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42 changes: 9 additions & 33 deletions docs/Boards.md
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The current focus is geared towards flight controller hardware that use the STM32F3, STM32F4, STM32F7 series processors. The core logic is separated from the hardware drivers, porting to other processors is possible.

Current list of supported boards can be obtained using [INAV release page](https://github.com/iNavFlight/inav/releases)

### Boards based on F1 CPUs

These boards are not recommended for new setups. They are very limited in memory and don't support many features of the INAV. In general F1 boards are limited to only UBLOX GPS protocol, don't have BLHeli Passthrough, don't have LEDSTRIP, only support a few telemetries (LTM and maybe FrSky) etc.
These boards are no longer supported including Naze32, CC3D and all derivatives.

### Boards based on F3 CPUs

These boards are supported, but not recommeneded for modern setups.

### Boards based on F3/F4/F7 CPUs
### Boards based on F4/F7 CPUs

These boards are powerfull and in general support everything INAV is capable of. Limitations are quite rare and are usually caused by hardware design issues.

Expand All @@ -19,34 +25,4 @@ These boards are well tested with INAV and are known to be of good quality and r
| [PARIS Sirius™ AIR3](http://www.multiwiicopter.com/products/inav-air3-fixed-wing) | F3 | AIRHEROF3, AIRHEROF3_QUAD | All | All | All | All | All | SERIAL |
| [Airbot OMNIBUS AIO F3](http://shop.myairbot.com/index.php/flight-control/cleanflight-baseflight/omnibusv11.html) | F3 | OMNIBUS | All | All | All | All | All | SERIAL, SD |
| [Airbot OMNIBUS AIO F4](http://shop.myairbot.com/index.php/flight-control/cleanflight-baseflight/omnibusf4v2.html)| F4 | OMNIBUSF4, OMNIBUSF4PRO | All | All | All | All | All | SERIAL, SD, SPIFLASH |
| [Airbot F4 / Flip F4](http://shop.myairbot.com/index.php/flight-control/apm/airbotf4v1.html) | F4 | AIRBOTF4 | All | All | All | All | All | SERIAL, SPIFLASH |

### Other supported boards

These boards work with INAV but might be not well tested or of random quality.

| Board name | CPU Family | Target name(s) | GPS | Compass | Barometer | Telemetry | RX | Blackbox |
|---------------------------|:----------:|:-------------------------:|:----:|:-------:|:--------------:|:---------:|:------------------------------:|:--------------------:|
| TBS Colibri Race | F3 | COLIBRI_RACE | All | All | All | All | All | SERIAL |
| FURY F3 | F3 | FURYF3, FURYF3_SPIFLASH | All | All | All | All | All | SERIAL, SD, SPIFLASH |
| RCExplorer F3FC Tricopter | F3 | RCEXPLORERF3 | All | All | All | All | All | SERIAL |
| Taulabs Sparky | F3 | SPARKY | All | All | All | All | All | SERIAL |
| SPRacing F3 | F3 | SPRACINGF3 | All | All | All | All | All | SERIAL, SPIFLASH |
| SPRacing F3 EVO | F3 | SPRACINGF3EVO | All | All | All | All | All | SERIAL, SD |
| SPRacing F3 MINI | F3 | SPRACINGF3MINI | All | All | All | All | All | SERIAL, SD |
| Taulabs Sparky 2 | F4 | SPARKY2, SPARKY2_OPBL | All | All | All | All | All | SERIAL, SPIFLASH |
| Taulabs QUANTON | F4 | QUANTON | All | All | All | All | All | SERIAL, SPIFLASH |
| BlueJay F4 | F4 | BLUEJAYF4 | All | All | All | All | All | SERIAL, SPIFLASH |
| F4BY | F4 | F4BY | All | All | All | All | All | SERIAL, SD |
| OpenPilot REVO | F4 | REVO, REVO_OPBL | All | All | All | All | All | SERIAL, SPIFLASH |
| YuPiF4 by RcNet | F4 | YUPIF4 | All | All | All | All | All | SERIAL, SD |

### Not recommended for new setups

These boards will work with INAV but are either end-of-life, limited on features, rare or hard to get from a reliable source.

