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214 lines
11 KiB
Markdown
214 lines
11 KiB
Markdown
# MixerProfile
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A MixerProfile is a set of motor mixer, servo-mixer and platform type configuration settings to enable VTOL transitions.
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Currently two profiles are supported on targets other than F411 and F722 (due to resource constraints on these FC). i.e VTOL transition is not available on F411 and F722 targets.
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By default, switching between profiles requires reboot to take affect. However, when all conditions are met, and a suitable [configuration](#configuration) has been applied, `mixer_profile` also allows in-flight profile [switching](#rc-mode-settings) to allow things like VTOL operation. This is the recommended operating mode.
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Please note that this is an emerging / experimental capability that will require some effort by the pilot to implement.
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## Setup for VTOL
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- For mixer profile switching it is necessary to keep motor and servo PWM mapping consistent between Fixed-Wing (FW) and Multi-rotor (MR) profiles
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- Traditionally, FW and MR have had different enumerations to define the PWM mappings. For VTOL operation it is necessary to change the source code `timerHardware` table to allow a consistent enumeration and thus mapping between MR and FW modes.
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- For this reason, a **VTOL specific FC target is required**. This means that the pilot must build a custom target. In future there may be official VTOL FC targets.
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- In operation, it is necessary to set the `mixer_profile` and the `pid_profile` separately and to set a [RC mode](#rc-mode-settings) to switch between them.
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## FC target
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In order to keep motor and servo PWM mapping consistent and enable hot switching, the steps below are required.
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The following sections use a MATEKF405TE\_SD board (folder name `MATEKF405TE`) configured for VTOL as a example.
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The target name for VTOL build is `MATEKF405TE_SD_VTOL`, the standard target folder name is `MATEKF405TE`.
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### CMakeLists.text modifications
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#### Adding the VTOL target
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Add the VTOL target definition to `CMakeLists.txt`, i.e. the third line below.
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```c
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target_stm32f405xg(MATEKF405TE)
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target_stm32f405xg(MATEKF405TE_SD)
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target_stm32f405xg(MATEKF405TE_SD_VTOL) //new target added
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```
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### target.c modifications
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Two new enumerations are available to define the motors and servos used for VTOL.
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It is **important** to map all the PWM outputs to `TIM_USE_VTOL_MOTOR` or `TIM_USE_VTOL_SERVO` to ensure consistency between the MR mapping and FW mapping.
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For example, add the new section, encapsulated below by the `#ifdef MATEKF405TE_SD_VTOL` ... `else` section :
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```c
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timerHardware_t timerHardware[] = {
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#ifdef MATEKF405TE_SD_VTOL
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// VTOL target specific mapping start from there
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DEF_TIM(TIM8, CH4, PC9, TIM_USE_VTOL_MOTOR, 0, 0), // S1 for motor
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DEF_TIM(TIM8, CH3, PC8, TIM_USE_VTOL_MOTOR, 0, 0), // S2 for motor
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DEF_TIM(TIM1, CH3N, PB15, TIM_USE_VTOL_MOTOR, 0, 0), // S3 for motor
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DEF_TIM(TIM1, CH1, PA8, TIM_USE_VTOL_MOTOR, 0, 1), // S4 for motor
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DEF_TIM(TIM2, CH4, PB11, TIM_USE_VTOL_SERVO, 0, 0), // S5 for servo
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DEF_TIM(TIM2, CH3, PB10, TIM_USE_VTOL_SERVO, 0, 0), // S6 for servo
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DEF_TIM(TIM2, CH2, PB3, TIM_USE_VTOL_SERVO, 0, 0), // S7 for servo
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DEF_TIM(TIM2, CH1, PA15, TIM_USE_VTOL_SERVO, 0, 0), // S8 for servo
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DEF_TIM(TIM12, CH1, PB14, TIM_USE_VTOL_SERVO, 0, 0), // S9 for servo
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DEF_TIM(TIM13, CH1, PA6, TIM_USE_VTOL_SERVO, 0, 0), // S10 for servo
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DEF_TIM(TIM4, CH1, PB6, TIM_USE_VTOL_MOTOR, 0, 0), // S11 for motor
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// VTOL target specific mapping ends here
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#else
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// Non VOTL target start from here
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// .........omitted for brevity
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#endif
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DEF_TIM(TIM3, CH4, PB1, TIM_USE_LED, 0, 0), // 2812LED D(1,2,5)
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DEF_TIM(TIM11, CH1, PB9, TIM_USE_BEEPER, 0, 0), // BEEPER PWM
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DEF_TIM(TIM9, CH2, PA3, TIM_USE_PPM, 0, 0), //RX2
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DEF_TIM(TIM5, CH3, PA2, TIM_USE_ANY, 0, 0), //TX2 softserial1_Tx
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};
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```
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Note that using the VTOL enumerations does not affect the normal INAV requirement on the use of discrete timers for motors and servos.
