Changes since RC1:

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

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

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

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

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

WARNINGS

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

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

Known bugs

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

CLI parameter renaming / new parameters

New boards

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

New features

• Add support for arbitrarily aligned external compasses (@fiam, #2833)
• Add SOFTSERIAL support on RX4/TX4 for MATEKF405 (@shellixyz, #2842)
• Add MSP message for reading air speed (@shellixyz, #2853)
• Add LEDSTRIP support to KAKUTEF4 target (@digitalentity, #2862)
• Add trip distance element to OSD (@shellixyz, #2887)
• Add FPort support (@fiam, #2915)
• Simplify channel mapping ([@shellizyx], #2947)
• TPA smoothing and delayed response of throttle-based TPA (@digitalentity, #2966)
• Allow TRICOPTER mix on AIRHEROF3 board (@digitalentity, #3067)

Improvements

• Bulk gyro/acc reads for better performance (@digitalentity, #2846)
• Improve stats - reformat + add total energy and average efficiency (@shellixyz, #2852)
• Save almost 7kB of RAM by reworking CMS (@fiam, #2881)
• Quaternion IMU conversion (@digitalentity, #2894)
• Current calculation is now more precise (@shellixyz, #2941)
• Make MSP processing more robust (@shellixyz, #2948)
• Move servo from S1 to S6 pin for MATEKF405 (@alexeystn, #2954)
• Gyro sync denominator parameter has been deprecated (@digitalentity, #2958)
• VCP Port driver improvements (@digitalentity, #3046)
• IBUS telemetry reporting cell voltage (@hali9, #3041)
• Decreased RC latency by removing unnecessary filtering (@giacomo892, #3057)

Bugfixes

• Fix ESC double initialization (@shellixyz, #2884)
• Fix incorrect PWM output initialization on F7 causing no output on S6 on MatekF722 (@digitalentity, #2891)
• Make FS mode take priority over any other modes in OSD display (@fiam, #2899)
• Fix bug in MPU6500 accelerometer detection (@digitalentity, #2930)
• Fix current not being correctly logged into BlackBox (@shellixyz, #2940)
• Fix bug when saving servo params causing the servos not freeze (@shellixyz, #2950)
• Fix flaperon mode incorrect direction of flaps (@shellixyz, #2961)
• Fix OSD summary screen not displayed after long flight (@shellixyz, #2974)
• Fix LTM scheduler not being set if telemetry port is shared (@giacomo892, #3030)

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

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

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

WARNINGS

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

Known bugs

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

Renamed PASSTHROUGH flight mode (fixed wing)

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

Increased VBAT resolution

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

New defaults for these settings:

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

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

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

Battery capacity monitoring

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

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

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

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

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

NAV Launch (airplane launch assistant) available as feature

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

CLI parameter renaming / new parameters

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

New boards

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

New features

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

Bugfixes

• Fix flash overflow on F7 targets due to usage of flash_split (@digitalentity, #2535)
• Update BLHeli passthrough to support BLHeli_32
• Fix AK8963 compass support (@digitalentity, #2551)
• Fix timer clash between motors and servos on PIKOBLX (@shellixyz, #2513)
• Fix non-working UART7/8
• Fix non-booting OMNIBUSF4 (some variants with MPU6500-family gyro) (@shellixyz, #2575)
• Fix support for dataflash chips larger than 16MiB (@digitalentity, #2633)
• Fix VCP issues on F7 targets (@digitalentity, #2647)
• Fix potential buffer overflow in MSPv2 parsing (@digitalentity, #2689)
• Fix OSD statistics displaying issues on NTSC screens (@krzysztofmatula, #2721)
• Fix RCSplit not being detected (increase timeout) (@digitalentity, #2767)
• Fix OSD blinking on some flawed OSD hardware (allow software blinking) (@fiam, #2452)
• Fix P gains for Heading Hold not available in CLI (@DzikuVx, #2669)
• Fix arming with AUTOTRIM enabled (@giacomo892, #2756)
• Fix hardfault in ledstrip driver due to division by zero (@digitalentity, #2790)
• Fix non-working channel forwarding on REVO (@digitalentity, [#2870])
• Fix midrc MSP min/max checks preventing to set midrc outside of 1401:1599 from the configurator (@shellixyz, #2865)

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

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

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

WARNINGS

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

Known bugs

• todo

Increased VBAT resolution

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

New defaults for these settings:

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

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

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

Battery capacity monitoring

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

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

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

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

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

CLI parameter renaming / new parameters

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

New boards

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

New features

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

Bugfixes

• Fix flash overflow on F7 targets due to usage of flash_split (@digitalentity, #2535)
• Update BLHeli passthrough to support BLHeli_32
• Fix AK8963 compass support (@digitalentity, #2551)
• Fix timer clash between motors and servos on PIKOBLX (@shellixyz, #2513)
• Fix non-working UART7/8
• Fix non-booting OMNIBUSF4 (some variants with MPU6500-family gyro) (@shellixyz, #2575)
• Fix support for dataflash chips larger than 16MiB (@digitalentity, #2633)
• Fix VCP issues on F7 targets (@digitalentity, #2647)
• Fix potential buffer overflow in MSPv2 parsing (@digitalentity, #2689)
• Fix OSD statistics displaying issues on NTSC screens (@krzysztofmatula, #2721)
• Fix RCSplit not being detected (increase timeout) (@digitalentity, #2767)
• Fix OSD blinking on some flawed OSD hardware (allow software blinking) (@fiam, #2452)
• Fix P gains for Heading Hold not available in CLI (@DzikuVx, #2669)
• Fix arming with AUTOTRIM enabled (@giacomo892, #2756)
• Fix hardfault in ledstrip driver due to division by zero (@digitalentity, #2790)

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

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

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

WARNINGS

• todo

Known bugs

• todo

Increased VBAT resolution

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

New defaults for these settings:

