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INAV 7.1 RC1

17 Feb 19:14
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INAV 7.1 RC1 Pre-release
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INAV 7.1 Ferocious Falcon

Hello and welcome to INAV 7.1 "Ferocious Falcon"

Please carefully read all of this document for the best possible experience and safety.

Contact other pilots, share experiences, suggestions and ask for help on:

INAV Discord Server
INAV Official on Facebook

Important Notes

INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards.

The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays

Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default.

Upgrading from a previous release

Upgrading from INAV 7.0

  1. Backup configuration with CLI diff all command
  2. Download and install the new INAV Configurator 7.1
  3. Flash INAV 7.1 WITH Full Chip Erase option enabled
  4. Select Keep current settings from the defaults pop-up
  5. Go to CLI and restore your 7.0 diff
  6. Done

Upgrading from INAV 6 and 6.1

  1. Download and install the new INAV Configurator 7
  2. Save to a file the current diff all from the CLI.
  3. Upgrade to INAV 7 using the Full Erase option in the configurator.
  4. In case of Analog FPV, upload your OSD font of choice from the OSD tab.
  5. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
  6. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration.
  7. You should be ready, explore new 7.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Major changes

Fixed wing Autoland with landing pattern

INAV supports advanced automatic landings for fixed wing aircraft from version 7.1. The procedure is based on landings for man-carrying aircraft, so that safe landings at a specific location are possible. Supported are landings at Safehome after "Return to Home" or at a defined LAND waypoint for missions.
See: Fixed Wing Landing.md

Altitude and Heading estimation changes

INAV now relies more heavily on GNSS data for navigation than before. This can provide more security if the Barometer fails, or if the multirotor is suffering from Compass interference. By still allowing it to navigate back to home.
For more details see here

Other changes

Updated ICM426xx filtering

The filtering of the ICM426xx gyros has been updated based on changes made to both Ardupilot and BetaFlight and we expect better performance, when comparing to previous INAV versions.

Custom OSD

Users can now customize their own OSD messages, by way of the Programming Framework. Details

New Fixedwing flight mode

The mode is called Angle Hold. For more details see here

New targets

  • FLYCOLORF7V2

CLI

Changed settings

Name Description
gps_dyn_model Default: AIR_2G GPS navigation model: Pedestrian, Automotive, Air<1g, Air<2g, Air<4g. Default is AIR_2G. Use pedestrian/Automotive with caution, can cause flyaways with fast flying.

New Items

Name Description
ahrs_gps_yaw_weight Arhs gps yaw weight when mag is avaliable, 0 means no gps yaw, 100 means equal weight as compass Values: 0 - 500 Default: 100
nav_fw_land_approach_length Length of the final approach Values: 100 - 100000 Default: 35000
nav_fw_land_final_approach_pitch2throttle_mod Modifier for pitch to throttle ratio at final approach. In Percent. Values: 100 - 400 Default: 100
nav_fw_land_flare_alt Initial altitude of the flare phase Values: 0 - 10000 Default: 150
nav_fw_land_flare_pitch Pitch value for flare phase. In degrees Values: -15 - 45 Default: 8
nav_fw_land_glide_alt Initial altitude of the glide phase Values: 100 - 5000 Default: 200
nav_fw_land_glide_pitch Pitch value for glide phase. In degrees. Values: -15 - 45 Default: 0
nav_fw_land_max_tailwind Max. tailwind (in cm/s) if no landing direction with downwind is available Values: 0 - 3000 Default: 140
nav_fw_launch_land_abort_deadband Launch and landing abort stick deadband in [r/c points], applied after r/c deadband and expo. The Roll/Pitch stick needs to be deflected beyond this deadband to abort the launch or landing. Values: 2 - 250 Default: 100
nav_min_ground_speed Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s. Values: 6 - 50 Default: 7
nav_rth_fs_landing_delay If landing is active on Failsafe and this is above 0. The aircraft will hover or loiter for X seconds before performing the landing. If the battery enters the warning or critical levels, the land will proceed. Default = 0 [seconds] Values: 0 - 1800 Default: 0
tailsitter_orientation_offset Apply a 90 deg pitch offset in sensor aliment for tailsitter flying mode Default: FALSE

Removed Items

Name Description
inav_w_xyz_acc_p
nav_fw_launch_abort_deadband

TL;DR

The list of most important changes is also available in a video form: https://youtu.be/8Q8t_KwlSAQ

Changelist

The full list of changes is available here
The full list of INAV Configurator changes is available here

What's Changed from INAV 7.0

INAV 7.0.0

06 Dec 16:32
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INAV 7 Ferocious Falcon

Hello and welcome to INAV 7 "Ferocious Falcon"

Please carefully read all of this document for the best possible experience and safety.

Contact other pilots, share experiences, suggestions and ask for help on:

INAV Discord Server
INAV Official on Facebook

Important Notes

INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards.

The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays

The FrSky D-series telemetry support has been removed. This applies to legacy D4R receivers and some 3rd party whoop boards

Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default.

Upgrading from a previous release

Upgrading from INAV 6 and 6.1

  1. Download and install the new INAV Configurator 7
  2. Save to a file the current diff all from the CLI.
  3. Upgrade to INAV 7 using the Full Erase option in the configurator.
  4. In case of Analog FPV, upload your OSD font of choice from the OSD tab.
  5. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
  6. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration.
  7. You should be ready, explore new 7.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Major changes

Flexible motor and servo output allocation

INAV now was a function that allows to flexibly assign functions to PWM outputs directly from INAV Configurator.
Specific function AUTO, MOTORS or SERVOS can be assigned to each Timer Group. Then, all outputs from this group will perform this function.
Thanks to this, it's possible to use servos and motors in ways that previously required building a custom targets.

INAV output assignment

Bear in mind:

  • In some rare cases, output assignment might be different than in INAV 6. This makes it even more important to remove your props and double check your outputs before you power your flight controller with batteries for the first time after applying your old settings or enabling outputs.
  • It is not possible to assign function to individual outputs. It's a hardware, not software limitation.

Mixer profiles and VTOL support

This has been a frequent request since PNP VTOL models started becoming more common.

Read more in Mixer Profile INAV docs and VTOL INAV docs

Ez Tune

The Ez Tune is a simplified tuning framework similar to Betalight's Simplified Slider Tuning. Instead of setting each PID controller gain, rate, and filter setting separately, Pilot is presented with 8 sliders for:

  • Axis ratio
  • Main filter frequency
  • Response
  • Damping
  • Stability
  • Aggressiveness
  • Rate
  • Expo

INAV Ez Tune

Ez Tune settings are not compatible with Betaflight Slider Tuning setting and cannot be migrated directly.

Read the description in Configurator's Ez Tune tab on what each setting does and how it should be used.

