FLYWOOF722PRO target likely mismatched to FLYWOOF722PRO V2 hardware — accelerometer calibration detects wrong orientation

[caihawei]

Title

FLYWOOF722PRO target likely mismatched to FLYWOOF722PRO V2 hardware — accelerometer 6-point calibration detects wrong/opposite orientation

Environment

• INAV version: 9.1.0 (Jul 8 2026 build)
• Target flashed: FLYWOOF722PRO
• Actual board: Flywoo GOKU F722 Pro Mini V2 (Betaflight target for this board is FLYWOOF722PROV2, STM32F7X2 — there is no separate FLYWOOF722PROV2 target in INAV)
• IMU: ICM42605 (acc_hardware = ICM42605 per CLI dump)
• Board mounting: Flat in the frame, no tilt, orientation arrow pointing to the nose (confirmed physically)
• Board alignment settings: align_board_roll = 0, align_board_pitch = 0, align_board_yaw = 0 (all defaults, correct for a flat/forward-facing mount)

Summary

On a brand-new build using the FLYWOOF722PRO target, the accelerometer 6-point calibration wizard consistently mislabels/reverses orientation during calibration — specifically, positions 3 (right side down) and 5 (left side down) are detected as the opposite of the position actually placed. After completing calibration, the aircraft's attitude no longer tracks correctly on the Setup tab's live 3D model.

The FC is mounted flat with no rotation and the orientation arrow correctly facing the nose, and align_board_* is at default (0/0/0), so this does not appear to be a mounting/alignment configuration issue. Since current INAV versions no longer expose per-sensor align_acc/align_gyro CLI settings (sensor orientation is now fixed at the target/firmware level), there's no user-accessible way to correct this.

Given that Flywoo's GOKU F722 Pro Mini has a distinct V2 hardware revision with its own Betaflight target (FLYWOOF722PROV2), and INAV currently only ships a single FLYWOOF722PRO target with no V2 variant, it's likely the IMU is physically mounted/rotated differently on the V2 PCB than what the existing FLYWOOF722PRO target definition assumes.

Steps to Reproduce

1. Flash INAV 9.1.0 using the FLYWOOF722PRO target onto a Flywoo GOKU F722 Pro Mini V2 board.
2. Mount the FC flat in the frame with the orientation arrow facing the nose. Leave align_board_roll/pitch/yaw at default (0).
3. Open the Configurator, go to the Calibration tab, and run the 6-point accelerometer calibration, orienting the aircraft according to the FC's own arrow (not the frame) for each step.
4. Observe that positions 3 (right side down) and 5 (left side down) are detected in reverse — placing the board on its right side registers as position 5, and vice versa.
5. After calibration completes, go to the Setup tab and tilt/rotate the aircraft by hand — the live 3D model does not track real movement correctly.

Expected Behavior

With the board mounted flat and correctly oriented (arrow forward) and align_board_* at default, the 6-point calibration should detect each of the 6 positions correctly and the Setup tab's attitude display should track real-world movement accurately after calibration.

Actual Behavior

Calibration steps 3 and 5 (right/left side down) are detected as the opposite side. After calibration, the Setup tab attitude indicator does not track movement correctly.

Comparison with Betaflight (same hardware, works correctly)

The same physical board runs correctly under Betaflight using the dedicated FLYWOOF722PROV2 target. A Betaflight CLI dump from this board shows:

board_name FLYWOOF722PROV2
set align_board_roll = 0
set align_board_pitch = 0
set align_board_yaw = 0

These are identical (default/zero) to the INAV align_board_* values shown above, which means Betaflight is not applying any user-level/CLI correction — it's using a target-level sensor orientation definition specific to FLYWOOF722PROV2 (i.e. GYRO_1_ALIGN compiled into that target's config.h in betaflight/config). Since INAV only has a FLYWOOF722PRO target with no V2 variant, it's using the V1 board's orientation definition on V2 hardware, which is the likely root cause of the calibration/orientation mismatch described above.

A maintainer with access to betaflight/config/configs/FLYWOOF722PROV2/config.h should be able to see the exact GYRO_1_ALIGN (or GYRO_1_ALIGN_ROLL/PITCH/YAW) value Betaflight uses for this board, which would show exactly what INAV's FLYWOOF722PRO (or a new FLYWOOF722PROV2) target needs to match.

Additional Notes / Request

• Since INAV no longer exposes align_acc/align_gyro CLI settings, there is currently no user-level workaround for a target-level sensor orientation mismatch like this.
• Requesting either: (a) a dedicated FLYWOOF722PROV2 target with correct IMU orientation for this hardware revision, or (b) confirmation/guidance on whether the existing FLYWOOF722PRO target is expected to work correctly on V2 hardware, and if so, what might explain this behavior.
• Happy to provide full CLI dump output, test firmware builds, or additional diagnostic info (raw accelerometer axis behavior while pitching/rolling/yawing) if that helps track this down.

BTFL_cli_20260822_161421_FLYWOOF722PROV2.txt
INAV_9.1.0_cli_20260822_160311.txt

[caihawei]

This happened on configurator 9.0.2 now on 9.1.1 the orientation is still mixed up in calibration tab but after in status tab the position follows correctly the movements. No flight test yet done but the initial reported issue seems to be connected to 9.0.2 configurator. Feel free to delete this bug report.