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  • best iNav F3 board with M8N GPS / Compass - Fixed Wing FPV with PIFF , Sirius™ AIR3 in AU NZ USA EU
  • iNav connection wiring diagram to Sirius™ AIR3 F3 board with M8N GPS / Compass - Fixed Wing FPV with PIFF , AU NZ USA EU
  • best iNav board with M8N GPS / Compass - Fixed Wing FPV with PIFF , Sirius™ AIR3 in AU NZ USA EU - Connection diagram
  • iNav board with M8N GPS / Compass - Fixed Wing Connection diagram Sirius™ AIR3
  • M8N GPS connection for iNav to Sirius™ AIR3 f3 - compass is not connected as heading is derived from GPS
  • best iNav board with M8N GPS / Compass - Zephyr MKII fast Wing FPV with PIFF , Sirius™ AIR3 in AU NZ USA EU - Sony HD Cam ; 1177 FPV Cam ; GPS in Port wing, FPV Tx Starboard wing - KDS BL680 servos ; Scarab 3a uBEC ; 148 kph recorded
  •  Zephyr MKII fast Wing FPV with PIFF , board = Sirius™ AIR3 in AU NZ USA EU - 4s6600 LiPo ,  GPS in Port wing, FPV Tx Starboard wing - KDS BL680 servos ; Scarab 3a uBEC ; X4RSBus ; OSD Andromeda-mini

iNav Sirius™ AIR3 F3 with M8N GPS / Compass - Fixed Wing FPV with PIFF

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Product Description

iNav Sirius™ AIR3  F3 SPI - Fixed Wing FPV Mission version, includes optimised M8N GPS / Compass - iNav 1.6.1 is the newest 2017 codebase to cater for auto-launch, stabilised flight, navigation, return to land (or Return to Loiter above you in an orbit) and uses a Google Chrome Extension UI, making it easy to connect, adjust and customise settings from your Mac or PC  laptop using USB.  Importantly for FPV Sirius™ AIR3 iNAV features OSD Tx/Rx pins externally to provide data to a MWOSD Minum such as Andromeda.  The M8N GPS firmware has been specifically re-coded by us for iNav to suit both southern hemisphere and northern users. inav-logo.jpg

 Sirius™ Air3 + GPS Hardware Features or Airplanes

  • AIR3 features a full inertial damping polycarbonate/CNC Aluminium base case, three internal LED's including GPS locked LED pulsing RED = home point recorded -  Riding on the GEL base are full suite of Sensors SPI MPU6500 Gyro/SPI Bosch 280 Acc/SPI Bosch BMP280 Baro/ M8N GPS optimised for iNAV / i2c 5883 Compass Mag (mag not used for fixed wing as heading is derived from the GPS) ; 19g including metal/Polycarbonate case @47x32x18mm
  • Full M8N GPs / Compass plug play - Optimised firmware for iNAV AU, NZ, USA, EU - This GPS in this form is unbelievably accurate - 25cm RTL results ; superfast start - typically finds 16-19 Sats in AU skies ; 15g @ 45mm Ø
  • For conventional tail airframes - fixed wing - Supports dual aileron servos, Twin engine, Rudder and Elevator servos, GPS and OSD data Output
  • for Delta or Wing - Supports Dual Elevon servos, Rudder servo, motor ESC, GPS and OSD data output
  • 3 uARTs for GPS/Sbus or PPM/OSD and USB

iNav 1.6.1 Software

  1. comes pre-coded with iNav 1.6 for  Fixed Wing. Our flight tested PIFFs (not PIDS) are already installed ;
  2. download iNav from the Google Chrome store HERE