• vbat_scale: 1100 (was 110)
• vbat_max_cell_voltage: 430 (was 43) or 4.3V/cell
• vbat_warning_cell_voltage: 350 (was 35) or 3.5V/cell
• vbat_min_cell_voltage: 330 (was 33) or 3.3V/cell

CLI parameter renaming / new parameters

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

New boards

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

New features

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

Bugfixes

• Fix flash overflow on F7 targets due to usage of flash_split (@digitalentity, #2535)
• Update BLHeli passthrough to support BLHeli_32
• Fix AK8963 compass support (@digitalentity, #2551)
• Fix timer clash between motors and servos on PIKOBLX (@shellixyz, #2513)
• Fix non-working UART7/8
• Fix non-booting OMNIBUSF4 (some variants with MPU6500-family gyro) (@shellixyz, #2575)
• Fix support for dataflash chips larger than 16MiB (@digitalentity, #2633)
• Fix VCP issues on F7 targets (@digitalentity, #2647)
• Fix potential buffer overflow in MSPv2 parsing (@digitalentity, #2689)
• Fix OSD statistics displaying issues on NTSC screens (@krzysztofmatula, #2721)
• Fix RCSplit not being detected (increase timeout) (@digitalentity, #2767)
• Fix OSD blinking on some flawed OSD hardware (allow software blinking) (@fiam, #2452)
• Fix P gains for Heading Hold not available in CLI (@DzikuVx, #2669)
• Fix arming with AUTOTRIM enabled (@giacomo892, #2756)
• Fix hardfault in ledstrip driver due to division by zero (@digitalentity, #2790)

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.

WARNINGS

• We've changed the way you select the receiver. Please make sure to select correct receiver after upgrading!
• On OMNIBUS F4 targets LEDSTRIP is now moved to where it belongs - dedicated LEDSTRIP connector.

Known bugs

• OSD blinking not working in some cases

CLI parameter renaming / new parameters

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

New boards

• Omnibus F4 Pro Corner
• DYS F4 Pro
• Matek F405 OSD. This requires slightly different firmware to the (also supported) Matek F405 AIO. Please see the board documentation.
• CLRACINGF4 AIR board
• Omnibus F7 V2
• FuriousFPV WingF4

Discontinued boards

• CC3D
• NAZE (all revisions)

Receiver type changes

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 related featured and fixes

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).

General improvements and fixes

• Improved refresh rate.
• Significantly reduced memory and CPU usage by the OSD subsystem.
• Made all OSD numeric fields fixed width.
• Make all OSD indicator previews look exactly the same in the configurator and in the actual OSD. This allows easily configuring all OSD indicators in a way they don't overlap.
• Added support for hardware based blinking. Makes all elements blink in sync.
• Screen is correctly cleared after exiting CMS and after hiding the stats shown after disarming.
• Enabling GPS will draw the GPS indicators even if the GPS hardware hasn't been detected. This allows configuring GPS related fields in the OSD even if the GPS module is not powered on.
• Improve artificial horizon drawing performance and fix flashing home direction arrow in its default position due to overlapping with the area cleared (but not actually used) by the indicator.
• Flight modes which can be combined with ANGLE, HORIZON and ACRO are now displayed in a separate indicator. This includes ALTHOLD in multirotors (in fixed wing ALTHOLD implies ANGLE) and HEADFREE modes.
• OSD now shows RTH (Return To Home) rather than RTL (Return To Launch) when RTH mode is active.

New OSD indicators

• 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.

Alarms

• Added home distance alarm. Makes the home distance indicator blink over a certain distance.
• Negative altitude alarm. Makes the altitude indicator blink when negative altitude becomes greater than a certain value. Useful when taking off from elevated places (like the top of a mountain).

New statistics

• Show current time and GPS home position in the armed screen (if available). Allows easily organising DVR recordings and matching them with BlackBox logs.
• Total fly time added to stats screen.
• Reason for disarming added to the stats screen. Can help diagnose hardware failures or other problems that might cause the aircraft to disarm automatically during a flight.

Other new features

• [SYSTEM] SmartAudio and Tramp VTX support. Band, channel and transmitter power can be changed from CMS
• [SYSTEM] Software emulated I2C made available for MATEK405 OSD board
• [GPS] GPS time is handled by the FC, with the option of a user-defined time-zone correction (either statically from configuration, or dynamically applied via MSP from ground station software)
• [RC] RC channels naming simplification. 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.
• [TELEMETRY] Multiple SmartPort improvements including MSP over SmartPort to allow configuration from TX (requires support from LUA scrips)
• [NAVIGATION] Automated navigation modes (RTH and WP) now override MOTOR_STOP. Regardless of user throttle stick position motors will remain running in automated modes. This is intended to prevent disarm during failsafe RTH.
• [RSSI] Change RSSI scale to be applicable to all RSSI sources
• [BATTERY] Allowed setting current_meter_offset to negative values
• [FAILSAFE] Add a minimum failsafe distance behavior that applies when the craft is close to home (distance configurable)
• [BLACKBOX] Log raw rcData to blackbox
• [BLACKBOX] Blackbox logs are automatically stamped with creation time from GPS data where available
• [OMNIBUS F4] Moved LED_STRIP to a dedicated connector available on these boards.

Bugs fixed

• Fixed blinking in OSD indicators.
• Fixed ghosting of OSD indicators when moving them around in the configurator. The video was showing at the same time the new element at the new position while not erasing it from its old position.
• Fix bug with incorrect SPI bus speed causing suboptimal hardware performance
• Non-working AIRPLANE/TRICOPTER/GIMBAL on SPRacingF4 EVO board
• Fix drop out of the sky if RTH was initiated with throttle stick at zero (see new features)
• Fix bug with CRSF telemetry now showing consumed mAh
• Fix non-detected failsafe on KFC32 board with eLeReS receiver
• Fix incorrect RTH initial climb condition
• Fix attitude calculation bug when gyro_sync is disabled

Development Environment

• As introduced in 1.7.3, a ruby interpreter is required to build iNav
• On Cygwin, it is advisable not to have spaces in the compiler path
• The build environment is only tested on modern compilers (arm-none-eabi-gcc 6.3 and later). Use of older compilers such as 4.8 is not recommended, and may not even be possible.

