SpeedyBee F405 Wing Mini User Manual

SpeedyBee F405 WING MINI
User Manual V1.2
SpeedyBee APP
Installation
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Specification Overview
Product Name
SpeedyBee F405 WING MINI
PDB Board
SpeedyBee F405 WING MINI PDB Board
FC Board
SpeedyBee F405 WING MINI FC Board
Shield Board
SpeedyBee F405 WING MINI
Custom-Install Shield Board
SpeedyBee F405 WING MINI
Standard-Install Shield Board
Wireless USB
Extender
SpeedyBee F405 WING MINI
USB Extender
Wireless
Configuration
Bluetooth BLE/WIFI(AP)/WIFI(STA)
FC Firmware
Power Input
INAV/ArduPilot
Dimension
37(L) x 26(W) x 14(H) mm
Weight
19g（Wireless USB Extender included）
2-6S
Part1-OverView
Standard-Install Shield Board
Installation standard Flight Controller orientation
Arrow indicates
drone head
M2x 6.5 round
female-female
copper standoff
PDB Board A
M2X3+3 round
male-female
copper standoff
M2X3.5 head
cross screw
FC Board B
Standard-Install
Shield Board C
Custom-Install Shield Board
Installation inverted Flight Controller
M2X3+3 round
male-female
copper standoff
Custom-Install
Shield Board D
M2x 6.5 round
female-female
copper standoff
M2X3.5 head
cross screw
FC Board B
PDB Board A
Assembly Instructions
1.Assemble A (PDB Board) and B (FC Board), align pins, insert,
and secure with screws and bolts.
2.For standard Flight Controller orientation, assemble C (Standard-Install Shield Board).
3.For inverted Flight Controller, assemble D (Custom-Install Shield Board ).
A
B
Standard-Install
Shield Board
for standard Flight
Controller orientation
C
D
Custom-Install Shield Board
for inverted Flight Controller
Part2-Hardware Description
Layout
FC Board Front
The camera defaults
to battery power
Vv G C1
dual cameras switch support
Vv G C2
SDA
SCL
4V5
GND
TX3
RX3
GPS Solder Pads
(without Compass)
HD VTX solder pads
GPS Interface
(with Compass)
Vv G T5 R5 G SBUS
analog VTX solder pads
Vv G T5 VTX
MicroSD Card Slot
Note: Vv and GND solder pads for VTX default
to battery power. If the camera or VTX only
supports 5V, change the power supply jumper
option on the PDB board to 5V.
Telemetry: Solder
or plug for R4 T4 signal
digital airspeed sensor
solder pads
4V5 CL DA G
Connect to
PDB Board
analog airspeed tube
AR 4V5 G
RSSI Solder
Pad - Analog RSSI
input supports up
to 3.3V
connect ELRS/TBS receiver
using this interface with the
ELRS receiver pins
motor and servo output pins
PWM1-9
SBUS Input - Pin
header with reverse
circuit connected to RX2
FC Board Back
Analog VTX connector
SBUS
GND
RX5
TX5
GND
Vv
SH1.0 4P
VTX
TX5
GND
Vv
Analog camera connector
CAM2
CAM1
GND
Vv
SH1.0 4P
RX6
BOOT0
BZ-฀
TX6
D+
DGND
4V5
USB Extender
connector
4V5
TX4
RX4
TX2
RX2
GND
HD VTX connector
SH1.0 6P
Telemetry connector
GH1.25 6P
GND solder pad
LED solder pad,
it can be converted
to S12 output
S10 S11 solder pads
USB Extender Front
BOOT Button
Hold BOOT button while powering on to enter DFU mode to flash the firmware.
Note that the BOOT button serves other functions when the
flight controller is powered and running.
Wireless Status Indicator
(RGB LED)
4V5
GND
DD+
TX6
BZBOOT0
RX6
The wireless board has built-in
telemetry function ,
which includes 4 RF modes:
Bluetooth BLE, Wi-Fi(AP),
Wi-Fi(STA), and wireless off mode.
