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Published by fiam over 6 years ago
Changes since RC1:
name
from diff output when it has its default valueSee the full release notes at https://github.com/iNavFlight/inav/wiki/2.0.0-Release-Notes
Published by DzikuVx over 6 years ago
Published by digitalentity over 6 years ago
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.
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
).
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. |
Published by digitalentity over 6 years ago
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.
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.
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/cellvbat_warning_cell_voltage
: 350 (was 35) or 3.5V/cellvbat_min_cell_voltage
: 330 (was 33) or 3.3V/cellUsers 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).
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).
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.
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 |
Published by digitalentity over 6 years ago
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.
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/cellvbat_warning_cell_voltage
: 350 (was 35) or 3.5V/cellvbat_min_cell_voltage
: 330 (was 33) or 3.3V/cellUsers 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).
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).
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 |
Published by digitalentity over 6 years ago
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.
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
: 430 (was 43) or 4.3V/cellvbat_warning_cell_voltage
: 350 (was 35) or 3.5V/cellvbat_min_cell_voltage
: 330 (was 33) or 3.3V/cellNew 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 |
Published by digitalentity almost 7 years ago
Please read the release notes carefully and upgrade INAV Configurator available at Chrome Store. You can also use Configurator built as a native MacOS or Windows 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.
New parameters have been introduced. Some CLI parameters were renamed to support new features or to better reflect their meaning:
Name | Description |
---|---|
feature RX_* |
RX type definition as been moved from a FEATURE to a setting receiver_type , with values of NONE , PWM , PPM , SERIAL , MSP , SPI . |
nav_rth_allow_landing |
This now takes values of NEVER , ALWAYS (default), FS_ONLY . The latter is primarily for fixed wing, where an emergency landing is a better option than have the 'plane fall from altitude as the battery expires under failsafe. |
- | totally_new_setting |
tz_offset |
Time zone offset from UTC, in minutes. This is applied to the GPS time for logging and time-stamping of Blackbox logs |
failsafe_min_distance |
If failsafe happens when craft is closer than this distance in centimetres from home, failsafe will not execute regular failsafe_procedure, but will execute procedure specified in failsafe_min_distance_procedure instead. 0 = Normal failsafe_procedure always taken. |
failsafe_min_distance_procedure |
The failsafe procedure to initiate in Stage 2 when craft is closer to home than failsafe_min_distance. with values of SET-THR , DROP , RTH , NONE . See the Failsafe documentation. |
smartport_fuel_percent |
Along with battery_capacity variable allows sending SmartPort telemetry Fuel as available battery percentage |
For 1.7.3 and below receiver was chosen as a feature
which was not very user friendly. In 1.8 this have changed to a single setting (receiver_type
). Bear in mind that restoring pre-1.8 dumps will reset receiver_type
to NONE
leaving this to you to fix manually.
OSD includes numerous updates, fixes as well as improvements and has received quite significant work for this update, so we're dedicating a whole section in the release notes to it.
Users must to update the OSD font from the configurator after upgrading to 1.8. Failing to do so will result in incorrectly displayed indicators, since a lot of new symbols have been added (a clear symptom will be blank spaces in the OSD where a decimal separator should appear).
Combined "On time" / "Fly time" indicator shows "On time" while the aircraft is unarmed and "Fly time" while it's armed. This indicator is now on by default and the old separated indicators are disabled (can still be enabled in the configurator in the OSD tab).
System messages indicator. Shows messages from several topics, including: additional flight mode information (AUTOTUNE and AUTOTRIM modes) reasons for not being able to arm, failsafe status when failsafe mode is active and navigation stages when the navigation system is controlling the aircraft.
Average cell voltage shows the average voltage of each cell rather than the voltage of the whole battery.
Time of the day indicator shows the current time. Use the new tz_config
CLI variable to set your current timezone. It will show UTC time otherwise.
Throttle / Automatic Throttle indicator shows the stick throttle position when the user is directly controlling the throttle while showing the actual throttle value sent to the motors while the navigation system is controlling the throttle output.
Heading graph indicator shows the heading using a moving graph with the cardinal points rather than heading degrees.
VTX channel displays the VTX current band and channel. Requires a VTX with SmartAudio or Tramp support.
Efficiency indicator displays the current map drawn per travelled km. Requires a current sensor.
Artificial horizon roll direction can now be reversed. This is an experimental feature not available in the configurator and must be enabled using the osd_artificial_horizon_reverse_roll
CLI variable. Feedback regarding this feature is highly appreciated.
Artificial horizon crosshairs now has two different styles: the default crosshair or an aircraft symbol. This is an experimental feature not available in the configurator and must be configured using the osd_crosshairs_style
CLI variable. Feedback regarding this feature is highly appreciated.
Artificial horizon sidebars now support scrolling. Each bar can be made to scroll depending on variations on either ground speed, altitude or distance to home. Also, optional arrows can be enabled on top/bottom of the sidebar while it's scrolling. This is an experimental feature not available in the configurator and must be enabled using the osd_left_sidebar_scroll
, osd_right_sidebar_scroll
and osd_sidebar_scroll_arrows
CLI variables. Feedback regarding this feature is highly appreciated.
AUX 1
renamed to CH 5
, AUX 2
to CH 6
and so on. This means that restoring old map
settings from the CLI will not work, for example TAER1234 is now TAER5678. The Configurator handles this transparently.current_meter_offset
to negative valuesPublished by digitalentity almost 7 years ago
Please read the release notes carefully and upgrade INAV Configurator available at Chrome Store. You can also use Configurator built as a native MacOS or Windows 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.
New parameters have been introduced. Some CLI parameters were renamed to support new features or to better reflect their meaning:
Name | Description |
---|---|
feature RX_* |
RX type definition as been moved from a FEATURE to a setting receiver_type , with values of NONE , PWM , PPM , SERIAL , MSP , SPI . |
nav_rth_allow_landing |
This now takes values of NEVER , ALWAYS (default), FS_ONLY . The latter is primarily for fixed wing, where an emergency landing is a better option than have the 'plane fall from altitude as the battery expires under failsafe. |
- | totally_new_setting |
tz_offset |
Time zone offset from UTC, in minutes. This is applied to the GPS time for logging and time-stamping of Blackbox logs |
failsafe_min_distance |
If failsafe happens when craft is closer than this distance in centimetres from home, failsafe will not execute regular failsafe_procedure, but will execute procedure specified in failsafe_min_distance_procedure instead. 0 = Normal failsafe_procedure always taken. |
failsafe_min_distance_procedure |
The failsafe procedure to initiate in Stage 2 when craft is closer to home than failsafe_min_distance. with values of SET-THR , DROP , RTH , NONE . See the Failsafe documentation. |
smartport_fuel_percent |
Along with battery_capacity variable allows sending SmartPort telemetry Fuel as available battery percentage |
For 1.7.3 and below receiver was chosen as a feature
which was not very user friendly. In 1.8 this have changed to a single setting (receiver_type
). Bear in mind that restoring pre-1.8 dumps will reset receiver_type
to NONE
leaving this to you to fix manually.
