INAV is the go-to firmware for long-range FPV flying. With proper GPS navigation, failsafe configuration, and return-to-home capabilities, INAV enables safe flights well beyond visual range. This guide covers everything you need to build a reliable long-range platform.
Why INAV for Long Range?
- Reliable Return-to-Home — if you lose video or control link, INAV brings your aircraft back
- GPS Position Hold — stable hover for long-range multirotors
- Cruise Control — efficient fixed-wing flight at constant altitude and heading
- Waypoint Missions — pre-plan your entire flight path
- Safehomes — land at an alternate safe location if home is too far
- OSD Navigation Data — distance to home, GPS coordinates, altitude, speed, direction
Recommended Hardware
Flight Controllers
- Matek H743-Wing V3 — best for fixed-wing long range, dual BEC, full sensor support
- Matek F765-Wing — excellent fixed-wing FC with built-in OSD
- SpeedyBee F405 V4 — great all-around, Bluetooth configuration
GPS Modules
- Beitian BN-880 — GPS + compass combo, reliable and affordable
- Matek M10-5883 — UBLOX M10, fast acquisition, high accuracy
- Flywoo GM10 Mini V3 — ultra-light for weight-sensitive builds
Radio Links
- ExpressLRS 900MHz — best range-to-weight ratio, 100km+ proven range
- TBS Crossfire — reliable long range, good telemetry
- ELRS 2.4GHz — good range with diversity antennas
Video Transmitters
- 1W+ analog VTX — Rush Tank Ultimate, TBS Unify Pro32 HV
- DJI O3 Air Unit — digital HD, limited range vs analog
- HDZero Freestyle V2 — digital with low latency
INAV Configuration for Long Range
GPS Setup
Configure your GPS module for maximum accuracy:
set gps_provider = UBLOX
set gps_sbas_mode = AUTO
set gps_ublox_use_galileo = ON
set gps_min_sats = 8Failsafe Configuration
Critical for long-range — configure a proper failsafe:
set failsafe_procedure = RTH
set failsafe_recovery_delay = 5
set nav_rth_alt_mode = AT_LEAST
set nav_rth_altitude = 5000RTH Settings
set nav_rth_climb_first = ON
set nav_rth_climb_first_stage_altitude = 3000
set nav_rth_allow_landing = ALWAYS
set nav_rth_home_altitude = 5000Safety Tips
- Always test RTH at short range before going far
- Set conservative failsafe timeouts
- Use a GPS tracker as a backup (e.g., BN-180 with separate battery)
- Check local regulations — long-range flying may require specific licenses
- Monitor battery voltage via OSD and set low-voltage RTH