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2.3.0 Release Notes

stronnag edited this page Nov 16, 2019 · 13 revisions

Hello and welcome to INAV 2.3.0 Release!

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

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Your contribution from the past month has been very welcome! Thanks!

Tested and suggested hardware can be found here

Important Notes

Upgrading from 2.2.0

  1. Download and install the new configurator
  2. Save to a file the current diff all from the CLI.
  3. Upgrade to INAV 2.3 using the Full Erase option in the configurator.
  4. Upload your OSD font of choice from the OSD tab.
  5. Go the CLI again and paste the contents on the file you previously create and write save , press ENTER and done!
  6. You should be ready, explore new 2.3 features and enjoy!

Upgrading from 2.1.0

  1. Please follow the upgrade guide to 2.2.0 and then step to the previous section.

New targets:



Setting Description
dyn_notch_width_percent Distance in % of the attenuated frequency for double dynamic filter notched. When set to 0 single dynamic notch filter is used
dyn_notch_range Dynamic gyro filter range. Possible values LOW MEDIUM HIGH. MEDIUM should work best for 5-6" multirotors. LOW should work best with 7" and bigger. HIGH should work with everything below 4"
dyn_notch_q Q factor for dynamic notches
dyn_notch_min_hz Minimum frequency for dynamic notches. Default value of 150 works best with 5" multirors. Should be lowered with increased size of propellers. Values around 100 work fine on 7" drones. 10" can go down to 60 - 70
throttle_scale Throttle scaling factor. 1 means no throttle scaling. 0.5 means throttle scaled down by 50%
vbat_meter_type Vbat voltage source. Possible values: NONE, ADC, ESC. ESC required ESC telemetry enabled and running
antigravity_gain Max Antigravity gain. 1 means Antigravity is disabled, 2 means Iterm is allowed to double during rapid throttle movements
antigravity_cutoff_lpf_hz Antigravity cutoff frequenct for Throtte filter. Antigravity is based on the difference between actual and filtered throttle input. The bigger is the difference, the bigger Antigravity gain
sim_pin PIN for GSM card module

ESC Telemetry

ESC Telemetry is a feature of DSHOT ESCs to send some data back to the flight controller - voltage, current, temperature, motor RPM. It required additional wire from an ESC to the flight controller. To configure you need DSHOT as a motor protocol and "ESC output/telemetry" function enabled for the serial port where ESC telemetry wires are connected.

INAV ESC Telemetry with BlHeli_32 - The Complete Guide

Dynamic Filters

Dynamic Filters is a port of Betaflight dynamic filtering. It uses FFT analysis of gyro traces to locate noise peaks and double notch filters to attenuate them. By default, there are 6 notches, 2 per each axis: roll, pitch and yaw.

To enable Dynamic Filters, go to CLI and type feature DYNAMIC_FILTERS

The default values are suited for 5" mini quads. Depending on the size of multirotor propellers, some adjustments might be required.

Propeller size dyn_notch_range dyn_notch_min_hz
Below 5" HIGH 200 or more
5" HIGH or MEDIUM 150 or more
7" LOW 100 or less

INAV Dynamic Filters, one of INAV 2.3 goodies - how-to guide

Global Functions

Global Functions (abbr. GF) are a mechanism allowing to override certain flight parameters (during flight). Global Functions are activated by Logic Conditions.

Currently implemented Global Functions

Name Notes
OVERRIDE_ARMING_SAFETY Allows to arm on any angle even without GPS fix
OVERRIDE_THROTTLE_SCALE Override throttle scale to the defined value
SWAP_ROLL_YAW basically, when activated, yaw stick will control roll and roll stick will control yaw. Required for tail-sitters VTOL during vertical-horizonral transition when body frame changes
SET_VTX_POWER_LEVEL Sets VTX power level. Allows to change VTX power level based on distance, switch or other values present in Logic Conditions
INVERT_ROLL Inverts ROLL axis input for PID/PIFF controller
INVERT_PITCH Inverts PITCH axis input for PID/PIFF controller
INVERT_YAW Inverts YAW axis input for PID/PIFF controller
OVERRIDE_THROTTLE Override throttle value that is fed to the motors by mixer. Allows for throttle hold

For details refer to Global in docs folder.

Pixel based OSD

INAV now supports pixel based OSDs and includes a driver for FrSky's OSD. Some elements, like the artificial horizon, the home arrow or the heading graph include pixel based implementations.

To enable it go to the Ports tab in the configurator and select "FrSky OSD" from the peripherals column of the port that the OSD is connected to. Font uploading and OSD element configuration works in the same way, regardless of the OSD type.

Development Environment

The iNav Makefile will attempt to install a recommended compiler for your platform. Should you wish to override this, or your platform is not supported, please refer to the document docs/development/ which describes how to use an alternative compiler.

Due to third-party incompatibilities between Windows 64bit, Cygwin and the 32bit ARM cross-compiler, we do not recommend trying to build with Cygwin. The Cygwin build documentation has been withdrawn. Please use WSL or a Linux VM for building on Windows.

All changes:

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