FT Spear // INAV 6.1.1 Extended Mission and RTH Demo 

Happens every time, I suppose it's part of the thrill. Keeps you in check! Thanks for watching.

Thanks man! Hopefully this will prepare pilots who are starting to take on missions.

Haha, thanks man! I totally agree with you…lol. Next time! Thanks for watching.

Nice to meet you! That was awesome seeing your gliders in flight. The future of sUAS operations is exciting! Until next time.

Thanks for checking it out, Tom! She is ready to stretch her legs next mission.

Thank you, that is nice to hear. Best of luck setting it up! You're welcome, more to come!

You're welcome! This was meant to help others see what's possible on a mission. I'm glad you learned a new trick.

Thanks for checking out the video!

@@LiftVector no Problem 😎 you did a great job and 💯% good content to 👍🏻👍🏻

Thanks, Walt! More to come.

Thanks so much! You're welcome. CNHL 3200mAh 3S - 218 grams

@@LiftVector thanks, but weight total model, with battery.

@@fpv_wing Sorry, I misread that. 1280 grams AUW, with the Hero11 Mini.

@@LiftVector ahhh ok! CG is in the 2 points below each side?

@@fpv_wing That's right. She is a tad towards the nose front point but still in between the CG tolerance.

You are absolutely right. I went back to my OSD config and I had enabled show crossfire power output thinking it was for the VTX power. Thanks for watching!

Dude, thanks! I'll have to check out a video on this cable tie system, I'm always a fan of weight reduction.

@@LiftVector Have you considered using a toroidal prop? It might help to reduce engine noise and may provide a small boost to efficiency at low RPMs.

@@combativeThinker Hello, I have not considered a toroidal prop. I don't even know where I would buy a composite 9 inch prop, not seeing them on Amazon yet...haha! If you know where to buy them, let me know.

Thanks so much for watching! Will do.

Thanks for watching!

Thanks for watching!

Thanks! I used lightweight PLA (Polymaker) for the winglets and vertical fins. Regular PLA (Sunlu) for all the other parts.

Thanks for watching.

The lw-pla is tougher than the single foam winglets. I was getting creases and bends in the foam on my 1st spear with rough landings. 2 top/bottom layers, 15-20% infill and I believe 3 perimeters or 2. Hot glued the winglets (I punched tiny holes in the side of the prints so the glue had something to adhere to).

@@LiftVector Thank you for your message!!! So no worries with hot glue to melt that lw-pla, that's good to know. I can switch my hot glue gun to lower temp just to be safe:)

Hello again! Your front fpv camera is poiting exactly forward or is it at an angle pointing down? On the stl files you have a camera mount pointing at an angle, that's why I'm asking. Thanks a lot

@@TrupaVisatori It is angled slightly down. Maybe 5-10 degrees.

Thanks for your answer. Is there a reason of pointing slightly down or is just personal preference to see more ground? By the way, really like your vertical fins instead of the original foamboard! 3d printing + foamboard is the way😉 waiting for your next flights!

More missions being planned, stay tuned! o7

I'm really glad you enjoyed the mission and now you know how the default 'resume waypoint' feature works. Resume will continue the planned mission points. Yup, in sequence!

Hello, thanks for watching! I animated the circle using simple keyframes in Davinci Resolve.

Hello, thanks for checking out the video. I'm not familiar with that FC setup. I wish I could help!

Thank you! The total all up weight of the craft is 1252 grams. INAV 6.1 to 6.1.1 mentioned a fix to 'dolphining" but I never experienced this. In the modes, if you don't permanently enable autolaunch you assign it to a switch/range.

Thanks! The base coat is Rustoleum brilliant blue/gloss white. I cut out the camo by hand with scissors using sheets of square sticker vinyl from Hobby Lobby. It was a nice hot day when I painted so the paper didn't warp. I may have to make a build video if there is more interest. Thank you for watching!