OSD includes numerous updates, fixes as well as improvements and has received quite significant work for this update, so we're dedicating a whole section in the release notes to it.
Users must to update the OSD font from the configurator after upgrading to 1.8. Failing to do so will result in incorrectly displayed indicators, since a lot of new symbols have been added (a clear symptom will be blank spaces in the OSD where a decimal separator should appear).
Combined "On time" / "Fly time" indicator shows "On time" while the aircraft is unarmed and "Fly time" while it's armed. This indicator is now on by default and the old separated indicators are disabled (can still be enabled in the configurator in the OSD tab).
System messages indicator. Shows messages from several topics, including: additional flight mode information (AUTOTUNE and AUTORIM modes) reasons for not being able to arm, failsafe status when failsafe mode is active and navigation stages when the navigation system is controlling the aircraft.
Average cell voltage shows the average voltage of each cell rather than the voltage of the whole battery.
Time of the day indicator shows the current time. Use the new tz_config
CLI variable to set your current timezone. It will show UTC time otherwise.
Throttle / Automatic Throttle indicator shows the stick throttle position when the user is directly controlling the throttle while showing the actual throttle value sent to the motors while the navigation system is controlling the throttle output.
Heading graph indicator shows the heading using a moving graph with the cardinal points rather than heading degrees.
VTX channel displays the VTX current band and channel. Requires a VTX with SmartAudio or Tramp support.
Efficiency indicator displays the current map drawn per travelled km. Requires a current sensor.
Artificial horizon roll direction can now be reversed. This is an experimental feature not available in the configurator and must be enabled using the osd_artificial_horizon_reverse_roll
CLI variable. Feedback regarding this feature is highly appreciated.
Artificial horizon crosshairs now has two different styles: the default crosshair or an aircraft symbol. This is an experimental feature not available in the configurator and must be configured using the osd_crosshairs_style
CLI variable. Feedback regarding this feature is highly appreciated.
Artificial horizon sidebars now support scrolling. Each bar can be made to scroll depending on variations on either ground speed, altitude or distance to home. Also, optional arrows can be enabled on top/bottom of the sidebar while it's scrolling. This is an experimental feature not available in the configurator and must be enabled using the osd_left_sidebar_scroll
, osd_right_sidebar_scroll
and osd_sidebar_scroll_arrows
CLI variables. Feedback regarding this feature is highly appreciated.
AUX 1
renamed to CH 5
, AUX 2
to CH 6
and so on. This means that restoring old map
settings from the CLI will not work, for example TAER1234 is now TAER5678. The Configurator handles this transparently.current_meter_offset
to negative valuesPublished by digitalentity about 7 years ago
Please read the release notes carefully and upgrade INAV Configurator available at Chrome Store. You can also use Configurator built as a native MacOS or Windows 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.
New parameters have been introduced. Some CLI parameters were renamed to support new features or to better reflect their meaning:
Name | Description |
---|---|
feature RX_* |
RX type definition as been moved from a FEATURE to a setting receiver_type , with values of NONE , PWM , PPM , SERIAL , MSP , SPI . |
nav_rth_allow_landing |
This now takes values of NEVER , ALWAYS (default), FS_ONLY . The latter is primarily for fixed wing, where an emergency landing is a better option than have the 'plane fall from altitude as the battery expires under failsafe. |
- | totally_new_setting |
tz_offset |
Time zone offset from UTC, in minutes. This is applied to the GPS time for logging and time-stamping of Blackbox logs |
failsafe_min_distance |
If failsafe happens when craft is closer than this distance in centimetres from home, failsafe will not execute regular failsafe_procedure, but will execute procedure specified in failsafe_min_distance_procedure instead. 0 = Normal failsafe_procedure always taken. |
failsafe_min_distance_procedure |
The failsafe procedure to initiate in Stage 2 when craft is closer to home than failsafe_min_distance. with values of SET-THR , DROP , RTH , NONE . See the Failsafe documentation. |
smartport_fuel_percent |
Along with battery_capacity variable allows sending SmartPort telemetry Fuel as available battery percentage |
For 1.7.3 and below receiver was chosen as a feature
which was not very user friendly. In 1.8 this have changed to a single setting (receiver_type
). Bear in mind that restoring pre-1.8 dumps will reset receiver_type
to NONE
leaving this to you to fix manually.
OSD includes numerous updates, fixes as well as improvements and has received quite significant work for this update, so we're dedicating a whole section in the release notes to it.
Users must to update the OSD font from the configurator after upgrading to 1.8. Failing to do so will result in incorrectly displayed indicators, since a lot of new symbols have been added (a clear symptom will be blank spaces in the OSD where a decimal separator should appear).
Combined "On time" / "Fly time" indicator shows "On time" while the aircraft is unarmed and "Fly time" while it's armed. This indicator is now on by default and the old separated indicators are disabled (can still be enabled in the configurator in the OSD tab).
System messages indicator. Shows messages from several topics, including: additional flight mode information (AUTOTUNE and AUTORIM modes) reasons for not being able to arm, failsafe status when failsafe mode is active and navigation stages when the navigation system is controlling the aircraft.
Average cell voltage shows the average voltage of each cell rather than the voltage of the whole battery.
Time of the day indicator shows the current time. Use the new tz_config
CLI variable to set your current timezone. It will show UTC time otherwise.
Throttle / Automatic Throttle indicator shows the stick throttle position when the user is directly controlling the throttle while showing the actual throttle value sent to the motors while the navigation system is controlling the throttle output.
Heading graph indicator shows the heading using a moving graph with the cardinal points rather than heading degrees.
VTX channel displays the VTX current band and channel. Requires a VTX with SmartAudio or Tramp support.
Efficiency indicator displays the current map drawn per travelled km. Requires a current sensor.
Artificial horizon roll direction can now be reversed. This is an experimental feature not available in the configurator and must be enabled using the osd_artificial_horizon_reverse_roll
CLI variable. Feedback regarding this feature is highly appreciated.
Artificial horizon crosshairs now has two different styles: the default crosshair or an aircraft symbol. This is an experimental feature not available in the configurator and must be configured using the osd_crosshairs_style
CLI variable. Feedback regarding this feature is highly appreciated.
Artificial horizon sidebars now support scrolling. Each bar can be made to scroll depending on variations on either ground speed, altitude or distance to home. Also, optional arrows can be enabled on top/bottom of the sidebar while it's scrolling. This is an experimental feature not available in the configurator and must be enabled using the osd_left_sidebar_scroll
, osd_right_sidebar_scroll
and osd_sidebar_scroll_arrows
CLI variables. Feedback regarding this feature is highly appreciated.
AUX 1
renamed to CH 5
, AUX 2
to CH 6
and so on. This means that restoring old map
settings from the CLI will not work, for example TAER1234 is now TAER5678. The Configurator handles this transparently.current_meter_offset
to negative valuesPublished by digitalentity about 7 years ago
This is a BETA release - it didn't go through public release-candidate testing, but developers believe it's safe to use. Please test everything before taking off!
Please read the release notes carefully and upgrade INAV Configurator available at Chrome Store. You can also use Configurator built as a native MacOS or Windows 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 and ADPM Drones.