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.

WARNINGS

• We've changed the way you select the receiver. Please make sure to select correct receiver after upgrading!
• On OMNIBUS F4 targets LEDSTRIP is now moved to where it belongs - dedicated LEDSTRIP connector.

Known bugs

CLI parameter renaming / new parameters

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

New boards

• Omnibus F4 Pro Corner
• DYS F4 Pro
• Matek F405 OSD. This requires slightly different firmware to the (also supported) Matek F405 AIO. Please see the board documentation.
• CLRACINGF4 AIR board
• Omnibus F7 V2
• FuriousFPV WingF4

Discontinued boards

• CC3D
• NAZE (all revisions)

Receiver type changes

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 related featured and fixes

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).

General improvements and fixes

• Improved refresh rate.
• Significantly reduced memory and CPU usage by the OSD subsystem.
• Made all OSD numeric fields fixed width.
• Fix all OSD indicator previews look exactly the same in the configurator and in the actual OSD. This allows easily configuring all OSD indicators in a way they don't overlap.
• Added support for hardware based blinking. Makes all elements blink in sync.
• Screen is correctly cleared after exiting CMS and after hiding the stats shown after disarming.
• Enabling GPS will draw the GPS indicators even if the GPS hardware hasn't been detected. This allows configuring GPS related fields in the OSD even if the GPS module is not powered on.
• Improve artificial horizon drawing performance and fix flashing home direction arrow in its default position due to overlapping with the area cleared (but not actually used) by the indicator.
• Change RSSI scale to be applicable to all RSSI sources

New OSD indicators

• 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.

Alarms

• Added home distance alarm. Makes the home distance indicator blink over a certain distance.
• Negative altitude alarm. Makes the altitude indicator blink when negative altitude becomes greater than a certain value. Useful when taking off from elevated places (like the top of a mountain).

New statistics

• Show current time and GPS home position in the armed screen (if available). Allows easily organising DVR recordings and matching them with BlackBox logs.
• Total fly time added to stats screen.
• Reason for disarming added to the stats screen. Can help diagnose hardware failures or other problems that might cause the aircraft to disarm automatically during a flight.

Other new features

• [SYSTEM] SmartAudio and Trump VTX support. Band, channel and transmitter power can be changed from CMS
• [SYSTEM] Software emulated I2C made available for MATEK405 OSD board
• [GPS] GPS time is handled by the FC, with the option of a user-defined time-zone correction (either statically from configuration, or dynamically applied via MSP from ground station software)
• [RC] RC channels naming simplification. 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.
• [TELEMETRY] Multiple SmartPort improvements including MSP over SmartPort to allow configuration from TX (requires support from LUA scrips)
• [NAVIGATION] Automated navigation modes (RTH and WP) now override MOTOR_STOP. Regardless of user throttle stick position motors will remain running in automated modes. This is intended to prevent disarm during failsafe RTH.
• [RSSI] Change RSSI scale to be applicable to all RSSI sources
• [BATTERY] Allowed setting current_meter_offset to negative values
• [FAILSAFE] Add a minimum failsafe distance behavior that applies when the craft is close to home (distance configurable)
• [BLACKBOX] Log raw rcData to blackbox
• [BLACKBOX] Blackbox logs are automatically stamped with creation time from GPS data where available
• [OMNIBUS F4] Moved LED_STRIP to a dedicated connector available on these boards.

Bugs fixed

• Fixed blinking in OSD indicators.
• Fixed ghosting of OSD indicators when moving them around in the configurator. The video was showing at the same time the new element at the new position while not erasing it from its old position.
• Fix bug with incorrect SPI bus speed causing suboptimal hardware performance
• Non-working AIRPLANE/TRICOPTER/GIMBAL on SPRacingF4 EVO board
• Fix drop out of the sky if RTH was initiated with throttle stick at zero (see new features)
• Fix bug with CRSF telemetry now showing consumed mAh
• Fix non-detected failsafe on KFC32 board with eLeReS receiver
• Fix incorrect RTH initial climb condition

Development Environment

• As introduced in 1.7.3, a ruby interpreter is required to build iNav
• On Cygwin, it is advisable not to have spaces in the compiler path
• The build environment is only tested on modern compilers (arm-none-eabi-gcc 6.3 and later). Use of older compilers such as 4.8 is not recommended, and may not even be possible.

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.

Known bugs

CLI parameter renaming / new parameters

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

New boards

• Omnibus F4 Pro Corner
• DYS F4 Pro
• Matek F405 OSD. This requires slightly different firmware to the (also supported) Matek F405 AIO. Please see the board documentation.
• CLRACINGF4 AIR board
• Omnibus F7 V2

Discontinued boards

• CC3D
• NAZE (all revisions)

Receiver type changes

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 related featured and fixes

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).

General improvements and fixes

• Improved refresh rate.
• Significantly reduced memory and CPU usage by the OSD subsystem.
• Made all OSD numeric fields fixed width.
• Fix all OSD indicator previews look exactly the same in the configurator and in the actual OSD. This allows easily configuring all OSD indicators in a way they don't overlap.
• Added support for hardware based blinking. Makes all elements blink in sync.
• Screen is correctly cleared after exiting CMS and after hiding the stats shown after disarming.
• Enabling GPS will draw the GPS indicators even if the GPS hardware hasn't been detected. This allows configuring GPS related fields in the OSD even if the GPS module is not powered on.
• Improve artificial horizon drawing performance and fix flashing home direction arrow in its default position due to overlapping with the area cleared (but not actually used) by the indicator.
• Change RSSI scale to be applicable to all RSSI sources

New OSD indicators

• 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.