Here is my diff, hope this helps. diff # version # INAV/MATEKF411TE 6.1.1 Jun 13 2023 / 11:37:14 (42ced253) # GCC-10.2.1 20201103 (release) # start the command batch batch start # resources # Mixer: motor mixer mmix reset mmix 0 1.000 0.000 0.000 0.000 # Mixer: servo mixer smix reset smix 0 1 0 50 0 -1 smix 1 1 1 -50 0 -1 smix 2 2 0 50 0 -1 smix 3 2 1 50 0 -1 # Outputs [servo] servo 1 1000 2000 1674 80 servo 2 1000 2000 1406 80 # safehome # features feature MOTOR_STOP feature GPS feature PWM_OUTPUT_ENABLE feature FW_AUTOTRIM # beeper # blackbox blackbox -NAV_ACC blackbox NAV_POS blackbox NAV_PID blackbox MAG blackbox ACC blackbox ATTI blackbox RC_DATA blackbox RC_COMMAND blackbox MOTORS blackbox -GYRO_RAW blackbox -PEAKS_R blackbox -PEAKS_P blackbox -PEAKS_Y # Receiver: Channel map # Ports serial 0 2 115200 115200 0 115200 serial 31 2048 115200 115200 0 115200 # LEDs # LED color # LED mode_color # Modes [aux] aux 0 0 0 1725 2100 aux 1 1 1 1775 2100 aux 2 12 1 1300 1700 aux 3 45 5 1300 1500 aux 4 53 5 1125 1300 aux 5 11 5 1500 1700 aux 6 10 3 1800 2100 aux 7 28 5 1925 2100 aux 8 3 5 1700 1875 aux 9 21 4 1700 2100 aux 10 54 4 1300 1700 aux 11 36 3 1300 1700 aux 12 19 2 1800 2100 aux 13 13 6 1300 2100 aux 14 48 2 1300 1700 # Adjustments [adjrange] # Receiver rxrange # temp_sensor # Mission Control Waypoints [wp] #wp 0 invalid # OSD [osd_layout] osd_layout 0 0 26 3 V osd_layout 0 1 1 12 V osd_layout 0 2 0 0 V osd_layout 0 3 8 6 V osd_layout 0 4 8 6 V osd_layout 0 7 25 14 V osd_layout 0 9 0 3 V osd_layout 0 10 22 15 V osd_layout 0 11 2 10 V osd_layout 0 12 1 9 V osd_layout 0 13 1 2 V osd_layout 0 14 1 1 V osd_layout 0 15 6 1 V osd_layout 0 20 18 0 V osd_layout 0 21 1 0 V osd_layout 0 22 15 2 V osd_layout 0 23 13 1 V osd_layout 0 24 19 1 V osd_layout 0 32 1 11 V osd_layout 0 34 11 15 V osd_layout 0 40 23 12 V osd_layout 0 41 1 8 V osd_layout 0 42 1 7 V osd_layout 0 85 24 7 H osd_layout 0 86 0 14 H osd_layout 0 105 22 14 H osd_layout 0 109 24 1 V osd_layout 0 110 25 2 V osd_layout 0 112 0 14 V osd_layout 0 129 0 15 V # Programming: logic # Programming: global variables # Programming: PID controllers # master set gyro_main_lpf_hz = 25 set dynamic_gyro_notch_q = 250 set dynamic_gyro_notch_min_hz = 30 set gyro_zero_x = -3 set gyro_zero_y = -4 set gyro_zero_z = 6 set ins_gravity_cmss = 974.644 set acc_hardware = ICM42605 set acczero_y = -1 set acczero_z = 17 set accgain_x = 4097 set accgain_y = 4089 set accgain_z = 4100 set align_mag = CW270FLIP set mag_hardware = NONE set baro_hardware = SPL06 set motor_pwm_protocol = STANDARD set failsafe_procedure = RTH set platform_type = AIRPLANE set model_preview_type = 8 set small_angle = 180 set ahrs_inertia_comp_method = ADAPTIVE set applied_defaults = 4 set gps_sbas_mode = WAAS set gps_ublox_use_galileo = ON set airmode_type = STICK_CENTER_ONCE set nav_wp_radius = 5000 set nav_wp_max_safe_distance = 500 set nav_rth_allow_landing = FS_ONLY set nav_rth_alt_mode = MAX set nav_rth_altitude = 5000 set nav_rth_home_altitude = 5000 set nav_fw_bank_angle = 45 set nav_fw_loiter_radius = 4500 set nav_fw_control_smoothness = 2 set nav_fw_launch_max_angle = 75 set nav_fw_launch_motor_delay = 100 set nav_fw_launch_timeout = 8000 set nav_fw_launch_max_altitude = 6000 set nav_fw_launch_climb_angle = 25 set osd_units = IMPERIAL set osd_time_alarm = 15 set osd_alt_alarm = 110 set osd_dist_alarm = 0 set osd_crosshairs_style = TYPE6 set vtx_band = 5 set vtx_power = 3 set vtx_low_power_disarm = ON # profile profile 1 set fw_p_pitch = 15 set fw_i_pitch = 5 set fw_d_pitch = 5 set fw_ff_pitch = 150 set fw_p_roll = 15 set fw_i_roll = 3 set fw_d_roll = 7 set fw_ff_roll = 85 set fw_p_yaw = 20 set fw_i_yaw = 0 set fw_ff_yaw = 100 set max_angle_inclination_rll = 550 set max_angle_inclination_pit = 500 set dterm_lpf_hz = 10 set fw_turn_assist_pitch_gain = 0.300 set nav_fw_pos_z_p = 35 set nav_fw_pos_xy_p = 70 set d_boost_min = 1.000 set d_boost_max = 1.000 set fw_level_pitch_trim = 6.000 set rc_expo = 40 set rc_yaw_expo = 40 set roll_rate = 18 set pitch_rate = 9 set yaw_rate = 3 set manual_rc_expo = 40 set manual_roll_rate = 80 set manual_pitch_rate = 80 set manual_yaw_rate = 80 # battery_profile battery_profile 1 set battery_capacity = 4200 set battery_capacity_warning = 840 set battery_capacity_critical = 210 set throttle_idle = 5.000 set nav_fw_cruise_thr = 1525 set nav_fw_max_thr = 1750 set nav_fw_launch_thr = 1800 set nav_fw_launch_idle_thr = 1200 # save configuration save # end the command batch batch end #