USB TYPE-C
connector
Buzzer switch
Buzzer
FC Board
connector
Green Slow Flash: Bluetooth BLE not connected
Solid Green：Bluetooth BLE connected
White Slow Flash: Wi-Fi (AP) not connected
Solid White: Wi-Fi (AP) connected
Purple Slow Flash: Wi-Fi (STA) not connected
Solid Purple: Wi-Fi (STA) connected
RGB LED off: Wireless off.
Press BOOT button for 6 seconds to switch between 4 wireless modes. When the yellow LED
flashes rapidly and the device automatically restarts, the switch is successful.
PDB Board Back
VTX Power Supply Jumper
Default battery voltage output
Servo BEC
Voltage Jumper
5V Output
Selecting the 6V BEC voltage for servo
will raise Vv's 5V output to 6V. When
using battery voltage output, ensure
that the VTX supports a wide voltage
range of 7-26V to prevent damage.
Default 5V Output
6V Output
Servo BEC Power
Supply Jumper
Default servo BEC power supply
ESC BEC power supply
PDB Board Front
ESC
ESC
Peripheral Connection on FC Board
Method 1, Plug and Play
FPV CAM
GPS Module
Analog VTX
BZ-251 GPS
The pin order on the
GPS solder pads differs
from the GPS interface
pps
TX
HDL
GND
TX
RX
GND
POWER
T R G VC D
SBUS
GND
RX5
TX5
GND
Vv
VTX
TX5
GND
Vv
CAM2
CAM1
GND
Vv
FC Board Front
滚滚长江东逝水
4V5
GND
DD+
TX6
BZBOOT0
RX6
HD VTX
RX6
BOOT0
BZTX6
D+
DGND
4V5
4V5
TX4
RX4
TX2
RX2
GND
CH2 RX
CH1 TX
5V
GND
ELRS/TBS receiver
Use a 4-pin Dupont female
header on the FC Board front.
SBUS/PPM receiver
Use a 3-pin Dupont female
header on the FC Board front.
Method 2, Soldering
FC Front
GPS without compass
Supports dual cameras
with switching
Analog VTX
GND
SDA
SCL
5V
Both HD VTX and Analog
VTX share Vv G T5 solder pad
MS4525DO
POWER
GND
RX
TX
GND
HDL
Digital airspeed sensor solder pad
For analog airspeed, share 4V5
and GND, and connect to AR
solder pad
HD VTX
Power Supply
The layout for the F405 WING MINI is as follows
FC
5V solder
pad
BEC
Onboard Chip
5.2V 2A
Diode2A
Max
SEVRO BEC
5V 4A
6V optional
Battery input
Servo BEC
Power
Supply Jumper
VTX Power
Supply Jumper
PDB Board
4V5 solder
pad
Vx solder
pad
Vv power
supply
FC Board
1，FC BEC default output is 5.2V, supplied in two routes:
·The first route is directly supplied to the 5V solder pads.
·The second route is supplied through a diode to the onboard chip and the
4V5 solder pads.
Please note that FC BEC can provide 2A continuous current and 3A peak current. The onboard chip requires power ≤ 1A, GPS and receiver ≤ 0.1A, and wireless controller ≤ 0.1A. If connecting high-power telemetry or VTX to the 5V
solder pads, ensure the operating current is ≤ 0.8A.
2，The VTX power supply interface (Vv) can be set to two power ways: direct
battery power or internal BEC 5V (shared with 5V4A Servo BEC).
·Factory setting is battery power, where Vv interface voltage is the same as
the battery voltage.
Please note: Ensure the voltage of VTX and camera power supply matches the
battery voltage, if not, damage may occur.
·By using VTX Power Supply Jumper, you can switch to 5V power supply. In
this case, the Vv interface voltage will be 5V (if you choose this method, ensure
the servo and VTX current are sufficient).
Please note: When Servo BEC Voltage Jumper is switched to 6V, the Vv interface voltage also switches to 6V.
3，Servo power supply (Vx pin header) defaults to being powered by Servo
BEC at 5V. When Servo BEC is switched to 6V via Servo BEC Voltage Jumper,
the voltage at the Vx pin header also switches to 6V.