Features we like about iNav 1.6.1 software

  1. Inertial based system - incredibly accurate --  with stable BARO calculations gives sub-metre accuracy - the included GPS typically finds 16-19 Sats even in Australia and is very fast to acquire, around 35 secs cold, instant acquire after battery exchange.  AIR3 will flash the red in 3/sec once the home point is recorded/locked.
  2. Auto Launch control of fixed wings -> Set auto-launch then ARM ; then set your throttle to your normal climb power setting ; select Angle mode ; hand launch the Wing without fear of the prop (IMU detects launch throw then after release spools up) or wing drop (Acc is active) as the Sirius AIR3 iNav will hold the wings level ; once the launch "g" is detected the motor will then spool up, the wing will clim at the preset angle such as 10-20° ; you have 10 secs to pickup your Tx ; or as soon as you move the controls on the Tx - it's your aircraft again. Planes which were very hard to hand launch like Z2 are suddenly pussy-cats - more info below in FAQ
  3. ACRO, Horizon or ACC modes with new PIFF gains - a new type of gyro/acc based servo controller (adjusted by CLI commands) debut in 1.6.0 - these make possible the use of fast servos with almost no jittering
  4. A new "curve" based TPA which reduces gyro sensitivity at high throttle settings associated with fast cruise, and allows larger more responsive servo input at slow speed 
  5. Return to loiter or land as per your settings for failsafe - We recommend to program your FrSky Rx to FAILSAFE mode preset (press X4R or X8R button with this mode action) as opposed to RTH - see here for details  and also HERE
  6. Highly capable iNav Dev Team led by DigitalEntity DE here ; with monthly development cycles planned - We are a full sponsor of iNav - true believers in it's future - you can help HERE


  • Includes firmware optimised M8N GPS  + Compass module - plug-n-play ready ; 300mm lead wire
  • Includes Sirius™ AIR3 pre-coded with iNAV 1.6.1 - tested by us - plug-n-play ready
  • Includes Sbus wire for 16 Channels (we recommend a Max of 95% for Sbus Channels - this means don't set channels to 110 or 120% - only 95% or less)
  • Includes older style, Rx multi wire connector - this restricts the inputs to THRO, AILER, ELEV, RUDD , Aux 1 and Aux2
  • Includes i2c MAG (not used in current 1.6.1 for fixed wing as heading is derived after 3m from GPS) connectors - incase you want to recode later to QuadX for example  (multicopter iNav uses compass extensively)
  • Always fly it with the Firmware it comes with BEFORE you get ahead of yourself and wipe the firmware (all our settings) - We do NOT use the latest firmware for a good reason and that is bugs which may not be reported exist ; always wait for the x.x.1 version ; update firmware at your own risk (after you backed up all the diffs - see below).  After a few flights then make your plans for new features if you need them.best-ubec-for-inav-servos.jpg


Excludes /Recommended

  • Requires Fast digital servos and they require require a VERY good uBEC with 5.0v HERE 
  • Requires anti-brown out caps HERE
  • Excludes OSD video overlay board - Andromeda is recommended -  Here
  • Requires Fast Metal gear servos such as CB215 or for larger planes these "Standard" size coreless servos - to really get a responsive fixed wing you will need coreless high speed servos - Slow servos are retro and almost defeat the purpose of such a faster Cortex Arm CPU chip with sensors running at 8k/2k - then use a slow servo?   - no point going there really 


Training on iNav setup

inav servo connection diagram fixed wing


                               iNav Fixed Wing Sirius AIR3 pinout connections


iNAV USB Port connection - be sure the port selected is the USB port  PC=Comm or ; Mac OSX = /dev/cuSLAB_USB - set speed to 115200 baud 

Power - supply 5.0v 3amp power Vcc to any of the 4 x RED center pins in the diagram above , and GND pins - be sure to use a large C1 Capacitor to handle servo amp spike demands (USB alone cannot drive servos as USB ports on PC usually have a low limit ~0.5amp) - For single motor Wings connect 5.0v uBEC to Pin2

How do I use old style Analogue (Blue) Servos - that's all i have in my plane? Answer = For slow analogue servos (i.e. they not digital) set the iNav UI Configuration servo speed to 50hz (analogue).   The default of 333hz is for our fast digital servos.


iNAV Accelerometer Calibration (SETUP TAB)  Calibrate button must be clicked 6 times for INERTIAL - so each time the AIR3 must be be in the 6 sequence different of assigned positions - hold until it shows completed in the log (USB arrow = front)  1. top of case up towards sky ; 2. flip upside down ; 3. on right side ; 4. with nose-up ; 5. on left side ; 6. with nose-down


iNAV Compass Calibration (only used for multicopters Quads,Avatar or Tricopters in iNAV - see SET UP TAB ; Note that fixed wing can only fly forward so heading is derived from GPS data in All iNAV fixed wings) - For Quads - after pressing calibrate mag rotate the AIR3/Quad with GPS/Compass pod fitted by 360° in 3 axis X, Y and Z within 30 secs