I'm using a 3s Lipo and I didn't have to calibrate the battery current sensor. Next time I plug into INAV configurator I'll take a look again. In the meantime, check out Mr. D's guide here: www.mrd-rc.com/tutorials-tools-and-testing/flight-controller-therapy/setting-the-current-sensor-in-inav/ He is extremely knowledgeable with INAV!

ok, but I put scale as Matek recomennds 250 for AMPS and 1100 for VOLTAGE@@LiftVector

I'm sorry, I honestly don't know because I have two Matek FCs on INAV and even have four FCs that run Betaflight have never needed current sensor calibration. They just worked out of the box and are pretty accurate. Have you tried checking the internal cell resistance on your pack?@@Chris-vc1dh

I will check thank you...@@LiftVector

20 x 30 x 3/16" Adam's Ready Board from the dollar store.

It is a stick command loading the mission from Eprom. Look up INAV stick commands.

I wanted to show other pilots what it looks like to take the craft out of a mission for potential hazards, altitude adjustments and the RTH demo. Also, it would have taken much longer to finish the mission, as my cruise throttle is at default configuration. Thanks for watching!

Nice work,it's good to see Inav from another flyer's perspective, keep them coming I enjoy your work there using the basics and no HD which gets rammed down our throats all the time.

You are very lucky to have a great place to fly as well❤

@@M-H433 Great to hear! Thank you. I love my analog goggles, maybe one day I can afford an HD system and fly both. :)

Thank you. I cut out the camo shapes with square sheets of sticker vinyl from Hobby Lobby. It took awhile but you just have to make random shapes! There is no design to share, I'm sorry!...just cut and glue.

@@LiftVector thanks for your comments iwill build ft spear soon

This is the feel good comment of the day! I appreciate you, David. I'm working hard on new builds and projects. Stay tuned!

Central Oregon. Near Bend.