More on the topic of Ez Tune can be found here

In-flight Emergency Rearm

With INAV 7.0 came the ability to Emergency Rearm. This allows you to rearm in flight when you accidentally disarm. You need to do this within 5 seconds of disarming. Which sounds short, but is actually a pretty long time. Emergency Rearm can be used after a launch and while the aircraft still believes it's flying. It bypasses safety checks (including the throttle position) and doesn't trigger auto launch. Multirotors will also briefly switch to Angle to stabilise and level the flight. You can read all about it at https://github.com/iNavFlight/inav/pull/9254

Timer DMA Burst

INAV 7 adds the DMA Burst mode to selected target as ultimately fixes the problem of DSHOT protocol not working on some boards. Pilots do not have to take any actions, DSHOT is just available on previously affected flight controllers. This applies to:

  • Matek F405 TE
  • SpeedyBee F405 V3

JETI EXBUS fixed

The JETI EXBUS protocol should now not hang the flight controller during operation. The issue was originally fixed in betaflight/betaflight#13130 . Thank you @SteveCEvans and @klutvott123

Multirotor Cruise Mode

The Cruise Mode for Multirotors allows pilots to let go the radio sticks while UAV flies on a predefined course with predefined speed. Just like with regular PosHold, Throttle stick sets the altitude and course, while the pitch stick is used to set the horizontal speed. When released INAV will hold set speed, altitude, and course. More information available in here https://youtu.be/4pgDxexuSnU

NMEA Protocol no longer available

As mentioned in the Important Notes section, INAV 7 no longer supports the GPS NMEA protocol. All modern GPS module support one of the UBLOX protocols and as a result pilots must switch to either UBLOX or UBLOX7 protocol.

GPS Improvements

A number of improvements have been made to GPS support in INAV 7.

It is now possible to select multiple GPS constellations, and not only Galileo. If your GPS modules does not support a particular combination, it will fallback to no extra constellations.

M10 GPS units will now default to 10Hz, like M8 units and a new cli setting has been added to allow overriding the update rate of your UBLOX7 GPS (gps_ublox_nav_hz). This should allow you to fall back to 5Hz or bump it up to the limits of what is supported by your GPS module.

INAV GPS Improvements

MSP VTX support

INAV now support MSP VTX when using MSP DisplayPort OSD.

Now it is possible to change VTX power levels and channels via INAV's OSD menu or ELRS backpack without connecting the SmartAudio wire on HD-Zero VTXs.

If you MSP DisplayPort OSD is working, no extra configuration is needed.

Linear Descent RTH mode changed

AT_LEAST_LINEAR_DESCENT is no longer a method for RTH. It has been replaced with a more flexible linear descent option that will work with any RTH method. If previously using AT_LEAST_LINEAR_DESCENT, you should now just use AT_LEAST as the RTH type. Linear Descent is now a separate option that can be used with any other RTH method. To make this possible, the target altitude of the descent is now the nav_rth_home_altitude. In some cases, if flying below the home position, this will work as a linear ascent.

You can also decide when the linear descent will start. Set the nav_rth_linear_descent_start_distance parameter to the distance (metres) from the home point, where you want to start descending. Set to 0, the default setting; the descent will start immediately, as with the pre-7.0 implementation.

These options are available in Configurator.

See the Navigation Mode: Return to Home wiki for more details.

Pilot Logos

You can now have custom pilot logos on your OSD and arming screen (HD Only). You will need to create a custom font with your logos to show them on screen. The OSD logo is a 3x1 character symbol. This can be used with both analogue and HD. The arming screen logo is a 10x4 character image, and only works with HD systems.

More details are available in the OSD Document.

Other changes

  • The AUTOLEVEL mode is renamed to AUTO LEVEL TRIM. The functionality remains the same.
  • The osd_mah_used_precision parameter has been renamed osd_mah_precision.
  • 24 channels available for Jeti systems (not available with F411 or F722 flight controllers).
  • Virtual pitot is enabled by default.

Other removed functions

  • FrSky D-series telemetry
  • output_mode setting that allows to reassign all PWM outputs to either MOTORS or SERVOS

New targets

  • SDmodel H7V1
  • Matek H743HD
  • SpeedyBee F405 V4
  • SpeedeBee F405 Mini
  • SpeedyBee F7 Mini V2
  • GEPRCF405
  • GEPRCF722
  • NEUTRONRC F435 Mini AIO
  • DAKEFPV F405
  • DAKEFPV F722
  • AtomRC F405 NAVI Delux
  • JHEMCUF722
  • JHEMCUF405

CLI

Changed settings

Name Description
gps_provider Removed: NMEA
gps_sbas_mode New: SPAN
nav_rth_alt_mode Removed: AT_LEAST_LINEAR_DESCENT
pito...

INAV 7.0.0 RC3

20 Nov 07:55
2e9b1c7
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INAV 7.0.0 RC3 Pre-release
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INAV 7 Ferocious Falcon

Hello and welcome to INAV 7 "Ferocious Falcon"

Please carefully read all of this document for the best possible experience and safety.

Contact other pilots, share experiences, suggestions and ask for help on:

INAV Discord Server
INAV Official on Facebook

Important Notes

INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards.

The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays

The FrSky D-series telemetry support has been removed. This applies to legacy D4R receivers and some 3rd party whoop boards

Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default.

Upgrading from a previous release

Upgrading from INAV 6 and 6.1

  1. Download and install the new INAV Configurator 7
  2. Save to a file the current diff all from the CLI.
  3. Upgrade to INAV 7 using the Full Erase option in the configurator.
  4. In case of Analog FPV, upload your OSD font of choice from the OSD tab.
  5. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
  6. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration.
  7. You should be ready, explore new 7.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Major changes

Flexible motor and servo output allocation

INAV now was a function that allows to flexibly assign functions to PWM outputs directly from INAV Configurator.
Specific function AUTO, MOTORS or SERVOS can be assigned to each Timer Group. Then, all outputs from this group will perform this function.
Thanks to this, it's possible to use servos and motors in ways that previously required building a custom targets.

INAV output assignment

Bear in mind:

  • In some rare cases, output assignment might be different than in INAV 6. This makes it even more important to remove your props and double check your outputs before you power your flight controller with batteries for the first time after applying your old settings or enabling outputs.
  • It is not possible to assign function to individual outputs. It's a hardware, not software limitation.

Mixer profiles and VTOL support

This has been a frequent request since PNP VTOL models started becoming more common.

Read more in Mixer Profile INAV docs and VTOL INAV docs

Ez Tune

The Ez Tune is a simplified tuning framework similar to Betalight's Simplified Slider Tuning. Instead of setting each PID controller gain, rate, and filter setting separately, Pilot is presented with 8 sliders for:

  • Axis ratio
  • Main filter frequency
  • Response
  • Damping
  • Stability
  • Aggressiveness
  • Rate
  • Expo

INAV Ez Tune

Ez Tune settings are not compatible with Betaflight Slider Tuning setting and cannot be migrated directly.

