Servo Gimbal Channel Output Configuration for INAV Firmware

I. Principle

To enhance the FPV experience, many users employ head tracking modules to allow the camera gimbal to adjust its viewing angle with head movements. Most head tracking modules connect to the RC transmitter via PWM signals, which are then forwarded to the receiver, ultimately transmitted to the flight controller (FC), and then output to the gimbal servos to achieve synchronized viewing angles.

II. Equipment Preparation

Hardware
1) Flight Controller (FC): This tutorial is applicable to any of the following: SpeedyBee F405 WING APP / SpeedyBee F405 WING MINI / CoreWing F405 WING V2
2) RC Transmitter: Using Radiomaster TX16S / Radiomaster Boxer as examples.
3) Receiver: Using SpeedyBee ELRS Nano 2.4G as an example.
4) Computer: Used for configuring parameters via a computer-based ground control station (GCS).
5) Servo Gimbal: A two-axis or three-axis gimbal that supports PWM control.
6) Head Tracking Module: A device that supports PWM signal output.
Software
INAV Ground Control Station (GCS)

III. Specific Settings

Step 1: Configure MIXER
1. Open INAV Configurator and navigate to the "MIXER" page. The following example uses a single-engine fixed-wing aircraft without a tail.

• S1 → Connects to motor
• S3, S4 → Connects to ailerons
• S5, S6 → Connects to gimbal servos
  2. Add gimbal control channels:
• In the "Servo Mixer" page, add two new channels:
  • Input Channel 9 → Controls Pitch
  • Input Channel 10 → Controls Yaw
• Click "Save and Reboot" to save and restart the flight controller.
  
  Step 2: Check Channel Output
• Enter the "OUTPUTS" page and scroll down to the "Servo" section.
• By rotating the head tracking module, observe whether the PWM output values of channels S5, S6 change.
  
  Step 3: Troubleshooting
  If there is no output, go to the "Receiver" page and check whether channels 9, 10 change values as the head tracking module is rotated.
• If channel values change: The issue might be incorrect "MIXER" settings. Please recheck if the mapping is correct.
• If channel values do not change: There might be an abnormal connection between the head tracking module and the RC transmitter. Please confirm the wiring is correct and check if the RC transmitter is properly configured to output on channels 9, 10.
  If the output is normal, install the servo gimbal and head tracking module on the aircraft, power on, and test the gimbal control direction to eliminate wiring and reversal issues.
• If looking down causes the gimbal to turn left: This indicates that the pitch and yaw servo wires are reversed. Simply swap the two servo wires.
• If looking down causes the gimbal to move upward: This indicates that the servo direction is reversed. You can correct this by checking the "Reverse" switch in the "OUTPUT" interface and clicking save.
  
• If the travel is insufficient: Adjust the MAX\MIN values in OutPut and click save.
  

IV. Q&A

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