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### target.h modification
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In `target.h`, define `ENABLE_MIXER_PROFILE_MCFW_HOTSWAP` to enable `mixer_profile` hot switching once you have set the `timer.c` PWM mapping:
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```c
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#ifdef MATEKF405TE_SD_VTOL
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#define ENABLE_MIXER_PROFILE_MCFW_HOTSWAP //Enable hot swap
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#define MATEKF405TE_SD //Define the original target name keep its original configuration such as USBD_PRODUCT_STRING
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#endif
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```
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Once the target is built, it can be flashed to the FC.
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## Configuration
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### Profile Switch
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Setup the FW mode and MR mode separately in two different mixer profiles:
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In this example, FW mode is `mixer_profile` 1 and MR mode is `mixer_profile` 2.
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Currently, the INAV Configurator does not support `mixer_profile`, so some of the settings have to be done in CLI.
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Add `set mixer_pid_profile_linking = ON` in order to enable `pid_profile` auto handling. It will change the `pid profile` index according to the `mixer_profile` index on FC boot and allow `mixer_profile` hot switching (this is recommended usage).
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The following 2 `mixer_profile` sections are added in the CLI:
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```
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#switch to mixer_profile by cli
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mixer_profile 1
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set platform_type = AIRPLANE
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set model_preview_type = 26
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# motor stop feature have been moved to here
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set motorstop_on_low = ON
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# enable pid_profile auto handling (recommended).
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set mixer_pid_profile_linking = ON
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save
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```
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Then finish the aeroplane setting on mixer_profile 1
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```
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mixer_profile 2
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set platform_type = TRICOPTER
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set model_preview_type = 1
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# also enable pid_profile auto handling
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set mixer_pid_profile_linking = ON
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save
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```
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Then finish the multi-rotor setting on `mixer_profile` 2.
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Note that default profile is profile `1`.
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You can use `MAX` servo input to set a fixed input for the tilting servo. Speed setting for `MAX` input is available in the CLI.
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It is recommended to have some amount of control surface (elevon / elevator) mapped for stabilization even in MR mode to get improved authority when airspeed is high.
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**Double check all settings in CLI with the `diff all` command**; make sure you have set the correct settings. Also check what will change with `mixer_profile`. For example servo output min / max range will not change. But `smix` and `mmix` will change.
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### Mixer Transition input
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Typically, 'transition input' will be useful in MR mode to gain airspeed.
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Both the servo mixer and motor mixer can accept transition mode as an input.
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The associated motor or servo will then move accordingly when transition mode is activated.
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Transition input is disabled when navigation mode is activate
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The use of Transition Mode is recommended to enable further features and future developments like fail-safe support. Mapping motor to servo output, or servo with logic conditions is **not** recommended
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#### Servo
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38 is the input source for transition input; use this to tilt motor to gain airspeed.
