INAV Waypoint Mission Planning — Autonomous Flight Guide

One of INAV's most powerful features is autonomous waypoint missions. You can plan a complete flight path with specific altitudes, speeds, and actions at each waypoint — then let INAV fly it automatically.

Mission Planners

• INAV Configurator — built-in mission planner in the Mission Control tab
• mwp (Mission Planner for INAV) — advanced desktop planner for Linux/Windows
• Mobile Ground Station — Android apps for field planning

Waypoint Types

• WAYPOINT — fly to this point
• POSHOLD_TIME — hover at position for specified time
• RTH — return to home
• LAND — land at this position
• SET_POI — set point of interest for camera tracking
• JUMP — loop back to a previous waypoint
• SET_HEAD — set aircraft heading

Planning Your First Mission

1. Open INAV Configurator → Mission Control tab
2. Click on the map to place waypoints
3. Set altitude for each waypoint (in cm, e.g., 5000 = 50m)
4. Set speed (in cm/s, e.g., 1000 = 10m/s)
5. Upload mission to the flight controller
6. In the field: arm, take off, switch to NAV WP mode

Mission Settings

set nav_wp_radius = 300
set nav_wp_max_safe_speed = 2000
set nav_wp_safe_distance = 50000
set nav_wp_enforce_altitude = ON

Safety Considerations

• Always test your mission at low altitude first
• Set RTH as the last waypoint or enable failsafe RTH
• Check geofence boundaries
• Monitor battery — set low voltage RTH
• Have a manual override switch ready at all times