INAV Gimbal Configuration

1. INAV Servo Gimbal Configuration Guide

Starting from INAV 2.0, the official has removed the old version SERVO_TILT function. Now, the servo gimbal function needs to be configured through the Mixer Configurator, suitable for flight controller boards that support servo output (regardless of multirotor or fixed-wing layout).

Important

⚠️ Note: Some flight controllers do not support servo output in multirotor configuration. If you encounter invalid output, please first confirm whether the flight controller hardware supports it.

✅ Configuration Steps

1. Enter the Mixer page of the configurator
2. Add a Servo Mixing rule: Set the corresponding Servo number (e.g., Servo 5)
3. Select the input source (Source): Gimbal Pitch, Gimbal Roll
4. Adjust the output proportion (Weight): Positive value: normal direction; Negative value: reverse output (used for direction correction)
5. Save and write to the flight controller
   MIXTILT Mixed Control Options (Optional)
   If the gimbal requires mixed control of pitch and roll axes, you can set multiple mixing rules to mix the two input axis signals and output them to the same servo. This method is suitable for some special two-axis gimbal structures.

2. Servo Configuration

2.1 Servo Configuration Basics

Servo settings can be completed through the "Outputs" tab of the Configurator. Key parameter descriptions are as follows:

• MID: Servo midpoint (i.e., the initial or centered position of the servo).
• MIN: The minimum value of the servo (actual output = MIN × Rate).
• MAX: The maximum value of the servo (actual output = MAX × Rate).
• Rate: Servo output ratio, calculated as: servo command = Rate × Mixer output.
• Reverse: Whether to reverse the servo direction.

2.2 CLI Configuration Commands

In the CLI, use the servo command to view or configure servo output.
View current all servo configurations: servo
The command format for setting a specific servo is as follows: servo <n> <min> <max> <mid> <rate>, where <n> represents the servo output number, and the rate range is [-125, 125].

2.3 Servo Filter Settings

To suppress oscillations caused by airframe resonance, you can enable a low-pass filter.
Enable filtering (CLI command): set servo_lpf_hz = 20 (This setting means applying a 20Hz low-pass filter to the servo signal.)
Recommended Process for Adjusting Filter Frequency:

1. Release the control axes: Let the airframe move freely (e.g., hang the tail).
2. Tap or control the control surfaces: Simulate interference.
3. Observe if continuous oscillations occur: If continuous oscillations occur, halve the servo_lpf_hz value and repeat the test.
4. Until the oscillations weaken or disappear, then execute: save.
   ————This article is quoted from the INAV official website: https://github.com/iNavFlight/inav/blob/master/docs/Servo.md