This release is the last release featuring F1-based boards (NAZE, CC3D, AirHero32). They don't have enough memory and CPU power to make use of new code. Support is not removed from source tree, DIY-ers are welcome to build their own setups.
Bugs that are related to limited memory and/or CPU power on those boards won't be fixed. Functionality issues will only be fixed if they would be reproducible on more powerful F3/F4/F7 targets.
New parameters have been introduced. Some CLI parameters were renamed to support new features or to better reflect their meaning:
Old name | New name(s) |
---|---|
i2c_overclock |
i2c_speed |
- | cpu_underclock |
- | smartport_fuel_percent |
Some sensors (especially cloned barometer/compass sensors) are reported to work unreliably on default 400kHz speed. New i2c_speed
setting allows to reduce I2C clock rate to 200kHz and 100kHz to allow these picky sensors to function properly. Overclocking to 800kHz is also possible but not recommended.
If on your board compass/baro sensor is not recognized or hangs (usually indicated by rapidly increasing I2C error count) please try setting i2c_speed
to 200KHZ before reporting a bug.
F1/F3 boards are working on 72MHz clock which may interfere with 433MHz long range RC control systems. A new CLI option (cpu_underclock
) for F1 and F3-based targets allows user to select between 72MHz (default) and 48MHz CPU clock. Should theoretically reduce interference to 433MHz LRS systems.
Other clock speeds are not possible because native USB will only function with 72/48MHz system clock speed.
Use caution - lower CPU speed means that you'll probably have to slow down looptime as well to keep CPU usage within sane limits.
frsky_unit
in CLI. Dumps from previous versions should be modified to change IMPERIAL
to METRIC
and viceversa before restoring them on INAV >= 1.7.3.If you build your own firmware, the development infrastructure requirements have changed. A ruby interpreter is required. See the iNav development documentation for your platform.
@martinbudden, @stronnag, @fiam, @DzikuVx, @oleost, @Schalonsus, @adtinnis, @sambas, @teckel12
Published by digitalentity about 7 years ago
Please read the release notes carefully and upgrade INAV Configurator available at Chrome Store.
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 and ADPM Drones.
New parameters have been introduced. Some CLI parameters were renamed to support new features or to better reflect their meaning:
Old name | New name(s) |
---|---|
inav_max_sonar_altitude |
inav_max_surface_altitude |
inav_w_z_sonar_p |
inav_w_z_surface_p |
inav_w_z_sonar_v |
inav_w_z_surface_v |
- | vbat_adc_channel |
- | rssi_adc_channel |
- | current_adc_channel |
- | airspeed_adc_channel |
- | acc_notch_hz |
- | acc_notch_cutoff |
- | nav_fw_land_dive_angle |
- | eleres_freq |
- | eleres_telemetry_en |
- | eleres_telemetry_power |
- | eleres_loc_en |
- | eleres_loc_power |
- | eleres_loc_delay |
- | eleres_signature |
- | stats |
- | stats_total_time |
- | stats_total_dist |
Servo speed now works as expected (defined in pwm_us per second). Servo mixer now does actual scaling between min/max values which allows asymmetric servo travel (useful on airplanes).
WARNING: Previous PID tuning may be irrelevant now on some airplane setups (especially flying wings). Use caution and verify that tuning is good.
New syntax for smix
command is:
smix n SERVO_ID SIGNAL_SOURCE RATE SPEED
MIN and MAX were removed as they were indeed ignored.
If you are using custom mixer you will need to change it to fit new synax
Most modern boards have several analog inputs - usually used for VBAT sensing, Current sensing and RSSI. Until now these pins assigned their functions by board designer and firmware developer - if ADC pin was designated as "RSSI input" it was impossible to use it for something else.
This release changes the rules - now ADC inputs are called "channels" and their functionality is defined by a set of CLI variables vbat_adc_channel
, rssi_adc_channel
, current_adc_channel
, airspeed_adc_channel
. It's now up to user how analog inputs are used.
This release finaly adds support for an inexpensive analog airspeed sensor based on MPXV7002DP chips. This sensor is widely available as an "APM Airspeed Sensor". Using one of available analog inputs as airspeed sensor input (by assigning a channel to airspeed_adc_channel
variable) it's possible to use this sensor in INAV. While airspeed isn't currently used for anything but logging, future releases will change that.
Published by digitalentity over 7 years ago
Please read the release notes carefully and upgrade INAV Configurator available at Chrome Store.
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 and ADPM Drones.
New parameters have been introduced. Some CLI parameters were renamed to support new features or to better reflect their meaning:
Old name | New name(s) |
---|---|
new parameter | fw_turn_assist_yaw_gain |
TURN_ASSIST
modefw_reference_airspeed
parameternavDebug
from blackboxPublished by digitalentity over 7 years ago
This version has some significant differences from 1.6.x, please read the release notes carefully and upgrade INAV Configurator available at Chrome Store.
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 and ADPM Drones.
Some CLI parameters are renamed to support new features or to better reflect their meaning:
Old name | New name(s) |
---|---|
mag_hold_rate_limit |
heading_hold_rate_limit |
nav_max_speed |
nav_auto_speed |
nav_max_climb_rate |
nav_auto_climb_rate |
And nav_fw_roll2pitch
is removed due to no longer necessary. GPS modes for fixedwing now uses Turn Assist mode.
Angle at min / max has been removed due to it was newer used.
So the servo mixer no longer have does defined, and if you try to copy paste from 1.6.1 release it will not work!
If you copy and paste old value like this you will get parse error:
# servo 3 1070 1950 1500 90 90 -80 -1
Parse error
You will need to remove 90 90
So it looks like this:
servo 3 1070 1950 1500 -80 -1
Please, verify your servo movement after updating to INAV 1.7
This release features new TURN ASSIST mode for airplanes. In this mode INAV will automatically do a coordinated balanced turn with ailerons, elevator and rudder. Until we have pitot airspeed sensor support this feature requires that your set cruize airspeed via fw_reference_airspeed
CLI setting.
AUTOTUNE mode is a flight mode that acts on top of normal ANGLE/HORIZON/ACRO mode and uses changes in flight attitude input by the pilot to learn the tuning values for roll, pitch and yaw tuning. Please read the AUTOTUNE manual carefully before proceeding.
WARNING: You may find the plane is quite sluggish when you first enter AUTOTUNE. You will find that as the tune progresses this will get better. Make sure your flight area has plenty of room for slow large-radius turns.
This flight mode replaces MAG
and HEADING LOCK
modes. It affects only yaw axis and can be enabled together with any other flight mode. It helps to maintain current heading without pilots input and can be used with and without magnetometer support. When yaw stick is neutral position, Heading Hold mode tries to keep heading (azimuth if compass sensor is available) at a defined direction. When pilot moves yaw stick, Heading Hold is temporary disabled and is waiting for a new setpoint.