Please note that if the ESC supports BEC output, do not connect the BEC red
wire to the Vx pin header. Otherwise, it may damage the ESC or Servo BEC.
Alternatively, you can directly power it using the ESC's BEC, but you need to
disconnect Servo BEC Power Supply Jumper. In this way, the power supply for
the Vx pin header comes from an ESC's BEC.
4，Power supply recommendations:
·When using a digital VTX with a wide voltage input, you can use the default
battery voltage for Vv.
·When using an analog VTX powered by 5V, you can switch Vv power supply
voltage to Servo BEC's 5V supply. In this case, you can install up to four 9g
servos to avoid insufficient current.
·When using aircraft with 64 or 70 EDF Jets, Servo BEC power supply may not
be sufficient for servos and landing gear. You can disconnect Servo BEC Power
Supply Jumper and directly use the ESC's BEC to power the devices.
Part 3 - Firmware Upgrade and APP Connection
Firmware Upgrade
SpeedyBee F405 WING MINI does not support wireless firmware
flashing. Please update the firmware using a computer by following
these steps:
①Press and hold the BOOT button while connecting the FC to your
computer via a USB cable.
②Open the INAV Configurator on your computer and navigate to the
"Firmware Flasher" page. Select the flight controller target as
"SPEEDYBEEF405WING" and proceed with flashing the firmware.
③To flash ArduPilot firmware, follow the same steps as above.
Select "Load Firmware [local]" and proceed with flashing the firmware.
APP Connection
Connecting ArduPilot firmware to QGroundControl app
Check the color of the Wireless Status Indicator. If it's not White
Slow Flash, press the BOOT button for 6 seconds to switch to White.
Then connect to the "SpeedyBee eFLY-WIFI", and open
QGroundControl, it will be automatically connected.
APP Connection
Connecting INAV firmware to SpeedyBee APP
Check the color of the Wireless Status Indicator. If it is Green Slow Flash, open the
SpeedyBee App and follow the steps to connect to the corresponding product.
1
2
3
Support various firmwares and configurators which are shown as below
Recommend:
low-power Bluetooth BLE mode for INAV firmware
WiFi mode for ArduPilot firmware.
Bluetooth BLE
WiFi(AP)
WiFi(STA)
RF Power
20dBm
20dBm
20dBm
Firmware
INAV
ArduPilot
ArduPilot
(IOS& Android)
MissionPlanner Android
QGroundControl
(Android&IOS)
MissionPlanner Android
QGroundControl
(Android&IOS)
iNav Configurator
MissionPlanner
QGroundControl
MissionPlanner
QGroundControl
Wireless Status green light
Indicator
white light
purple light
Distance
10~35m
10~35m
SpeedyBee APP
Mobile APP
PC
Configurator
10~30m
Part4-Specifications
SpeedyBee F405 WING MINI FC board
Product Name
SpeedyBee F405 WING MINI FC board
MCU
STM32F405, 168MHz, 1MB Flash
IMU(Gyro&Accelerometer)
ICM-42688-P
Barometer
SPL006-001
OSD Chip
AT7456E
Blackbox
MicroSD Card Slot
UART
6 sets (USART1, USART2, USART3, UART4, UART5,
UART6 - Dedicated for Wireless board Telemetry connection)
I2C
1x Used for magnetometer, digital airspeed sensor
ADC
4x (VBAT, Current, Analog RSSI, Analog AirSpeed)
PWM
12x (9x pin headers + 2x solder pads + 1x "LED" pad)
ELRS/CRSF Receiver
Supported, connected to UART1
SBUS
Built-in inverter for SBUS input (UART2-RX)
LED
3x LEDs for FC STATUS (Blue, Green) and 3.3V indicator (Red)
Analog RSSI
Supported, Named as "RS"
Dual Analog Camera Switching
(Supported in INAV 7.0 and
latest versions)
Default to Camera1 Video Input (C1). Switch between C1 and C2 using ArduPilot
Relay or INAV Modes/USER.
Both cameras should have the same video format, either PAL or NTSC.