Read the description in Configurator's Ez Tune tab on what each setting does and how it should be used.

More on the topic of Ez Tune can be found here

Timer DMA Burst

INAV 7 adds the DMA Burst mode to selected target as ultimately fixes the problem of DSHOT protocol not working on some boards. Pilots do not have to take any actions, DSHOT is just available on previously affected flight controllers. This applies to:

  • Matek F405 TE
  • SpeedyBee F405 V3

JETI EXBUS fixed

The JETI EXBUS protocol should now not hang the flight controller during operation. The issue was originally fixed in betaflight/betaflight#13130 . Thank you @SteveCEvans and @klutvott123

Multirotor Cruise Mode

The Cruise Mode for Multirotors allows pilots to let go the radio sticks while UAV flies on a predefined course with predefined speed. Just like with regular PosHold, Throttle stick sets the altitude and course, while the pitch stick is used to set the horizontal speed. When released INAV will hold set speed, altitude, and course. More information available in here https://youtu.be/4pgDxexuSnU

NMEA Protocol no longer available

As mentioned in the Important Notes section, INAV 7 no longer supports the GPS NMEA protocol. All modern GPS module support one of the UBLOX protocols and as a result pilots must switch to either UBLOX or UBLOX7 protocol.

GPS Improvements

A number of improvements have been made to GPS support in INAV 7.

It is now possible to select multiple GPS constellations, and not only Galileo. If your GPS modules does not support a particular combination, it will fallback to no extra constellations.

M10 GPS units will now default to 10Hz, like M8 units and a new cli setting has been added to allow overriding the update rate of your UBLOX7 GPS (gps_ublox_nav_hz). This should allow you to fall back to 5Hz or bump it up to the limits of what is supported by your GPS module.

INAV GPS Improvements

MSP VTX support

INAV now support MSP VTX when using MSP DisplayPort OSD.

Now it is possible to change VTX power levels and channels via INAV's OSD menu or ELRS backpack without connecting the SmartAudio wire on HD-Zero VTXs.

If you MSP DisplayPort OSD is working, no extra configuration is needed.

Linear Descent RTH mode changed

AT_LEAST_LINEAR_DESCENT is no longer a method for RTH. It has been replaced with a more flexible linear descent option that will work with any RTH method. If previously using AT_LEAST_LINEAR_DESCENT, you should now just use AT_LEAST as the RTH type. Linear Descent is now a separate option that can be used with any other RTH method. To make this possible, the target altitude of the descent is now the nav_rth_home_altitude. In some cases, if flying below the home position, this will work as a linear ascent.

You can also decide when the linear descent will start. Set the nav_rth_linear_descent_start_distance parameter to the distance (metres) from the home point, where you want to start descending. Set to 0, the default setting; the descent will start immediately, as with the pre-7.0 implementation.

These options are available in Configurator.

See the Navigation Mode: Return to Home wiki for more details.

Pilot Logos

You can now have custom pilot logos on your OSD and arming screen (HD Only). You will need to create a custom font with your logos to show them on screen. The OSD logo is a 3x1 character symbol. This can be used with both analogue and HD. The arming screen logo is a 10x4 character image, and only works with HD systems.

More details are available in the OSD Document.

Other changes

  • The AUTOLEVEL mode is renamed to AUTO LEVEL TRIM. The functionality remains the same.
  • The osd_mah_used_precision parameter has been renamed osd_mah_precision.
  • 24 channels available for Jeti systems (not available with F411 or F722 flight controllers).
  • Virtual pitot is enabled by default.

Other removed functions

  • FrSky D-series telemetry
  • output_mode setting that allows to reassign all PWM outputs to either MOTORS or SERVOS

New targets

  • SDmodel H7V1
  • Matek H743HD
  • SpeedyBee F405 V4
  • SpeedeBee F405 Mini
  • SpeedyBee F7 Mini V2
  • GEPRCF405
  • GEPRCF722
  • NEUTRONRC F435 Mini AIO

CLI

Changed settings

Name Description
gps_provider Removed: NMEA
gps_sbas_mode New: SPAN
nav_rth_alt_mode Removed: AT_LEAST_LINEAR_DESCENT
pitot_hardware New: DLVR-L10D

New Items

Name Description
ez_aggressiveness EzTune aggressiveness Values: 0 - 200 Default: 100
ez_axis_ratio EzTune axis ratio Values: 25 - 175 Default: 110
ez_damping EzTune damping Values: 0 - 200 Default: 100
ez_enabled Enables EzTune feature Default: FALSE
ez_expo EzTune expo Values: 0 - 200 Default: 100
ez_filter_hz EzTune filter cutoff frequency Values: 10 - 300 Default: 110
ez_rate EzTune rate Values: 0 - 200 Default: 100
ez_response EzTune response Values: 0 - 200 Default: 100
ez_stability EzTune stability Values: 0 - 200 Default: 100
gps_auto_baud_max_supported Max baudrate supported by GPS unit. This is used during autobaud. M8 supports up to 460400, M10...

INAV 7.0.0 RC2

08 Nov 16:08
a54849b
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INAV 7.0.0 RC2 Pre-release
Pre-release

INAV 7 Ferocious Falcon

Hello and welcome to INAV 7 "Ferocious Falcon"

Please carefully read all of this document for the best possible experience and safety.

Contact other pilots, share experiences, suggestions and ask for help on:

INAV Discord Server
INAV Official on Facebook

Important Notes

INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards.

The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays

The FrSky D-series telemetry support has been removed. This applies to legacy D4R receivers and some 3rd party whoop boards

Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default.

Upgrading from a previous release

Upgrading from INAV 6 and 6.1

  1. Download and install the new INAV Configurator 7
  2. Save to a file the current diff all from the CLI.
  3. Upgrade to INAV 7 using the Full Erase option in the configurator.
  4. In case of Analog FPV, upload your OSD font of choice from the OSD tab.
  5. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
  6. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration.
  7. You should be ready, explore new 7.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Major changes

Flexible motor and servo output allocation

INAV now was a function that allows to flexibly assign functions to PWM outputs directly from INAV Configurator.
Specific function AUTO, MOTORS or SERVOS can be assigned to each Timer Group. Then, all outputs from this group will perform this function.
Thanks to this, it's possible to use servos and motors in ways that previously required building a custom targets.

INAV output assignment

Bear in mind:

  • In some rare cases, output assignment might be different than in INAV 6. This makes it even more important to remove your props and double check your outputs before you power your flight controller with batteries for the first time after applying your old settings or enabling outputs.
  • It is not possible to assign function to individual outputs. It's a hardware, not software limitation.

Mixer profiles and VTOL support

This has been a frequent request since PNP VTOL models started becoming more common.