Heading hold only uses yaw control (rudder) so it won't work on a flying wing which has no rudder.
noreboot
option to defaults
CLI command. defaults noreboot
will reset board to defaults but won't reboot the board to allow you to apply configuration right away.TURN ASSIST
flight mode will automatically apply rudder and elevator when commanding an aileron-only banked turn.beeper -ON_USB
nav_max_speed
enforced even in manual flyingPublished by digitalentity over 7 years ago
This version has some significant differences from 1.6.x, please read the release notes carefully and upgrade INAV Configurator available at Chrome Store.
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 and ADPM Drones.
Some CLI parameters are renamed to support new features or to better reflect their meaning:
Old name | New name(s) |
---|---|
mag_hold_rate_limit |
heading_hold_rate_limit |
nav_max_speed |
nav_auto_speed |
nav_max_climb_rate |
nav_auto_climb_rate |
And nav_fw_roll2pitch
is removed due to no longer necessary. GPS modes for fixedwing now uses Turn Assist mode.
Angle at min / max has been removed due to it was newer used.
So the servo mixer no longer have does defined, and if you try to copy paste from 1.6.1 release it will not work!
If you copy and paste old value like this you will get parse error:
# servo 3 1070 1950 1500 90 90 -80 -1
Parse error
You will need to remove 90 90
So it looks like this:
servo 3 1070 1950 1500 -80 -1
Please, verify your servo movement after updating to INAV 1.7
AUTOTUNE mode is a flight mode that acts on top of normal ANGLE/HORIZON/ACRO mode and uses changes in flight attitude input by the pilot to learn the tuning values for roll, pitch and yaw tuning. Please read the AUTOTUNE manual carefully before proceeding.
WARNING: You may find the plane is quite sluggish when you first enter AUTOTUNE. You will find that as the tune progresses this will get better. Make sure your flight area has plenty of room for slow large-radius turns.
This flight mode replaces MAG
and HEADING LOCK
modes. It affects only yaw axis and can be enabled together with any other flight mode. It helps to maintain current heading without pilots input and can be used with and without magnetometer support. When yaw stick is neutral position, Heading Hold mode tries to keep heading (azimuth if compass sensor is available) at a defined direction. When pilot moves yaw stick, Heading Hold is temporary disabled and is waiting for a new setpoint.
Heading hold only uses yaw control (rudder) so it won't work on a flying wing which has no rudder.
noreboot
option to defaults
CLI command. defaults noreboot
will reset board to defaults but won't reboot the board to allow you to apply configuration right away.TURN ASSIST
flight mode will automatically apply rudder and elevator when commanding an aileron-only banked turn.beeper -ON_USB
nav_max_speed
enforced even in manual flyingPublished by digitalentity over 7 years ago
This is the bugfix release for INAV 1.6. Please have a read on release notes for version 1.6.
Published by digitalentity over 7 years ago
This version has some significant differences from 1.5.1, please read the release notes carefully and upgrade INAV Configurator available at Chrome Store.
INAV is and will remain open-source and free, but if you are more than welcome to support the development.
This release was supported by our awesome sponsors CarbonBird.com, Airbot and ADPM Drones.
Some CLI parameters are renamed to support new features or to better reflect their meaning:
Old name | New name(s) |
---|---|
inav_gps_min_sats |
gps_min_sats |
nav_alt_p |
nav_mc_pos_z_p , nav_fw_pos_z_p
|
nav_alt_i |
nav_mc_pos_z_i , nav_fw_pos_z_i
|
nav_alt_d |
nav_mc_pos_z_d , nav_fw_pos_z_d
|
nav_vel_p |
nav_mc_vel_z_p |
nav_vel_i |
nav_mc_vel_z_i |
nav_vel_d |
nav_mc_vel_z_d |
nav_pos_p |
nav_mc_pos_xy_p |
nav_pos_i |
nav_mc_pos_xy_i |
nav_pos_d |
nav_mc_pos_xy_d |
nav_posr_p |
nav_mc_vel_xy_p |
nav_posr_i |
nav_mc_vel_xy_i |
nav_posr_d |
nav_mc_vel_xy_d |
nav_navr_p |
nav_fw_pos_xy_p |
nav_navr_i |
nav_fw_pos_xy_i |
nav_navr_d |
nav_fw_pos_xy_d |
servo_lowpass_freq |
servo_lpf_hz |
servo_lowpass_enable |
Removed. To disable filtering set servo_lpf_hz to zero |
acc_soft_lpf_hz |
acc_lpf_hz |
gyro_soft_lpf_hz |
gyro_lpf_hz |
gyro_lpf |
gyro_hardware_lpf |
rssi_ppm_invert |
rssi_invert |
Non-Nav Paramters (for PIFF) | |
p_pitch |
mc_p_pitch , fw_p_pitch
|
i_pitch |
mc_i_pitch , fw_i_pitch
|
d_pitch |
mc_d_pitch , fw_ff_pitch
|
p_roll |
mc_p_roll , fw_p_roll
|
i_roll |
mc_i_roll , fw_i_roll
|
d_roll |
mc_d_roll , fw_ff_roll
|
p_yaw |
mc_p_yaw , fw_p_yaw
|
i_yaw |
mc_i_yaw , fw_i_yaw
|
d_yaw |
mc_d_yaw , fw_ff_yaw
|
p_level |
mc_p_level , fw_p_level
|
i_level |
mc_i_level , fw_i_level
|
d_level |
mc_d_level , fw_d_level
|
As requested a lot - you now have possibility to create and upload a waypoint mission at home, go to the field, plug in the battery and fly the mission without the need to re-upload it.
Until GCS support is done you have two stick combos to do this:
Function | Throttle | Yaw | Pitch | Roll |
---|---|---|---|---|
Save current waypoint mission | LOW | CENTER | HIGH | LOW |
Load current waypoint mission | LOW | CENTER | HIGH | HIGH |
Mission is saved in Configuration memory and only one mission at a time can be saved. Feature is only available on F3+ targets due to lack of space on F1.
Failsafe Stage 1 is completely gone now, rxfail
command is deprecated. Everything that is called "FAILSAFE" is now related to actual failsafe procedure. Failsafe FEATURE is deprecated - failsafe system is always functional and ready to catch you.
New "NONE" failsafe procedure is introduced to allow completely ignoring RC link loss. Be warned that you are no longer protected from flying out of range when using this feature.
A bunch of new parameters allow "LAND" procedure to work on fixed-wing aircraft as well. Failsafe will now command a slight dive, bank and yaw to bring the airplane down nicely in case of link loss. Previous behavior was to maintain level flight and fly-away.
New parameter rx_nosignal_throttle
defines how throttle channel will behave in case of link loss. Options are DROP and HOLD. Roll, Pitch and Yaw channels are centered and this behavior can't be changed anymore. This behavior is only applied for a small amount of time before FAILSAFE kicks in and starts doing something smart.
New parameter failsafe_stick_threshold
will allow you to keep FAILSAFE active even if the RC link is restored. You will have to move your sticks more than failsafe_stick_threshold
to regain control. This is done to allow nice return-to-home in case of signal loss. Enabled by default so in case of failsafe your craft will continue to execute failsafe procedure until you move the sticks.
