Introduction

The INAV Fixed Wing Group have produced a model for most transmitters running OpenTX. The aim of the standard INAV FWG OpenTX model is to get new people up in the air quicker. Also, having a base layout, which will make helping easier too. OpenTX is a very powerful operating system, so it’s well worth learning and checking out what else it can do.

Download the standard Model Here

Click the button below to download the latest version of the INAV Fixed Wing Group OpenTX model pack

If you’ve been using INAV for some time, and are an advanced pilot. You may wish to check out our Pro OpenTX Model. That may be more suited to you.

There are 2 flavours of OpenTx model provided: a standard model and a model for Pan and Tilt. Both have the same features; basically, the only difference is the channel order. The Standard version uses only 7 RC channels; the Pan and Tilt version uses 11 channels. So this model will happily work on all pretty much all receiver types including D16, LR12, R9, and Crossfire.

Transmitters and Versions

FrSky Taranis Q-X7 & Q-X7S

Please use the INAV Fixed Wing Group – OpenTX Q-X7 Model.otx file for your transmitter. This is the standard model. There is no Pan and Tilt version because the Q-X7 doesn’t have sliders on the side.

FrSky Taranis X9D, X9D Plus, & X9D Plus SE

Please use either the INAV Fixed Wing Group – OpenTX X9D Standard Model.otx file or the INAV Fixed Wing Group – OpenTX X9D Pan & Tilt Model.otx file.

Horus X10, X10S

You will need to be using OpenTX as the transmitter’s operating system. Please use either the INAV Fixed Wing Group – OpenTX X10 Standard Model.otx file or the INAV Fixed Wing Group – OpenTX X10 Pan & Tilt Model.otx file.

Horus X12S

You will need to be using OpenTX as the transmitter’s operating system. Please use the INAV Fixed Wing Group – OpenTX X12 Model.otx file. This is the standard model. A pan and tilt version will follow.

Jumper T12, T16, & T18

Currently there are no separate models for Jumper transmitters. However, for the T12 use the Q-X7 model, and for the T16 & T18 use the Horus X10 model. There will be specific Jumper models in future releases.

RadioMaster TX16S

Currently there is no separate model for the RadioMaster TX16S. However, the Horus X10 model should work fine. At the time of writing, very few people have a TX16S. So we can not confirm it works at the moment.

The models were built using OpenTX Companion 2.2.3. However, due to the functionality in the models; it should work fine in older and newer versions too.

Features

We have discussed in the group to find the features and a switch layout which will work the best with everyone. Using this information, we came up with a layout as well as some additional features to help get people in the air quicker.

We have tried to cater for all pilots. So, while there may be flight modes that you personally wouldn’t use, others may find them invaluable. We all fly differently, some are in it for speed, others distance, others like to just get up in the sky, relax, and enjoy the view. So with these models, we hope to be able to cover all bases and include as many people as possible.

Switch Layout

FrSky Taranis X9D-Plus, showing the switch layout for the INAV FWG OpenTX Model.

The layout has been designed with how easy it is to move switches and in which direction. The switches on the front face are easier to flick up. So, we have made sure that the safest modes are active when you flick the switch up. We also found the larger switches easier to use; so they have been assigned to flight modes. The switches on the top are easier to flick towards you. So, the arm switch disarms when it moves towards as this is the safest option. The layout above is using a Taranis X9D Plus; however, the switch names will match to your transmitter.

Flight and Navigation Modes

You find the flight modes on switches SB, SC, and SD. When you flick the switch, you tell OpenTX which mode you would like to be using. OpenTX then uses logical switches to decide which mode to use. There is also a specific mode order, so that the safest modes will take priority. For example, Return to Home will take priority over every other flight mode. The order is:

  1. Disarm
  2. Return to Home
  3. Manual
  4. Position Hold
  5. Cruise
  6. Angle – Horizon – Acro

All flight modes have voice confirmation.

Momentary Switch – SH

The momentary switch has multiple functions. To use these functions, press the switch until you hear the appropriate beep, then let go.

  • Beep 1 – This will reset the flight timer
  • Beep 2 – This will enter the INAV OSD menu

We may add more functions in the future. You could also add your own special function on the switch, which you would use by simply flicking the switch.

OSD

Switch SA allows you to change between your OSD layouts. By default, it switches between OSD 1, 2, and 3. INAV will select the default OSD automatically during failsafe.

