@digitalentity digitalentity released this Aug 20, 2018 · 2 commits to master since this release

Assets 68

Hello and welcome to INAV 2.0.0 Release!

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

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

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Sponsors and supporters

Ongoing development would be impossible without ongoing cooperation with manufacturers and support from the following businesses:

Important Notes

  • DO NOT RESTORE ACCELEROMETER CALIBRATION VALUES FROM AN OLDER RELEASE (<2.0) Doing that will led to poor attitude estimation performance and may cause troubles.

  • When upgrading a full chip erase (when flashing) / defaults from CLI is advised. Be sure to backup your configuration and restore it wisely.

  • OSD layout configuration from releases < 2.0 is not compatible with the current one. Take a screenshot of your current OSD layout before upgrading and restore it manually from the configurator.

  • current_meter_offset setting changed scale. Need to be multiplied by 10 if it's value is coming from < INAV 2.0.0

  • Position Hold 2D (only keeping horizontal position with GPS aid) has been dropped. Now Position Hold is only 3D and it will hold position and altitude.

  • STM32F1 boards support has been dropped. NAZE/CC3D targets are no longer supported. Please upgrade to F4/F7 board. F3 boards are not recommended since their flash space is almost full and they are likely to not receive all features on the next release.

  • AIRMODE now excludes feature MOTOR_STOP in multicopters This means that if you have AIRMODE enabled on a multi-rotor, the motors will most likely spin on arming, even with feature MOTOR_STOP (or the configurator "Don't spin the motors when armed") set.

Upgrading from 1.9.X

  1. Be sure to run the latest INAV 2.0 Configuration release. Download from here
  2. Go to the CLI tab and copy and paste the diff output to a text file for later usage.
  3. Go to the OSD tab and take a screenshot of the current layout
  4. Flash INAV 2.0 enabling full chip erase . Now you FC should run INAV 2.0. Connect again and check firmware version.
  5. Go to the Mixer tab and load and apply your desidered mixer.
  6. Go back to your configuration text file and delete all lines starting with: mixer acczero accgain magzero osd. Adjust values to be adjusted noted in the release notes.
  7. Open the CLI tab in the configurator and paste your cleaned up configuration in the text box and type save and press enter. The flight controller will now reboot.
  8. Calibrate the accelerometer following the steps in the dedicated tab. Only first two steps needs to be made in the right order.
  9. Calibration of the magnetometer should be done at the field. The magnetic field indoors can be distorted and led to a bad calibration.
  10. Restore manually your OSD layout using the screenshot and upload the font you like using the dedicated button.
  11. Carefully check all the configuration and check on the bench without installed propellers if everything looks good. In particular check if the model preview behave correctly when you are moving your model and check surfaces movements for an airplane.
  12. Enjoy INAV 2.0.0 and explore its new features!

Walk through if TL;DR

https://www.youtube.com/watch?v=sHvItS2qKfk

Known bugs

  • RadioLink R9DS (an possibly all RadioLink receivers) SBUS output cannot be used . They are not complying with standards and this results in them sending invalid SBUS packets to the FC (#3563)
  • If INAV Configurator starts minimized, you have to manually remove content of C:\Users%Your_UserNname%\AppData\Local\inav-configurator https://www.youtube.com/watch?v=XMoULyiFDp4
  • When running async (GYRO or ALL), gyro update will stick to PID loop frequency even if the configurator reports an higher frequency. You can check this via tasks command in CLI. It's strongly recommended not to run async and synchronize looptime to gyroscope. (#3628)

New mixer and mixer GUI

Starting from INAV 2.0.0, there are no predefined mixers on the firmware side: CLI command mixer QUADX will just not work. Mixer has to be configured using INAV Configurator 2.0 with Mixer tab.

Restoring from previous releases via CLI will not work correctly. Please use Configurator 2.0 mixer tab to configure it from scratch.

See https://www.youtube.com/watch?v=0cLFu-5syi0

It is no longer necessary to use smix reverse to reverse a tricopter tail servo; this can be done in the 2.0 Configurator or with the CLI smix 0 5 2 -100 0.

Added NAV CRUISE flight mode (fixed wing)

This release introduces the new NAV CRUISE flight mode. When enabled the machine will try to maintain the current heading and compensate for any external disturbances (2D CRUISE). User can adjust the flight direction directly with ROLL stick or with the YAW stick ( nav_fw_cruise_yaw_rate set the yawing rate at full stick deflection ). The latter will offer a smoother way to adjust the flight direction. If the mode is enabled in conjunction with NAV ALTHOLD also the current altitude will be maintained (3D CRUISE). Altitude can be adjusted, as usual, via the pitch stick. In both modes ANGLE mode is active and the plane will stay leveled.

OSD improvements

OSD functionally got overhauled and improved. Now it is possible to have three OSD layouts and switch between them via an RC channel. Furthermore new two modes have been added: map and radar.

  • map mode draws the home centered, while the craft moves around. There are two available maps: one with the North pointing up and another one with the takeoff direction pointing up.
  • radar mode draws the craft in the center and the home moving around.