Introducing new Proportional + Integral + Feed Forward controller for airplanes. It's more suitable for airplanes due to the nature of control they are using. It also puts less stress on servos. D-term in Configurator will now control Feed-Forward gain which passes angular rate target directly to servos bypassing closed loop gyroscope stabilisation. Use caution - too high Feed-Forward gain may cause violent oscillations in ANGLE mode. See this article about how it is different from PID and why it is better for airplanes.
If you want direct migration from INAV 1.5 to 1.6 without using the new FF part of the controller you need to do:
Keep P-Gain as it was
Divide I-Gain by 3.5
Zero out D-Gain / FF-gain. ( So you will loose the D-gain, but this was never recommended to use. )
It's now possible to specify idle throttle for pre-launch (nav_fw_launch_idle_thr
) and time to gradually increase throttle after launch is detected (nav_fw_launch_spinup_time
). This allows to have motor spinning even when using MOTOR_STOP feature and will put less stress on ESCs by allowing them to spin up the motor to launch throttle gradually instead of requesting an instantenious throttle change.
Navigation safety checks will now include check for waypoint mission sanity. If you have a mission uploaded to FC pre-arming check will verify that first (starting) waypoint is within nav_wp_safe_distance
[cm](default 10000cm = 100m) from current UAV position. If starting waypoint is too far - machine won't allow you to arm. This check can also be bypassed with nav_extra_arming_safety
setting.
Misconfigured or malfunctioning compass can confuse the firmware in such a way that it won't realize where North direction is. This may cause the machine to fly in wrong direction when i.e. doing an RTH and fly away instead of returning to home.
Another case is flying in extremely strong wind which machine is unable to fight. In such case RTH will attempt to bring machine home but will never succeed and UAV will be blown away.
RTH sanity checking feature will notice if distance to home is increasing during RTH and once amount of increase exceeds a certain threshold defined by nav_rth_abort_threshold
CLI parameter instead of continuing RTH machine will enter emergency landing, self-level and go down safely. Default threshold is set to 500m which is safe enough for both multirotor machines and airplanes.
First option is nav_rth_allow_landing
(default to ON
). If it's set to ON
UAV will land as the last stage of RTH. Landing will function on both multirotors and airplanes (the latter will gradually descent with motors running).
Second option is nav_rth_climb_ignore_emerg
(default OFF
). When this option is OFF
(default) and when you initiate RTH without GPS fix - aircraft will initiate emergency descent and go down. If you set this option to ON
- aircraft will reach the RTH target altitude before initiating emergency descent. This is done for cases where GPS coverage is poor (i.e. in the mountains) - allowing UAV to climb up might improve GPS coverage and allow safe return instead of landing in a place where UAV might be impossible to recover.
Now board with build-in OSD (Omnibus FC) will have indications that make it suitable for navigation:
NAZE
and AIRHERO32
for MWC AirHero32 boardrssi_invert
setting replaces rssi_ppm_invert
and now also affects analog RSSI3d_deadband_throttle
setting was handled incorrectly by MSP which caused corruptionPublished by digitalentity over 7 years ago
This version has some significant differences from 1.5.1, please read the release notes carefully and upgrade INAV Configurator available at Chrome Store.
INAV is and will remain open-source and free, but if you are more than welcome to support the development.
This release was supported by our awesome sponsors CarbonBird.com, Airbot and ADPM Drones.
Some CLI parameters are renamed to support new features or to better reflect their meaning:
Old name | New name(s) |
---|---|
inav_gps_min_sats |
gps_min_sats |
nav_alt_p |
nav_mc_pos_z_p , nav_fw_pos_z_p
|
nav_alt_i |
nav_mc_pos_z_i , nav_fw_pos_z_i
|
nav_alt_d |
nav_mc_pos_z_d , nav_fw_pos_z_d
|
nav_vel_p |
nav_mc_vel_z_p |
nav_vel_i |
nav_mc_vel_z_i |
nav_vel_d |
nav_mc_vel_z_d |
nav_pos_p |
nav_mc_pos_xy_p |
nav_pos_i |
nav_mc_pos_xy_i |
nav_pos_d |
nav_mc_pos_xy_d |
nav_posr_p |
nav_mc_vel_xy_p |
nav_posr_i |
nav_mc_vel_xy_i |
nav_posr_d |
nav_mc_vel_xy_d |
nav_navr_p |
nav_fw_pos_xy_p |
nav_navr_i |
nav_fw_pos_xy_i |
nav_navr_d |
nav_fw_pos_xy_d |
servo_lowpass_freq |
servo_lpf_hz |
servo_lowpass_enable |
Removed. To disable filtering set servo_lpf_hz to zero |
acc_soft_lpf_hz |
acc_lpf_hz |
gyro_soft_lpf_hz |
gyro_lpf_hz |
gyro_lpf |
gyro_hardware_lpf |
rssi_ppm_invert |
rssi_invert |
Non-Nav Paramters (for PIFF) | |
p_pitch |
mc_p_pitch , fw_p_pitch
|
i_pitch |
mc_i_pitch , fw_i_pitch
|
d_pitch |
mc_d_pitch , fw_ff_pitch
|
p_roll |
mc_p_roll , fw_p_roll
|
i_roll |
mc_i_roll , fw_i_roll
|
d_roll |
mc_d_roll , fw_ff_roll
|
p_yaw |
mc_p_yaw , fw_p_yaw
|
i_yaw |
mc_i_yaw , fw_i_yaw
|
d_yaw |
mc_d_yaw , fw_ff_yaw
|
p_level |
mc_p_level , fw_p_level
|
i_level |
mc_i_level , fw_i_level
|
d_level |
mc_d_level , fw_d_level
|
As requested a lot - you now have possibility to create and upload a waypoint mission at home, go to the field, plug in the battery and fly the mission without the need to re-upload it.
Until GCS support is done you have two stick combos to do this:
Function | Throttle | Yaw | Pitch | Roll |
---|---|---|---|---|
Save current waypoint mission | LOW | CENTER | HIGH | LOW |
Load current waypoint mission | LOW | CENTER | HIGH | HIGH |
Mission is saved in Configuration memory and only one mission at a time can be saved. Feature is only available on F3+ targets due to lack of space on F1.
Failsafe Stage 1 is completely gone now, rxfail
command is deprecated. Everything that is called "FAILSAFE" is now related to actual failsafe procedure. Failsafe FEATURE is deprecated - failsafe system is always functional and ready to catch you.
New "NONE" failsafe procedure is introduced to allow completely ignoring RC link loss. Be warned that you are no longer protected from flying out of range when using this feature.
A bunch of new parameters allow "LAND" procedure to work on fixed-wing aircraft as well. Failsafe will now command a slight dive, bank and yaw to bring the airplane down nicely in case of link loss. Previous behavior was to maintain level flight and fly-away.
New parameter rx_nosignal_throttle
defines how throttle channel will behave in case of link loss. Options are DROP and HOLD. Roll, Pitch and Yaw channels are centered and this behavior can't be changed anymore. This behavior is only applied for a small amount of time before FAILSAFE kicks in and starts doing something smart.