Read more in Mixer Profile INAV docs and VTOL INAV docs

Ez Tune

The Ez Tune is a simplified tuning framework similar to Betalight's Simplified Slider Tuning. Instead of setting each PID controller gain, rate, and filter setting separately, Pilot is presented with 8 sliders for:

  • Axis ratio
  • Main filter frequency
  • Response
  • Damping
  • Stability
  • Aggressiveness
  • Rate
  • Expo

INAV Ez Tune

Ez Tune settings are not compatible with Betaflight Slider Tuning setting and cannot be migrated directly.

Read the description in Configurator's Ez Tune tab on what each setting does and how it should be used.

More on the topic of Ez Tune can be found here

Timer DMA Burst

INAV 7 adds the DMA Burst mode to selected target as ultimately fixes the problem of DSHOT protocol not working on some boards. Pilots do not have to take any actions, DSHOT is just available on previously affected flight controllers. This applies to:

  • Matek F405 TE
  • SpeedyBee F405 V3

JETI EXBUS fixed

The JETI EXBUS protocol should now not hang the flight controller during operation. The issue was originally fixed in betaflight/betaflight#13130 . Thank you @SteveCEvans and @klutvott123

Multirotor Cruise Mode

The Cruise Mode for Multirotors allows pilots to let go the radio sticks while UAV flies on a predefined course with predefined speed. Just like with regular PosHold, Throttle stick sets the altitude and course, while the pitch stick is used to set the horizontal speed. When released INAV will hold set speed, altitude, and course. More information available in here https://youtu.be/4pgDxexuSnU

NMEA Protocol no longer available

As mentioned in the Important Notes section, INAV 7 no longer supports the GPS NMEA protocol. All modern GPS module support one of the UBLOX protocols and as a result pilots must switch to either UBLOX or UBLOX7 protocol.

GPS Improvements

A number of improvements have been made to GPS support in INAV 7.

It is now possible to select multiple GPS constellations, and not only Galileo. If your GPS modules does not support a particular combination, it will fallback to no extra constellations.

M10 GPS units will now default to 10Hz, like M8 units and a new cli setting has been added to allow overriding the update rate of your UBLOX7 GPS (gps_ublox_nav_hz). This should allow you to fall back to 5Hz or bump it up to the limits of what is supported by your GPS module.

INAV GPS Improvements

MSP VTX support

INAV now support MSP VTX when using MSP DisplayPort OSD.

Now it is possible to change VTX power levels and channels via INAV's OSD menu or ELRS backpack without connecting the SmartAudio wire on HD-Zero VTXs.

If you MSP DisplayPort OSD is working, no extra configuration is needed.

Linear Descent RTH mode changed

AT_LEAST_LINEAR_DESCENT is no longer a method for RTH. It has been replaced with a more flexible linear descent option that will work with any RTH method. If previously using AT_LEAST_LINEAR_DESCENT, you should now just use AT_LEAST as the RTH type. Linear Descent is now a separate option that can be used with any other RTH method. To make this possible, the target altitude of the descent is now the nav_rth_home_altitude. In some cases, if flying below the home position, this will work as a linear ascent.

You can also decide when the linear descent will start. Set the nav_rth_linear_descent_start_distance parameter to the distance (metres) from the home point, where you want to start descending. Set to 0, the default setting; the descent will start immediately, as with the pre-7.0 implementation.

These options are available in Configurator.

See the Navigation Mode: Return to Home wiki for more details.

Pilot Logos

You can now have custom pilot logos on your OSD and arming screen (HD Only). You will need to create a custom font with your logos to show them on screen. The OSD logo is a 3x1 character symbol. This can be used with both analogue and HD. The arming screen logo is a 10x4 character image, and only works with HD systems.

More details are available in the OSD Document.

Other changes

  • The AUTOLEVEL mode is renamed to AUTO LEVEL TRIM. The functionality remains the same.
  • The osd_mah_used_precision parameter has been renamed osd_mah_precision.
  • 24 channels available for Jeti systems (not available with F411 or F722 flight controllers).
  • Virtual pitot is enabled by default.

Other removed functions

  • FrSky D-series telemetry
  • output_mode setting that allows to reassign all PWM outputs to either MOTORS or SERVOS

New targets

  • SDmodel H7V1
  • Matek H743HD
  • SpeedyBee F405 V4
  • SpeedeBee F405 Mini
  • SpeedyBee F7 Mini V2
  • GEPRCF405
  • GEPRCF722
  • NEUTRONRC F435 Mini AIO

CLI

Changed settings

Name Description
gps_provider Removed: NMEA
gps_sbas_mode New: SPAN
nav_rth_alt_mode Removed: AT_LEAST_LINEAR_DESCENT
pitot_hardware New: DLVR-L10D

New Items

Name Description
ez_aggressiveness EzTune aggressiveness Values: 0 - 200 Default: 100
ez_axis_ratio EzTune axis ratio Values: 25 - 175 Default: 110
ez_damping EzTune damping Values: 0 - 200 Default: 100
ez_enabled Enables EzTune feature Default: FALSE
ez_expo EzTune expo Values: 0 - 200 Default: 100
ez_filter_hz EzTune filter cutoff frequency Values: 10 - 300 Default: 110
ez_rate EzTune rate Values: 0 - 200 Default: 100
ez_response EzTune response Values: 0 - 200 Default: 100
ez_stability EzTune stability Values: 0 - 200 Default: 100
gps_auto_baud_max_supported Max baudrate supported by GPS unit. This is used during autobaud. M8 supports up to 460400, M10...

INAV 7.0.0 RC1

02 Nov 19:30
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INAV 7.0.0 RC1 Pre-release
Pre-release

INAV 7 Ferocious Falcon

Hello and welcome to INAV 7 "Ferocious Falcon"

Please carefully read all of this document for the best possible experience and safety.

Contact other pilots, share experiences, suggestions and ask for help on:

INAV Discord Server
INAV Official on Facebook

Important Notes

The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays

The FrSky D-series telemetry support has been removed. This applies to legacy D4R receivers and some 3rd party whoop boards

Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default.

Upgrading from a previous release

Upgrading from INAV 6 and 6.1

  1. Download and install the new INAV Configurator 7
  2. Save to a file the current diff all from the CLI.
  3. Upgrade to INAV 7 using the Full Erase option in the configurator.
  4. In case of Analog FPV, upload your OSD font of choice from the OSD tab.
  5. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
  6. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration.
  7. You should be ready, explore new 7.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Major changes

Flexible motor and servo output allocation

INAV now was a function that allows to flexibly assign functions to PWM outputs directly from INAV Configurator.
Specific function AUTO, MOTORS or SERVOS can be assigned to each Timer Group. Then, all outputs from this group will perform this function.
Thanks to this, it's possible to use servos and motors in ways that previously required building a custom targets.