Tuning

You can select servo autotrim and autotune via the right pot. To do this, the turning arc has been divided in to three sections; the centre being the off position. There is also a voice confirmation to let you which mode has been selected. There is reminder beep while you are in servo autotrim or auto tune.

Arming Warning System

A feature we have added is a smart arming system. It will not let you arm the model if the throttle is not low or you are in a tuning mode. The system will also give you voice feedback on any actions that need to be taken. It will also tell you that the system is armed or disarmed.

Flight Timer

We have incorporated a flight timer on the model. It will start the timer once the you arm and raise the throttle. It will continue until you disarm. To reset the timer, hold SH until the first beep, then let go.

Enter the OSD Menu

We have added a feature to make entering the OSD menu easier. You no longer have to remember stick positions, it also has a safety check. To enter the OSD menu, make sure the system is disarmed, and hold SH until the second beep; then let go. If you forget to disarm. Open TX will ask you to disarm, then try again.

Installing on the Transmitter

Getting Everything Ready

Before we start, let’s make sure that we have everything we need to get you up and running. If you have installed this OpenTX model before. Please check the change log at the bottom of this document.

OpenTX Companion

The first thing you will need to download and install is OpenTX Companion. This is the software which lets you backup, update, and modify your Transmitter. You may already have this installed because its very useful. But if not, head over to https://www.open-tx.org/downloads.html where they have the latest version of Companion.

OpenTX Companion download page

At the top of the page, OpenTX shows the latest stable releases or branches. When we took this screen grab, OpenTX 2.2.3 (2019-01-06) was the latest release; as illustrated with the highlight. Click on the latest branch. The next page has release notes and also any warnings for the release. They are well worth reading. However, the part we are looking for is at the very bottom of the page. There are download links for the SD Card contents and what we’re looking for this time, OpenTX Companion. Download and install the correct version for your computer.

Please follow OpenTX’s guide to install and configure OpenTX Companion. The most important part is to select the correct transmitter and settings you need for the firmware downloads.

INAV Configurator

You will need to download and install the latest version of the INAV Configurator. You can find this at https://github.com/iNavFlight/inav-configurator/releases. The latest version will conveniently be at the top of the page.

INAV Configurator download page

Click on the current release, for example INAV Configurator 2.1.4 here. Then scroll down to find the installation files. Download and install the correct version for your computer.

INAV Fixed Wing Group OpenTX Model

You will need to download the model files from our web site.

OpenTX Options – Global Variables

For this setup to work, an option in OpenTX needs to be present. This is easy thing to check for. Its also easy to fix with a firmware update, if it’s not active. This feature should already be active, but we can check on the Transmitter it’s self before we go any further.

GLOBAL VARIABLES ON THE Q-X7(S)

On your Taranis press the menu button to go to the model select screen. From here press the page button until you reach the Flight Modes page. Press the enter button to edit the flight default mode FM0, then scroll down, where you should see a list of Global Variables.

FrSky Taranis Q-X7 showing global variables

If these variables are present, then you should all set and you can continue with the installation. If not, we need to enable the Global Variables by downloading firmware and installing it on the transmitter. There is an appendix at the end of the document showing this process. So, click here to jump to it.

Global Variables on the Taranis X9D (Plus/SE), Horus X10(S), & Horus X12S

On your transmitter press the menu button to go to the model select screen. From here basically press the page key to cycle through the menu pages. We are looking for a page with the name Global Variables, or GVARS; which should be between the Curves and Logical Switches pages.

FrSky Taranis X9D showing global variables

If this screen is present, then you’re all set and you can continue with the installation. If not, we need to enable the Global Variables by downloading firmware and installing it on the transmitter. There is an appendix at the end of the document showing this process. So, click here to jump to it.

Installing the OpenTX Model on Your Transmitter

Connecting to the Transmitter

To install the files on to your transmitter, you will need the appropriate USB cable to link the transmitter to the computer. Firstly, hold the roll and yaw trims towards the power button and switch the transmitter on. The screen should show the OTX Bootloader. You do not need to select any of the options on the screen. So, plug in the USB cable to the transmitter and the computer.

Installing the Sound Pack

Example of the files on an OpenTX SD Card

Open your system’s file manager, for example Windows Explorer or macOS Finder. You will see two external devices for the Transmitter. One device will have the name of the transmitter, for example Taranis. The other may have the name USB Drive, and will look just like an external drive.