Alarms

• Added home distance alarm. Makes the home distance indicator blink over a certain distance.
• Negative altitude alarm. Makes the altitude indicator blink when negative altitude becomes greater than a certain value. Useful when taking off from elevated places (like the top of a mountain).

New statistics

• Show current time and GPS home position in the armed screen (if available). Allows easily organising DVR recordings and matching them with BlackBox logs.
• Total fly time added to stats screen.
• Reason for disarming added to the stats screen. Can help diagnose hardware failures or other problems that might cause the aircraft to disarm automatically during a flight.

Other new features

• SmartAudio and Trump VTX support. Band, channel and transmitter power can be changed from CMS
• RC channels naming simplification. 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.
• Automated navigation modes (RTH and WP) now override MOTOR_STOP. Regardless of user throttle stick position motors will remain running in automated modes. This is intended to prevent disarm during failsafe RTH.
• GPS time is handled by the FC, with the option of a user-defined time-zone correction (either statically from configuration, or dynamically applied via MSP from ground station software)
• Blackbox logs are automatically stamped with creation time from GPS data where available
• Change RSSI scale to be applicable to all RSSI sources
• Software emulated I2C made available for MATEK405 OSD board
• Allowed setting current_meter_offset to negative values
• Add a minimum failsafe distance behavior that applies when the craft is close to home (distance configurable)
• Multiple SmartPort improvements including MSP over SmartPort to allow configuration from TX (requires support from LUA scrips)
• Log raw rcData to blackbox

Bugs fixed

• Fixed blinking in OSD indicators.
• Fixed ghosting of OSD indicators when moving them around in the configurator. The video was showing at the same time the new element at the new position while not erasing it from its old position.
• Fix bug with incorrect SPI bus speed causing suboptimal hardware performance
• Non-working AIRPLANE/TRICOPTER/GIMBAL on SPRacingF4 EVO board
• Fix drop out of the sky if RTH was initiated with throttle stick at zero (see new features)
• Fix bug with CRSF telemetry now showing consumed mAh
• Fix non-detected failsafe on KFC32 board with eLeReS receiver

Development Environment

• As introduced in 1.7.3, a ruby interpreter is required to build iNav
• On Cygwin, it is advisable not to have spaces in the compiler path
• The build environment is only tested on modern compilers (arm-none-eabi-gcc 6.3 and later). Use of older compilers such as 4.8 is not recommended, and may not even be possible.

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.

Known bugs

• OSD blinking doesn't work [#2088]
• No I2C available on Matek F405-OSD [#2047]

EOL announcement

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.

CLI parameter renaming / new parameters

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

I2C bus speed selection

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.

Underclocking for F1/F3 targets

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.

New boards

• Omnibus F7 - highly experimental
• SPRACINGF4EVO

New features

• Support for MTK GPS automatic configuration
• New experimental DIY sonar-to-I2C converter support (https://github.com/iNavFlight/INAV-Rangefinder-I2C-interface)
• MatekF405 boards now support common I2C baro/compass sensors. Note that MatekF405 OSD board doesn't have I2C outputs so only MatekF405 AIO board can benefit from the change
• Add airspeed indication to OSD
• Add analog pitot sensor support for all F3/F4 targets
• Support for VL53L0X laser rangefinder (short range)
• Add RunCam Split control via RC radio
• MSPv2 protocol
• AIRMODE now available as a feature to have it always enabled (recommended for airplanes)
• QMC5883 compass support (pin-to-pin compatible to HMC5883L sensor, used in some Chinese GPS modules)
• Multiple Smartport telemetry improvements
• Add support for UK mode units in the OSD (Show the speed in mp/h while using metric for other values)
• Speed up blackbox downloading. Now downloading full 8Mb dataflash takes mere minutes.

Bugs fixed

• MatekF405 board made functional
• Fix ledstrip on Omnibus target
• Fix HEX6X mixer
• Fix OSD crosshair blinking
• Fix OSD ghost AHI
• Fix feature bits being reset when exiting CMS
• Fix bug with UK units in OSD
• Fix horizon drift bug on some boards with OSD
• Fix altitude control not working under 5m altitude on airplanes
• Fix swapped values for 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.
• Fix auto re-arm after landing issue when using switch-arming and landing with zero throttle in RTH & auto-disarm
• Fix BlueJayF4 gyro not detected

Development environment

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.

Kudos

@martinbudden, @stronnag, @fiam, @DzikuVx, @oleost, @Schalonsus, @adtinnis, @sambas, @teckel12

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.

Known bugs

• CRITICAL: Motors don't work on MatekF405 target, not usable yet (binary removed)
• HEX6X mixer not available

CLI parameter renaming / new parameters

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

Changed servo mixer output scaling

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.

CLI smix command new syntax

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

ADC channel assignment

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.

ADC airspeed sensor support

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.

New boards

• MATEKF405 board
• SPRACINGF3 NEO board - not well tested, use caution
• BEEROTORF4 target - not well tested, use cation
• OMNIBUSF4V3 target - suited for both v3 and v4 hardware revisions
• Alienflight F7 board

New features

• Improved landing procedure for airplanes. Still acts more like a controlled crash, but does the touchdown in a much more gentle way now.
• eLeReS support for KFC board
• Enable GPS on LUX target
• Flight statistics (odometer) - a feature to accumulate total flight hours and distance
• Added support for baro-less ANYFC F7 board
• Add servo support for LUX and COLIBRI_RACE targets
• User-definable ADC channel mapping to ADC functions
• Improved airspeed calculations to be usable for PID correction (changed to IAS instead of CAS/TAS)
• Adds sdcard_detect_inverted setting to make detection configurable
• Servo mixer rework to allow real output scaling
• Accelerometer notch filter (disabled by default)
• Add compass calibration start beep
• Support for analog airspeed sensor, enabled on more targets now
• Added craft name to CLI dump

Bugs fixed

• Fixed altitude icon on OSD
• Bug with bounce-back when doing slow yaw corrections with HEADING_HOLD enabled
• More eavenly spread the CPU load of OSD update to make horizon drift issue less evident
• Fix timer mapping for OMNIBUSF4PRO target - now usable on airplane
• Fix PPM input on ANYFC F7
• Better default configuration for FALCORE drone
• Fix a bug with PPM IN incompatible with OS125 and above
• Fix CC3D motor pwm rate bound to 400hz

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.