Supported FC Firmware
INAV: SpeedyBeeF405WING (default)
ArduPilot: SpeedyBeeF405WING
Weight
5.6g
SpeedyBee F405 WING MINI PDB board
Product Name
SpeedyBee F405 WING MINI PDB board
Input voltage range
7~26V (2~6S LiPo)
Battery Voltage Sensor
Connect to FC board VBAT, 1K:10K (Scale 1100 in INAV, BATT_VOLT_MULT 11.0 in
ArduPilot)
Battery Current Sensor
80A continuous, 150A peak Connect to FC board Current (Scale 195 in INAV, 50 A/V
in ArduPilot)
TVS Protective diode
Yes
FC BEC output
Output 5.2V +/- 0.1V DC Continuous current 2 Amps, 3A Peak Designed for FC,
Receiver, GPS module, AirSpeed Sensor, Telemetry module
The VTX power interface Vv offers two power supply options: direct battery voltage
or integrated BEC 5V (sharing the 5V4A Servo BEC voltage)
By default, it is set to battery voltage
VTX & Camera power supply
(Ensure the VTX and camera input voltage range is compatible)
Switching to 5V power supply is possible via pad jumper (using Servo BEC output)
(If using this method, ensure the current requirements for both servo and VTX are
sufficient)
Servo BEC output
Output 5V +/- 0.1V DC Continuous current 4 Amps, 5A Peak Voltage adjustable, 5V
Default, 6V via jumper Designed for Servos.
Weight
5.5g
SpeedyBee F405 WING MINI Wireless USB Extender
Product Name
SpeedyBee F405 WING MINI Wireless USB Extender
Wireless Configuration (long press
BOOT button for 6 seconds to
switch modes)
INAV:Please make sure the MSP
switch on UART 6 is turned on and
set to a baud rate of 115200
ArduPilot:Please make sure the
Serial 6 is set to baud rate 115200
and protocol Mavlink2
BLE mode, connect to Speedybee APP
USB Port Type
Type-C
Buzzer
5V Active Buzzer
Weight
3.2g
Wi-Fi (AP)mode, able to connect to Speedybee APP, QGroundControl APP,
MissionPlanner, etc. WiFi: Speedybee eFLY-WIFI Password: 88888888
Wi-Fi (STA)mode, able to connect to QGroundControl APP, MissionPlanner, etc.
Step 1: turn on Personal Hotspot;
Step 2: Set hotspot, locate NAME/Device Name/Hotspot name/etc.
Step 3: change the current name to eFLY and the password is, 88888888
Wireless off mode
Part5-pin mapping
INAV mapping
UART
USB
TX1 RX1
TX2 RX2
SBUS
USB
5V tolerant I/O
UART1
ELRS/TBS receiver
SBUS pad
SBUS receiver, SBUS pad = RX2 with inverter
SmartPort
Open "Configuration" tab, scroll to
"Other Features",enable "CPU based serial ports",
save and reboot.
5V tolerant I/O
TX2
In "Ports" tab, select "SOFTSERIAL2",
set telemetry to "SmartPort", save and reboot.
TX3 RX3
5V tolerant I/O
UART3
GPS
TX4 RX4
5V tolerant I/O
UART4
USER
TX5 RX5
5V tolerant I/O
UART5
DJI OSD/VTX
TX6 RX6
5V tolerant I/O
UART6
Onboard wireless controller
PWM
TIMER
INAV Plane
INAV MultiRotor
S1
5V tolerant I/O
TIM4_CH2
Motor
Motor
S2
5V tolerant I/O
TIM4_CH1
Motor
Motor
S3
5V tolerant I/O
TIM3_CH3
Servo
Motor
S4
5V tolerant I/O
TIM3_CH4
Servo
Motor
S5
5V tolerant I/O
TIM8_CH3
Servo
Motor
S6
5V tolerant I/O
TIM8_CH4
Servo
Motor
S7
5V tolerant I/O
TIM8_CH2N
Servo
Servo
S8
5V tolerant I/O
TIM2_CH1
Servo
Servo
S9
5V tolerant I/O
TIM2_CH3
Servo
Servo
S10
5V tolerant I/O
TIM2_CH4
Servo
Servo
S11
5V tolerant I/O
TIM12_CH2
Servo
Servo
5V tolerant I/O
TIM1_CH1
WS2812LED
WS2812LED
LED
Open "Configuration" tab, scroll to "Other Features",
enable "Multi-color RGB LED strip support", save and reboot.
