2.5.0 Release Notes

Hello and welcome to INAV 2.5.0 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

CLI `aux` mode migration

inav 2.5 moves the CLI aux mode value from a boxid that was not guaranteed to be stable between releases to a permmanentId that is guaranteed to be stable between releases. This is a "breaking" change for inav 2.5 that brings stability in the future.

In order to use a diff or dump from 2.4 or earlier in inav 2.5, the user must do one of the following:

Remove aux settings from the diff / dump and recreate them in inav 2.5; or
Use the box2perm tool to migrate the diff / dump automatically; or
Manually edit the aux settings; a conversion table is provided as part of the box2perm documentation.

Removal of PWM RX

All traces of PWM RX have finally been removed. Please check that your receiver type is correctly assigned before raising bogus issues that your RX no longer works.

F3 Deprecation

STM32 F3 flight controllers like Omnibus F3 or SP Racing F3 are deprecated and soon they will reach the end of support in INAV. If you are still using F3 boards, please migrate to F4 or F7.

Upgrading from 2.4

Download and install the new configurator
Save to a file the current diff all from the CLI.
Modify the diff to update or remove the aux statements
Upgrade to INAV 2.5 using the Full Erase option in the configurator.
Upload your OSD font of choice from the OSD tab.
Go the CLI again and paste the contents on the file you previously create and write save , press ENTER and done!
You should be ready, explore new 2.5 features and enjoy!

Upgrading from 2.3 or older version

Please follow the instructions on this page.

New targets:

AIRBOTF7
OMMINBUSF7NANOV2

CLI:

New commands

Command	Description
`gf`	Global Functions. For details refer to `Global Functions.md` in the `docs` folder.
`logic`	Defined Logic conditions activating Global Functions. For details refer to `Logic Conditions.md` in the `docs` folder.

New Settings

Setting	Description
`dynamic_gyro_notch_enabled`	Enable/disable dynamic gyro notch also known as Matrix Filter [ON / OFF]
`dynamic_gyro_notch_range`	Range for dynamic gyro notches. `MEDIUM` for 5", `HIGH` for 3" and `MEDIUM` or `LOW` for 7" and bigger propellers
`dynamic_gyro_notch_q`	Q factor for dynamic notches
`dynamic_gyro_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
`motor_direction_inverted`	Replaces `yaw_motor_direction`
`nav_fw_control_smoothness`	Controls smoothness of navigation control (0-9). 0 gives legacy behaviour, non-zero values give increasing smoothness.
`nav_fw_pos_hdg_p`	P gain of heading PID controller.
`nav_fw_pos_hdg_i`	I gain of heading PID controller.
`nav_fw_pos_hdg_d`	D gain of heading PID controller.
`nav_fw_pos_hdg_pidsum_limit`	Output limit for heading trajectory PID controller. (Fixedwing, rovers, boats)
`nav_use_fw_yaw_control`	Enables or Disables the use of the heading PID controller on fixed wing
`nav_fw_yaw_deadband`	Deadband for heading trajectory PID controller. When heading error is below the deadband, controller assumes that vehicle is on course
`osd_esc_temp_alarm_max`	Temperature under which the IMU temperature OSD element will start blinking (decidegrees centigrade)
`osd_esc_temp_alarm_min`	Temperature above which the IMU temperature OSD element will start blinking (decidegrees centigrade)
`osd_hud_wp_disp`	Controls display of the next waypoints in the HUD. See description below
`osd_ahi_style`	Sets OSD Artificial Horizon style "DEFAULT" or "LINE" for the FrSky Graphical OSD
`telemetry_halfduplex`	Replaces `telemetry_uart_unidir`
`servo_protocol`	Select which protocol is used to communicate with servos (PWM, servo driver or SBUS)

Removed settings

Setting	Description
`dyn_notch_width_percent`
`dyn_notch_range`
`dyn_notch_q`
`dyn_notch_min_hz`
`rpm_dterm_filter_enabled`
`dterm_gyro_harmonic`
`rpm_dterm_min_hz`
`rpm_dterm_q`
`telemetry_uart_unidir`	Replaced by `telemetry_halfduplex`
`yaw_motor_direction`	Replaced by `motor_direction_inverted`

New drivers and protocols

BME280 Barometer (@gereic)

Initial Rover and Boat support (@DzikuVx)

Starting from version 2.5, INAV supports Rovers and Boats (more general: ground and water vehicles without altitude control with yaw steering only. Remark: tanks and vehicles with differential steering are also supported).

The Rover and Boat related features:

Flight modes: PosHold, AltHold, Cruise, Launch, Loiter Direction Change, Angle, Horizon, FPV Angle Mix, Turn Assist, Airmode are not available on Rover and Boat platforms
Feature 3D is renamed to Reversible Motors
Reversible ESCs are now working correctly
New Heading PID controller used for YAW control on rovers and boats
Return To Home is working. Rover will disarm at the end of RTH procedure. Bear in mind, it will return in a straight line, no Smart RTH support yet.
Waypoint Missions are operational. Rover will drive directly int the direction of the Waypoint. At the last Waypoint, it will stop motors instead of loitering.

Reversible ESCs support (@DzikuVx)

Description

New Matrix Filters for Multirotors (@DzikuVx)

The new Matrix Notch filter comes enabled by default on INAV. It's a dynamic notch filter that detects noise frequencies on each individual axis (X, Y and Z) and apply the filters to each axis, resulting in a much better noise handling.

Check out this video to see a detailed explanation of how the Matrix Filter works.

JUMP, HOLD and LAND Waypoint types (@giacomo892, @Jacky2k, @stronnag)

INAV 2.5 supports additional waypoint types, allowing more complex missions to be performed.

JUMP: Defines a 'jump' to another waypoint, allowing mission loops (backward jump) and forward jumps. The number of jump iterations is also user defined.
POSHOLD_TIME: Defines the amount of time for which the aircraft will loiter at the waypoint position before proceeding to the next waypoint.
LAND: Defines a location for landing. This allows INAV to perform one-way missions.

The navigation messages wiki page provides more information and annotated examples.

HUD POI Waypoints markers (@OlivierC-FR)

Shows the next waypoints in the hud. To enable this feature, enter the count of next waypoints in the CLI command:

set osd_hud_wp_disp = 0 to 3

Or on the CMS menu: OSD > HUD > Displayed items > Next waypoints: (from 0 to 3, 0 means disabled)

Then start a WP mission, the next WPs will appear as soon as the mission is loaded in FC memory AND that the aircraft has a valid GPS heading, so it must move if it's not fitted with a magnetometer.

Servo S.BUS output (@digitalentity)

It's now possible to connect S.BUS servos to INAV. You can configure INAV to output servo commands as S.BUS stream on one of the serial ports. Important note - F4 boards generally don't support inversion on serial ports, for those boards a hardware inverter might be required.

VTX/CMS Unification (@digitalentity)

Now CMS has one unified page for configuring VTX settings. No need to remember which protocol your VTX is talking (Tramp, S.Audio or other).

ESC Sensor listen-only mode (@digitalentity)

ESC sensor can now be put to listen-only mode, allowing ESC sensor functionality to be used when an ESC is connected with a PWM-based protocol and configured to sent telemetry automatically. This will be useful on airplanes to provide RPM feedback without the need to use DSHOT.