New parameter failsafe_stick_threshold
will allow you to keep FAILSAFE active even if the RC link is restored. You will have to move your sticks more than failsafe_stick_threshold
to regain control. This is done to allow nice return-to-home in case of signal loss. Enabled by default so in case of failsafe your craft will continue to execute failsafe procedure until you move the sticks.
Introducing new Proportional + Integral + Feed Forward controller for airplanes. It's more suitable for airplanes due to the nature of control they are using. It also puts less stress on servos. D-term in Configurator will now control Feed-Forward gain which passes angular rate target directly to servos bypassing closed loop gyroscope stabilisation. Use caution - too high Feed-Forward gain may cause violent oscillations in ANGLE mode. See this article about how it is different from PID and why it is better for airplanes.
It's now possible to specify idle throttle for pre-launch (nav_fw_launch_idle_thr
) and time to gradually increase throttle after launch is detected (nav_fw_launch_spinup_time
). This allows to have motor spinning even when using MOTOR_STOP feature and will put less stress on ESCs by allowing them to spin up the motor to launch throttle gradually instead of requesting an instantenious throttle change.
Navigation safety checks will now include check for waypoint mission sanity. If you have a mission uploaded to FC pre-arming check will verify that first (starting) waypoint is within nav_wp_safe_distance
[cm](default 10000cm = 100m) from current UAV position. If starting waypoint is too far - machine won't allow you to arm. This check can also be bypassed with nav_extra_arming_safety
setting.
Misconfigured or malfunctioning compass can confuse the firmware in such a way that it won't realize where North direction is. This may cause the machine to fly in wrong direction when i.e. doing an RTH and fly away instead of returning to home.
Another case is flying in extremely strong wind which machine is unable to fight. In such case RTH will attempt to bring machine home but will never succeed and UAV will be blown away.
RTH sanity checking feature will notice if distance to home is increasing during RTH and once amount of increase exceeds a certain threshold defined by nav_rth_abort_threshold
CLI parameter instead of continuing RTH machine will enter emergency landing, self-level and go down safely. Default threshold is set to 500m which is safe enough for both multirotor machines and airplanes.
First option is nav_rth_allow_landing
(default to ON
). If it's set to ON
UAV will land as the last stage of RTH. Landing will function on both multirotors and airplanes (the latter will gradually descent with motors running).
Second option is nav_rth_climb_ignore_emerg
(default OFF
). When this option is OFF
(default) and when you initiate RTH without GPS fix - aircraft will initiate emergency descent and go down. If you set this option to ON
- aircraft will reach the RTH target altitude before initiating emergency descent. This is done for cases where GPS coverage is poor (i.e. in the mountains) - allowing UAV to climb up might improve GPS coverage and allow safe return instead of landing in a place where UAV might be impossible to recover.
Now board with build-in OSD (Omnibus FC) will have indications that make it suitable for navigation:
NAZE
and AIRHERO32
for MWC AirHero32 boardrssi_invert
setting replaces rssi_ppm_invert
and now also affects analog RSSI3d_deadband_throttle
setting was handled incorrectly by MSP which caused corruptionPublished by digitalentity over 7 years ago
This version has some significant differences from 1.5.1, please read the release notes carefully and upgrade INAV Configurator available at Chrome Store.
INAV is and will remain open-source and free, but if you are more than welcome to support the development.
This release was supported by our awesome sponsors CarbonBird.com, Airbot and ADPM Drones.
Some CLI parameters are renamed to support new features or to better reflect their meaning:
Old name | New name(s) |
---|---|
inav_gps_min_sats |
gps_min_sats |
nav_alt_p |
nav_mc_pos_z_p , nav_fw_pos_z_p
|
nav_alt_i |
nav_mc_pos_z_i , nav_fw_pos_z_i
|
nav_alt_d |
nav_mc_pos_z_d , nav_fw_pos_z_d
|
nav_vel_p |
nav_mc_vel_z_p |
nav_vel_i |
nav_mc_vel_z_i |
nav_vel_d |
nav_mc_vel_z_d |
nav_pos_p |
nav_mc_pos_xy_p |
nav_pos_i |
nav_mc_pos_xy_i |
nav_pos_d |
nav_mc_pos_xy_d |
nav_posr_p |
nav_mc_vel_xy_p |
nav_posr_i |
nav_mc_vel_xy_i |
nav_posr_d |
nav_mc_vel_xy_d |
nav_navr_p |
nav_fw_pos_xy_p |
nav_navr_i |
nav_fw_pos_xy_i |
nav_navr_d |
nav_fw_pos_xy_d |
servo_lowpass_freq |
servo_lpf_hz |
servo_lowpass_enable |
Removed. To disable filtering set servo_lpf_hz to zero |
acc_soft_lpf_hz |
acc_lpf_hz |
gyro_soft_lpf_hz |
gyro_lpf_hz |
gyro_lpf |
gyro_hardware_lpf |
rssi_ppm_invert |
rssi_invert |
Non-Nav Paramters (for PIFF) | |
p_pitch |
mc_p_pitch , fw_p_pitch
|
i_pitch |
mc_i_pitch , fw_i_pitch
|
d_pitch |
mc_d_pitch , fw_ff_pitch
|
p_roll |
mc_p_roll , fw_p_roll
|
i_roll |
mc_i_roll , fw_i_roll
|
d_roll |
mc_d_roll , fw_ff_roll
|
p_yaw |
mc_p_yaw , fw_p_yaw
|
i_yaw |
mc_i_yaw , fw_i_yaw
|
d_yaw |
mc_d_yaw , fw_ff_yaw
|
p_level |
mc_p_level , fw_p_level
|
i_level |
mc_i_level , fw_i_level
|
d_level |
mc_d_level , fw_d_level
|
As requested a lot - you now have possibility to create and upload a waypoint mission at home, go to the field, plug in the battery and fly the mission without the need to re-upload it.
This function is available in the mwp CGS, otherwise you have two stick combos to do this:
Function | Throttle | Yaw | Pitch | Roll |
---|---|---|---|---|
Save current waypoint mission | LOW | CENTER | HIGH | LOW |
Load current waypoint mission | LOW | CENTER | HIGH | HIGH |
Mission is saved in Configuration memory and only one mission at a time can be saved. Feature is only available on F3+ targets due to lack of space on F1.
Failsafe Stage 1 is completely gone now, rxfail
command is deprecated. Everything that is called "FAILSAFE" is now related to actual failsafe procedure. Failsafe FEATURE is deprecated - failsafe system is always functional and ready to catch you.
New "NONE" failsafe procedure is introduced to allow completely ignoring RC link loss. Be warned that you are no longer protected from flying out of range when using this feature.
A bunch of new parameters allow "LAND" procedure to work on fixed-wing aircraft as well. Failsafe will now command a slight dive, bank and yaw to bring the airplane down nicely in case of link loss. Previous behavior was to maintain level flight and fly-away.
New parameter rx_nosignal_throttle
defines how throttle channel will behave in case of link loss. Options are DROP and HOLD. Roll, Pitch and Yaw channels are centered and this behavior can't be changed anymore. This behavior is only applied for a small amount of time before FAILSAFE kicks in and starts doing something smart.