In "Led Strip" tab of INAV GUI, configure LED colors and behaviors , then save.
ADC
1K:10K divider builtin
0~30V
VBAT ADC
ADC_CHANNEL_1
voltage scale 1100
CURR
0~3.3V
CURRENT_METER ADC
ADC_CHANNEL_2
Current scale 195
AIRSPD
10K:10K divider builtin
0~6.6V
AIRSPEED ADC
ADC_CHANNEL_3
Analog Airspeed
RSSI
0~3.3V
RSSI ADC
ADC_CHANNEL_4
Analog RSSI
VBAT
I2C
I2C1
5V tolerant I/O
onboard Barometer
SPL06-001
Compass
QMC5883 / HMC5883 /
MAG3110 / LIS3MDL
Digital Airspeed sensor
MS4525
OLED
0.96″
ArduPilot mapping
USB
USB
TX1 RX1
USART1(With DMA)
TX2 RX2
SBUS pad
SBUS
SERIAL0
Console
SERIAL1
ELRS/TBS receiver
Serial RC input
BRD_ALT_CONFIG 0
SBUS receiver,
SBUS pad = RX2 with inverter
RX2
Default
USART2
BRD_ALT_CONFIG 1
SERIAL2
USER
TX3 RX3
USART3
SERIAL3
GPS1
TX4 RX4
UART4
SERIAL4
USER
TX5 RX5
UART5
SERIAL5
DJI OSD/VTX
TX6 RX6
USART6
SERIAL6
Telem1
IBUS/DSM/PPM
*If sending highspeed serial data (eg. 921600 baud) to the board, use USART1(Serial1).
TIMER
PWM
S1
TIM4_CH2
PWM1 GPIO50
PWM/DShot(DMA)
S2
PWM2 GPIO51
TIM4_CH1
PWM/DShot(DMA)
S3
PWM3 GPIO52
TIM3_CH3
PWM/DShot(DMA)
S4
PWM4 GPIO53
TIM3_CH4
PWM/DShot(DMA)
S5
PWM5 GPIO54
TIM8_CH3
PWM/DShot(DMA)
S6
PWM6 GPIO55
TIM8_CH4
PWM/DShot(DMA)
S7
PWM7 GPIO56
TIM8_CH2N
PWM/DShot(DMA)
S8
PWM8 GPIO57
TIM2_CH1
PWM/DShot(DMA)
S9
PWM9 GPIO58
TIM2_CH3
PWM/DShot(DMA)
S10
PWM10 GPIO59
TIM2_CH4
PWM/DShot(DMA)
S11
PWM11 GPIO60
TIM1_CH3N
PWM/DShot(DMA)
LED
PWM12 GPIO61
TIM1_CH1
PWM/DShot(DMA)
Group1
Group2
Group3
Group4
Group5
*All motor/servo outputs are DShot and PWM capable. However, mixing DShot and normal PWM operation
for outputs is restricted into groups, ie. enabling DShot for an output in a group requires that ALL outputs
in that group be configured and used as DShot, rather than PWM outputs. LED, which corresponds to
PWM12, is set as the default output for NeoPixel1. Therefore, if you need to use PWM11 as an output,
you need to disable the NeoPixel1 function on PWM12.
ADC
VBAT
CURR
AIRSPD
RSSI
1K:10K divider builtin
0~30V
0~3.3V
Current sense
10K:10K divider builtin
0~6.6V
0~3.3V
Battery voltage
Analog Airspeed
Analog RSSI
BATT_VOLT_PIN
10
BATT_VOLT_MULT
11.05
BATT_CURR_PIN
11
BATT_AMP_PERVLT
50
ARSPD_ANA_PIN
15
ARSPD_TYPE
2
RSSI_ANA_PIN
14
RSSI_TYPE
2
I2C
I2C1
5V tolerant I/O
onboard Barometer
SPL06-001
Compass
COMPASS_AUTODEC
Digital Airspeed sensor
ARSPD_BUS
0
MS4525
ARSPD_TYPE
1
ASP5033
ARSPD_TYPE
15
Part6-Standard settings
FC Inverted Settings
Hardware Installation
According to the diagram in Part 1, if you choose to install the FC
in the standard Flight Controller orientation, you can use the
default parameters.
