
• Follow the diagram to perform the calibration.

Important

For each surface calibrated, you need to click Calibrate Accelerometer once.

Important

The diagram below corresponds one-to-one with the accelerometer calibration above.

Important

After calibration is complete, click Save and Reboot.

Important

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

3.2 Port Configuration

• Enter the Ports page
• Configure according to the table
• Click Save and Reboot

3.3 Compass Calibration—Used to Enable Related Flight Modes

Important

Connect the GPS module with built-in compass to the flight controller

• Enter the Configuration page.
• Select Auto (auto-detect), and ensure the compass is properly recognized.

Important

If the compass icon displays red, it means it has not been properly recognized. Please check the wiring or if the compass is working correctly!

• Enter the Calibrate page.
• Click Calibrate Compass.
• No action is required, just wait for 30 seconds.

Important

After completion, click Save and Reboot.

3.4 GPS Configuration

Important

Enable GPS to view navigation-related flight mode settings in the Modes page.

• Enter GPS page.
• Enable the GPS for navigation and telemetry option.
• Click Save and Reboot.

3.5 RC Transmitter Settings and Flight Mode Configuration

3.5.1 RC Transmitter Settings

Important

1. Please bind the RC transmitter to the receiver before proceeding with the following steps.

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

• Enter 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, check if the RC transmitter CH1-CH4 are set as follows. If not, modify the transmitter mixing.

3.5.2 Arming Channel Configuration

1. RC Transmitter Settings

• Select a two-position switch
• Navigate to the MDL/MIXES page and configure its mixing 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 modes that require GPS, such as NAV ALTHOLD!

• Enter Modes.
• Set the ARM (arming/disarming) channel to CH5, with values set between min:1700-max:2100.
• Click Save.

3.5.3 Return-to-Home Channel Configuration

1. RC Transmitter Settings

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

2. Enable Return-to-Home Switch Setting

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!

• Enter Modes.
• Set the NAV RTH (return-to-home) channel to CH6, with values set between min:1700-max:2100.
• Click Save.

3.5.4 Flight Mode Configuration

1. RC Transmitter Settings

• Select a three-position switch to set the three-stage aircraft configuration mode switch.
• Navigate to the MDL/MIXES page and configure its mixing as CH8.

• Then select another three-position switch to set the three-stage flight mode switch.
• Navigate to the MDL/MIXES page and configure its mixing as CH9.

2. Ground Control Station Settings

• Enter Modes.
• Make modifications according to the diagram.
• Click Save.

Important

Flight mode effects:

1. CH8 is used to control tilt servos, with the first position being fixed-wing mode, the second position being transition mode, and the third position being VTOL mode.
2. CH9 is used to switch flight modes in VTOL configuration, with the first position being ANGLE (VTOL self-leveling), the second position being NAV LOTIER (position hold)叠加 NAV ALTHOLD (altitude hold), and the third position being NAV ALTHOLD (altitude hold).

Important

The altitude hold mode may have different names in different versions of the ground control station, some being NAV POSHOLD and others being NAV LOTIER.

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:

1. The positive power lead must be connected to the designated pad.

2. ESC refers to the Electronic Speed Controller.

3. 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 due to installation constraints on this aircraft, the orientation needs to be changed.

For adjusting other flight controller orientations, refer to this article: https://docs.corewing.com/plane/inav/settings/fc/fc-orientation.html

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

4.3 Peripheral Installation and Configuration

• Peripheral Wiring

4.3.1 Receiver Installation

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

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

Important

1. Motors and servos will only operate after enabling servo and motor outputs.

2. In fixed-wing mode, enable motor prohibition at low throttle to prevent unnecessary damage when motors spin after arming.

3. For multirotor mixer, remember to set motors to stop at low throttle to enable idle.

4.3.2.1 Output Wiring

Important

The flight controller has its own BEC. If the ESC also has a BEC, the middle power wire must be removed and insulated to prevent contact with conductors during flight vibration, which could cause a short circuit!!!

Important

Regarding the S7 channel, there is a bug in the INAV firmware. Connecting motors to S7 will cause issues such as motors not spinning. Therefore, it is recommended to connect motors to S8-S10!

Important

For mixer configuration, refer to the Y3 tutorial video by idea-fpv on Bilibili for better understanding: https://www.bilibili.com/video/BV1N34YefE79/?share\_source=copy\_web&vd\_source=b4001ce0fef5f9acabc4a5730638b5de

4.3.2.2 Setting Fixed-Wing Mixer File

• Select mixer configuration file 1, PID configuration file 1.

4.3.2.3 Setting Fixed-Wing Mixer Type

Important

For mixer type configuration, refer to the fixed-wing tutorials:

INAV Flying Wing Layout Fixed-Wing Tuning Guide: https://docs.corewing.com/plane/inav/inplaneguide/flywing-tune.html

INAV T-Tail Layout Fixed-Wing Tuning Guide: https://docs.corewing.com/plane/inav/inplaneguide/t-tail-tune.html

• Enter the mixer page.
• Select Airplane and check the option.
• Select Airplane V-tail.
• Set the timer as shown in the figure.
• Click Save and Reboot.