Team CarbonBird™ iNAV FAQ ©

My iNav F3 AIR3 won't arm - all the servos are dead ; Answer = iNav will not activate servos if the Receiver is either not on and powered/connected or not sending safe data from the Tx to the AIR3.  Check your selected Rx is set (such as Serial Rx SBus or for older Rx with multiwire setting choose PWM Rx one-wire-per-channel) Additionally the AIR3-iNav wont ARM if any of the ARM blockers are active such as 1. GPS home point not recorded (you are inside or next to a large building or tree)  2. Tilted IMU 3. Throttle not below 1100 uSecs 4. Gyro was moving around in first 10 secs after power applied. 5. 6-position ACC calibration not completed  6. Compass not calibrated in 360° XYZ, clear of ferrous objects 7. Throttle not below min throttle (usually this means 1090 or less)

What is iNav Airmode? Answer = We recommend you set Airmode in config panel of UI tabs, to always ON - this will provide servo flight control surfaces IMU responses when gliding with throttle at 0% ; with Airmode = off setting a zero throttle setting will disable the servos.

Do i need to put my GPS on a lollypop stick?  Answer = No - absolutely NOT - this is a myth started by people whose airframes are poorly conceived, full of vibration, RMI and RFI - We STRONGLY recommend you twist then route servo, ESC and the GPS lead  "Wires" and pod >75mm away from other devices like ESC, OSD, FPV cams, uBECs, motor wires and LiPo wires.  The GPS works in conjunction with a compass (in quads) and its usually the compass which is spiking due to RMI. However RMI can also be accidentally "injected" into un-twisted signal wires such as GPS wires creating very high signal/noise ratios in poor builds which ignore our wire routing advice above.  Whilst a stick might comply with the 75mm clear rule, it's a sad fix as the lead wire may still be routed poorly. Far better to twist wires with GND wire - plan your wire paths and embed the GPS/Compass into the wing on the opposite side to the FPV Tx, and clear of the wing servos.

How do i alter the direction of my Wing Servos? Answer = Go to the iNav UI SERVOS tab and select "Enable Live Mode" - on the right side for say Servo 3 - in the column marked "Direction and rate" change the drop-down Rate from +100% - to -100% then press SAVE

iNav Failsafe - Should i set Failsafe on my Rx or in iNav? Answer = Failsafe is a MODE setting in MODES tab of UI - If you have a digital Rx like X4R or X8R you should be sure to use and assign FAILSAFE rather than RTH as a mode in MODES tab; then in FAILSAFE TAB of UI - choose your preferred Failsafe action such as return to Land ; Take your prop off - and walk about 10-15m away from home point to test failsafe is working the way you expect when you turn the Taranis OFF/ON again  Be aware :-

  • Setting "failsafe_kill_switch = ON" will disarm you machine instantly when FAILSAFE mode is activated.
  • Failsafe will disarm instantly if your throttle was low for more than 10 seconds (default).
  • Failsafe RTH won't activate on airplanes when machine is closer that 5m (default) to home.
  • Failsafe RTH won't activate on airplanes without compass if prior to that there was no motion faster than 3 m/s (to acquire heading).
  • Failsafe will stay active after signal recovery until you move your Roll/Pitch stick.

I want to use an RC wing or a RC Delta fixed Wing with Rudder? My servo is not moving on Ch 5?  Answer = When flying a turn without rudder you will encounter adverse YAW - Using a Rudder(s) permits fast recovery from a spin, the joy of doing perfect stall turns, holding the nose up in a slow roll or 4 point rolls/harriers with a delta, permits a crab approach to hold runway centreline in a crosswind, flatter (reduced bank) turns, balanced turns and is desirable for Photogrammetry ops.  To active rudder in iNAV WING You must paste the code below into the WING cli and SAVE (essentially creating a custom mix with Rudder on pin 5 of AIR3) ; Then connect the Rudder servo (or two Rudder servos on a Y-Lead) as shown below (signal wire on M5 ; Servo GND/Vcc on Q2) - This is because the centre pins under M5 and M6 are OSD Tx/Rx data pins and not Vcc. 

mmix reset
mmix 0  1.000  0.000  0.000  0.000
mmix 1  1.000  0.000  0.000  0.000
smix reset
smix 0 3 0 100 0 0 100
smix 1 3 1 100 0 0 100
smix 2 4 0 -100 0 0 100
smix 3 4 1 100 0 0 100
smix 4 5 2 100 0 0 100