Those modes will enable the display of other aircraft flying in the vicinity in a future releases.

It is now possible to display a lot of new data on the OSD:

  • All the values adjustable in flight via RC. When a value is selected for adjustment it starts blinking. This means it is possible to select a lot of adjustments with a pot for example and know easily which one is being adjusted.
  • Wind estimation
  • Numeric attitude angles
  • Cruise mode heading info
  • Numeric heading to home
  • New battery related data: estimated remaining time and distance before having to head home, sag compensated battery voltage, estimated battery impedance
  • Outputs of the PID controllers

Added full VTX control via Smart Audio / TRAMP

User can now select VTX settings from the configurator or via the OSD CMS. Furthermore vtx_low_power_disarm setting has been added. Setting it to ON will set the power to its minimum value on startup (usually 25mW) and increase it to vtx_power when arming and change it back to its lowest setting after disarming. Note that this setting can jeopardize the ability to find a lost quad using a strong signal coming from the VTX but on the other way it can prevent the VTX to overheat if you do quick flight cycles on the same battery.
UNTIL_FIRST_ARM will set the VTX to its minimum power, but once the craft is armed it will increase the output power to vtx_power and it will never decrease until the craft is power cycled. OFF will make the power output always to be set to the vtx_power setting.

Wind Estimation for Fixed Wing

It is possible to show estimated wind speed and direction on the OSD. In particular both lateral and vertical indicators are present. This is an experimental feature, you are encouraged to use it and report any anomalies in the estimated wind speed.

Battery management related features

These features have been added for helping with the battery management:

  • Battery profile with optional automatic switching
  • Sag compensated battery voltage and battery impedance calculation
  • Estimation of the remaining flight time and distance before having to head home
  • Automatic compensation of throttle command based on battery voltage to help maintain constant thrust regardless of the battery voltage
  • The current sensor can be calibrated more accurately (increased offset voltage resolution: 0.1mV instead of 1mV). If you'd like to keep your current_meter_offset value from an old config you need to multiply it by 10).

You can read more about these feature in the battery documentation

CLI parameter renaming / new parameters

Name Description
nav_fw_cruise_yaw_rate Max YAW rate when NAV CRUISE mode is enabled (0=disable control via yaw stick) [dps]
gyro_stage2_lowpass_hz Software based second stage lowpass filter for gyro. Value is cutoff frequency (Hz). Currently experimental
name The craft name is now a set value. name MYCRAFT is replaced by set name = MYCRAFT.
switch_disarm_delay Defines a delay for switch disarming setting (default 150ms, PR #3118) For better safety, a value of at least 250ms is recommended
inav_reset_home Defines when the home position is automatically reset, default is EACH_ARM. Allowed values: NEVER, FIRST_ARM, EACH_ARM
model_preview_type Defines the aircraft type. This is advisory for display purposes only (Configurator, Ground Control Stations) and has no affect on aircraft behaviour. This setting takes the numeric values equivalent to the old 'mixer'.
platform_type Defines the aircraft (vehicle) type. This value affects the vehicle performance. Default is MULTIROTOR, allowed values: MULTIROTOR, AIRPLANE, HELICOPTER, TRICOPTER, ROVER, BOAT. Only MULTIROTOR, AIRPLANE and TRICOPTER are implemented in iNav 2.0.
has_flaps Defines is UAV is capable of having flaps. If ON and AIRPLANE platform_type is used, FLAPERON flight mode will be available for the pilot
vtx_band Configure the VTX band. Set to zero to use vtx_freq. Bands: 1: A, 2: B, 3: E, 4: F, 5: Race.
vtx_channel Channel to use within the configured vtx_band. Valid values are [1, 8].
vtx_freq Set the VTX frequency using raw MHz. This parameter is ignored unless vtx_band is 0.
vtx_halfduplex Use half duplex UART to communicate with the VTX, using only a TX pin in the FC.
vtx_low_power_disarm When the craft is disarmed, set the VTX to its lowest power. ON will set the power to its minimum value on startup, increase it to vtx_power when arming and change it back to its lowest setting after disarming. UNTIL_FIRST_ARM will start with minimum power, but once the craft is armed it will increase to vtx_power and it will never decrease until the craft is power cycled.
vtx_pit_mode_freq Frequency to use (in MHz) when the VTX is in pit mode.
vtx_power VTX RF power level to use. The exact number of mw depends on the VTX hardware.
nav_rth_home_altitude Aircraft will climb/descend to this altitude after reaching home if landing is not enabled. Set to 0 to stay at nav_rth_altitude (default) [cm]
nav_fw_cruise_speed Speed for the plane/wing at cruise throttle used for remaining flight time/distance estimation in cm/s
cruise_power Power draw at cruise throttle used for remaining flight time/distance estimation in 0.01W unit
idle_power Power draw at zero throttle used for remaining flight time/distance estimation in 0.01W unit
rth_energy_margin Energy margin wanted after getting home (percent of battery energy capacity). Use for the remaining flight time/distance calculation
osd_estimations_wind_compensation Use wind estimation for remaining flight time/distance estimation
nav_fw_allow_manual_thr_increase Enable the possibility to manually increase the throttle in auto throttle controlled modes for fixed wing
bat_voltage_src Chose between raw and sag compensated battery voltage to use for battery alarms and telemetry. Possible values are RAW and SAG_COMP
bat_cells Number of cells of the battery (0 = autodetect), see battery documentation
vbat_cell_detect_voltage Maximum voltage per cell, used for auto-detecting the number of cells of the battery in 0.01V units, default is 4.30V
align_opflow Optical flow module alignment (default CW0_DEG_FLIP)
fw_min_throttle_down_pitch Automatic pitch down angle when throttle is at 0 in angle mode. Progressively applied between cruise throttle and zero throttle
tz_automatic_dst Automatically add Daylight Saving Time to the GPS time when needed or simply ignore it. Includes presets for EU and the USA - if you live outside these areas it is suggested to manage DST manually via tz_offset.
motor_accel_time Minimum time for the motor(s) to accelerate from 0 to 100% throttle (ms) [0-1000]
motor_decel_time Minimum time for the motor(s) to deccelerate from 100 to 0% throttle (ms) [0-1000]
thr_comp_weight Weight used for the throttle compensation based on battery voltage.
nav_overrides_motor_stop Setting to OFF combined with MOTOR_STOP feature will allow user to stop motor when in autonomous modes. On most planes this setting is likely to cause a stall. Use caution