If you choose to install the FC inverted (with the PDB board facing
the ground and the Custom-Install Shield Board facing the sky),
you will need to make the following settings.
1 INAV Settings
① On the CLI page, enter the following commands in the input box:
set align_board_roll = 1800
save
②Click "Send," and the FC will save the parameters and restart.
2 ArduPilot Settings
Go to the parameter settings in MissionPlanner, Set the parameter
AHRS_ORIENTATION=8 (Option is Roll180), and manually restart.
1 set align_board_roll =1800save
1 send
Click to write Params and
3 manually reboot the FC
the corresponding
2 Set
parameters
2 AHRS_ORIENTATION=8
Navigate to the Full
Parameter Tree page
1
Receiver Settings
ELRS/TBS Receiver
Hardware Connection：
Solder the receiver using a 4-pin Dupont single-head cable, then plug the Dupont cable into the
corresponding pin header.
ELRS/TBS Receiver
CH2 RX
CH1 TX
5V
GND
1
INAV Settings
2
Detectable with default
settings.
ArduPilot Settings
Detectable with default
settings.
SBUS Receiver
Hardware Connection:
Use a 3-pin Dupont male-to-male cable and plug it into the SBUS input pin header.
SBUS Receiver
SBUS-SBUS
VCC-4V5
GND-GND
1
INAV Settings
2
①In the Ports tab, disable Serial RX
for UART1, enable Serial RX for UART2,
then save and reboot.
ArduPilot Settings
Detectable with default settings.
②Switch the CRSF protocol to SBUS in
the Receiver tab, then save and reboot.
INAV Settings
1 Disable
2 Enable
4
3 Save and reboot
Switch to SBUS
5 Save and reboot
PPM Receiver：
Hardware Connection：
Use a 3-pin Dupont male-to-male cable and plug it into the SBUS input pin header.
PPM receivers only supported in INAV 3.x and below.
PPM Receiver
PPM-SBUS
VCC-4V5
GND-GND
1
INAV Settings
2
INAV does not support
ArduPilot Settings
Detectable with default settings.
GPS Settings
Hardware Connection:
Rearrange the pre-crimped JST SH1.0 cables of the GPS Module Cable according to the GPS module's
pin layout. Insert them into the 6-pin JST SH1.0 housing. The BZ-251 GPS module is recommended.
pps
SDA
SCL
4V5
GND
TX3
RX3
TX
T R G VC D
BZ-251
GPS
TX
RX
GND
VCC
SCL
SDA
1
INAV Settings
2
In the GPS tab, enable GPS for navigation and
telemetry, then save and reboot. If not using a
UBLOX module, refer to the specifications of
the corresponding module and select the
appropriate baud rate and protocol.
INAV Settings
1 Enable
2 Save and reboot
ArduPilot Settings
Supports two types of GPS protocols - UBLOX
and NMEA, with UBLOX protocol as the default.
UBLOX M8N, M9, and M10 modules are
automatically recognized.
Compass (Magnetometer)Settings
Hardware Connection:
Use the recommended BZ-251 GPS module with an integrated QMC5883 compass. Install the GPS
module away from the power supply lines, Motors, ESCs, and hatch magnets to avoid electromagnetic
interference.Confirm the signal lines are connected as SDA to SDA, SCL to SCL.
1
INAV Settings
2
In the Configuration tab, select the appropriate
compass option based on the compass model,
then save and reboot. Adjust the compass
orientation according to the specifications
defined in the GPS module's documentation,
then save and reboot.
ArduPilot Settings
Navigate to the Compass page in the SETUP of
MissionPlanner and verify if the compass is correctly
recognized. If the compass is properly identified, only
enable the "USE Compass1" option.