INAV output assignment

Bear in mind:

  • In some rare cases, output assignment might be different than in INAV 6. This makes it even more important to remove your props and double check your outputs before you power your flight controller with batteries for the first time after applying your old settings or enabling outputs.
  • It is not possible to assign function to individual outputs. It's a hardware, not software limitation.

Mixer profiles and VTOL support

This has been a frequent request since PNP VTOL models started becoming more common.

Read more in Mixer Profile INAV docs and VTOL INAV docs

Ez Tune

The Ez Tune is a simplified tuning framework similar to Betalight's Simplified Slider Tuning. Instead of setting each PID controller gain, rate, and filter setting separately, Pilot is presented with 8 sliders for:

  • Axis ratio
  • Main filter frequency
  • Response
  • Damping
  • Stability
  • Aggressiveness
  • Rate
  • Expo

INAV Ez Tune

Ez Tune settings are not compatible with Betaflight Slider Tuning setting and cannot be migrated directly.

Read the description in Configurator's Ez Tune tab on what each setting does and how it should be used.

More on the topic of Ez Tune can be found here

Timer DMA Burst

INAV 7 adds the DMA Burst mode to selected target as ultimately fixes the problem of DSHOT protocol not working on some boards. Pilots do not have to take any actions, DSHOT is just available on previously affected flight controllers. This applies to:

  • Matek F405 TE
  • SpeedyBee F405 V3

JETI EXBUS fixed

The JETI EXBUS protocol should now not hang the flight controller during operation. The issue was originally fixed in betaflight/betaflight#13130 . Thank you @SteveCEvans and @klutvott123

Multirotor Cruise Mode

The Cruise Mode for Multirotors allows pilots to let go the radio sticks while UAV flies on a predefined course with predefined speed. Just like with regular PosHold, Throttle stick sets the altitude and course, while the pitch stick is used to set the horizontal speed. When released INAV will hold set speed, altitude, and course. More information available in here https://youtu.be/4pgDxexuSnU

NMEA Protocol no longer available

As mentioned in the Important Notes section, INAV 7 no longer supports the GPS NMEA protocol. All modern GPS module support one of the UBLOX protocols and as a result pilots must switch to either UBLOX or UBLOX7 protocol.

GPS Improvements

A number of improvements have been made to GPS support in INAV 7.

It is now possible to select multiple GPS constellations, and not only Galileo. If your GPS modules does not support a particular combination, it will fallback to no extra constellations.

M10 GPS units will now default to 10Hz, like M8 units and a new cli setting has been added to allow overriding the update rate of your UBLOX7 GPS (gps_ublox_nav_hz). This should allow you to fall back to 5Hz or bump it up to the limits of what is supported by your GPS module.

INAV GPS Improvements

MSP VTX support

INAV now support MSP VTX when using MSP DisplayPort OSD.

Now it is possible to change VTX power levels and channels via INAV's OSD menu or ELRS backpack without connecting the SmartAudio wire on HD-Zero VTXs.

If you MSP DisplayPort OSD is working, no extra configuration is needed.

Linear Descent RTH mode changed

AT_LEAST_LINEAR_DESCENT is no longer a method for RTH. It has been replaced with a more flexible linear descent option that will work with any RTH method. If previously using AT_LEAST_LINEAR_DESCENT, you should now just use AT_LEAST as the RTH type. Linear Descent is now a separate option that can be used with any other RTH method. To make this possible, the target altitude of the descent is now the nav_rth_home_altitude. In some cases, if flying below the home position, this will work as a linear ascent.

You can also decide when the linear descent will start. Set the nav_rth_linear_descent_start_distance parameter to the distance (metres) from the home point, where you want to start descending. Set to 0, the default setting; the descent will start immediately, as with the pre-7.0 implementation.

These options are available in Configurator.

See the Navigation Mode: Return to Home wiki for more details.

Pilot Logos

You can now have custom pilot logos on your OSD and arming screen (HD Only). You will need to create a custom font with your logos to show them on screen. The OSD logo is a 3x1 character symbol. This can be used with both analogue and HD. The arming screen logo is a 10x4 character image, and only works with HD systems.

More details are available in the OSD Document.

Other changes

  • The AUTOLEVEL mode is renamed to AUTO LEVEL TRIM. The functionality remains the same.
  • The osd_mah_used_precision parameter has been renamed osd_mah_precision.
  • 24 channels available for Jeti systems (not available with F411 or F722 flight controllers).
  • Virtual pitot is enabled by default.

Other removed functions

  • FrSky D-series telemetry
  • output_mode setting that allows to reassign all PWM outputs to either MOTORS or SERVOS

New targets

  • SDmodel H7V1
  • Matek H743HD
  • SpeedyBee F405 V4
  • SpeedeBee F405 Mini
  • SpeedyBee F7 Mini V2
  • GEPRCF405
  • GEPRCF722
  • NEUTRONRC F435 Mini AIO

CLI

Changed settings

Name Description
gps_provider Removed: NMEA
gps_sbas_mode New: SPAN
nav_rth_alt_mode Removed: AT_LEAST_LINEAR_DESCENT
pitot_hardware New: DLVR-L10D

New Items

Name Description
ez_aggressiveness EzTune aggressiveness Values: 0 - 200 Default: 100
ez_axis_ratio EzTune axis ratio Values: 25 - 175 Default: 110
ez_damping EzTune damping Values: 0 - 200 Default: 100
ez_enabled Enables EzTune feature Default: FALSE
ez_expo EzTune expo Values: 0 - 200 Default: 100
ez_filter_hz EzTune filter cutoff frequency Values: 10 - 300 Default: 110
ez_rate EzTune rate Values: 0 - 200 Default: 100
ez_response EzTune response Values: 0 - 200 Default: 100
ez_stability EzTune stability Values: 0 - 200 Default: 100
gps_auto_baud_max_supported Max baudrate supported by GPS unit. This is used during autobaud. M8 supports up to 460400, M10 supports up to 921600 and 230400 is the value used before INAV 7.0 Default: 230400
gps_ublox_nav_hz Navigation update rate for UBLOX7 receivers. Some...

INAV 6.1.1 "Horizon Hawk"

14 Jun 07:31
42ced25
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INAV 6 Horizon Hawk

Hello and welcome to INAV 6.1.1 "Horizon Hawk"

Please carefully read all of this document for the best possible experience and safety.