New boards

  • Added support for MATEKF411 mini and MATEKF411-WING (@fiam, #3146)
  • Added support for DALRCF405 (@nyway, #3184)
  • Add CLRACINGF4AIRV3 to CLRACINGF4AIR target (@bnn1044, #3239)

New features

Improvements

Removed features:

  • Feature CHANNEL_FORWARDING has been removed, it can be implemented using new mixer GUI in Configurator
  • Feature SERVO_GIMBAL has been removed, it can be implemented using new mixer GUI in Configurator
  • The mid_rc CLI variable has been removed, and the setting removed from the configurator. If necessary (e.g.Futaba TX), the same effect can be achieved using rxrange settings.

Bugfixes

  • Avoid to delete navigation modes if MAG is not available (@shellixyz, #2984)
  • Prevent out of time ARMED message in the OSD when arming with the OSD disabled (@shellixyz, #3098)
  • Allow using CMS while OSD is disabled (@shellixyz, #3099)
  • Fix current sensor overflow (@shellixyz, #3131)
  • Remove YAW inversion in 3D mode for vehicles that don't need it (@eephyne, #3128)
  • Fix vertical alignment of ARMED screen in OSD when using NTSC (@fiam, #3149)
  • Make the total trip distance OSD item work when no current sensor is present (@shellixyz, #3163)
  • Add missing OSD alarm settings from CLI (@shellixyz, #3182)
  • Fix "sensor lost" problems when using FPort telemetry (@fiam, #3206)
  • MATEKF405: As requested in #3223 S5 is no longer used for FW servos (@DzikuVx, #3224)
  • Fix outputs 5 and 6 in SPRACINGF3 (@shellixyz, #3236)
  • Correct home yaw when a valid heading is acquired (@fiam, #3247)
  • Fix logging of negative altitudes in BlackBox logs (@stronnag, #3250)
  • Properly round servo values after applying servo filtering (@fiam, #3276)
  • Fix and simplify applyFixedWingPitchRollThrottleController() (@shellixyz, #3297)
  • change year base for RTC time_t to correct leap processing (@stronnag, #3307)
  • Make FPort stop one sensor cycle every 3 (@fiam, #3308)
  • Fix RTH hover above home (can't keep altitude) (@shellixyz, #3332)
  • Fix FF_PIKOF4 and FF_PIKOF4OSD targets (@shellixyz, #3333)
  • remove unneeded rxConfig from sbusChannelsInit and fix up callers (@stronnag, #3338)
  • Fix potential overflow in energy metering (@shellixyz, #3342)
  • Reset disarm reason at moment of arming (@digitalentity, #3360)
  • Fix support for AK8975 MAG (@fiam, #3413)
  • Gyro SPI bus fix according to OmnibusF4-nano v8 schematics (@digitalentity, #3426)
  • Fix VTX device type reported via MSP (@fiam, #3429)
  • Add missing break when adjusting ADJUSTMENT_RC_YAW_EXPO (@fiam, #3430)
  • Work around compiler bug, fix MSP2_INAV_ANALOG and convert amperage from int32_t to int16_t (@shellixyz, #3469)
  • Prevent time comparison overflow in S.Port driver (@fiam, #3536)
  • Fix automatic DST support (@fiam, #3542)
  • PWM driver - startup value fix (fixes servo twitching at startup) (@marbalon, [#3540])
  • Fix FrSky HDOP range (@teckel12, #3519)
  • Fix division by 0 in generateThrottleCurve() (@shellixyz, #3502)
  • Fix current BB logging and improve battery code (@shellixyz, #3490)
  • Add definition for MAX_SPI_SPEED to limit spi seed if defined for target (@marbalon, #3532)
  • Fix incorrect axis convention (incompliance with datasheet) for IST8310 compass (@digitalentity, #3546)
  • Fix a rare edge case where RC receiver failsafe channel values may leak into AUX mode switching and cause a disarm (@digitalentity, [#3482])
  • Add workaround for AKK VTX with S.Audio bug (@fiam, [#3633])
  • Fix orientation of the drivers for AK8963, AK8975 and MPU9250 MAG (@fiam, [#3447])
  • Fix PCA9685 support (@DzikuVx, [#3744])

Developer Notes

Due to a beneficial change in the build environment (generated files are stored per target, not in a common area), it is necessary to remove a couple of files from any older branches (these files are generated automatically by the build).