Known bugs

• bug

CLI parameter renaming / new parameters

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

New boards

• FALCORE drone
• ALIENFLIGHTF4
• KFC32F3 board
• ANYFCM7 board

New features

• On airplanes force PASSTHOUGH mode until sensors are fully calibrated - give pilot ability to manually recover the plane after a brown-out
• Enable IIR on BMP280 baro - could make baro readings more stable
• Refactor ADC code - allow all analog inputs to be used on F3 boards
• Allow analog airspeed input on AIRHEROF3 board
• Add yaw gain for TURN_ASSIST mode
• New MSP parameters for airplane and RTH settings
• New UBLOX7 protocol for genuine Ublox Neo7 and Neo8 modules (may be supported on cloned GPS units as well - use at own risk)

Bugs fixed

• Fixed display of negative longitudes on OSD
• Fix board hangup when flooded with MSP requests
• Fix incorrect type for fw_reference_airspeed parameter
• Remove navDebug from blackbox
• Refactor and fix hangup when using HoTT telemetry
• Fix uncontrolled descent on airplane when doing RTH landing
• Fix incorrect OSD indications for speed

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.

Known bugs

• RTH descent might not work at all, be too slow or too aggressive and don't respect the landing speed on a fixed wing

CLI parameter renaming

Some CLI parameters are renamed to support new features or to better reflect their meaning:

And nav_fw_roll2pitch is removed due to no longer necessary. GPS modes for fixedwing now uses Turn Assist mode.

Servo mixer parser changed (Very important step for fixed winger)

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

Airplane turn assistant

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.

Airplane autotune

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.

Heading Hold flight mode

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.

New boards

• KROOZX board
• BEEROTORF4 board
• ANYFCF7 board

New features

• Sonar is back enabled with proper hardware detection. Not recommended to be used for flight yet.
• Support for MS5607 baro sensor
• Support for Spansion S25FL116 SPI memory chip
• Flaperon support moved to mixer code. Can be configured for custom airplane mix as separate flaps now
• Enable airplane setups for Sparky board
• Rename MAG mode to Heading Hold mode and allow to operate without compass
• Fixed-wing autotune
• Preliminary support for analog airspeed sensor. No boards support this currently.
• MAVLink made bidirectional. Limited subset of waypoints is supported via QGroundControl and similar software
• Add support for more baud rates (1200 to 921600)
• Add 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.
• Remove failsafe channel fallback. Now receiver channel values are always received, but in case of signal loss - not used.
• Enable SoftSerial feature for AIRHEROF3
• HoTT telemetry refactoring
• BLHeli 4wif catch up with Betaflight
• Log last disarm reason to blackbox, report via LTM
• Improve run-time calibration to be faster and more accurate
• Initial cut on coordinated turn code for airplanes. TURN ASSIST flight mode will automatically apply rudder and elevator when commanding an aileron-only banked turn.
• Barometer glitch detection and cancellation
• Improve climb-out logic for airplanes. Use bigger margin for error if possible.
• OMNIBUSF4 target now supports tricopter setup
• Some F7 fixes and performance improvements
• Log hardware health status to blackbox

Bugs fixed

• Fix incorrect handling of beeper -ON_USB
• Fixed speed limitation by nav_max_speed enforced even in manual flying
• Fix HMC5883L detection and initialisation in presence of magnetic fields
• Fix broken MPU6500 detection and init
• Fix a bug with falling out of the sky when loosing GPS in FAILSAFE RTH. Now will use SET-THR (landing) as a backup in case RTH is aborted during failsafe.
• Make LTM send X-Frame even for targets w/o GPS
• Allow FAILSAFE to override PASSTHROUGH mode. Fix a bug with failsafe not engaging when plane is in PASSTHROUGH.
• Fix a bug with FAILSAFE locking pilot out of control when board is disarmed by timeout.
• Fix non-working IBUS receiver w/o telemetry
• Fix option to use more motor outputs than are physically available (might cause board to crash)
• Limit RC command processing rate. Fix a bug with stick combos being processed at extreme rate on some receivers
• Custom current metter scale for OmnibusF4 Pro. Fix a bug with incorrect current sensor readings.
• Avoid target clash between PPM and motor output on REVO target. Fix a bug with OneShot125 and PPM being incompatible.
• Fix a bug when airplane althold was not working w/o GPS (baro only)
• Fix incorrect units on OSD when OSD_UNIT_IMPERIAL is selected
• Fixed gyro alignment for BeeRotor F4

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.

Known bugs

• RTH descent might be too aggressive and don't respect the landing speed on a fixed wing

CLI parameter renaming

Some CLI parameters are renamed to support new features or to better reflect their meaning:

And nav_fw_roll2pitch is removed due to no longer necessary. GPS modes for fixedwing now uses Turn Assist mode.

Servo mixer parser changed (Very important step for fixed winger)

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

Airplane autotune

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.

Heading Hold flight mode

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.