4.3.2.4 Setting Fixed-Wing Motor and Servo Mixer

• Enter the Mixer page.
• Set the motor mixer as shown in the figure.
• Set the servo mixer as shown in the figure.
• Click Save and Reboot.

Important

Motor Mixer Instructions:

In fixed-wing mode, only the front left and front right motors need to be enabled, so only the mixers for the first two motors need to be set in the fixed-wing mixer configuration file.

Important

Servo Mixer Example (for V-tail Y3 VTOL) Instructions:

S1/S2 set aileron mixing, S3/S4 set elevator and rudder mixing, S5/S6 set the fixed-wing tilt servo angles.

4.3.2.5 Setting VTOL Mixer File

:::

5. Pre-flight Tuning

5.1 Return-to-Home (RTH) Parameter Settings

Important

For detailed information on how to set up Return-to-Home (RTH) mode, refer to: https://docs.corewing.com/plane/inav/settings/fc/rth-setup.html

5.2 ESC Calibration

Important

Ensure the battery is disconnected and propellers are removed!

① Go to 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 → "playing a song" is the throttle maximum confirmation tone → wait for the song to finish → push the throttle to minimum and wait 1 second → "playing 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 beeps indicate the number of LiPo cells → "beep" is the throttle minimum confirmation tone → calibration complete.

⑤ Gently push the throttle, the motors 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 how to set up Return-to-Home (RTH) mode, refer to this article: https://docs.corewing.com/plane/inav/settings/esc/esc-calib-dshot.html

5.3 Motor Direction Check

• Choose standard or reverse propellers based on motor direction
• When installing propellers, ensure the side with text faces forward
• Gently push the throttle, correct motor direction is: left motor counter-clockwise, right motor clockwise, tail motor counter-clockwise, as shown in the figure below. You can gently touch the motors to feel the direction:

Important

If motor direction is incorrect, swap any two of the three motor wires for any motor to correct the direction.

5.3.1 RC Transmitter Output Check

• Force unlock → gently push the throttle until motors just start → all motors should spin → lightly move the sticks to give commands to the flight controller.

Important

For detailed information on how to force unlock, refer to this article: https://docs.corewing.com/plane/inav/settings/fc/force-arm.html

Important

Motor speed can be felt by attaching tape or masking tape to the propellers.

• Push the pitch stick, tail motor speed increases;
• Pull the pitch stick, front left and front right motor speeds increase;
• Roll left, front right motor speed increases;
• Roll right, front left motor speed increases;

If the feedback is inconsistent, check the SERVO OUTPUT and pin header connections.

5.3.2 Motor Self-Stabilization Feedback Check

Force unlock → gently push the throttle until motors just start → all motors should spin → give the aircraft some attitude changes.

Important

Motor speed can be felt by attaching tape or masking tape to the propellers.

• When the aircraft pitches up, the tail motor speed increases;

• When the aircraft pitches down, the front left and front right motor speeds increase;

• When the aircraft rolls left, the front left motor speed increases;

• When the aircraft rolls right, the front right motor speed increases;

If motor feedback does not match the above, check the SERVO OUTPUT and pin header connections.

5.3.3 Propeller Installation

• Choose standard or reverse propellers based on motor direction.
• When installing propellers, ensure the side with text faces upward.

5.4 Compass Calibration

Important

Please confirm the compass installation direction before calibration!

• Go to the Configuration page.
• Select Auto for automatic recognition, ensure the compass is correctly identified.

Important

If the compass icon is red, it means it was not correctly identified. Please check the wiring or if the compass is working properly!

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

5.5 Failsafe Parameter Settings

• Go to 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 setting, 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 - for fixed-wing aircraft.
• Click Save and Reboot.

Important

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

6. Flight Test

6.1 Pre-flight Parameter Check

Important

For detailed solutions to common arming issues, 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:

• Fixed-wing aircraft will have recommended center of gravity markings, typically at 25-30% of the wing's chord from the leading edge.

2. Finger Support Method:

• Balance the aircraft with two fingers at the recommended center of gravity point under the main wing.
• If the nose is too heavy or tail is too heavy, adjust the battery or add ballast.

Nose Heavy (Center of Gravity Too Far Forward):

• Aircraft will have difficulty climbing during flight, potentially causing takeoff failure or crash.
• Try moving the battery backward or reducing nose ballast.

Tail Heavy (Center of Gravity Too Far Back):

• 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 aileron moves down, the right aileron moves up.
• When the aircraft rolls right, the left aileron moves up, the right aileron moves down.
• When the aircraft pitches up, both V-tail surfaces move down.
• When the aircraft pitches down, both V-tail surfaces move up.