We will be working on the “USB Drive” external disk. If you open it you will see the folders on the transmitter’s SD card. For example, it should look similar to the image shown on the right. Then, enter the SOUNDS folder, you will see folders for the installed languages on your transmitter.

Next, go to the place where you extracted the INAV Fixed Wing Group – OpenTX Model Pack. Find the INAV Fixed Wing Group –Sound Pack Vx.xx zip file. Then extract this file and go in to the INAV Fixed Wing Group – Sound Pack Vx.xx folder. Inside there are folders for different languages packs. In the beginning there will only English (en), but we hope to add more as time goes on. Select the folder of the language that you would like to use and drag that folder into the SOUNDS folder on the SD card. This will then copy the new sounds file to your transmitter. This will not overwrite any existing sound files you may have; for example amber will be safe.

Installing the Model

Backup Radio to File

Open OpenTX Companion. Firstly, make a backup of your current models and settings. To do this click the Backup Radio button on the left side menu, then save the file on your computer.

Next we will access the models that are already on your transmitter. To do this click the Read Models and Settings From Radio button, also on the left side menu. This will open a window containing all your transmitter’s models. You can easily edit models here by double clicking on the model name. The page sequence is basically the same as if you were editing directly on the transmitter.

Read Models and Settings From Radio

Now use the File menu and click the Open… option. Find the models that you downloaded from the INAV Fixed Wing Group. Then load the model that you wish to use into OpenTX Companion.

Now we have a choice where we can create a new model on the transmitter, or overwrite an existing model. To create a new mode, click and hold on the model (INAV FW Std or INAV FW PT), drag it to an empty space in your model list, then release. This will copy the model to your transmitters’ list.

Copying a model in OpenTX Companion

To replace an existing model, we add an extra step which should save to from having to rebind to your receiver. Firstly, double click on the model that you would like to replace; this will open the Editing Mode window. There is a section on this page showing the details of your radio setup.

OpenTX Companion - Radio selection

What we need to do is take a note of the settings used by the radio, in particular the receiver number. Next click and hold on the model (INAV FW Std or INAV FW PT), drag it over the model you want to replace, then let go. OpenTX Companion will ask you if you want to replace an existing model. Click yes. Double click on the model again, only this time you will be setting the radio settings back, based on the notes you previously took. This should mean that you will not need to rebind the model to your transmitter.

After either of these methods, you can now double click on the model and rename it to something meaningful to you. Finally, upload the models back on to your transmitter. Click the Write Models and Settings To Radio button, this will pop up a dialogue box, where you would then click Write to TX.

Once the writing has completed, you can unplug the USB cable and switch off your transmitter. The next time you power it on, the model will be ready for you to use.

You will need to edit the model to set up your receiver settings. By default, the Standard version is configured to use a D16 type receiver (which includes X4R, R-XSR, S6R, etc). It is set to 8 channels, to keep the transmissions in a single frame. The Pan and Tilt version is also set to D16 type receivers; but has been set to use 12 channels, which is the maximum for the L9R. The failsafe has already been set to No Pulses, which is the recommended setting for INAV. You will need to bind with your model’s receiver. 

If using the R9 system or Crossfire, you will need to disable the internal module and setup your external module. Don’t forget to set the R9 failsafe to No Pulses or the Crossfire failsafe to Cut.

Setting up INAV

The final stage is to set up the modes in INAV. Connect your model via USB and open INAV Configurator. Click the Connect button and go to the bottom option in the menu on the left, CLI. You simply need to copy and paste the code below in to the CLI and press enter. INAV Configurator will save and reboot and you should be good to go. Please not that this is only going to set up the flight modes and enabled the default OSD on Failsafe, you should set everything else up before doing this step.