New boards

• KROOZX board
• BEEROTORF4 board
• ANYFCF7 board

New features

• Sonar is back enabled with proper hardware detection. Not recommended to be used for flight yet.
• Support for MS5607 baro sensor
• Support for Spansion S25FL116 SPI memory chip
• Flaperon support moved to mixer code. Can be configured for custom airplane mix as separate flaps now
• Enable airplane setups for Sparky board
• Rename MAG mode to Heading Hold mode and allow to operate without compass
• Fixed-wing autotune
• Preliminary support for analog airspeed sensor. No boards support this currently.
• MAVLink made bidirectional. Limited subset of waypoints is supported via QGroundControl and similar software
• Add support for more baud rates (1200 to 921600)
• Add 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.
• Remove failsafe channel fallback. Now receiver channel values are always received, but in case of signal loss - not used.
• Enable SoftSerial feature for AIRHEROF3
• HoTT telemetry refactoring
• BLHeli 4wif catch up with Betaflight
• Log last disarm reason to blackbox, report via LTM
• Improve run-time calibration to be faster and more accurate
• Initial cut on coordinated turn code for airplanes. TURN ASSIST flight mode will automatically apply rudder and elevator when commanding an aileron-only banked turn.

Bugs fixed

• Fix incorrect handling of beeper -ON_USB
• Fixed speed limitation by nav_max_speed enforced even in manual flying
• Fix HMC5883L detection and initialisation in presence of magnetic fields
• Fix broken MPU6500 detection and init
• Fix a bug with falling out of the sky when loosing GPS in FAILSAFE RTH. Now will use SET-THR (landing) as a backup in case RTH is aborted during failsafe.
• Make LTM send X-Frame even for targets w/o GPS
• Allow FAILSAFE to override PASSTHROUGH mode. Fix a bug with failsafe not engaging when plane is in PASSTHROUGH.
• Fix a bug with FAILSAFE locking pilot out of control when board is disarmed by timeout.
• Fix non-working IBUS receiver w/o telemetry
• Fix option to use more motor outputs than are physically available (might cause board to crash)
• Limit RC command processing rate. Fix a bug with stick combos being processed at extreme rate on some receivers
• Custom current metter scale for OmnibusF4 Pro. Fix a bug with incorrect current sensor readings.
• Avoid target clash between PPM and motor output on REVO target. Fix a bug with OneShot125 and PPM being incompatible.
• Fix a bug when airplane althold was not working w/o GPS (baro only)

This is the bugfix release for INAV 1.6. Please have a read on release notes for version 1.6.

Known bugs

• Failsafe Stage 2 doesn't show as enabled in Configurator (it is always enabled, it's only UI bug)

New features

• Faster and more accurate baro calibration

Bugs fixed

• Airplane launch mode failure
• Multiple fixes to documentation

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.

Known bugs

• Fixed wing launch mode may fail
• Failsafe Stage 2 doesn't show as enabled in Configurator (it is always enabled, it's only UI bug)

CLI parameter renaming

Some CLI parameters are renamed to support new features or to better reflect their meaning:

Non-volatile storage for waypoint missions

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:

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.

New failsafe system

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.

New PIFF controller for fixed-wing aircraft

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. )

Airplane launch mode improvements

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.

Waypoint mission pre-arming check

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.

RTH sanity checking

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.

New RTH configuration options

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.

New navigation-specific OSD indications

Now board with build-in OSD (Omnibus FC) will have indications that make it suitable for navigation:

• GPS coordinates
• Home distance and direction
• Current heading
• Climb rate (vario)

New boards

• NAZE target is split to actual NAZE and AIRHERO32 for MWC AirHero32 board
• PIXRACER board initial support. Experimental - many features are not yet functional
• OMNIBUS F4 PRO target
• F4BY target

New features

• Initial support for STM32F7 boards. More CPU power for better performance
• Full support of SoftSerial ports on F4-based boards
• Gyro/D-term notch filter and D-term setpoint weight (as in Betaflight)
• TBS Crossfire native radio protocol and telemetry (CRSF)
• Firmware support for better UI for 6-point calibration
• Make max total PID output configurable, default limit reduced to 500 for better stability
• Inversion control for S.Bus - now it's possible to have non-inverted S.Bus (for OpenLRS compatibility)
• Airplane mixers defaults to use two motor outputs now
• PASSTHRU mode will now allow to mix sticks into motors for differential thrust support
• More authority for Altitude Hold PIDs. Please revisit ALT and VEL PIDs if aircraft misbehaves.
• Two banks of PIDs for Fixed-wing and Multirotor crafts. A small step towards VTOL support
• Configurable timeout for compass calibration (instead of hard-coded 30 seconds)
• When using new Configurator the Altitude graph in Sensor tab will now show both estimated altitude and raw BARO readings
• Extremely long flights are now possible on F3/F4/F7 targets. On F1 the system time will overflow at 1 hour, 11 minutes, 35 seconds and may cause some systems to malfunction (failsafe is one of suspects). Use caution when testing this feature.
• Option to control when relative altitude is zeroed (never, on first arming, on each arming)
• New rssi_invert setting replaces rssi_ppm_invert and now also affects analog RSSI
• Blackbox logging at rates down to 1/255 is now possible for logging long flights to onboard memory

Bugs fixed

• Telemetry and MSP data corruption on F1 (UART1 only) and F4 (all UARTs) targets
• Motor 6 output on REVO is now functional
• Occasional reboot of the board when bluetooth module is disconnected
• Rare complete stall of attitude/navigation system due to invalid gyro/acceleration data
• LED STRIP was blinking out one extra satellite when signalling GPS fix
• 3d_deadband_throttle setting was handled incorrectly by MSP which caused corruption
• iBUS telemetry not functional bug, many updates
• Temporary fix for a Sparky 2 compass bug
• Gave more confidence to accelerometer in IMU computations - should help with attitude drift issue
• Removed GPS centrifugal forces compensation - was not working properly
• Throttle opening briefly when ARMing the machine into Altitude Hold mode
• HoTT telemetry altitude and climb rate reporting fixed
• Fixed bug when GPS glitch (position/velocity error without loosing GPS FIX) might cause drone to crash
• HOME_RESET feature will now reset the Home position only once, when switch is flipped from OFF to ON

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.

