INAV Buzzer Status and Beep Codes Reference

I. Principles

INAV drives the buzzer to sound in different operational states to indicate whether the flight controller has completed calibration, whether takeoff is allowed, whether it has been armed, whether there is a battery warning, whether failsafe has been triggered, or whether it has entered a special function.

On the same flight controller, the information that can be expressed by the buzzer is mainly divided into 4 categories:

• Startup and status notifications: For example, power-on initialization, gyroscope calibration complete, armed, disarmed
• Alerts and fault notifications: For example, hardware failure, low voltage, critical low voltage, receiver lost
• GPS and user operation notifications: For example, GPS locked, satellite count announcement, action success or failure
• Special function notifications: For example, fixed-wing catapult launch mode, camera 5-button simulation control

Note two points:

• The volume of the same sound category may vary on different buzzers, but the rhythm is basically consistent
• Some sounds have a fixed rhythm, while others are "variable beeps", for example, satellite count notifications, which essentially change the number of beeps based on the current state

II. Equipment Preparation

1) Flight Controller: Any INAV-supported flight controller with a buzzer interface, such as CoreWing F405 WING V2 / CoreWing F405 WING MINI V2 / CoreWing H743 WING.

2) Buzzer: It is recommended to use an active buzzer. If a passive buzzer is connected, the common phenomenon is only a "clicking" sound or basically no sound.

3) Ground Control Station: INAV Configurator.

4) USB Data Cable: Used to connect to the flight controller, enter CLI for testing or adjust buzzer options.

3. Buzzer Indicator Sound Descriptions

Each item below is described with "sound description + meaning + audio example".
The numbers in parentheses are the buzzer sequences from the INAV source code, with units of 10ms.

3.1 Startup, Arming, and Status Indicator Sounds

SYSTEM_INIT (Startup Initialization)

• Sound Description: Short beep during startup, typically sounds like 哔、哔.
• Meaning: The flight controller has just powered on and is performing system initialization.
• Audio Note: INAV official documentation does not publish a fixed sequence for this sound independently. The following is a common startup sound example to help users compare, not as a strict timing standard.

RUNTIME_CALIBRATION (Runtime Calibration Complete)

• Sound Description: 哔，停，哔，停，哔, three short beeps in total.
• Timing: 20,10,20,10,20,10
• Meaning: Gyroscope runtime calibration is complete. This is the most common "three beeps after startup".

ON_USB (USB Power On)

• Sound Description: Short beep after USB connection, typically sounds like 哔.
• Meaning: Triggered when the flight controller is powered solely via USB.
• Audio Note: INAV official documentation does not publish a fixed sequence for this sound independently. The following is a common USB power-on sound example.

ARMING (Arming Successful)

• Sound Description: 哔一一，哔, one longer beep followed by a short beep.
• Timing: 30,5,5,5
• Meaning: Standard successful arming confirmation sound.

ARMING_GPS_FIX (GPS Lock Arming)

• Sound Description: 哔，停，哔一一，哔，停，哔一一, more elaborate than a standard arming sound.
• Timing: 5,5,15,5,5,5,15,30
• Meaning: Arming confirmation sound with successful GPS lock.

DISARMING (Disarming)

• Sound Description: 哔，哔, two short beeps.
• Timing: 15,5,15,5
• Meaning: Successful disarming confirmation sound.

DISARM_REPEAT (Continuous Disarming Alert)

• Sound Description: After a long pause, 哔, then after another long pause, 哔, repeating in a loop.
• Timing: 0,100,10
• Meaning: Repeating alert when maintaining the disarming stick position, often used as a simple locator tone.
• Audio Note: The audio below demonstrates 3 cycles.

ARMED (Disarmed with Low Throttle)

• Sound Description: After a very long pause, 哔, then after another very long pause, 哔, repeating continuously.
• Timing: 0,245,10,5
• Meaning: The flight controller is disarmed, but the throttle is still low. The buzzer is warning "the aircraft is in a disarmed state with risk".
• Audio Note: The audio below demonstrates 3 cycles.

3.2 Warning and Fault Indicator Sounds

HW_FAILURE (Hardware Failure)

• Sound Description: 哔哔哔哔哔哔……, short, dense, and continuous, not allowing you to ignore it.
• Timing: 10,10
• Meaning: The flight controller has detected abnormal hardware health status. Do not try to guess the fault point based on sound alone; check the specific error messages in the ground control station.
• Audio Note: The audio below demonstrates 10 cycles.

BAT_LOW (Low Voltage Warning)

• Sound Description: 哔一一……停……哔一一……停……, with noticeable pauses.
• Timing: 25,50
• Meaning: Battery low voltage warning.
• Audio Note: The audio below demonstrates 3 cycles.

BAT_CRIT_LOW (Critical Low Voltage Warning)

• Sound Description: 哔一一哔一一哔一一……, almost continuous.
• Timing: 50,2
• Meaning: Battery critically low voltage warning. Land as soon as possible after hearing this.
• Audio Note: The audio below demonstrates 4 cycles.

RX_LOST (Receiver Lost)

• Sound Description: 哔一一……停……哔一一……停……, alternating between long beeps and long pauses.
• Timing: 50,50
• Meaning: Receiver signal lost or remote control link disconnected.
• Audio Note: The audio below demonstrates 3 cycles.

