INAV (Interactive Navigation System for Autonomous Vehicles) is an open-source firmware for autonomous vehicles, primarily designed for multirotor drones and fixed-wing aircraft. It focuses on providing advanced navigation and flight control capabilities while offering user-friendly configuration and tuning options.
INAV is based on the Cleanflight flight control system, which itself originated from the Betaflight project. However, INAV has diverged to specifically cater to autonomous navigation features. It is primarily used by hobbyists, researchers, and professionals who require precise control and navigation for their unmanned vehicles.
Key features of INAV include:
- Navigation and flight modes: INAV offers a variety of flight modes and navigation capabilities, including manual control, position hold, return-to-home, waypoint navigation, altitude hold, and more. These features enable autonomous missions and precise control during flight.
- GPS and sensor integration: INAV integrates GPS and other sensors to provide accurate position estimation, allowing for waypoint navigation, autonomous flight, and automatic return-to-home functionality. It also supports additional sensors like barometers, magnetometers, and accelerometers to enhance stability and performance.
- Configuration and tuning: INAV provides a user-friendly configuration interface, often accessed via a graphical user interface (GUI), allowing users to customize various parameters and settings for their specific vehicles and flight requirements. It offers a range of options for PID tuning, sensor calibration, and control settings.
- Telemetry and communication: INAV supports telemetry systems that allow real-time communication between the vehicle and the ground station. This enables users to monitor vehicle status, receive telemetry data, and adjust settings remotely.
- Mission planning: INAV incorporates mission planning tools that enable users to define complex missions and flight plans. These missions can include waypoints, predefined actions, and specific behaviors for autonomous vehicles to follow.
- Baro-based altitude control: INAV utilizes barometric sensors to maintain precise altitude control, enabling accurate altitude hold and smooth vertical movements.
INAV is a highly customizable and adaptable firmware, allowing users to tailor the flight control and navigation behavior according to their specific needs. The open-source nature of INAV fosters an active community of developers and users who contribute to its ongoing development, enhancing its capabilities and adding new features over time.