CLI parameter renaming

Some CLI parameters are renamed to support new features or to better reflect their meaning:

Non-volatile storage for waypoint missions

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:

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.

New failsafe system

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.

New PIFF controller for fixed-wing aircraft

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.

Airplane launch mode improvements

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.

Waypoint mission pre-arming check

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.

RTH sanity checking

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.

New RTH configuration options

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.

New navigation-specific OSD indications

Now board with build-in OSD (Omnibus FC) will have indications that make it suitable for navigation:

• GPS coordinates
• Home distance and direction
• Current heading
• Climb rate (vario)

New boards

• NAZE target is split to actual NAZE and AIRHERO32 for MWC AirHero32 board
• PIXRACER board initial support. Experimental - many features are not yet functional
• OMNIBUS F4 PRO target
• F4BY target

New features

• Initial support for STM32F7 boards. More CPU power for better performance
• Full support of SoftSerial ports on F4-based boards
• Gyro/D-term notch filter and D-term setpoint weight (as in Betaflight)
• TBS Crossfire native radio protocol and telemetry (CRSF)
• Firmware support for better UI for 6-point calibration
• Make max total PID output configurable, default limit reduced to 500 for better stability
• Inversion control for S.Bus - now it's possible to have non-inverted S.Bus (for OpenLRS compatibility)
• Airplane mixers defaults to use two motor outputs now
• PASSTHRU mode will now allow to mix sticks into motors for differential thrust support
• More authority for Altitude Hold PIDs. Please revisit ALT and VEL PIDs if aircraft misbehaves.
• Two banks of PIDs for Fixed-wing and Multirotor crafts. A small step towards VTOL support
• Configurable timeout for compass calibration (instead of hard-coded 30 seconds)
• When using new Configurator the Altitude graph in Sensor tab will now show both estimated altitude and raw BARO readings
• Extremely long flights are now possible on F3/F4/F7 targets. On F1 the system time will overflow at 1 hour, 11 minutes, 35 seconds and may cause some systems to malfunction (failsafe is one of suspects). Use caution when testing this feature.
• Option to control when relative altitude is zeroed (never, on first arming, on each arming)
• New rssi_invert setting replaces rssi_ppm_invert and now also affects analog RSSI
• Blackbox logging at rates down to 1/255 is now possible for logging long flights to onboard memory

Bugs fixed

• Telemetry and MSP data corruption on F1 (UART1 only) and F4 (all UARTs) targets
• Motor 6 output on REVO is now functional
• Occasional reboot of the board when bluetooth module is disconnected
• Rare complete stall of attitude/navigation system due to invalid gyro/acceleration data
• LED STRIP was blinking out one extra satellite when signalling GPS fix
• 3d_deadband_throttle setting was handled incorrectly by MSP which caused corruption
• iBUS telemetry not functional bug, many updates
• Temporary fix for a Sparky 2 compass bug
• Gave more confidence to accelerometer in IMU computations - should help with attitude drift issue
• Removed GPS centrifugal forces compensation - was not working properly
• Throttle opening briefly when ARMing the machine into Altitude Hold mode
• HoTT telemetry altitude and climb rate reporting fixed
• Fixed bug when GPS glitch (position/velocity error without loosing GPS FIX) might cause drone to crash

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.

CLI parameter renaming

Some CLI parameters are renamed to support new features or to better reflect their meaning:

Non-volatile storage for waypoint missions

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:

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.

New failsafe system

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.

New PIFF controller for fixed-wing aircraft

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.

Airplane launch mode improvements

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.

Waypoint mission pre-arming check

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.

RTH sanity checking

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.

New RTH configuration options

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.

New boards

• NAZE target is split to actual NAZE and AIRHERO32 for MWC AirHero32 board
• PIXRACER board initial support. Experimental - many features are not yet functional
• OMNIBUS F4 PRO target
• F4BY target

New features

• Initial support for STM32F7 boards. More CPU power for better performance
• Full support of SoftSerial ports on F4-based boards
• Gyro/D-term notch filter and D-term setpoint weight (as in Betaflight)
• TBS Crossfire native radio protocol and telemetry (CRSF)
• Firmware support for better UI for 6-point calibration
• Make max total PID output configurable, default limit reduced to 500 for better stability
• Inversion control for S.Bus - now it's possible to have non-inverted S.Bus (for OpenLRS compatibility)
• Airplane mixers defaults to use two motor outputs now
• PASSTHRU mode will now allow to mix sticks into motors for differential thrust support
• More authority for Altitude Hold PIDs. Please revisit ALT and VEL PIDs if aircraft misbehaves.
• Two banks of PIDs for Fixed-wing and Multirotor crafts. A small step towards VTOL support
• Configurable timeout for compass calibration (instead of hard-coded 30 seconds)
• When using new Configurator the Altitude graph in Sensor tab will now show both estimated altitude and raw BARO readings
• Extremely long flights are now possible on F3/F4/F7 targets. On F1 the system time will overflow at 1 hour, 11 minutes, 35 seconds and may cause some systems to malfunction (failsafe is one of suspects). Use caution when testing this feature.
• Option to control when relative altitude is zeroed (never, on first arming, on each arming)
• New rssi_invert setting replaces rssi_ppm_invert and now also affects analog RSSI
• Blackbox logging at rates down to 1/255 is now possible for logging long flights to onboard memory
• More indications on OSD for supported targets - GPS coordinates, distance and direction to home
• 'pseudo' RSSI for Spektrum satellites (from fade count, as Betaflight)
• Profiles in the CLI are now numbered 1-3 for compatibility with the configurator; be aware if restoring settings from CLI dump.