New parameter failsafe_stick_threshold
will allow you to keep FAILSAFE active even if the RC link is restored. You will have to move your sticks more than failsafe_stick_threshold
to regain control. This is done to allow nice return-to-home in case of signal loss. Enabled by default so in case of failsafe your craft will continue to execute failsafe procedure until you move the sticks.
Introducing new Proportional + Integral + Feed Forward controller for airplanes. It's more suitable for airplanes due to the nature of control they are using. It also puts less stress on servos. D-term in Configurator will now control Feed-Forward gain which passes angular rate target directly to servos bypassing closed loop gyroscope stabilisation. Use caution - too high Feed-Forward gain may cause violent oscillations in ANGLE mode. See this article about how it is different from PID and why it is better for airplanes.
It's now possible to specify idle throttle for pre-launch (nav_fw_launch_idle_thr
) and time to gradually increase throttle after launch is detected (nav_fw_launch_spinup_time
). This allows to have motor spinning even when using MOTOR_STOP feature and will put less stress on ESCs by allowing them to spin up the motor to launch throttle gradually instead of requesting an instantenious throttle change.
Navigation safety checks will now include check for waypoint mission sanity. If you have a mission uploaded to FC pre-arming check will verify that first (starting) waypoint is within nav_wp_safe_distance
[cm](default 10000cm = 100m) from current UAV position. If starting waypoint is too far - machine won't allow you to arm. This check can also be bypassed with nav_extra_arming_safety
setting.
Misconfigured or malfunctioning compass can confuse the firmware in such a way that it won't realize where North direction is. This may cause the machine to fly in wrong direction when i.e. doing an RTH and fly away instead of returning to home.
Another case is flying in extremely strong wind which machine is unable to fight. In such case RTH will attempt to bring machine home but will never succeed and UAV will be blown away.
RTH sanity checking feature will notice if distance to home is increasing during RTH and once amount of increase exceeds a certain threshold defined by nav_rth_abort_threshold
CLI parameter instead of continuing RTH machine will enter emergency landing, self-level and go down safely. Default threshold is set to 500m which is safe enough for both multirotor machines and airplanes.
First option is nav_rth_allow_landing
(default to ON
). If it's set to ON
UAV will land as the last stage of RTH. Landing will function on both multirotors and airplanes (the latter will gradually descent with motors running).
Second option is nav_rth_climb_ignore_emerg
(default OFF
). When this option is OFF
(default) and when you initiate RTH without GPS fix - aircraft will initiate emergency descent and go down. If you set this option to ON
- aircraft will reach the RTH target altitude before initiating emergency descent. This is done for cases where GPS coverage is poor (i.e. in the mountains) - allowing UAV to climb up might improve GPS coverage and allow safe return instead of landing in a place where UAV might be impossible to recover.
NAZE
and AIRHERO32
for MWC AirHero32 boardrssi_invert
setting replaces rssi_ppm_invert
and now also affects analog RSSI3d_deadband_throttle
setting was handled incorrectly by MSP which caused corruptionPublished by digitalentity over 7 years ago
This version has some significant differences from 1.5.1, please read the release notes carefully and upgrade INAV Configurator available at Chrome Store.
Some CLI parameters are renamed to support new features or to better reflect their meaning:
Old name | New name(s) |
---|---|
inav_gps_min_sats |
gps_min_sats |
nav_alt_p |
nav_mc_pos_z_p , nav_fw_pos_z_p
|
nav_alt_i |
nav_mc_pos_z_i , nav_fw_pos_z_i
|
nav_alt_d |
nav_mc_pos_z_d , nav_fw_pos_z_d
|
nav_vel_p |
nav_mc_vel_z_p |
nav_vel_i |
nav_mc_vel_z_i |
nav_vel_d |
nav_mc_vel_z_d |
nav_pos_p |
nav_mc_pos_xy_p |
nav_pos_i |
nav_mc_pos_xy_i |
nav_pos_d |
nav_mc_pos_xy_d |
nav_posr_p |
nav_mc_vel_xy_p |
nav_posr_i |
nav_mc_vel_xy_i |
nav_posr_d |
nav_mc_vel_xy_d |
nav_navr_p |
nav_fw_pos_xy_p |
nav_navr_i |
nav_fw_pos_xy_i |
nav_navr_d |
nav_fw_pos_xy_d |
servo_lowpass_freq |
servo_lpf_hz |
servo_lowpass_enable |
Removed. To disable filtering set servo_lpf_hz to zero |
acc_soft_lpf_hz |
acc_lpf_hz |
gyro_soft_lpf_hz |
gyro_lpf_hz |
gyro_lpf |
gyro_hardware_lpf |
rssi_ppm_invert |
rssi_invert |
Non-Nav Paramters (for PIFF) | |
p_pitch |
mc_p_pitch , fw_p_pitch
|
i_pitch |
mc_i_pitch , fw_i_pitch
|
d_pitch |
mc_d_pitch , fw_d_pitch
|
p_roll |
mc_p_roll , fw_p_roll
|
i_roll |
mc_i_roll , fw_i_roll
|
d_roll |
mc_d_roll , fw_d_roll
|
p_yaw |
mc_p_yaw , fw_p_yaw
|
i_yaw |
mc_i_yaw , fw_i_yaw
|
d_yaw |
mc_d_yaw , fw_d_yaw
|
p_level |
mc_p_level , fw_p_level
|
i_level |
mc_i_level , fw_i_level
|
d_level |
mc_d_level , fw_d_level
|
Failsafe Stage 1 is completely gone now, rxfail
command is deprecated. Everything that is called "FAILSAFE" is now related to actual failsafe procedure. Failsafe FEATURE is deprecated - failsafe system is always functional and ready to catch you.
New "NONE" failsafe procedure is introduced to allow completely ignoring RC link loss. Be warned that you are no longer protected from flying out of range when using this feature.
A bunch of new parameters allow "LAND" procedure to work on fixed-wing aircraft as well. Failsafe will now command a slight dive, bank and yaw to bring the airplane down nicely in case of link loss. Previous behavior was to maintain level flight and fly-away.
New parameter rx_nosignal_throttle
defines how throttle channel will behave in case of link loss. Options are DROP and HOLD. Roll, Pitch and Yaw channels are centered and this behavior can't be changed anymore. This behavior is only applied for a small amount of time before FAILSAFE kicks in and starts doing something smart.
New parameter failsafe_stick_threshold
will allow you to keep FAILSAFE active even if the RC link is restored. You will have to move your sticks more than failsafe_stick_threshold
to regain control. This is done to allow nice return-to-home in case of signal loss.
Introducing new Proportional + Integral + Feed Forward controller for airplanes. It's more suitable for airplanes due to the nature of control they are using. It also puts less stress on servos. D-term in Configurator will now control Feed-Forward gain which passes angular rate target directly to servos bypassing closed loop gyroscope stabilisation. Use caution - too high Feed-Forward gain may cause violent oscillations in ANGLE mode.