Important

Switch flight mode to ACRO

• When the aileron stick is moved left, the left aileron moves up, the right aileron moves down.
• When the aileron stick is moved right, the left aileron moves down, the right aileron moves up.
• When the elevator stick is moved up, both V-tail surfaces move down.
• When the elevator stick is moved down, both V-tail surfaces move up.
• When the rudder stick is moved left, both V-tail surfaces move left.
• When the rudder stick is moved right, both V-tail surfaces move right.

6.2.3 Satellite Number Check

Important

Outdoors, check that the satellite count is greater than 8. Only take off when more than 8 satellites are acquired!

If the satellite count 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, windsocks, flags.
  • Throw light objects (like grass leaves) into the air and observe their drift direction.

• Determine Takeoff Direction into the Wind:

  • Taking off into the wind provides more lift and reduces required takeoff speed.
  • Taking off with the wind may cause stalling or the nose being pushed down by the wind, easily leading to a crash.

6.3 Flight Test

6.3.1 VTOL Flight Test

Important

Switch mixing control to VTOL

Important

Flight mode effects:

1. CH8 is used to control tilt servos: first stage is fixed-wing mode, second stage is transition mode, third stage is VTOL mode.
2. CH9 is used to switch flight modes in VTOL state: first stage is ANGLE (VTOL self-leveling), second stage is NAV LOTIER (position hold) with NAV ALTHOLD (altitude hold), third stage is NAV ALTHOLD (altitude hold).

Important

Note: VTOL mode uses multirotor control methods. Visual line-of-sight flight is recommended during testing.

• Test Procedure: Take off in ANGLE mode → Test if control response is correct → Switch to position hold and altitude hold → Test position hold and altitude hold hover → Land in ANGLE mode.
  • Take off with low throttle in the first stage ANGLE mode, test control response. If the response is incorrect, recheck RC transmitter calibration, channel mixing configuration, ESC and motor checks.
  • If flight is stable in ANGLE mode, switch to the second stage NAV LOTIER (position hold) with NAV ALTHOLD (altitude hold), set throttle stick to 50%, aircraft will hold position and altitude;
  • After the aircraft begins hovering, position and altitude variations should be within a 1-meter radius or smaller.
  • If no issues, switch back to ANGLE mode for landing.

6.3.2 Fixed-wing Flight Test

Important

Switch mixing control to fixed-wing

Important

Note: Fixed-wing mode uses fixed-wing control methods. FPV flight is recommended.

Test Procedure: Take off in ACRO mode → Switch to ANGLR to test if the aircraft can fly relatively stably → Switch to AUTOTUNE → Auto-tuning completes → Switch to ANGLE → Feel the aircraft's flight characteristics → Land and save parameters → Power cycle the flight controller.

• Take off in ACRO mode, the flight controller will automatically compensate for wind to prevent the aircraft from rolling over and ensure sufficient control surface authority.
• Then switch to ANGLE mode, do not operate the transmitter, check if the aircraft can fly level for a period. If no issues, switch to AUTOTUNE for auto-tuning.
• If the aircraft attitude changes significantly in ANGLE mode, perform tilt servo checks, control surface checks (in ANGLE mode) and run AUTOLEVEL.
• After auto-tuning is complete, switch back to ANGLE mode, feel the flight characteristics, then land.

Important

For detailed information on auto-tuning and auto-leveling, refer to: https://docs.corewing.com/plane/inav/settings/fc/autolevel-autotune.html

6.3.3 Transition Flight Test

Important

Switch mixing control to VTOL

Important

Note:

1. Confirm that individual VTOL and fixed-wing tests have no issues;

2. Before transitioning to fixed-wing, fly the aircraft to an altitude of 20 meters or more in VTOL mode, then perform the transition. Pay attention to the transition control method during flight, and keep the throttle at mid-position during the transition.

Important

Mixing control cannot be switched in navigation mode. It can only be switched in non-navigation modes. When switching to fixed-wing mode, use ANGLE mode for the transition.

• Test Procedure: Vertical takeoff in ANGLE mode → Aircraft reaches altitude → Switch to transition mode → Wait 3-4 seconds → Switch to fixed-wing mode → Aircraft switches to fixed-wing mode (feel the flight after transition) → Switch to VTOL mode → Aircraft switches to VTOL mode (feel the flight after transition) → Land.
  • Take off with ANGLE, fly to sufficient altitude, then switch to transition mode. The tilt servos will rotate to 45 degrees, and the aircraft will begin forward flight. After 3-4s, switch to fixed-wing mode. The aircraft will complete the transition from VTOL to fixed-wing mode. Control altitude and check if the flight after transition is smooth without abnormalities.
  • Waiting 3-4s is to increase airspeed so that control surfaces become effective.
  • Switch the flight mode directly from fixed-wing back to VTOL mode. The tilt motors will quickly transition from horizontal to vertical position. The aircraft may glide briefly during the transition. After switching back to VTOL mode, check if the flight after transition is smooth without abnormalities, then land.

Important

If the aircraft attitude changes significantly during the transition to fixed-wing, switch back to ANGLE mode. The tilt servos will quickly return to vertical position, land immediately. Perform tilt servo checks, control surface checks, etc. based on the above test content.

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