Bugs fixed

• Telemetry and MSP data corruption on F1 (UART1 only) and F4 (all UARTs) targets
• Motor 6 output on REVO is now functional
• Occasional reboot of the board when bluetooth module is disconnected
• Rare complete stall of attitude/navigation system due to invalid gyro/acceleration data
• LED STRIP was blinking out one extra satellite when signalling GPS fix
• 3d_deadband_throttle setting was handled incorrectly by MSP which caused corruption
• iBUS telemetry not functional bug, many updates
• Temporary fix for a Sparky 2 compass bug
• Gave more confidence to accelerometer in IMU computations - should help with attitude drift issue
• Removed GPS centrifugal forces compensation - was not working properly
• Throttle opening briefly when ARMing the machine into Altitude Hold mode
• HoTT telemetry altitude and climb rate reporting fixed

This is an ALPHA release. Use caution!

This version has some significant differences from 1.5.1, please read the release notes carefully and upgrade INAV Configurator available at Chrome Store.

CLI parameter renaming

Some CLI parameters are renamed to support new features or to better reflect their meaning:

New failsafe system

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.

New PIFF controller for fixed-wing aircraft

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.

Airplane launch mode improvements

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.

Waypoint mission pre-arming check

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.

RTH sanity checking

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.

New RTH configuration options

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.

New boards

• NAZE target is split to actual NAZE and AIRHERO32 for MWC AirHero32 board
• PIXRACER board initial support. Experimental - many features are not yet functional
• OMNIBUS F4 SD target
• F4BY target

New features

• Initial support for STM32F7 boards. More CPU power for better performance
• Full support of SoftSerial ports on F4-based boards
• Gyro/D-term notch filter and D-term setpoint weight (as in Betaflight)
• TBS Crossfire native radio protocol and telemetry (CRSF)
• Firmware support for better UI for 6-point calibration
• Make max total PID output configurable, default limit reduced to 500 for better stability
• Inversion control for S.Bus - now it's possible to have non-inverted S.Bus (for OpenLRS compatibility)
• Airplane mixers defaults to use two motor outputs now
• PASSTHRU mode will now allow to mix sticks into motors for differential thrust support
• More authority for Altitude Hold PIDs. Please revisit ALT and VEL PIDs if aircraft misbehaves.
• Two banks of PIDs for Fixed-wing and Multirotor crafts. A small step towards VTOL support
• Configurable timeout for compass calibration (instead of hard-coded 30 seconds)
• When using new Configurator the Altitude graph in Sensor tab will now show both estimated altitude and raw BARO readings
• Extremely long flights are now possible on F3/F4/F7 targets. On F1 the system time will overflow at 1 hour, 11 minutes, 35 seconds and may cause some systems to malfunction (failsafe is one of suspects). Use caution when testing this feature.
• Option to control when relative altitude is zeroed (never, on first arming, on each arming)
• New rssi_invert setting replaces rssi_ppm_invert and now also affects analog RSSI

Bugs fixed

• Telemetry and MSP data corruption on F1 (UART1 only) and F4 (all UARTs) targets
• Motor 6 output on REVO is now functional
• Occasional reboot of the board when bluetooth module is disconnected
• Rare complete stall of attitude/navigation system due to invalid gyro/acceleration data
• LED STRIP was blinking out one extra satellite when signalling GPS fix
• 3d_deadband_throttle setting was handled incorrectly by MSP which caused corruption
• iBUS telemetry not functional bug
• Temporary fix for a Sparky 2 compass bug

This is an ALPHA release. Use caution!

This version has some significant differences from 1.5.1, please read the release notes carefully and upgrade INAV Configurator available at Chrome Store.

CLI parameter renaming

Some CLI parameters are renamed to support new features or to better reflect their meaning:

New failsafe system

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.

New PIFF controller for fixed-wing aircraft

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.

Airplane launch mode improvements

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.

RTH sanity checking

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.

New boards

• NAZE target is split to actual NAZE and AIRHERO32 for MWC AirHero32 board
• PIXRACER board initial support. Experimental - many features are not yet functional
• OMNIBUS F4 SD target
• F4BY target

New features

• Initial support for STM32F7 boards. More CPU power for better performance
• Full support of SoftSerial ports on F4-based boards
• Gyro/D-term notch filter and D-term setpoint weight (as in Betaflight)
• TBS Crossfire native radio protocol and telemetry (CRSF)
• Firmware support for better UI for 6-point calibration
• Make max total PID output configurable, default limit reduced to 500 for better stability
• Inversion control for S.Bus - now it's possible to have non-inverted S.Bus (for OpenLRS compatibility)
• Airplane mixers defaults to use two motor outputs now
• PASSTHRU mode will now allow to mix sticks into motors for differential thrust support
• More authority for Altitude Hold PIDs. Please revisit ALT and VEL PIDs if aircraft misbehaves.
• Two banks of PIDs for Fixed-wing and Multirotor crafts. A small step towards VTOL support
• Configurable timeout for compass calibration (instead of hard-coded 30 seconds)
• When using new Configurator the Altitude graph in Sensor tab will now show both estimated altitude and raw BARO readings
• Extremely long flights are now possible on F3/F4/F7 targets. On F1 the system time will overflow at 1 hour, 11 minutes, 35 seconds and may cause some systems to malfunction (failsafe is one of suspects). Use caution when testing this feature.

Bugs fixed

• Telemetry and MSP data corruption on F1 (UART1 only) and F4 (all UARTs) targets
• Motor 6 output on REVO is now functional
• Occasional reboot of the board when bluetooth module is disconnected
• Rare complete stall of attitude/navigation system due to invalid gyro/acceleration data
• LED STRIP was blinking out one extra satellite when signalling GPS fix
• 3d_deadband_throttle setting was handled incorrectly by MSP which caused corruption
• iBUS telemetry not functional bug