| Board name | CPU Family | Target name(s) | GPS | Compass | Barometer | Telemetry | RX | Blackbox |
|---------------------------|:----------:|:-------------------------:|:----:|:-------:|:--------------:|:---------:|:------------------------------:|:--------------------:|
| PARIS Sirius™ AIR HERO | F1 | AIRHERO3 | NMEA | HMC5883 | MS5611, BMP280 | LTM | PWM, PPM, SBUS, IBUS, SPEKTRUM | SERIAL |
| RMRC Seriously DODO | F3 | RMDO | All | All | All | All | All | SERIAL |
| ANYFC | F4 | ANYFC | All | All | All | All | All | SERIAL |
| [Airbot F4 / Flip F4](http://shop.myairbot.com/index.php/flight-control/apm/airbotf4v1.html) | F4 | AIRBOTF4 | All | All | All | All | All | SERIAL, SPIFLASH |
26 changes: 26 additions & 0 deletions docs/ESC and servo outputs.md
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# ESC and servo outputs

## ESC protocols

INAV support following ESC protocols:

* "standard" PWM with 50-400Hz update rate
* OneShot125
* OneShot42
* Multishot
* Brushed motors

ESC protocol can be selected in Configurator. No special configuration is required.

Check ESC documentation of the list of protocols that it is supporting.

## Servo outputs

By default, INAV uses 50Hz servo update rate. If you want to increase it, make sure that servos support
higher update rates. Only high end digital servos are capable of handling 200Hz and above!

## Servo output mapping

Not all outputs on a flight controller can be used for servo outputs. It is a hardware thing. Always check flight controller documentation.

While motors are usually ordered sequentially, here is no standard output layout for servos! Some boards might not be supporting servos in _Multirotor_ configuration at all!
140 changes: 2 additions & 138 deletions docs/Mixer.md
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Expand Up @@ -114,15 +114,9 @@ Servo speed might be useful for functions like flaps, landing gear retraction an

## Servo Reversing

Servos are reversed using the `smix reverse` command.
Servos can be reversed using Configurator _Servo_ tab and _Reverse_ checkbox.

e.g. when using the TRI mixer to reverse the tail servo on a tricopter use this:

`smix reverse 5 2 r`

i.e. when mixing rudder servo slot (`5`) using Stabilised YAW input source (`2`) reverse the direction (`r`)

`smix reverse` is a per-profile setting. So ensure you configure it for your profiles as required.
`smix reverse` command is still working but it is advised not to use it anymore and it might be removed in next releases of firmware.

## Servo configuration

Expand Down Expand Up @@ -150,133 +144,3 @@ One method for tuning the filter cutoff is as follows:
3. If your vehicle oscillates for several seconds or even continues oscillating indefinitely, then the filter cutoff frequency should be reduced. Reduce the value of `servo_lowpass_freq` by half its current value and repeat the previous step.

4. If the oscillations are dampened within roughly a second or are no longer present, then you are done. Be sure to run `save`.


### Example 1: A KK2.0 wired motor setup
Here's an example of an X configuration quad, but the motors are still wired using the KK board motor numbering scheme.

```
KK2.0 Motor Layout
1CW 2CCW
\ /
KK
/ \
4CCW 3CW
```

1. Use `mixer custom`
2. Use `mmix reset`
3. Use `mmix 0 1.0, 1.0, -1.0, -1.0` for the Front Left motor. It tells the flight controller the #1 motor is used, provides positive roll, provides negative pitch and is turning CW.
4. Use `mmix 1 1.0, -1.0, -1.0, 1.0` for the Front Right motor. It still provides a negative pitch authority, but unlike the front left, it provides negative roll authority and turns CCW.
5. Use `mmix 2 1.0, -1.0, 1.0, -1.0` for the Rear Right motor. It has a negative roll, provides positive pitch when the speed is increased and turns CW.
6. Use `mmix 3 1.0, 1.0, 1.0, 1.0` for the Rear Left motor. Increasing motor speed imparts positive roll, positive pitch and turns CCW.