# on a Posix O/S
rm -f src/main/fc/settings_generated.[ch]
Pre-release
Pre-release

@digitalentity digitalentity released this Aug 8, 2018 · 45 commits to development since this release

Assets 66

Changes since RC5:

  • Fix issue with not being able to disarm after ~70 min flight
  • Fix missing vtx settings from CLI
  • Telemetry improvements for LuaTelemetry

Full list: 2.0.0-RC5...2.0.0-RC6

Please, see the full release notes at https://github.com/iNavFlight/inav/wiki/2.0.0-Release-Notes

Pre-release
Pre-release

@digitalentity digitalentity released this Aug 6, 2018 · 67 commits to development since this release

Assets 65

Changes since RC4:

  • Add SOFTSERIAL support on TX2 for MATEKF405
  • New setting for disabling motor_stop in NAV modes
  • Ignore RC receiver data if receiver is in failsafe
  • Fix default compass direction for SPRACINGF3EVO
  • Add workaround for AKK VTX with S.Audio bug
  • Replace rssi_scale and rssi_invert with rssi_min and rssi_max
  • Check settings for respecting min/max values at boot time

Full list: 2.0.0-RC4...2.0.0-RC5

Please, see the full release notes at https://github.com/iNavFlight/inav/wiki/2.0.0-Release-Notes

Pre-release
Pre-release

@fiam fiam released this Jul 14, 2018 · 156 commits to development since this release

Assets 77

Changes since RC3:

  • Fixed bug which caused some ESCs to lose their calibration data (introduced in RC3).
  • Show a message in the ARMED screen when GPS is configured but no home position has been recorded.
  • Make the home arrow point up (when disarmed) or show a - (when armed) if the direction to home is not actually known (due to either sensor failure or no home position recorded).
  • Fixed display of coordinates in the (-1, 0) range in the latitude and longitude indicators.
  • Fixed RC adjustments being applied too fast when multiple adjustments where active at the same time.
  • Ensure micros() doesn't return an incorrect value under some special circumstances.
  • Added new parameter for changing the SBUS frame sync interval, for receivers not implementing SBUS properly.

Full list: 2.0.0-RC3...2.0.0-RC4

Please, see the full release notes at https://github.com/iNavFlight/inav/wiki/2.0.0-Release-Notes

Pre-release
Pre-release

@fiam fiam released this Jul 12, 2018 · 176 commits to development since this release

Assets 77

Known issues:

  • Due to the changes made to eliminate servo twitching, some ESC might lose their calibration data. Please, make sure yours are not affected. A fix has been already merged and will be present in RC4.

Changes since RC2: 2.0.0-RC2...2.0.0-RC3

Please, see the full release notes at https://github.com/iNavFlight/inav/wiki/2.0.0-Release-Notes

Pre-release
Pre-release

@fiam fiam released this Jun 29, 2018 · 285 commits to development since this release

Assets 77

Changes since RC1:

  • Fixed display of battery and PID values in OSD
  • Hide name from diff output when it has its default value
  • Fixed transition from CRUISE and CRUISE 3D modes to POSHOLD
  • Fixed incorrect remaining flight distance OSD element
  • Fixed incorrect amperage/used current display in several places (OSD, configurator, etc...)

See the full release notes at https://github.com/iNavFlight/inav/wiki/2.0.0-Release-Notes

Pre-release
Pre-release

@DzikuVx DzikuVx released this Jun 26, 2018 · 307 commits to development since this release

Assets 77
Merge pull request #3239 from bnn1044/CLRACINGF4AIRV3

Add CLRACINGF4AIRV3 to CLRACINGF4AIR target

@digitalentity digitalentity released this Apr 22, 2018 · 768 commits to master since this release

Assets 61

Please read the release notes carefully and upgrade INAV Configurator application.

INAV is and will remain open-source and free, but you are more than welcome to support the development.

This release was supported by our awesome sponsors CarbonBird.com, Airbot, ADPM Drones and a number of supporters on Patreon.

WARNINGS

  • comparing to INAV 1.8 and below, scaling of nav_mc_vel_xy_p has been lowered by a factor of 5. Previous default was 200, current default is 40. When restoring configuration from INAV 1.8, divide nav_mc_vel_xy_p by 5. The default value from INAV 1.9 (and a 1.9 setting that works for your machine) can be used without any change in 1.9.1. Do not restore blindly from backup!

