INAV: Navigation-enabled flight control software
Clone or download
Latest commit 12379d4 Dec 30, 2018
Type Name Latest commit message Commit time
Failed to load latest commit information.
.github Add categories for issue templates Aug 17, 2018
docs adding F4 Nano v6 Dec 13, 2018
lib cleanup a pointless use of __packed (gcc 8.2 warning) Jul 27, 2018
make Remove I2C_GPS driver; Refactor GPS core code; Refactor UBLOX driver … Oct 31, 2018
src Bump version to 2.0.1 Oct 31, 2018
support preliminary support for pr builds / 3rd party builds Jun 23, 2015
.gitattributes Ensure that binary file changes are ignored when producing a git diff. Oct 15, 2014
.gitignore Remove /src/main/fc/settings_generated.{h, c} from .gitignore Jun 4, 2018 Run unittests each travis build Jan 29, 2017
.travis.yml Update Travis CI gcc version Aug 7, 2018
AUTHORS Update AUTHORS list. Add Contributor Code of Conduct Aug 6, 2018 Update AUTHORS list. Add Contributor Code of Conduct Aug 6, 2018 Update Sep 12, 2016
Dockerfile Updated local docker toolchain Oct 18, 2017
JLinkSettings.ini Merge branch 'AlienWii32_defaults' of Dec 26, 2014
LICENSE Updated source files to include the GPL v3 notices. Include a copy of Jun 4, 2014
Makefile Require test to actually pass when running make test Jul 2, 2018 Normalize all the line endings Sep 15, 2014 Minor spelling fix Dec 30, 2018
Vagrantfile Fixed Vagrant file, again. May 6, 2018 Updated local docker toolchain Oct 18, 2017 CJMCU removed Apr 24, 2018 EUSTM32F103RC removed Apr 24, 2018 Update Travis CI gcc version Aug 7, 2018

INAV - navigation capable flight controller

INAV Travis CI status


  • Outstanding navigation performance out of the box
  • Position Hold, Altitude Hold, Return To Home and Missions
  • Excellent support for fixed wing UAVs: airplanes, flying wings
  • Pitot tube support
  • Rangefinder support (sonar and laser)
  • Oneshot and Multishot ESC support.
  • Blackbox flight recorder logging (to onboard flash or external SD card).
  • Lux's new PID (uses float values internally, resistant to looptime variation).
  • Simultaneous Bluetooth configuration and OSD.
  • LTM Telemetry.
  • Smartport Telemetry.
  • RSSI via ADC - Uses ADC to read PWM RSSI signals, tested with FrSky D4R-II and X8R.
  • OLED Displays - Display information on: Battery voltage, profile, rate profile, version, sensors, RC, etc.
  • In-flight manual PID tuning and rate adjustment.
  • Rate profiles and in-flight selection of them.
  • Multiple simultaneous telemetry providers.
  • Configurable serial ports for Serial RX, Telemetry, MSP, GPS - Use most devices on any port, softserial too.
  • Multi-color RGB LED Strip support (each LED can be a different color using variable length WS2811 Addressable RGB strips - use for Orientation Indicators, Low Battery Warning, Flight Mode Status, etc)
  • PIDs from CF/BF can be used in INAV, no need to retune for INAV
  • And many more!

For a list of features, changes and some discussion please review the thread on RCGroups forums and consult the documentation.


INAV Configurator

Official tool for INAV can be downloaded here. It can be run on Windows, MacOS and Linux machines and standalone application.

INAV Blackbox Explorer

Tool for Blackbox logs analysis is available here

Telemetry screen for OpenTX

Users of FrSky Taranis X9 and Q X7 can use INAV Lua Telemetry screen created by @teckel12 . Software and installation instruction are available here:



Documentation, support and learning resources


Contributions are welcome and encouraged. You can contribute in many ways:

  • Documentation updates and corrections.
  • How-To guides - received help? help others!
  • Bug fixes.
  • New features.
  • Telling us your ideas and suggestions.

A good place to start is Telegram channel, Slack, Facebook goop or IRC channel on freenode (#inavflight), drop in, say hi.

Github issue tracker is a good place to search for existing issues or report a new bug/feature request:

Before creating new issues please check to see if there is an existing one, search first otherwise you waste peoples time when they could be coding instead!


Please refer to the development section in the docs/development folder.

INAV Releases