I have been working on getting Inav Sub compatible, for basic use its appears very straight forward, set it as a plane then set all the outputs to servo so they all run at 50hz. set your outputs for stabilized pitch and stabilized yaw and enable angle mode to enable auto level.
I havent tested this yet, there might be issues running the motor in passthrough.
where im having problems is getting the r900 receiver telemetry to work with it, because its designed for a pixhawk its got smart port coming out uninverterted over a TX and RX pin similar to a frsky receiver with a signal inverter connected.
most of the options to make it work are missing in the new versions, even when i went back to 2.3 and enabled the correct options i got nowhere.
long story short. it works fine with the latest iNAV was telemetry just plug and play, on my FC UART1 and SBUS IN are shared, so i unplugged the sbus connector and its working. basically all the options you used to have to set in older versions are now the default so are missing from the cli thats why i have having so many issues setting them. Of course none of this is documented anywhere all search results were for older version of the firmware.
Just go to the ports page and set the port to Smartport telemetry and connect the tx rx wires.
I am thinking about using the gimbal pitch output for the rear planes to keep the sub level. they should try and level the sub without pitch input.
Last edited by geofrancis on Sat Jul 15, 2023 11:30 pm; edited 1 time in total