  • The map statement only requires four characters, default is AETR. If you use a different map (e.g. Spektrum, previously TAER5678) then you must manually adjust (Spektrum typically TAER).

Known bugs

  • OSD: Trip distance is now displayed if current sensor is not enabled

CLI parameter renaming / new parameters

Name Description
align_mag_roll Set the external mag alignment on the roll axis (in 0.1 degree steps). If this value is non-zero, the compass is assumed to be externally mounted and both the board and on-board compass alignent (align_mag) are ignored. See also align_mag_pitch and align_mag_yaw.
align_mag_pitch Same as align_mag_roll, but for the pitch axis.
align_mag_yaw Same as align_mag_roll, but for the yaw axis.
fw_tpa_time_constant TPA smoothing and delay time constant to reflect non-instant speed/throttle response of the plane. Planes with low thrust/weight ratio generally need higher time constant. Default is zero for compatibility with old setups
report_cell_voltage Makes telemetry in all protocols send the average cell voltage rather than full battery voltage. Replaces frsky_vfas_cell_voltage with the same semantics.
serialrx_inverted Reverse the serial inversion of the serial RX protocol. When this value is OFF, each protocol will use its default signal. ON should be used only for custom or hacked receivers. Replaces the sbus_inversion, but it's applied to more protocols.
telemetry_inverted Determines if the telemetry protocol default signal inversion is reversed. This should be OFF in most cases unless a custom or hacked RX is used. Replaces telemetry_inversion, which needed per protocol adjustments.

New boards

  • MATEKF405-WING (MATEKF405SE target)
  • AIRBOT ASGARD32 F4
  • AIRBOT FIREWORKS V2
  • AIRBOT OMNIBUS F7 NXT

New features

Improvements

Bugfixes

@digitalentity digitalentity released this Mar 5, 2018 · 958 commits to master since this release

Assets 56

Please read the release notes carefully and upgrade INAV Configurator application.

INAV is and will remain open-source and free, but you are more than welcome to support the development.

This release was supported by our awesome sponsors CarbonBird.com, Airbot, ADPM Drones and a number of supporters on Patreon.

WARNINGS

  • If you are using HMC5883/HMC5983 compass it is advised to recalibrate. Please don't restore the old settings from the dump/diff script.
  • Internal scaling for VEL_XY PID setting has changed. It is advised to use default setting (40) as a starting point. Old setting from 1.8 or earlier will probably cause severe oscillation.

Known bugs

  • [MATEKF722] S6 output doesn't work
  • [MATEKF722] Mixers with servos cause configuration corruption

Renamed PASSTHROUGH flight mode (fixed wing)

The PASSTHROUGH flight mode has been renamed to MANUAL. New settings also have been added to allow the use of different servo rates (or control weight) for the servos when flying without stabilization without using a programmable remote control. The exposition settings for roll/pitch and yaw controls are now also also independent from the exposition settings used for stabilized flight modes. See the manual_* settings in the CLI settings table below. The default settings make the MANUAL flight mode behave exactly as the old PASSTHROUGH flight mode.

Increased VBAT resolution

The battery voltage resolution has been increased from 100mV to 10mV. In consequence the vbat_scale, vbat_max_cell_voltage, vbat_warning_cell_voltage and vbat_min_cell_voltage settings resolution has also been increased 10 fold allowing more precise battery voltage calibration and battery voltage thresholds. To restore old configuration settings users need to multiply their old setting values by 10.

New defaults for these settings:

  • vbat_scale: 1100 (was 110)
  • vbat_max_cell_voltage: 424 (was 43) or 4.24V/cell
  • vbat_warning_cell_voltage: 350 (was 35) or 3.5V/cell
  • vbat_min_cell_voltage: 330 (was 33) or 3.3V/cell

Users who were using the old defaults should not use the settings from their dump but use the new defaults instead.

Users now have the option to display 1 or 2 decimals for battery voltages in the OSD display (see osd_main_voltage_decimals in the CLI settings table below).

Battery capacity monitoring

It is now possible to display the remaining battery capacity in the OSD and also use the battery capacity thresholds (battery_capacity_warning and battery_capacity_critical) for battery alarms.

For the capacity monitoring to work you need a current sensor (CURRENT_METER feature). For monitoring energy in milliWatt hour you also need voltage measurement (VBAT feature). For best results the current and voltage readings have to be calibrated.

For the remaining battery capacity to be displayed users need to set the battery_capacity setting (>0) and the battery to be full when plugged in. If the battery_capacity setting is set to 0 the remaining battery capacity item in the OSD will display NA and the battery gauge will use an estimation based on the battery voltage (like it used to be) otherwise it will display the remaining battery capacity down to the battery_capacity_critical setting (battery considered empty). For the capacity thresholds to be used for alarms the battery_capacity_warning and battery_capacity_critical settings also needs to be set (>0) and the battery to be full the moment it is plugged in. The value are absolute meaning that battery_capacity_warning is the battery capacity left when the battery is entering the warning state and battery_capacity_critical is the battery capacity left when the battery is considered empty and entering the critical state.

