INAV uses two specialized control loops: a PIFF (Proportional-Integral-FeedForward) controller for fixed-wing aircraft and a high-frequency PID controller with EZ-Tune for multirotors.
Fixed-Wing Tuning Workflow
- Mechanical Setup — ensure CG (Center of Gravity) is accurate and control horns give symmetric throw.
- Servo Autotrim — enable
SERVO AUTOTRIMmode during straight level flight for 5 seconds. - Auto-Level Trim — calibrate board pitch offset so the plane flies level in ANGLE mode.
- Feed-Forward (FF) — adjust Roll and Pitch FF so max stick deflection achieves desired roll/pitch rates smoothly.
Frequently Asked Questions (FAQ)
How does fixed-wing PIFF differ from multirotor PID?
Fixed-wing aircraft rely primarily on Feed-Forward (FF) to deflect control surfaces proportionally to target rotation rate, with P and I correcting airflow disturbances.