Standard Version

INAV 2.4 and earlier
INAV 2.5 onward
set osd_failsafe_switch_layout = ON
aux 0 0 0 1100 2100
aux 1 1 0 1550 1675
aux 2 2 0 1425 1550
aux 3 3 0 1675 1925
aux 4 9 0 1800 1925
aux 5 8 0 1925 2100
aux 6 35 0 1675 1800
aux 7 10 0 1175 1300
aux 8 27 1 1700 2100
aux 9 28 1 900 1300
aux 10 32 2 900 1300
aux 11 33 2 1300 1700
aux 12 34 2 1700 2100
save
set osd_failsafe_switch_layout = ON
aux 0 0 0 1100 2100
aux 1 1 0 1550 1675
aux 2 2 0 1425 1550
aux 3 3 0 1675 1925
aux 4 11 0 1800 1925
aux 5 10 0 1925 2100
aux 6 45 0 1675 1800
aux 7 12 0 1175 1300
aux 8 37 1 1700 2100
aux 9 21 1 900 1300
aux 10 42 2 900 1300
aux 11 43 2 1300 1700
aux 12 44 2 1700 2100
save

Pan & Tilt Version

INAV 2.0 to 2.4
INAV 2.5 onward
set osd_failsafe_switch_layout = ON
aux 0 0 4 1100 2100
aux 1 1 4 1550 1675
aux 2 2 4 1425 1550
aux 3 3 4 1675 1925
aux 4 9 4 1800 1925
aux 5 8 4 1925 2100
aux 6 35 4 1675 1800
aux 7 10 4 1175 1300
aux 8 27 5 1700 2100
aux 9 28 5 900 1300
aux 10 32 6 900 1300
aux 11 33 6 1300 1700
aux 12 34 6 1700 2100
save
set osd_failsafe_switch_layout = ON
aux 0 0 4 1100 2100
aux 1 1 4 1550 1675
aux 2 2 4 1425 1550
aux 3 3 4 1675 1925
aux 4 11 4 1800 1925
aux 5 10 4 1925 2100
aux 6 45 4 1675 1800
aux 7 12 4 1175 1300
aux 8 37 5 1700 2100
aux 9 21 5 900 1300
aux 10 42 6 900 1300
aux 11 43 6 1300 1700
aux 12 44 6 1700 2100
save

Flight Modes Layout

Once rebooted, your flight modes should look like the graphic below. Please note that this is for the Pan and Tilt version, the Standard version will use channels 5, 6, and 7.

Default modes setup for the INAV Fixed Wing Group OpenTX model

The setup of the flight modes, and model installation is now complete. You will still need to set up the rest of INAV correctly before flying your model.

Updating the Firmware to Enable Global Variables

Switch off your transmitter, then hold the yaw and roll trims toward the power button, then switch on the power. The OTX Bootloader menu should now be on the screen. Now take a USB cable and plug the transmitter in to your computer.

Launch OpenTX Companion. The first thing we should do is take a backup of your transmitter, just in case anything goes wrong. Click on the Backup Radio to File button, and save the transmitters data somewhere safe on your computer.

Once that is complete, click on the Read Models and Settings From Radio button in the left side menu. A list of the models on your transmitter will appear, but it will also copy the settings over.

OpenTX Companion settings

Now click on the Settings gear button in the top menu. A window which allows you to choose which optional features are on your transmitter will appear. The feature we are looking for is nogvars. We must make sure that this box is unchecked. Below is an image showing how the highlighted nogvars option should look. Please note that my Radio Type is a FrSky Taranis X9D+, you should have your correct radio type here.

OpenTX Companion - Make sure that nogvars is not enabled

Next, we need to download the OpenTX firmware.

OpenTX Companion - Download firmware

Click on the Download button, then choose Download Firmware. Save the file on your computer; perhaps in an OpenTX firmware folder so that you can find it later.

Once the download is complete; you will be get a question asking if you would like to install the firmware now. Choose yes, and Companion will show another confirmation box, where you can also change your start screen. Click Write to TX and the update will start.

OpenTX Companion - Write the firmware now?
OpenTX Companion - Flash firmware

Once the update has completed, unplug the USB cable, and switch of the transmitter. When you switch the
transmitter back on, you should now be able to find the Global Variables page in the menu. To jump back to
the main document, click here.

Change log

v1.02

29th September 2019

  • Modified package to resolve compatibility issues.
  • There are now separate model files for the X9D, Q-X7, and Horus.
  • Renamed pack from Taranis to OpenTx

If you have installed this pack before; please delete all 15 sounds beginning with i_ from your transmitter before continuing. To do this, follow the manual to copy the sound pack over, up until the point where you can access the “USB Drive” and find the SOUNDS folder. Enter that SOUNDS folder, then the EN folder inside it. I there you will find the 15 files beginning with i_, which you can delete.

v1.01

21st April 2019

  • Minor update to the manual

v1.00

18th April 2019

  • Initial release