For the battery to be considered full the mean cell voltage of the battery needs to be above vbat_max_cell_voltage - 140mV (by default 4.1V). So a 3S battery will be considered full above 12.3V and a 4S battery above 16.24V. If the battery plugged in is not considered full the remaining battery capacity OSD item will show NF (Not Full).

For the remaining battery capacity and battery gauge to be the most precise (linear relative to throttle from full to empty) when using battery capacity monitoring users should use the milliWatt hour unit for the battery capacity settings. The battery capacity settings unit can be set using the battery_capacity_unit setting (see the CLI parameters table below).

NAV Launch (airplane launch assistant) available as feature

The mode can now be permanently enabled via the configurator or the CLI using feature FW_LAUNCH in this case NAV LAUNCH doesn't need to be enabled via a transmitter switch prior to arming freeing a switch for other uses. If you inadvertently disarm mid-air, NAV LAUNCH will be active again after arming again so, before raising the throttle again (you should lower the throttle to arm again) move pitch/roll stick and you will have full control back. If you have this feature enabled and for some reason you want to launch the plane manually just move pitch/roll stick right after arming and you have back full control for a manual launch.

CLI parameter renaming / new parameters

New parameters have been introduced. Some CLI parameters were renamed to support new features or to better reflect their meaning:

Name Description
rangefinder_median_filter Default is OFF
failsafe_lights Enable or disable the lights when the FAILSAFE flight mode is enabled. The target needs to be compiled with USE_LIGHTS [ON/OFF]. Default is ON
failsafe_lights_flash_period Time in milliseconds between two flashes when failsafe_lights is ON and FAILSAFE flight mode is enabled [40-65535]. Default is 1000ms.
failsafe_lights_flash_on_time Flash lights ON time in milliseconds when failsafe_lights is ON and FAILSAFE flight mode is enabled. [20-65535]. Default is 100ms.
battery_capacity Set the battery capacity in mAh or mWh (see battery_capacity_unit). Used to calculate the remaining battery capacity. Default is 0
battery_capacity_warning If the remaining battery capacity goes below this threshold the beeper will emit short beeps and the relevant OSD items will blink. Default is 0
battery_capacity_critical If the remaining battery capacity goes below this threshold the battery is considered empty and the beeper will emit long beeps. Default is 0
battery_capacity_unit Unit used for battery_capacity, battery_capacity_warning and battery_capacity_critical [MAH/MWH] (milliAmpere hour / milliWatt hour). Default is MAH
manual_rc_expo Exposition value used for the PITCH/ROLL axes by the MANUAL flight mode [0-100]. Default is 70
manual_rc_yaw_expo Exposition value used for the YAW axis by the MANUAL flight mode. Default is 20
manual_pitch_rate Servo travel multiplier for the PITCH axis in MANUAL flight mode [0-100]%. Default is 100%
manual_roll_rate Servo travel multiplier for the ROLL axis in MANUAL flight mode [0-100]%. Default is 100%
manual_yaw_rate Servo travel multiplier for the YAW axis in MANUAL flight mode [0-100]%. Default is 100%
gps_ublox_use_galileo Enable use of Galileo satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires M8N and Ublox firmware 3.x (or later) [OFF/ON]. Default is OFF
smartport_fuel_unit Unit of the value sent with the FUEL ID through the S.Port telemetry. Replaces the smartport_fuel_percent setting [PERCENT/MAH/MWH]. Default is PERCENT
osd_stats_energy_unit Unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt hour). Default is MAH
osd_main_voltage_decimals Number of decimals for the battery voltages displayed in the OSD [1-2]. Default is 1
osd_wh_drawn_pos
osd_bat_remaining_capacity_pos
osd_bat_remaining_percent_pos
osd_efficiency_mah_pos
osd_efficiency_wh_pos
display_force_sw_blink
mag_to_use Allow to chose between built-in and external compass sensor if they are connected to separate buses. Currently only for REVO target
nav_fw_launch_min_time Allow launch mode to execute at least this time (ms) and ignore stick movements [0-60000]. Default is 0
nav_fw_launch_max_altitude Altitude (centimeters) at which LAUNCH mode will be turned off and regular flight mode will take over [0-60000]. Default is 0

New boards

  • Betaflight F3
  • Betaflight F4
  • FuriousFPV F35 Lightning (former FuriousFPV WingF4)
  • Matek F722
  • Matek F405-CTR
  • Holybro KAKUTE F4
  • Holybro KAKUTE F4 V2
  • Fortini F4

