I have built the TCMM Tyro 119 DIY 3-6S 6" Quad Kit (with a little customization concerning cam mount and compass mount for BN 880) and… I have also built another using the same flight stack with a different more customizable frame but…
I need a little more in depth information on the INAV settings such as what is required for drone takeoff (Will it have to be with stick throttle -ANGLE mode) or can this be done through INAV.
Settings for hover at alt hold and then start mission planner sequence.
I have read INAV Wiki and watched more than just a few YouTube vids concerning this;
Paweł Spychalski, Joshua Bardwell, Painless360, but none have hit that proverbial nail on the head. Most are for fixed wing not quads or don’t give enough detail on settings or how to adjust them.
I've only begun to tinker with iNav myself but I think the best is to start off with angle mode and stick control initially until you've done extensive testing with the gps and compass system to make sure everything is operating as expected. To be honest I've only flown my gps connected hexacopter with betaflight so far, but in there can turn on gps and with osd can have an arrow point back to the take off point and give distance from take off point to verify those values look accurate. I've since then flashed the board with iNav and know depending on the setup it may take adjusting of PIDs just to get things hovering stable and believe there are 4 sets of pid rates iNav uses depending on if flying a waypoint mission or altitude hold or gps hold or flying manual/angle mode.