Onboard Mag Calibration: After securely installing the
flight controller and GPS, calibrate the compass. Once
calibration is successful, reboot the flight controller
as prompted (No need to select compass model or
set compass orientation).
INAV Settings
Choose the appropriate
1 compass option
3
Choose the appropriate
compass orientation option
4 Save and reboot
2 Save and reboot
cable
socket
cable
socket
Select 'CW 270° flip' from the
'Mag Alignment' drop down.
Select 'CW 180° flip' from the
'Mag Alignment' drop down.
cable
socket
Drone
head
cable
socket
Select 'CW 270° flip' from the
'Mag Alignment' drop down.
Select 'CW 0° flip' from the
'Mag Alignment' drop down.
ArduPilot Settings
1
Navigate to the
Compass page
Compass
2 Confirmed:
is recognized
3
Enable the "USE
Compass1" option
Onboard Mag
4 Start
Calibration
Drone
head
cable
socket
Setting COMPASS_AUTO_ROT value to 2
will enable the compass to automatically
detect its orientation after calibration.
Analog VTX Settings
Hardware Connection：
Connect the SpeedyBee TX ULTRA analog VTX with the VTX cable
Analog VTX
VTX
TX5
GND
Vv
VIDEO
IRC
GND
7-28V
Note: Please adjust the VTX BEC power supply to 5V when using the TX800.
INAV Settings
3
Scroll to VTX settings, select
desired functionality
Select "Peripherals"
1-1 for UART5,
1-2
choose the "IRC Tramp"
option
2 Save and reboot
4 Save and reboot
ArduPilot Settings
to write Params and
3 Click
manually reboot the FC
the corresponding
2 Set
parameters
Navigate to the Full
1 Parameter Tree page
SERIAL5_BAUD
57
Set serial5 baud rate to 57600
SERIAL5_OPTIONS
4
Set serial5 operating mode to HalfDuplex
SERIAL5_PROTOCOL
44
Set serial5 protocol to IRC Tramp
VTX_ENABLE
1
Enable Analog VTX function. Restart required
after settings
VTX_OPTIONS
10
Enable Pitmode to prevent overheating of
VTX.（Pitmode until armed and Unlocked）
VTX_MAX_POWER
800
VTX Maximum Power Level
If your VTX supports SmartAudio, the following settings need to be applied:
SERIAL5_BAUD
4
Set serial5 baud rate to 4800
SERIAL5_OPTIONS
4
Set serial5 operating mode to HalfDuplex
SERIAL5_PROTOCOL
37
Set serial5 protocol to SmartAudio
For more detailed settings, please refer to the following link:
https://ardupilot.org/copter/docs/common-vtx.html
Digital VTX Settings
Hardware Connection:
Use a Digital VTX cable to connect to the Digital VTX.
SBUS
GND
RX5
TX5
GND
Vv
HDL
GND
TX
RX
GND
POWER
Digital VTX
Disconnect HDL and SBUS signals
when using an external SBUS receiver.
1
INAV Settings
2
①In the Ports tab, select "Peripherals" for
UART5 and choose the "MSP DisplayPort"
option, then save and reboot.
②In the OSD tab, scroll down to the "Video Format"
option and select the appropriate option based on
the following guidelines.
ArduPilot Settings
Enter MissionPlanner's CONFIG settings, locate
the Full Parameter Tree, modify the corresponding
parameter values, and manually restart the flight
controller.
③Save and reboot.
INAV Settings
3-1 Scroll to Video Format
3-2 select desired functionality
Select "Peripherals"
1-1 for UART5
choose the "MSP
1-2 DisplayPort" option
4 Save and reboot
2
Save and reboot
For DJI O3, DJI Air Unit V1 paired with DJI Goggles 2, RunCam Link paired
with DJI Goggles 2 , Caddx Vista paired with DJI Goggles 2.