New features

  • [COMPASS] Allow to chose between internal and external compass on REVO target (@digitalentity, #2522)
  • [COMPASS] Support for QMC5883 compass chips that incorrectly mimic the HMC58883 (@digitalentity, #2809)
  • [SYSTEM] Migrate to busDevice abstraction layer for better device access abstraction (@digitalentity, #2290)
  • [SYSTEM] Create dedicated F427 startup file (@digitalentity, #2559)
  • [MOTOLAB] Allow MOTOLAB target to be used for airplanes (@shellixyz, #2502)
  • [GPS] Enables use of Galileo satellites for NEO-M8N GPS units (@stronnag, #2583)
  • [CALIBRATION] Add API for Calibration tab in Configurator
  • [OSD] Allow OSD mode to disable OSD (@shellixyz, #2676)
  • [OSD] Increase odometer accuracy (@digitalentity, #2757)
  • [OSD] Add more battery-related indicators (including efficiency)
  • [LIGHTS] Add LIGHTS flight mode to enable/disable GPIO-driven equipment (@shellixyz, #2675)
  • [LAUNCH] Allow LAUNCH mode to ignore sticks for certain amount of time (@shellixyz, #2677)
  • [LAUNCH] Allow LAUNCH mode to be permanently enabled as FW_LAUNCH feature (@giacomo892, #2731)
  • [MSP] API to support smix/mmix configuration via Configurator (@DzikuVx, #2693)
  • [MSP] Add no-reply flag to allow MSP messages that don't need a response (@digitalentity, #2762)
  • [COMPASS] Enable QMC5883, MAG3110 and IST8310 on most of the targets (@digitalentity, #2699)
  • [AIRPLANE] Replace PASSTHROUGH with MANUAL flight mode (@shellixyz, #2661)
  • [BATTERY] Improve battery monitoring and resolution (@shellixyz, #2705)
  • [SYSTEM] Remove SoftSPI implementation since it's not used (@DzikuVx, #2726)
  • [SYSTEM] Allow in-flight adjustments of board alignment, cruise throttle and pitch2thr (@shellixyz, #2768)
  • [SYSTEM] Trace messages output for easier debugging (@digitalentity, #2691)

Bugfixes

Pre-release
Pre-release

@digitalentity digitalentity released this Feb 26, 2018 · 999 commits to development since this release

Assets 54

Please read the release notes carefully and upgrade INAV Configurator application.

INAV is and will remain open-source and free, but you are more than welcome to support the development.

This release was supported by our awesome sponsors CarbonBird.com, Airbot, ADPM Drones and a number of supporters on Patreon.

WARNINGS

  • If you are using HMC5883/HMC5983 compass it is advised to recalibrate. Please don't restore the old settings from the dump/diff script.

Known bugs

  • todo

Increased VBAT resolution

The battery voltage resolution has been increased from 100mV to 10mV. In consequence the vbat_scale, vbat_max_cell_voltage, vbat_warning_cell_voltage and vbat_min_cell_voltage settings resolution has also been increased 10 fold allowing more precise battery voltage calibration and battery voltage thresholds. To restore old configuration settings users need to multiply their old setting values by 10.

New defaults for these settings:

  • vbat_scale: 1100 (was 110)
  • vbat_max_cell_voltage: 424 (was 43) or 4.24V/cell
  • vbat_warning_cell_voltage: 350 (was 35) or 3.5V/cell
  • vbat_min_cell_voltage: 330 (was 33) or 3.3V/cell

Users who were using the old defaults should not use the settings from their dump but use the new defaults instead.

Users now have the option to display 1 or 2 decimals for battery voltages in the OSD display (see osd_main_voltage_decimals in the CLI settings table below).

Battery capacity monitoring

It is now possible to display the remaining battery capacity in the OSD and also use the battery capacity thresholds (battery_capacity_warning and battery_capacity_critical) for battery alarms.

For the capacity monitoring to work you need a current sensor (CURRENT_METER feature). For monitoring energy in milliWatt hour you also need voltage measurement (VBAT feature). For best results the current and voltage readings have to be calibrated.

For the remaining battery capacity to be displayed users need to set the battery_capacity setting (>0) and the battery to be full when plugged in. If the battery_capacity setting is set to 0 the remaining battery capacity item in the OSD will display NA and the battery gauge will use an estimation based on the battery voltage (like it used to be) otherwise it will display the remaining battery capacity down to the battery_capacity_critical setting (battery considered empty) and the battery gauge will be based on the remaining capacity. For the capacity thresholds to be used for alarms the battery_capacity_warning and battery_capacity_critical settings also needs to be set (>0) and the plugged in battery to be full when plugged in.

For the battery to be considered full the mean cell voltage of the battery needs to be above vbat_max_cell_voltage - 140mV (by default 4.1V). So a 3S battery will be considered full above 12.3V and a 4S battery above 16.24V. If the battery plugged in is not considered full the remaining battery capacity OSD item will show NF (Not Full).

For the remaining battery capacity and battery gauge to be the most precise (linear relative to throttle from full to empty) when using battery capacity monitoring users should use the milliWatt hour unit for the battery capacity settings. The battery capacity settings unit can be set using the battery_capacity_unit setting (see the CLI parameters table below).

