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2.2.0 Release Notes

giacomo892 edited this page May 23, 2019 · 23 revisions

Hello and welcome to INAV 2.2.0 Release!

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

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Tested and suggested hardware can be found here

Important Notes

  1. Arming with sticks is being removed since it is not safe to use. Use switch arming.

Upgrading from 2.1.0

  1. If you armed with via sticks, add an arming switch.
  2. POS XY PID I and D have now specific settings, respectively nav_mc_pos_deceleration_time and nav_mc_pos_expo . So if you don't use defaults, when restoring, move yours to the new settings.

New targets:

  • MAMBA F405
  • OMNIBUSF4V3_SFTSRL2 (OMNIBUSF4V3 with two software serial)



Setting Description
acc_lpf_type Specifies the type of the software LPF of the acc signals. BIQUAD gives better filtering and more delay, PT1 less filtering and less delay, so use only on clean builds.
nav_mc_pos_deceleration_time Used for stoping distance calculation. Stop position is computed as speed * nav_mc_pos_deceleration_time from the place where sticks are released. Braking mode overrides this setting
nav_mc_pos_expo Expo for PosHold control
use_dterm_fir_filter Setting to OFF disabled extra filter on Dterm. OFF offers faster Dterm and better inflight performance with a cost of being more sensitive to gyro noise. Small and relatively clean multirotors (7 inches and below) are suggested to use OFF setting. If motors are getting too hot, switch back to ON
osd_gforce_alarm Value above which the OSD g force indicator will blink (g)
osd_gforce_axis_alarm_min Value under which the OSD axis g force indicators will blink (g)
osd_gforce_axis_alarm_max Value above which the OSD axis g force indicators will blink (g)
mc_airmode_type Defines the Airmode state handling type for Multirotors. Default STICK_CENTER is the classical approach in which Airmode is always active if enabled, but when the throttle is low and ROLL/PITCH/YAW sticks are centered, Iterms is not allowed to grow (ANTI_WINDUP). THROTTLE_THRESHOLD is the Airmode behavior known from Betaflight. In this mode, Airmode is active as soon THROTTLE position is above mc_airmode_threshold and stays active until disarm. ANTI_WINDUP is never triggered. For small Multirotors (up to 7-inch propellers) it is suggested to switch to THROTTLE_THRESHOLD since it keeps full stabilization no matter what pilot does with the sticks. Fixed Wings always use STICK_CENTER mode.
mc_airmode_threshold Defines airmode THROTTLE activation threshold when mc_airmode_type THROTTLE_THRESHOLD is used
osd_current_alarm Value above which the OSD current consumption element will start blinking. Measured in full Amperes.


Setting Description

STM32F7 optimizations

INAV 2.2 offers a huge performance boost for all F7 based flight controllers (STM32F745 and STM32F722). Thanks to using both fast Instruction and Data memory (ITCM and DTCM), INAV on F7 boards is as fast as on F4 boards. Special thanks to @diehertz for helping and original work for Betaflight. With performance fixes, INAV 2.2 is now capable of running 8kHz PID loop.

It is still not advised to use 8kHz when any I2C devices are connected to flight controller (BOTH F4 and F7). This specially applies to Magnetometer and Barometer. Because I2C bus driver is synchronous and the process or reading data for MAG or BARO takes longer than time available between PID loop cycles, jitter will appear.

If I2C magnetometer or barometer are to be used, switch to 4kHz mode!

Logic Conditions

Logic conditions is a new function framework that in INAV 2.2 allows to activate and deactivate specific servo mixer rules.

Logic conditions can evaluate RC channels, flight parameters, and other logic conditions into true/false and activate/deactivate servo mixer rules. It opens possibilities like:

  • automatically deploy flaps when speed is too low
  • activate servo when distance or altitude has been reached
  • flaps/spoilers with different throws

Future versions of INAV will allow using Logic conditions to switch motor mixer banks and make other overrides that currently cannot be changed during flight or be activated by flight conditions

Main changes


All changes:

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