Get in touch with other pilots, share experiences, suggestions and ask for help on:

INAV Discord Server
INAV Official on Facebook

Tested and suggested hardware can be found here

Upgrading from a previous release

Upgrading from INAV 6

  1. Download and install the new configurator
  2. Save to a file the current diff all from the CLI.
  3. Upgrade to INAV 6 using the Full Erase option in the configurator.
  4. Restore the configuration from the diff file

Upgrading from INAV 5 and 5.1

  1. Download and install the new configurator
  2. Save to a file the current diff all from the CLI.
  3. Upgrade to INAV 6 using the Full Erase option in the configurator.
  4. Upload your OSD font of choice from the OSD tab.
  5. Run your INAV 5.x diff through this tool. It will update some of the changed CLI parameters (See these release notes). Please pay special attention to the ahrs_inertia_comp_method parameter, as this must be correct for your platform. See the release notes below.
  6. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
  7. There are a large number of new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration.
  8. You should be ready, explore new 6.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Important changes

"Dolphining" bug fix

This release fixes a "dolphining" bug that was affecting fixed wing airplanes in autonomous modes and causing airplanes not being able to precisely control altitude. INAV 6.1.1 addresses this issue and solved the problem.

New targets

  • FLYWOOF405PRO

Changelist

What's Changed

Full Changelog: 6.1.0...6.1.1

INAV 6.1 "Horizon Hawk"

12 May 17:51
d6ce6e7
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INAV 6 Horizon Hawk

Hello and welcome to INAV 6.1 "Horizon Hawk"

Please carefully read all of this document for the best possible experience and safety.

Get in touch with other pilots, share experiences, suggestions and ask for help on:

INAV Discord Server
INAV Official on Facebook

Tested and suggested hardware can be found here

Important Notes

  • The STM32 F3 code was removed from repository, it's no longer possible to compile F3 locally

Upgrading from a previous release

Upgrading from INAV 6

  1. Download and install the new configurator
  2. Save to a file the current diff all from the CLI.
  3. Upgrade to INAV 6 using the Full Erase option in the configurator.
  4. Restore the configuration from the diff file

Upgrading from INAV 5 and 5.1

  1. Download and install the new configurator
  2. Save to a file the current diff all from the CLI.
  3. Upgrade to INAV 6 using the Full Erase option in the configurator.
  4. Upload your OSD font of choice from the OSD tab.
  5. Run your INAV 5.x diff through this tool. It will update some of the changed CLI parameters (See these release notes). Please pay special attention to the ahrs_inertia_comp_method parameter, as this must be correct for your platform. See the release notes below.
  6. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
  7. There are a large number of new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration.
  8. You should be ready, explore new 6.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Important changes

H7 stability

INAV 6.1 fixes a bug that was causing the H7 MCU to stop receiving RX signal after EEPROM save operation was performed. This happened from CMS and from Configurator. INAV 6.1 fixes the issue and RX operation is no longer stopped after the save operation

Betaflight HD OSD compatibility mode

INAV 6.1 adds the BFHDCOMPAT OSD mode that is compatible with the Betaflight HD OSD layout.

New targets

  • HAKRCF722V2
  • HAKRCF405V2
  • SKYSTARSF722MINIHD
  • SkyStars AT32
  • SkyStars H743

CLI

Changed Items

Name Item
acc_hardware New: LSM6DXX
current_sensor New: FAKE
gps_provider New: FAKE
nav_extra_arming_safety Default: ALLOW_BYPASS
osd_video_system New: BFHDCOMPAT
rangefinder_hardware New: FAKE
receiver_type New: SIM (SITL)
serial_rx New: FBUS
voltage_sensor New: FAKE

Changelist

What's Changed

New Contributors

Full Changelog: 6.0.0...6.1.0

INAV 6.1 "Horizon Hawk" RC1

22 Apr 18:28
2d7a057
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Pre-release

INAV 6 Horizon Hawk

Hello and welcome to INAV 6.1 "Horizon Hawk"

Please carefully read all of this document for the best possible experience and safety.

Get in touch with other pilots, share experiences, suggestions and ask for help on:

INAV Discord Server
INAV Official on Facebook

Tested and suggested hardware can be found here

Important Notes

  • The STM32 F3 code was removed from repository, it's no longer possible to compile F3 locally

Upgrading from a previous release

Upgrading from INAV 6

  1. Download and install the new configurator
  2. Save to a file the current diff all from the CLI.
  3. Upgrade to INAV 6 using the Full Erase option in the configurator.
  4. Restore the configuration from the diff file

Upgrading from INAV 5 and 5.1

  1. Download and install the new configurator
  2. Save to a file the current diff all from the CLI.
  3. Upgrade to INAV 6 using the Full Erase option in the configurator.
  4. Upload your OSD font of choice from the OSD tab.
  5. Run your INAV 5.x diff through this tool. It will update some of the changed CLI parameters (See these release notes). Please pay special attention to the ahrs_inertia_comp_method parameter, as this must be correct for your platform. See the release notes below.
  6. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
  7. There are a large number of new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration.
  8. You should be ready, explore new 6.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Important changes

H7 stability

INAV 6.1 fixes a bug that was causing the H7 MCU to stop receiving RX signal after EEPROM save operation was performed. This happened from CMS and from Configurator. INAV 6.1 fixes the issue and RX operation is no longer stopped after the save operation

Betaflight HD OSD compatibility mode

INAV 6.1 adds the BFHDCOMPAT OSD mode that is compatible with the Betaflight HD OSD layout.

New targets

  • HAKRCF722V2
  • HAKRCF405V2
  • SKYSTARSF722MINIHD
  • SkyStars AT32
  • SkyStars H743

CLI

Changed Items

Name Item
acc_hardware New: LSM6DXX
current_sensor New: FAKE
gps_provider New: FAKE
nav_extra_arming_safety Default: ALLOW_BYPASS
osd_video_system New: BFHDCOMPAT
rangefinder_hardware New: FAKE
receiver_type New: SIM (SITL)
serial_rx New: FBUS
voltage_sensor New: FAKE

Changelist

What's Changed

New Contributors

Full Changelog: 6.0.0...6.1.0-RC1

INAV 6 "Horizon Hawk"

25 Mar 18:13
7e7efe4
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INAV 6 Horizon Hawk

Hello and welcome to INAV 6 "Horizon Hawk"

Please carefully read all of this document for the best possible experience and safety.

Get in touch with other pilots, share experiences, suggestions and ask for help on:

INAV Discord Server
INAV Official on Facebook

Tested and suggested hardware can be found here

Important Notes

  • The STM32 F3 code was removed from repository, it's no longer possible to compile F3 locally

Upgrading from a previous release

Upgrading from INAV 5 and 5.1

  1. Download and install the new configurator
  2. Save to a file the current diff all from the CLI.
  3. Upgrade to INAV 6 using the Full Erase option in the configurator.
  4. Upload your OSD font of choice from the OSD tab.
  5. Run your INAV 5.x diff through this tool. It will update some of the changed CLI parameters (See these release notes). Please pay special attention to the ahrs_inertia_comp_method parameter, as this must be correct for your platform. See the release notes below.
  6. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
  7. There are a large number of new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration.
  8. You should be ready, explore new 6.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Important changes

New AHRS (Attitude & Heading Reference System)


INAV 6.0 includes a complete rework of the AHRS for Attitude Estimation, to make sure INAV always knows its correct attitude relative to the ground. This should once and for all fix the issue, known as "Horizon Drift" and makes any navigation mode as well as self-levelling modes like ANGLE fully reliable and allows much more precise GPS-Navigation. This affects Fixed Wing as well as Multirotor.