My flying area has lots of obstacles - so I want my Wing to retun home - but only to circle above the trees and not try to land?  Answer = in cli set  nav_rth_allow_landing = OFF - this way your wing will circle around the home point at the altitude set for the RTH.  You can also disable the RTH climb threshold if you prefer that is your decision option   set nav_rth_climb_first = OFF

What is the profile of the AUTO_RTL Landing phase? Answer = Current 1.6.1 fixed wing autoland is to a) return to home position at RTH altitude - so if you want it to return at 50m set nav_rth_altude=5000 b) circle, Loiter and descend in a spiral descent using a 50m radius of the home point - you can change the radius so if you want 60m set nav_fw_loiter_radius=6000 . This caters for the pilot to regain control during orbit (move Tx sticks) and fly it (or if Tx power lost - to get another batter installed in his Tx)

I have only ever flown Quads - Whats the best way to wire up servos in a fixed wing RC plane? Answer = Be sure to use a high quality uBEC.  Many older RC uBECs produce 5.4v and are not ideal for flight computers or OSD ; Choose a uBEC with sufficient AMPS to power fast servos, and a stable 5.00v output with no electrical noise.  Fixed wing FPV (camera based ops) requires fast digital coreless servos or your wings are going to waggle all over the place; it's pointless having an F3 Arm chip CPU running at 8K and some old analogue blue plastic servos ! - Be sure to use FAST coreless digital servos and set the respective speed in the CONFIG tab of INav. Fixed wing RC ESCs should be selected for FPV for endurance - ie better efficiency using Active Freewheel.  

My iNav plane rolls weird - kinda corkscrews and rolls ? How do i set the servos for linear rolls along the roll axis? Answer = In regard to the Servos - be sure to understand mechanical Aileron differential to provide more up aileron than down aileron,  in a balanced roll.  This is done by positioning the Servo arms (for top mounted servos only)  leaning towards the back slightly 110° rather than 90° to the servo - if your servos are on the bottom of the wing the Aileron servo arms should be mounted with the horn leaning forwards at 70° to the servo rather than at 90°.

I want to connect a MinumOSD to my AIR3 ?  Use the Rx & Tx OSD pins  (Telem OSD Receive/Transmit + GND and 5v from the back pins R->T ; T->R )  then ; FOR OSD check UART1 is at 115200 as a msp in the PORTS tab of iNav (MinumOSD requires UART1 set to 115200 only) ; and then enable telemetry in the Configuration tab, save. Be aware that OSD and USB both share UART Port 1 so if you want to go back into USB to alter iNav PIDs, then disconnect Rx/Tx OSD temporarily  - Hero•32 F3 the 5.0v Vcc must be connected to 4 Quad ESC centre pins M1-4 as the other 2 pins (below M5&6) are  used for OSD data output (see blue/green circles  below). 

air3-inav-i2c-mag-pins-wiring.jpg paris-AIR3-iosd-with-gps-co-ordinates shown on. Scarab OSD  

Should i do a hand launch at a steep angle upwards - throw it up? or should i throw it level? Answer = Risk management. It is much safer to throw an airplane LEVEL with the correct C of G set (and elevons up ~4mm for a wing) as the airplane will glide once it is thrown fast and level, provided airspeed exceeds stall speed at low angles of attack (ie level throw and elevons up - for a plane with elevator the elevator should be level or slightly up) - If you decide to throw the airplane upwards, or a friend throws it too soft  - there is a strong risk it will never achieve flying airspeed - stall - drop a wing and crash, before the motor can accelarate the craft back to flying speed.  So overall the safest maiden strategy is a good strong/hard & Level throw - overhand - so it's being thrown at 2m into the wind.  Alternative method is a DLG style toss - however the iNAV software will cancel any throw exceeding 45° tilt.