CLI parameter renaming / new parameters

New parameters have been introduced. Some CLI parameters were renamed to support new features or to better reflect their meaning:

Name Description
rangefinder_median_filter Default is OFF
baro_median_filter Default is ON
failsafe_lights Enable or disable the lights when the FAILSAFE flight mode is enabled. The target needs to be compiled with USE_LIGHTS [ON/OFF]. Default is ON
failsafe_lights_flash_period Time in milliseconds between two flashes when failsafe_lights is ON and FAILSAFE flight mode is enabled [40-65535]. Default is 1000ms.
failsafe_lights_flash_on_time Flash lights ON time in milliseconds when failsafe_lights is ON and FAILSAFE flight mode is enabled. [20-65535]. Default is 100ms.
battery_capacity Set the battery capacity in mAh or mWh (see battery_capacity_unit). Used to calculate the remaining battery capacity. Default is 0
battery_capacity_warning If the remaining battery capacity goes below this threshold the beeper will emit short beeps and the relevant OSD items will blink. Default is 0
battery_capacity_critical If the remaining battery capacity goes below this threshold the battery is considered empty and the beeper will emit long beeps. Default is 0
battery_capacity_unit Unit used for battery_capacity, battery_capacity_warning and battery_capacity_critical [MAH/MWH] (milliAmpere hour / milliWatt hour). Default is MAH
manual_rc_expo Exposition value used for the PITCH/ROLL axes by the MANUAL flight mode [0-100]. Default is 70
manual_rc_yaw_expo Exposition value used for the YAW axis by the MANUAL flight mode. Default is 20
manual_pitch_rate Servo travel multiplier for the PITCH axis in MANUAL flight mode [0-100]%. Default is 100%
manual_roll_rate Servo travel multiplier for the ROLL axis in MANUAL flight mode [0-100]%. Default is 100%
manual_yaw_rate Servo travel multiplier for the YAW axis in MANUAL flight mode [0-100]%. Default is 100%
gps_ublox_use_galileo Enable use of Galileo satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires M8N and Ublox firmware 3.x (or later) [OFF/ON]. Default is OFF
smartport_fuel_unit Unit of the value sent with the FUEL ID through the S.Port telemetry. Replaces the smartport_fuel_percent setting [PERCENT/MAH/MWH]. Default is PERCENT
osd_stats_energy_unit Unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt hour). Default is MAH
osd_main_voltage_decimals Number of decimals for the battery voltages displayed in the OSD [1-2]. Default is 1
osd_wh_drawn_pos
osd_bat_remaining_capacity_pos
osd_bat_remaining_percent_pos
osd_efficiency_mah_pos
osd_efficiency_wh_pos
display_force_sw_blink
mag_to_use Allow to chose between built-in and external compass sensor if they are connected to separate buses. Currently only for REVO target
nav_fw_launch_min_time Allow launch mode to execute at least this time (ms) and ignore stick movements [0-60000]. Default is 0
nav_fw_launch_max_altitude Altitude (centimeters) at which LAUNCH mode will be turned off and regular flight mode will take over [0-60000]. Default is 0

New boards

  • Betaflight F3
  • Betaflight F4
  • FuriousFPV F35 Lightning (former FuriousFPV WingF4)
  • Matek F722
  • Matek F405-CTR
  • Holybro KAKUTE F4
  • Holybro KAKUTE F4 V2
  • Fortini F4

New features

  • [COMPASS] Allow to chose between internal and external compass on REVO target (@digitalentity, #2522)
  • [SYSTEM] Migrate to busDevice abstraction layer for better device access abstraction (@digitalentity, #2290)
  • [SYSTEM] Create dedicated F427 startup file (@digitalentity, #2559)
  • [MOTOLAB] Allow MOTOLAB target to be used for airplanes (@shellixyz, #2502)
  • [GPS] Enables use of Galileo satellites for NEO-M8N GPS units (@stronnag, #2583)
  • [CALIBRATION] Add API for Calibration tab in Configurator
  • [OSD] Allow OSD mode to disable OSD (@shellixyz, #2676)
  • [OSD] Increase odometer accuracy (@digitalentity, #2757)
  • [OSD] Add more battery-related indicators (including efficiency)
  • [LIGHTS] Add LIGHTS flight mode to enable/disable GPIO-driven equipment (@shellixyz, #2675)
  • [LAUNCH] Allow LAUNCH mode to ignore sticks for certain amount of time (@shellixyz, #2677)
  • [LAUNCH] Allow LAUNCH mode to be permanently enabled as FW_LAUNCH feature (@giacomo892, #2731)
  • [MSP] API to support smix/mmix configuration via Configurator (@DzikuVx, #2693)
  • [MSP] Add no-reply flag to allow MSP messages that don't need a response (@digitalentity, #2762)
  • [COMPASS] Enable QMC5883, MAG3110 and IST8310 on most of the targets (@digitalentity, #2699)
  • [AIRPLANE] Replace PASSTHROUGH with MANUAL flight mode (@shellixyz, #2661)
  • [BATTERY] Improve battery monitoring and resolution (@shellixyz, #2705)
  • [SYSTEM] Remove SoftSPI implementation since it's not used (@DzikuVx, #2726)
  • [SYSTEM] Allow in-flight adjustments of board alignment, cruise throttle and pitch2thr (@shellixyz, #2768)
  • [SYSTEM] Trace messages output for easier debugging (@digitalentity, #2691)

Bugfixes