For other digital VTX devices, consult the table below for parameter settings:
FPV goggles/VRX
Ports tab
Air unit
UART
OSD tab
Peripherals
Video Format
MSP DisplayPort
BF43COMPAT
MSP DisplayPort
BF43COMPAT
DJI O3
UART5
DJI Air Unit V1
UART5
RunCam Link/Caddx Vista
UART5
DJI O3
UART5
DJI Air Unit V1
UART5
RunCam Link/Caddx Vista
UART5
Caddx WS Avatar
Caddx WS Avatar
UART5
MSP DisplayPort
AVATAR
HDzero
HDzero
UART5
MSP DisplayPort
HDZERO
DJI G2
DJI V2
/
DJI FPV VTX
/
ArduPilot Settings
1
Navigate to the Full
Parameter Tree page
the corresponding
2 Set
parameters
Click to write Params and
3 manually reboot the FC
Compatible configurations: DJI O3, DJI Air Unit V1 paired with DJI Goggles 2,
RunCam Link paired with DJI Goggles 2 , Caddx Vista paired with
DJI Goggles 2, Caddx WS Avatar, and HDzero.
SERIAL5_BAUD
SERIAL5_OPTIONS
115
0
Set serial5 baud rate to 115200
Set serial5 operating mode to default
SERIAL5_PROTOCOL 42
Set serial5 protocol to DisplayPort
MSP_OPTIONS
4
Utilizes Betaflight-compatible fonts
OSD_TYPE
5
Set OSD mode to MSP_DisplayPort
Compatible configurations: DJI Air Unit V1 paired with DJI Goggles V2 ,
RunCam Link paired with DJI Goggles V2 , Caddx Vista paired with
DJI Goggles V2.
SERIAL5_BAUD
SERIAL5_OPTIONS
115
0
Set serial5 baud rate to 115200
Set serial5 operating mode to default
SERIAL5_PROTOCOL 33
Set serial5 protocol to MSP
MSP_OPTIONS
0
polling mode
OSD_TYPE
3
Set OSD Type to MSP
For more detailed settings, please refer to the following link:
https://ardupilot.org/plane/docs/common-msp-osd-overview-4.2.html
Wireless board with FC settings
Hardware Connection:
Check the alignment and secure fastening of the pin headers and sockets between the wireless board
and the flight controller.
For INAV firmware, switch the wireless mode to BLE mode, indicated by a slow flashing green wireless
status indicator.
For ArduPilot firmware, switch the wireless mode to WiFi mode, indicated by a slow flashing white
wireless status indicator.
1
INAV Settings
2
Default parameters enable direct
connection. If wireless connection fails
and the battery indicator light shows
flowing lights, please check this setting.
Ardupilot Settings
Default parameters enable direct connection. If wireless
connection fails and the battery indicator light shows
flowing lights, please check this setting.
INAV Settings
2
1
Default setting for
wireless connection
Default setting for
wireless connection
Ardupilot Settings
SERIAL6_BAUD
Set serial6 baud rate to 115200
115
SERIAL6_OPTIONS
0
Set serial6 operating mode to default
SERIAL6_PROTOCOL
2
Set serial6 protocol to Mavlink2
Two-Camera Switching Settings
Hardware Connection：
Connect power and signal wires for both cameras
separately as depicted in the diagram. Ensure both
cameras support the same PAL or NTSC video format.
(This feature is supported in INAV 7.0 and later versions.
Supports dual
cameras with switching
Analog VTX
1
INAV Settings
①Go to "Mode" tab, select "USER1",
and press "Add Range".
②Choose camera switch control channel,
adjust blue bar for range
(white for Camera 1, blue for Camera 2).
1 Add Range
③Click "Save".
C1 ON/C2 0FF
2
C1 OFF/C2 ON
ArduPilot Settings
Enter MissionPlanner's CONFIG settings,
locate the Full Parameter Tree, modify the corresponding
parameter values, and manually restart the flight controller.
3
ArduPilot Settings
RELAY_PIN
RC X_OPTION
81
Define the Camera switch pin GPIO81 as Relay.
28
Relay On/Off: Use the CH_X on the transmitter
to control camera switching.Camera 1 is
activated when the auxiliary switch's pwm
value falls below 1200, and Camera 2 is
activated when it exceeds 1800.
save
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