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inav->INAV
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@ -23,7 +23,7 @@ Throttle tilt compensation attempts to maintain constant vertical thrust when co
## NAV POSHOLD mode - position hold ## NAV POSHOLD mode - position hold
Position hold requires GPS, accelerometer and compass sensors. Flight modes that require a compass (POSHOLD, RTH) are locked until compass is properly calibrated. Position hold requires GPS, accelerometer and compass sensors. Flight modes that require a compass (POSHOLD, RTH) are locked until compass is properly calibrated.
When activated, this mode will attempt to keep copter where it is (based on GPS coordinates). From inav 2.0, POSHOLD is a full 3D position hold. Heading hold in this mode is assumed and activated automatically. When activated, this mode will attempt to keep copter where it is (based on GPS coordinates). From INAV 2.0, POSHOLD is a full 3D position hold. Heading hold in this mode is assumed and activated automatically.
### CLI parameters affecting POSHOLD mode: ### CLI parameters affecting POSHOLD mode:
* *nav_user_control_mode* - can be set to "0" (GPS_ATTI) or "1" (GPS_CRUISE), controls how firmware will respond to roll/pitch stick movement. When in GPS_ATTI mode, right stick controls attitude, when it is released, new position is recorded and held. When in GPS_CRUISE mode right stick controls velocity and firmware calculates required attitude on its own. * *nav_user_control_mode* - can be set to "0" (GPS_ATTI) or "1" (GPS_CRUISE), controls how firmware will respond to roll/pitch stick movement. When in GPS_ATTI mode, right stick controls attitude, when it is released, new position is recorded and held. When in GPS_CRUISE mode right stick controls velocity and firmware calculates required attitude on its own.
@ -59,11 +59,11 @@ NAV WP allows the craft to autonomously navigate a set route defined by waypoint
`wp load` - Load list of waypoints from EEPROM to FC. `wp load` - Load list of waypoints from EEPROM to FC.
`wp <n> <action> <lat> <lon> <alt> <p1> <p2> <p3> <flag>` - Set parameters of waypoint with index `<n>`. Note that prior to inav 2.5, the `p2` and `p3` parameters were not required. From 2.5, inav will accept either version but always saves and lists the later full version. `wp <n> <action> <lat> <lon> <alt> <p1> <p2> <p3> <flag>` - Set parameters of waypoint with index `<n>`. Note that prior to INAV 2.5, the `p2` and `p3` parameters were not required. From 2.5, INAV will accept either version but always saves and lists the later full version.
Parameters: Parameters:
* `<action>` - The action to be taken at the WP. The following are enumerations are available in inav 2.6 and later: * `<action>` - The action to be taken at the WP. The following are enumerations are available in INAV 2.6 and later:
* 0 - Unused / Unassigned * 0 - Unused / Unassigned
* 1 - WAYPOINT * 1 - WAYPOINT
* 3 - POSHOLD_TIME * 3 - POSHOLD_TIME