The best results are given if the craft is equipped with GPS and in the case of Multirotor also with a compass. But also for pure LOS Craft that have no GPS on board, the AHI stability is noticeably improved in most situations. To work best with non-GPS Fixed Wings, the Reference Airspeed has to be set according the average cruise speed of the craft.


When Updating from INAV 5.1 or older

If you load a diff file from INAV 5.1 or older, it is safe to ignore errors related to imu_acc_ignore_rate, imu_acc_ignore_slope, imu_dcm_kp, imu_dcm_kp_map, or imu_dcm_ki_mag. These variables behave differently in 6.0 and have been renamed. You should use the default values of the new parameter first. Below are the new parameter defaults.

set ahrs_acc_ignore_rate = 15
set ahrs_acc_ignore_slope = 5
set ahrs_dcm_kp = 2000
set ahrs_dcm_ki = 50
set ahrs_dcm_kp_mag = 2000
set ahrs_dcm_ki_mag = 50

ahrs_inertia_comp_method

If you have used the Feature Preview release, your diff, you may have the parameter imu_inertia_comp_method. If not and you are coming from INAV 5.0 or 5.1, you may need to add the new parameter shown below. Firstly, if you have imu_inertia_comp_method in your diff, you can remove that line.

If you are using fixed wing, you should add this new parameter to the # master section of your diff:

set ahrs_inertia_comp_method = ADAPTIVE

For all other platforms, you do not need to add anything. The default value of VELNED is correct for non-fixed wing platforms.

For Fixed Wing Craft with no GPS:
set fw_reference_airspeed = (set this in cm/s. Set this to airspeed at which PIDs were tuned. Usually should be set to cruise airspeed. Also used for coordinated turn calculation if airspeed sensor is not present.)

HUD Offset change

The operation of osd_horizon_offset has been reversed, to make it more intuitive. If you have a non-zero value for osd_horizon_offset it will need to be inverted. For example, osd_horizon_offset = 1 would become osd_horizon_offset = -1. Positive values move the HUD up, and negative values move it down. This is corrected with the CLI Update tool.

RTH Trackback

When triggered the craft returns along the trackback route until the end is reached at which point it reverts to normal RTH heading directly home. It doesn't perform the RTH climb phase but instead uses the track point altitude but with altitude never allowed below the altitude of the start point so it can climb but never descend below the start point.

OFF by default, adjust nav_rth_trackback_mode to enable. For details see #7988

Accelerometer calibration is optional

Accelerometer calibration is required only if any of the Accelerometer Based Flight Modes or Failsafe procedures is configured. For example, ACC calibration will be needed when Failsafe RTH is enabled, or any GPS assisted flight modes is configured. Acro only multirotor and fixed wings do not require calibration.

nav_extra_arming_safety OFF option

The off option has been removed from nav_extra_arming_safety. Instead, the allow_bypass can be used for with the same effect. To allow the bypass, yaw right and arm. The extra arming safety features will be disabled until the next power cycle of the battery. Please update your diff if you use this parameter; either manually, or using this tool.

Improved fixed wing waypoint course tracking

Attempts to improve fixed wing WP course tracking accuracy by adding a couple of options:

  1. Tracking accuracy option that forces craft toward the waypoint course line as quickly as possible and actively tracks the line thereafter. A single setting adjusts the strength of the tracking behaviour. Works for WP mode and RTH trackback. Option is disabled by default.

  2. Turn smoothing option for waypoint turns. Sets a loiter point within the turn such that the craft follows a loiter turn path that either passes through the waypoint or cuts the turn missing the waypoint (2 settings possible). Only works for WP mode. Option is disabled by default.

See #8234 for details

Support for Hardware In The Loop simulator in X-Plane 11

INAV flight controller can be used with X-Plane 11 flight simulator. Very useful for training, testing and debugging. Requires X-Plane 11 and HITL Plugin https://github.com/RomanLut/INAV-X-Plane-HITL

Waypoint multi-mission in flight mission change

Allows WP multi-missions to be changed in flight using new mission change mode. With mode active the required mission index can be selected by cycling through missions using the WP mode switch. Selected mission is loaded when mission change mode is switched off. Mission index can also be changed through addition of a new Mission Index adjustment function which should be useful for DJI users unable to use the normal OSD mission related fields. See #8354 for details

MSP DisplayPort fixes and updates

INAV has now support for various flavours of the MSP DisplayPort protocol used by HDZero, DJI Goggles 2, Walksnail Avatar or WTFOS. Based on the osd_video_system setting different canvas sizes and glyphs are used. Available options are:

  • AUTO - for analogue systems only
  • PAL
  • NTSC
  • HDZERO
  • DJIWTF
  • AVATAR
  • BF43COMPAT - keep the compatibility with Betaflight 4.3 implementation by lowering canvas size, lowering the number of OSD glyphs and matching to Betaflight character mapping. Required for DJI MSP DisplayPort with DJI O3 Air Unit

Enhance programming options for waypoint missions

NOTE: Please read this section if you are using the Programming Framework (Programming tab).

The programming framework surrounding waypoints has changed. This has caused a conflict in compatibility with previous versions of INAV. If you use anything in the programming tab. Please run your diff through this conversion tool, to keep your logic conditions working. Please feel free to check out the new waypoint related logical switch operands in the Programming Framework document.

Increase nav_wp_safe_distance maximum

nav_wp_safe_distance has been replaced with nav_wp_max_safe_distance. This setting uses metres, and used to define the maximum distance away that the first waypoint can be. Please update your diff if you use this parameter; either manually, or using this tool.

Stop allowing navigation modes to be active while arming

The ability to arm the craft while in a navigation mode has been removed. The only people who this will effect are those who use permanently enabled autolaunch. Pre-6.0 you could arm while in a navigation mode. However this is dangerous, as it is easy to not realise, arm, disable the launch, then have the motor go to the cruise throttle. You will still be able to use a navigation mode as the exit mode from a launch. You jus...

INAV 6 Release Candidate 3

06 Mar 11:15
f3c8bd0
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Pre-release

INAV 6 Horizon Hawk

Hello and welcome to INAV 6 "Horizon Hawk"

Please carefully read all of this document for the best possible experience and safety.