### Example 2: A HEX-U Copter

Here is an example of a U-shaped hex; probably good for herding giraffes in the Sahara. Because the 1 and 6 motors are closer to the roll axis, they impart much less force than the motors mounted twice as far from the FC CG. The effect they have on the pitch is the same as the forward motors because they are the same distance from the FC CG. The 2 and 5 motors do not contribute anything to pitch because speeding them up and slowing them down has no effect on the forward/back pitch of the FC.

```
HEX6-U
.4........3.
............
.5...FC...2.
............
...6....1...
```

|Command| Roll | Pitch | Yaw |
| ----- | ---- | ----- | --- |
| Use `mmix 0 1.0, -0.5, 1.0, -1.0` | half negative | full positive | CW |
| Use `mmix 1 1.0, -1.0, 0.0, 1.0` | full negative | none | CCW |
| Use `mmix 2 1.0, -1.0, -1.0, -1.0` | full negative | full negative | CW |
| Use `mmix 3 1.0, 1.0, -1.0, 1.0` | full positive | full negative | CCW |
| Use `mmix 4 1.0, 1.0, 0.0, -1.0` | full positive | none | CW |
| Use `mmix 5 1.0, 0.5, 1.0, 1.0` | half positive | full positive | CCW |

### Example 3: Custom tricopter

```
mixer CUSTOMTRI
mmix reset
mmix 0 1.000 0.000 1.333 0.000
mmix 1 1.000 -1.000 -0.667 0.000
mmix 2 1.000 1.000 -0.667 0.000
smix reset
smix 0 5 2 100 0
profile 0
smix reverse 5 2 r
profile 1
smix reverse 5 2 r
profile 2
smix reverse 5 2 r
```

### Example 4: Custom Airplane with Differential Thrust
Here is an example of a custom twin-engine plane with [Differential Thrust](http://rcvehicles.about.com/od/rcairplanes/ss/RCAirplaneBasic.htm#step8)
Motors take the first 2 pins, the servos take pins as indicated in the [Servo slot] chart above.
Settings bellow have motor yaw influence at "0.3", you can change this number to have more or less differential thrust over the two motors.
Note: You can look at the Motors tab in [INAV Cofigurator](https://chrome.google.com/webstore/detail/inav-configurator/fmaidjmgkdkpafmbnmigkpdnpdhopgel) to see motor and servo outputs.

| Pins | Outputs |
|------|------------------|
| 1 | Left Engine |
| 2 | Right Engine |
| 3 | Pitch / Elevator |
| 4 | Roll / Aileron |
| 5 | Roll / Aileron |
| 6 | Yaw / Rudder |
| 7 | [EMPTY] |
| 8 | [EMPTY] |

```
mixer CUSTOMAIRPLANE
mmix reset
mmix 0 1.0 0.0 0.0 0.3 # Left Engine
mmix 1 1.0 0.0 0.0 -0.3 # Right Engine
smix reset
# Rule Servo Source Rate Speed
smix 0 3 0 100 0 # Roll / Aileron
smix 1 4 0 100 0 # Roll / Aileron
smix 2 5 2 100 0 # Yaw / Rudder
smix 3 2 1 100 0 # Pitch / Elevator
```
### Example 5: Custom Airplane with Flaps
Here is an example of a custom single-engine plane with flaps: (https://hobbyking.com/en_us/orange-grey-tundra-color.html) and is an easy model to setup using the settings below. This custom mix assumes left and right ailerons are wired together to use the same output but actuate in reverse. Doing so allows you to conserve output pins so that boards like the Omnibus or SP Racing F3 EVO can include flaps output using only 6 pins total. (Currently, motors always take the first 2 pins even if you use smix to set pin #2.)
Note: You can look at the Motors tab in [INAV Cofigurator] to see motor and servo outputs.

| Pins | Outputs |
|------|------------------|
| 1 | Main Engine |
| 2 | [EMPTY] |
| 3 | Pitch / Elevator |
| 4 | Roll / Aileron |
| 5 | Flaps |
| 6 | Yaw / Rudder |
| 7 | [EMPTY] |
| 8 | [EMPTY] |

```
mixer CUSTOMAIRPLANE
# mmix
mmix reset
mmix 0 1.000 0.000 0.000 0.000 # Pin 1
# smix
smix reset
smix 0 2 1 100 0 # Pitch / Stab, Pin 3
smix 1 2 5 100 0 # Pitch / RC, Pin 3
smix 2 3 0 100 0 # Roll / Stab, Pin 4
smix 3 3 4 100 0 # Roll / RC, Pin 4
smix 4 4 14 100 0 # Flaps, Pin 5
smix 5 5 2 100 0 # Yaw / Stab, Pin 6
smix reverse 3 0 r # REVERSE Stab Roll
smix reverse 3 4 r # REVERSE RC Roll
save
```
48 changes: 0 additions & 48 deletions docs/Oneshot.md
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