I really want to use iNav auto-launch but am worried my WING will be damaged on the first throw?  What is there to know to get this right?  Answer = Never install the prop until you are 100% sure of the system and test it live WITHOUT a prop. Wear eye protection and a strong leather glove. We setup Auto-Launch and pass-thru on the same switch so if there is an issue its easy to switch into pass-thru and fly manually - then set this into MODES tab.  Pick your weather and time for a maiden, wind is your friend.  Always throw the maiden into a decent headwind ; for zero ground speed a wind will automatically give you 10-15kph of airspeed on the throw.  Dead calm days are much harder to get a safe hand launch especially of a faster wing like a Zephyr.  establish the C of G - mark it with a pen or a few dots of CA like brail. check the C of G .  All Wings glide level with a slight amount of reflex = elevons about 4mm UP - then on Tx Set switch for ANGLE MODE - place the wing on the ground   1.place the Tx on the ground well clear (3-4m) of where you are going to step (this also ensures Taranis remains bound at 100%, as when the Tx is too close to the Rx the swamping will cause Taranis to go to failsafe and the launch detect will fail ) - Set throttle to zero, down full. 2. Flip your Auto Launch switch to ON 3. Set ARM switch to ON (the Acc is now waiting to detect "G" force - so be very careful at this point not to jerk the airplane around)  Also DO NOT bump your STICKS during launch!! if the sticks are now bumped the launch is effectively cancelled  4. Move your throttle up to approx 75%, the motor should not spin yet (enough power to hold airspeed in the climb phase /angle you have set in the cli)    5. Pick up the airplane,  Do NOT run, just Face the wind take one step as you throw the WING level (never try to throw the fixed wing up steeply as auto-launch will disable itself at 45° tilt ; We always throw level or slightly up like approx 5° max) - approx 0.5 secs after you throw it the motor will spool up to the cli settings you save.  6. Pickup the Tx calmly within 5 secs and take over by moving the Elev/Ailerons/Thro.  7. Turn off Auto Launch.  NOTE : Dummy Launch test in iNav - you can remove the Prop and do all steps above - just don't let go the WING after the throw "G" force - motor should spool up and run.

How do i know if my C of G is wrong on an RC fixed wing ?  Answer = Always maiden with the C of G as per factory settings (or slightly forward of that - the Elevons should have Reflex = UP by around 4mm) - then gradually move the LiPo back - the test is when too far forwards - an ailerons-only roll (trim for level flight then do a 360° roll without touching/using Elevator) will result in a large corkscrew flight path ; as the C of G comes backward the spiral will flatten towards a straight line.  Be aware that if the C of G crosses the rearward limit the plane/Wing will be uncontrollable - More info? C of G can also be calculated using eCalc.

How do i tune this new PIFF controller in iNav 1.6.0 ?  Answer = the Fixed wing PIFF values are not shown in the UI PIDs page - not yet - atm they are so new they still exist only in the CLi page ; go to CLI and type "SET" return - you will now see fixed wing values with fw_    Tuning iNAV PIFF is covered HERE

How do i SAVE my iNAV settings after i made custom changes - What if i want to roll back to a setting from a few days ago? I want these as backups for later, or to send to a friend?  Answer = This is called a "CLi dump". with your Sirius™ AIR3 connected by USB goto the CLi Tab ; at the bottom type dump , return ; the screen will fill with data ; Use your mouse to select all the text ; COPY it - Create a folder on your PC/Mac ; Open a blank TextEdit Doc (plain text doc) ; Paste all the data into the blank text .txt file - (delete the top line "entering cli mode...) ; save each file with a smart name to allow Roll-back.    Later when you want to restore a Sirius AIR3 - goto the CLi TAB and paste all this "dump" text ; Return ; once it's finished scrolling down ; type SAVE - the AIR3 is now fully restored to the Roll-back data.

How do i see whats "Different" about my iNav settings ? Answer = in CLi TAB ; type diff or diff all       Diff all can also be used to backup to a text file but be sure not to include the defaults line at the top, only the rest

Can i use EZGUI and fly multi-point missions with Air3 iNav ?  Answer = Yes - 433/915Khz 3DR style MavLinks will work  - you must flash AIR3 1.7.1 (we have replaced the (gimmick) rgb/led functionality with Soft-Serial on these pins and use soft serial on UART4 (SoftSerial1) set to MSP 9600 -   so Firmware 1.7.1 onwards disables RGB LED support and enables software serial port on last two pins of RC connector: Pins 7/8 , GND and 5v

| Pin | Function         | AIR3 iNav 1.7.1 Notes                                
| --- | ---------------- | --------------------------------     
| 1   | Ground           |                                      
| 2   | +5V               |                                     
| 3   | RX_PPM          | Enable `feature RX_PPM`              
| 4   | unused           |                                      
| 5   | USART2 TX     |                                      
| 6   | USART2 RX     | SBus                                 
| 7   | SS1 RX          | Enable `feature SOFT_SERIAL1`~MSP    
| 8   | SS1 TX          |                                      
Note that software serial ports work unreliably at baud rates higher than 19200 bps - so 9600 is fine. Then use EZGUI


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