It's now possible to specify idle throttle for pre-launch (nav_fw_launch_idle_thr
) and time to gradually increase throttle after launch is detected (nav_fw_launch_spinup_time
). This allows to have motor spinning even when using MOTOR_STOP feature and will put less stress on ESCs by allowing them to spin up the motor to launch throttle gradually instead of requesting an instantenious throttle change.
Navigation safety checks will now include check for waypoint mission sanity. If you have a mission uploaded to FC pre-arming check will verify that first (starting) waypoint is within nav_wp_safe_distance
[cm](default 10000cm = 100m) from current UAV position. If starting waypoint is too far - machine won't allow you to arm. This check can also be bypassed with nav_extra_arming_safety
setting.
Misconfigured or malfunctioning compass can confuse the firmware in such a way that it won't realize where North direction is. This may cause the machine to fly in wrong direction when i.e. doing an RTH and fly away instead of returning to home.
Another case is flying in extremely strong wind which machine is unable to fight. In such case RTH will attempt to bring machine home but will never succeed and UAV will be blown away.
RTH sanity checking feature will notice if distance to home is increasing during RTH and once amount of increase exceeds a certain threshold defined by nav_rth_abort_threshold
CLI parameter instead of continuing RTH machine will enter emergency landing, self-level and go down safely. Default threshold is set to 500m which is safe enough for both multirotor machines and airplanes.
First option is nav_rth_allow_landing
(default to ON
). If it's set to ON
UAV will land as the last stage of RTH. Landing will function on both multirotors and airplanes (the latter will gradually descent with motors running).
Second option is nav_rth_climb_ignore_emerg
(default OFF
). When this option is OFF
(default) and when you initiate RTH without GPS fix - aircraft will initiate emergency descent and go down. If you set this option to ON
- aircraft will reach the RTH target altitude before initiating emergency descent. This is done for cases where GPS coverage is poor (i.e. in the mountains) - allowing UAV to climb up might improve GPS coverage and allow safe return instead of landing in a place where UAV might be impossible to recover.
NAZE
and AIRHERO32
for MWC AirHero32 boardrssi_invert
setting replaces rssi_ppm_invert
and now also affects analog RSSI3d_deadband_throttle
setting was handled incorrectly by MSP which caused corruptionPublished by martinbudden over 7 years ago
This version has some significant differences from 1.5.1, please read the release notes carefully and upgrade INAV Configurator available at Chrome Store.
Some CLI parameters are renamed to support new features or to better reflect their meaning:
Old name | New name(s) |
---|---|
nav_alt_p |
nav_mc_pos_z_p , nav_fw_pos_z_p
|
nav_alt_i |
nav_mc_pos_z_i , nav_fw_pos_z_i
|
nav_alt_d |
nav_mc_pos_z_d , nav_fw_pos_z_d
|
nav_vel_p |
nav_mc_vel_z_p |
nav_vel_i |
nav_mc_vel_z_i |
nav_vel_d |
nav_mc_vel_z_d |
nav_pos_p |
nav_mc_pos_xy_p |
nav_pos_i |
nav_mc_pos_xy_i |
nav_pos_d |
nav_mc_pos_xy_d |
nav_posr_p |
nav_mc_vel_xy_p |
nav_posr_i |
nav_mc_vel_xy_i |
nav_posr_d |
nav_mc_vel_xy_d |
nav_navr_p |
nav_fw_pos_xy_p |
nav_navr_i |
nav_fw_pos_xy_i |
nav_navr_d |
nav_fw_pos_xy_d |
servo_lowpass_freq |
servo_lpf_hz |
servo_lowpass_enable |
Removed. To disable filtering set servo_lpf_hz to zero |
acc_soft_lpf_hz |
acc_lpf_hz |
gyro_soft_lpf_hz |
gyro_lpf_hz |
gyro_lpf |
gyro_hardware_lpf |
Non-Nav Paramters (for PIFF) | |
p_pitch |
mc_p_pitch , fw_p_pitch
|
i_pitch |
mc_i_pitch , fw_i_pitch
|
d_pitch |
mc_d_pitch , fw_d_pitch
|
p_roll |
mc_p_roll , fw_p_roll
|
i_roll |
mc_i_roll , fw_i_roll
|
d_roll |
mc_d_roll , fw_d_roll
|
p_yaw |
mc_p_yaw , fw_p_yaw
|
i_yaw |
mc_i_yaw , fw_i_yaw
|
d_yaw |
mc_d_yaw , fw_d_yaw
|
p_level |
mc_p_level , fw_p_level
|
i_level |
mc_i_level , fw_i_level
|
d_level |
mc_d_level , fw_d_level
|
Failsafe Stage 1 is completely gone now, rxfail
command is deprecated. Everything that is called "FAILSAFE" is now related to actual failsafe procedure. Failsafe FEATURE is deprecated - failsafe system is always functional and ready to catch you.
New "NONE" failsafe procedure is introduced to allow completely ignoring RC link loss. Be warned that you are no longer protected from flying out of range when using this feature.
A bunch of new parameters allow "LAND" procedure to work on fixed-wing aircraft as well. Failsafe will now command a slight dive, bank and yaw to bring the airplane down nicely in case of link loss. Previous behavior was to maintain level flight and fly-away.
New parameter rx_nosignal_throttle
defines how throttle channel will behave in case of link loss. Options are DROP and HOLD. Roll, Pitch and Yaw channels are centered and this behavior can't be changed anymore. This behavior is only applied for a small amount of time before FAILSAFE kicks in and starts doing something smart.
New parameter failsafe_stick_threshold
will allow you to keep FAILSAFE active even if the RC link is restored. You will have to move your sticks more than failsafe_stick_threshold
to regain control. This is done to allow nice return-to-home in case of signal loss.
Introducing new Proportional + Integral + Feed Forward controller for airplanes. It's more suitable for airplanes due to the nature of control they are using. It also puts less stress on servos. D-term in Configurator will now control Feed-Forward gain which passes angular rate target directly to servos bypassing closed loop gyroscope stabilisation. Use caution - too high Feed-Forward gain may cause violent oscillations in ANGLE mode.
It's now possible to specify idle throttle for pre-launch (nav_fw_launch_idle_thr
) and time to gradually increase throttle after launch is detected (nav_fw_launch_spinup_time
). This allows to have motor spinning even when using MOTOR_STOP feature and will put less stress on ESCs by allowing them to spin up the motor to launch throttle gradually instead of requesting an instantenious throttle change.
Misconfigured or malfunctioning compass can confuse the firmware in such a way that it won't realize where North direction is. This may cause the machine to fly in wrong direction when i.e. doing an RTH and fly away instead of returning to home.
Another case is flying in extremely strong wind which machine is unable to fight. In such case RTH will attempt to bring machine home but will never succeed and UAV will be blown away.
RTH sanity checking feature will notice if distance to home is increasing during RTH and once amount of increase exceeds a certain threshold defined by nav_rth_abort_threshold
CLI parameter instead of continuing RTH machine will enter emergency landing, self-level and go down safely. Default threshold is set to 500m which is safe enough for both multirotor machines and airplanes.
NAZE
and AIRHERO32
for MWC AirHero32 board3d_deadband_throttle
setting was handled incorrectly by MSP which caused corruption