v1.7.2 — missions for INAV, one selector for the whole stack

Tell the GCS which firmware you fly and the whole app follows it — connection, mission planner and setup pages. INAV missions now upload from the same route editor ArduPilot uses.

Flight stack

SYS CONFIG → FLIGHT STACK picks ArduPilot, INAV or Betaflight. The connection
page is pre-set for it — MAVLink serial at 57600, MSP at 115200 — with a line saying what was
chosen and why, and it never touches a live link. The choice is remembered between sessions.

Nothing is hidden. A control the selected stack cannot use stays where it is, greyed out and
unclickable, carrying the reason in its tooltip: an operator who cannot see a feature cannot
tell whether the GCS lacks it or the firmware does.

INAV waypoint missions

You plan the mission exactly as before — waypoints, perimeters, area scans, corridors, POI,
landing, with the altitudes resolved against the terrain model — and UPLOAD writes it to the
board over MSP as an INAV waypoint list: navigation and hold points, POI, heading, per-leg
speed, landing and return to home. READ brings back what the board is holding and turns it
into an editable route. Upload with the aircraft disarmed, then fly it in WP mode.

Waypoint altitudes travel relative to the arming point, which every INAV version understands;
a route setting switches them to absolute AMSL (INAV 5 and later). A second setting also writes
the uploaded mission to the board storage, so it survives a reboot.

What the INAV format has no room for is greyed out while you plan, and the route card says so
as you edit rather than failing at upload: no loiter circles, no spline legs, no take-off
waypoint, no camera, gimbal, servo or relay actions, no per-waypoint acceptance radius. The
waypoint budget — 60 by default, or whatever the board reports once connected — is shown on the
route card next to the other statistics, so a survey grid that will not fit says so while there
is still time to widen the lane spacing.

Betaflight has no navigation stack, so the FLIGHT PLAN tab is greyed out and does not open.

Setup pages follow the stack too

On an MSP stack the screens that only speak MAVLink to the flight controller — parameters,
calibration, radio cal, joystick override, flight modes, failsafe, servo/relay, PID and extended
tuning, vibrations, telemetry forward, RTK inject, SITL — are greyed out, each saying where that
setting actually lives ("PID tuning lives in the INAV Configurator"). CONNECTION, LIDAR and CORV
SETUP stay available on every stack.

Also in this build

The installer was rebuilt with a lighter graphics pipeline and a few fixes:

• Smoother 3D. The view now really runs at 60 fps; it was dropping to ~35 with an uneven
  cadence. SYS CONFIG → 3D FRAME RATE → 30 FPS (ECO) halves the rendering work on battery.
• Lighter terrain. The terrain is drawn from its elevation data on the GPU, with ~20 draw
  calls instead of ~130, 75 % less CPU spent rendering and a fraction of the memory. It looks
  exactly as before.
• FPV camera decoded in hardware. The GCS reads the camera's H.264 / H.265 RTSP stream itself
  and the GPU decodes it: no more VLC transcoding every frame, lower latency and less CPU. VLC is
  only used as a fallback when the stream cannot be read this way.
• SITL plane up to 600 km/h. The simulated jet cruises at 300 km/h and reaches 600 km/h on a
  speed command. It takes off from the runway in TAKEOFF / AUTO, and an older SITL download is
  refreshed automatically.
• Rotor load. The SYS CONFIG and sidebar switches are now one setting, and the caption no
  longer stays on screen over the position and traffic panels when the gauges are off.

Downloads

CORV GCS Setup 1.7.2.exe — Windows installer.

The Linux packages (.AppImage, .deb) are not here yet: they are built on a Linux host and will be
added to this release when they are ready.