Get in touch with other pilots, share experiences, suggestions and ask for help on:

INAV Discord Server
INAV Official on Facebook

Tested and suggested hardware can be found here

Important Notes

  • The STM32 F3 code was removed from repository, it's no longer possible to compile F3 locally

Upgrading from a previous release

Upgrading from INAV 5 and 5.1

  1. Download and install the new configurator
  2. Save to a file the current diff all from the CLI.
  3. Upgrade to INAV 6 using the Full Erase option in the configurator.
  4. Upload your OSD font of choice from the OSD tab.
  5. Run your INAV 5.x diff through this tool. It will update some of the changed CLI parameters (See these release notes). Please pay special attention to the ahrs_inertia_comp_method parameter, as this must be correct for your platform. See the release notes below.
  6. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
  7. There are a large number of new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration.
  8. You should be ready, explore new 6.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Important changes

New AHRS (Attitude & Heading Reference System)


INAV 6.0 includes a complete rework of the AHRS for Attitude Estimation, to make sure INAV always knows its correct attitude relative to the ground. This should once and for all fix the issue, known as "Horizon Drift" and makes any navigation mode as well as self-levelling modes like ANGLE fully reliable and allows much more precise GPS-Navigation. This affects Fixed Wing as well as Multirotor.

The best results are given if the craft is equipped with GPS and in the case of Multirotor also with a compass. But also for pure LOS Craft that have no GPS on board, the AHI stability is noticeably improved in most situations. To work best with non-GPS Fixed Wings, the Reference Airspeed has to be set according the average cruise speed of the craft.


When Updating from INAV 5.1 or older

If you load a diff file from INAV 5.1 or older, it is safe to ignore errors related to imu_acc_ignore_rate, imu_acc_ignore_slope, imu_dcm_kp, imu_dcm_kp_map, or imu_dcm_ki_mag. These variables behave differently in 6.0 and have been renamed. You should use the default values of the new parameter first. Below are the new parameter defaults.

set ahrs_acc_ignore_rate = 15
set ahrs_acc_ignore_slope = 5
set ahrs_dcm_kp = 2000
set ahrs_dcm_ki = 50
set ahrs_dcm_kp_mag = 2000
set ahrs_dcm_ki_mag = 50

ahrs_inertia_comp_method

If you have used the Feature Preview release, your diff, you may have the parameter imu_inertia_comp_method. If not and you are coming from INAV 5.0 or 5.1, you may need to add the new parameter shown below. Firstly, if you have imu_inertia_comp_method in your diff, you can remove that line.

If you are using fixed wing, you should add this new parameter to the # master section of your diff:

set ahrs_inertia_comp_method = ADAPTIVE

For all other platforms, you do not need to add anything. The default value of VELNED is correct for non-fixed wing platforms.

For Fixed Wing Craft with no GPS:
set fw_reference_airspeed = (set this in cm/s. Set this to airspeed at which PIDs were tuned. Usually should be set to cruise airspeed. Also used for coordinated turn calculation if airspeed sensor is not present.)

HUD Offset change

The operation of osd_horizon_offset has been reversed, to make it more intuitive. If you have a non-zero value for osd_horizon_offset it will need to be inverted. For example, osd_horizon_offset = 1 would become osd_horizon_offset = -1. Positive values move the HUD up, and negative values move it down. This is corrected with the CLI Update tool.

RTH Trackback

When triggered the craft returns along the trackback route until the end is reached at which point it reverts to normal RTH heading directly home. It doesn't perform the RTH climb phase but instead uses the track point altitude but with altitude never allowed below the altitude of the start point so it can climb but never descend below the start point.

OFF by default, adjust nav_rth_trackback_mode to enable. For details see #7988

Accelerometer calibration is optional

Accelerometer calibration is required only if any of the Accelerometer Based Flight Modes or Failsafe procedures is configured. For example, ACC calibration will be needed when Failsafe RTH is enabled, or any GPS assisted flight modes is configured. Acro only multirotor and fixed wings do not require calibration.

nav_extra_arming_safety OFF option

The off option has been removed from nav_extra_arming_safety. Instead, the allow_bypass can be used for with the same effect. To allow the bypass, yaw right and arm. The extra arming safety features will be disabled until the next power cycle of the battery. Please update your diff if you use this parameter; either manually, or using this tool.

Improved fixed wing waypoint course tracking

Attempts to improve fixed wing WP course tracking accuracy by adding a couple of options:

  1. Tracking accuracy option that forces craft toward the waypoint course line as quickly as possible and actively tracks the line thereafter. A single setting adjusts the strength of the tracking behaviour. Works for WP mode and RTH trackback. Option is disabled by default.

  2. Turn smoothing option for waypoint turns. Sets a loiter point within the turn such that the craft follows a loiter turn path that either passes through the waypoint or cuts the turn missing the waypoint (2 settings possible). Only works for WP mode. Option is disabled by default.

See #8234 for details

Support for Hardware In The Loop simulator in X-Plane 11

INAV flight controller can be used with X-Plane 11 flight simulator. Very useful for training, testing and debugging. Requires X-Plane 11 and HITL Plugin https://github.com/RomanLut/INAV-X-Plane-HITL

Waypoint multi-mission in flight mission change

Allows WP multi-missions to be changed in flight using new mission change mode. With mode active the required mission index can be selected by cycling through missions using the WP mode switch. Selected mission is loaded when mission change mode is switched off. Mission index can also be changed through addition of a new Mission Index adjustment function which should be useful for DJI users unable to use the normal OSD mission related fields. See #8354 for details

MSP DisplayPort fixes and updates

INAV has now support for various flavours of the MSP DisplayPort protocol used by HDZero, DJI Goggles 2, Walksnail Avatar or WTFOS. Based on the osd_video_system setting different canvas sizes and glyphs are used. Available options are:

  • AUTO - for analogue systems only
  • PAL
  • NTSC
  • HDZERO
  • DJIWTF
  • AVATAR
  • BF43COMPAT - keep the compatibility with Betaflight 4.3 implementation by lowering canvas size, lowering the number of OSD glyphs and matching to Betaflight character mapping. Required for DJI MSP DisplayPort with DJI O3 Air Unit

Enhance programming options for waypoint missions

NOTE: Please read this section if you are using the Programming Framework (Programming tab).

The programming framework surrounding waypoints has changed. This has caused a conflict in compatibility with previous versions of INAV. If you use anything in the programming tab. Please run your diff through this conversion tool, to keep your logic conditions working. Please feel free to check out the new waypoint related logical switch operands in the Programming Framework document.

Increase nav_wp_safe_distance maximum

nav_wp_safe_distance has been replaced with nav_wp_max_safe_distance. This setting uses metres, and used to define the maximum distance away that the first waypoint can be. Please update your diff if you use this parameter; either manually, or using this tool.

Stop allowing navigation modes to be active while arming

The ability to arm the craft while in a navigation mode has been removed. The only people who this will effect are those who use permanently enabled autolaunch. Pre-6.0 you could arm while in a navigation mode. However this is dangerous, as it is easy to not realise, arm, disable the launch, then have the motor go to the cruise throttle. You will still be able to use a navigation mode as the exit mode from a launch. You jus...