Step 4. Verify Switches

WARNING! Remove props and attach the antenna before configuring aux switches.

Open the Modes tab in INAV. To verify the switch settings that come preconfigured to the flight controller, you’ll need to have the radio bound.

• Scroll down in the Modes tab to see all the settings that are pre-programmed to the flight controller.

Arm State (whether or not the motors can be powered) should be set to CH 5, which is mapped to the SF switch on the Taranis.

• Move the switch all the way towards you to arm the drone. You’ll hear, “Engine On,” and steady beeping if the drone is not able to arm (this could be for a number of reasons, including because the throttle is high, there is no GPS lock, RubiQ hasn’t been fully configured, or Position Hold or Return to Launch are active).
• The blue ticker below the ARM bar should move into the blue range.
• Because GPS-lock is enabled, the box labeled ARM at the beginning of the bar will not turn blue. That color change indicates that the drone has successfully armed. It will not turn blue until a GPS lock has been established. RubiQ cannot fly without GPS lock.

The second bar controls Flight Modes and should be set to CH 6, which is mapped to the SA switch on the Taranis.

• Move the switch all the way away from you for Acro/Rate Mode (the blue ticker should be below the gray section of the bar) and to the middle for Angle Mode (this should move the ticker into the blue).
• The box at the beginning of the bar turns blue when Angle Mode is successfully activated.

Scroll down to the NAV ALTHOLD bar, which is also mapped to CH 6. Move the SA switch all the way towards you to trigger Altitude Hold.

• Without GPS-lock, the NAV ALTHOLD box will not turn blue.

GPS Safety Features should be set to CH 7.

• Move the SB switch to the middle for Position Hold and all the way towards you for Return to Home/Launch (RTH).
• These boxes will also not turn blue until a GPS-lock has been established.

The Beeper should be set to CH 8, which is set to the SC switch on the Taranis.

• Flip the switch towards you to trigger the Beeper, which will also blue-out the box at the beginning of the bar.
• Move the SC switch back to stop the beeping.