RX_LOST_LANDING (Lost Control Landing)

• Sound Description: Classic SOS rhythm, like 哔哔哔，哔一一哔一一哔一一，哔哔哔.
• Timing: 10,10,10,10,10,40,40,10,40,10,40,40,10,10,10,10,10,70
• Meaning: Loss of control during flight, entering lost control landing or automatic handling.
• Audio Note: The audio below demonstrates 2 cycles.

3.3 GPS, Locator, and General Action Sounds

READY_BEEP (Ready to Fly)

• Sound Description: A series of relatively compact short beeps, like 哔、哔、哔哔、哔一一、哔哔、哔、哔.
• Timing: 4,5,4,5,8,5,15,5,8,5,4,5,4,5
• Meaning: GPS has locked, and the flight controller is in a "ready to fly" state.

GPS_STATUS (Satellite Count)

• Sound Description: Beeps according to satellite count, e.g., with 8 satellites you will hear 哔、哔、哔、哔、哔、哔、哔、哔.
• Meaning: When you toggle the buzzer switch and GPS has a fix, the flight controller beeps the current satellite count.
• Audio Note: The audio below demonstrates an 8 satellite example, the actual count will vary with the number of satellites.

RX_SET (Buzzer Switch Confirmation)

• Sound Description: 哔, a single short beep.
• Timing: 10,10
• Meaning: The buzzer function has been triggered, but it's not in a satellite count scenario. The most common case is when there's no GPS fix, so only a confirmation tone is given.

ACTION_SUCCESS (Operation Successful)

• Sound Description: 哔，哔, two very short confirmation beeps.
• Timing: 5,5,5,5
• Meaning: General confirmation sound for successful operations.

ACTION_FAIL (Operation Failed)

• Sound Description: 哔一一，停，哔一一, much more indicative of failure than the success sound.
• Timing: 20,15,35,5
• Meaning: General alert sound for failed operations.

MULTI_BEEPS (Multiple Beeps)

• Sound Description: Continuous short beeps according to the set number, for example 哔、哔、哔、哔.
• Meaning: This is INAV's internal general multiple beep mechanism, not a single fixed sound, often used for confirmation tones or count announcements.
• Audio Note: The audio below demonstrates a 4 consecutive short beeps example.

3.4 Fixed-Wing Specific and Camera Control Sounds

LAUNCH_MODE (Hand Launch Mode Enabled)

• Sound Description: 哔，哔……停很久……哔，哔……
• Timing: 5,5,5,100
• Meaning: Fixed-wing hand launch mode has been enabled.
• Audio Note: The audio below demonstrates 2 cycles.

LAUNCH_MODE_LOW_THROTTLE (Hand Launch Low Throttle Warning)

• Sound Description: 哔，哔，啾……停……哔，哔，啾……停……
• Timing: 5,5,5,5,3,100
• Meaning: Hand launch mode is enabled, but the throttle is too low. The flight controller is reminding you that the throttle hasn't been pushed far enough.
• Audio Note: The audio below demonstrates 2 cycles.

LAUNCH_MODE_IDLE_START (Hand Launch Idle Start Pre-warning)

• Sound Description: 哔，哔，哔，哔……停……, four consecutive short beeps.
• Timing: 5,5,5,5,5,5,5,80
• Meaning: The hand launch procedure has reached the stage where the motor is about to start at idle.
• Audio Note: The audio below demonstrates 2 cycles.

CAM_CONNECTION_OPEN (Camera Control Connection Open)

• Sound Description: 哔，停，哔哔，停，哔一一, with the second beep longer than the first.
• Timing: 5,15,10,15,20
• Meaning: Camera 5-key simulated control connection has been opened.

CAM_CONNECTION_CLOSED (Camera Control Connection Closed)

• Sound Description: 哔哔，停，哔
• Timing: 10,8,5
• Meaning: Camera 5-key simulated control connection has been closed.

3.5 Items that appear in beeper list but are not runtime sounds

• ALL (All Events): CLI command to enable or disable all buzzer events at once, not an actual sound that will be played.
• PREFERED (Preferences): CLI command to save or restore your preferred buzzer switch configuration, also not an actual sound that will be played.

4. How to Test and Manage the Buzzer

If you want to listen to each of these sounds individually, you can use the following commands in the INAV CLI.

4.1 Testing Buzzer Sounds

play_sound

Repeatedly input play_sound, and the flight controller will play different buzzer alerts in sequence.

4.2 View Currently Enabled Buzzer Items

beeper

4.3 View All Controllable Buzzer Items

beeper list

4.4 Disable a Specific Type of Alert

For example, to disable the USB power supply alert:

beeper -ON_USB
save

If you want the flight controller to be completely silent when powered via USB, you should also typically disable:

beeper -ON_USB
beeper -SYSTEM_INIT
save

4.5 Disable All Buzzer Alerts

beeper -ALL
save

Warning

It is not recommended to disable all buzzer alerts entirely.
Especially safety-related alerts like HW_FAILURE, BAT_LOW, BAT_CRIT_LOW, and RX_LOST should preferably be kept.

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