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Example: Increase servo 1 output by +45 with speed of 150 when transition mode is activated for tilted motor setup:
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```
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# rule no; servo index; input source; rate; speed; activate logic function number
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smix 6 1 38 45 150 -1
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```
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Please note there will be a time window that tilting motors is providing up lift but rear motor isn't. Result in a sudden pitch raise on the entering of the mode. More forward tilting servo position on transition input(you can use 'speed' in servo rules to slowly move to this position), A faster tilting servo speed on `MAX` servo input will reduce the time window. OR lower the throttle on the entering of the FW mode to mitigate the effect.
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#### Motor
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The default `mmix` throttle value is 0.0, It will not show in `diff` command when throttle value is 0.0 (unused); this causes the motor to stop.
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- 0.0<throttle<=1.0 : normal mapping
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- -1.0<throttle<=0.0 : motor stop, default value 0
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- -2.0<throttle<-1.0 : spin regardless of the radio's throttle position at speed `abs(throttle)-1` when Mixer Transition is activated.
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Example: This will spin motor number 5 (counting from 1) at 20%, in transition mode only, to gain speed for a "4 rotor 1 pusher" setup:
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```
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# motor number; throttle; roll; pitch; yaw
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mmix 4 -1.200 0.000 0.000 0.000
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```
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### RC mode settings
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It is recommend that the pilot uses a RC mode switch to activate modes or switch profiles.
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Profile files Switching is not available until the runtime sensor calibration is done. Switching is NOT available when navigation mode is activate or position controller is activate, including altitude hold.
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`mixer_profile` 1 will be used as default, `mixer_profile` 2 will be used when the `MIXER PROFILE 2` mode box is activated. Once successfully set, you can see the profiles / model preview etc. will switch accordingly when you view the relevant INAV Configurator tabs. Checking these tabs in the INAV Configurator will help make the setup easier.
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Set `MIXER TRANSITION` accordingly when you want to use `MIXER TRANSITION` input for motors and servos, Here is sample of using the `MIXER TRANSITION` mode:
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| 1000~1300 | 1300~1700 | 1700~2000 |
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| :-- | :-- | :-- |
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| FW(profile1) with transition off | MC(profile2) with transition on | MC(profile2) with transition off |
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It is also possible to set it as 4 state switch by adding FW(profile1) with transition on.
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### Automated Transition
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This feature is mainly for RTH in a failsafe event. When set properly, model will use the FW mode to fly home efficiently, And land in the MC mode for easier landing.
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Set `mixer_switch_on_rth` to `ON` in mixer_profile for MC mode. Set `mixer_switch_trans_timer` in mixer_profile for MC mode for the time required to gain airspeed for your model before entering to FW mode, for example, 50 ds. And set `mixer_switch_on_land` to `ON` in mixer_profile for FW mode to let the model land in MC mode.
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```
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mixer_profile 2
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set mixer_switch_on_rth = ON
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set mixer_switch_trans_timer = 50
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mixer_profile 1
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set mixer_switch_on_land = ON
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save
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```
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`ON` for a mixer_profile\`s `mixer_switch_on_rth` or `mixer_switch_on_land` means to schedule a Automated Transition when RTH head home or RTH Land is requested by navigation controller. We need to schedule a Automated Transition in MC mode when it is heading home, So set `mixer_switch_on_rth` to `ON` for MC mixer_profile. We do not need a Automated Transition in FW mode when it is heading home, So set `mixer_switch_on_rth` to `OFF` for FW mixer_profile.
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When `mixer_switch_on_rth`:`OFF` and `mixer_switch_on_land`:`OFF` is set for all mixer_profiles(defaults). Model will not perform automated transition at all.
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## Happy flying
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Remember that this is currently an emerging capability:
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* Test every thing on bench first.
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* Then try MR or FW mode separately see if there are any problems.
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* Try it somewhere you can recover your model in case of fail-safe. Fail-safe behavior is unknown at the current stage of development.
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* Use the INAV Discord for help and setup questions; use the Github Issues for reporting bugs and unexpected behaviors. For reporting on Github, a CLI `diff all`, a DVR and a Blackbox log of the incident will assist investigation.
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