Releases: iNavFlight/inav
INAV 9.0.0-RC3 release candidate for testing
INAV 9.0.0-RC3 Release Notes
Hello and welcome to INAV 9.0.0 RC3
This release candidate is for testing the new features and changes that will be part of the INAV 9.0.0 release soon
Please carefully read all of this document for the best possible experience and safety.
Contact other pilots, share experiences, suggestions and ask for help on:
 |
INAV Discord Server |
 |
INAV Official on Facebook |
Note
Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default.
Known Issues in 9.0
- Please read INAV Github issue reports for outstanding problems that were not resolved in time for the release.
Upgrading from a previous release
Upgrading from INAV 8.0
- Download and install the new INAV Configurator 9.0
- Backup configuration with CLI
diff allcommand or use the Diff All and Save to file buttons. - Flash INAV 9.0 WITH Full Chip Erase option enabled
- Load your 8.0
Diffsettings in to the CLI. Then take a note or write down the incompatible settings changes marked in RED. - Then copy your 8.0
Difffile and rename it 9.0. And edit the old incompatible settings. - Go to CLI and load your edited INAV 9.0
Diff - Done
Tip
Concerning step 6.
It can be a safer option to load your Diff All settings in two parts if you are using multiple Profiles. e.g. Control, Mixer or Battery.
This can be done by copying and loading the Diff All text setting from the top, down to the bottom of the # master settings category. Then load that into the CLI and press enter. Once it has written, press the Save Settings button.
Wait until it reboots and go back to the CLI tab again, then copy and load the rest of the Diff All text file. Starting from the # Control_profile 1 settings category, down to the bottom. Press enter. Once written, it will save by itself.
Diff update tool
Rather than steps 4 and 5 above. You can try this diff update tool. This is a work in progress. Currently it will try to update version 7 or later diffs to version 8 or later. Just paste your full diff (not dump) in to the tool. Select the INAV version you're upgrading to. Then press the button. It will create a new diff for you and give you warnings about anything you should check.
Upgrading from older versions
Please follow the instructions on this page.
Changes in 9.0.0-RC3 (from RC2)
- MSP2_INAV_SET_GVAR by @xznhj8129 in #11146
- Add release creation guide by @sensei-hacker in #11152
- Update LedStrip.md by @Barnabasek in #11159
- Fix missing magnetometer support on NEXUSX target by @sensei-hacker in #11157
Full Changelog: 9.0.0-RC2...9.0.0-RC3
Overview
This release candidate introduces new features and improvements for testing before the official INAV 9.0.0 release. Users are advised to remove props and verify motor/servo outputs before first battery power-up, as flexible motor and servo allocation may alter default output configurations.
Key Highlights
Minimum Ground Speed Flexibility
The Programming Framework now enables dynamic adjustment of minimum ground speed based on wind conditions, allowing aircraft to maintain headway in challenging flight environments.
OSD Throttle Gauge
A new vertical digital throttle gauge display option provides pilots with real-time throttle visualization on-screen.
Fixed Wing Altitude Control
Two selectable altitude control methods accommodate different airframe types and climb rate requirements:
- Altitude Velocity controller (default)
- Altitude Position controller (alternative)
Position Estimator Improvements
Enhanced Z velocity accuracy through algorithm refinements and new default weighting parameters for barometric and GPS measurements.
Sensor Additions
New QMC5883P magnetometer driver support expands hardware compatibility.
Other Notable Changes
- Barometer altitude integrated into CRSF telemetry
- Improved fixed-wing flight detection for auto-disarm functionality
- Temperature compensation for accelerometers and barometers
- Flight counter addition to statistics tracking
- Enhanced VTOL tilt-rotor support with servo speed filtering
- Improved magless multicopter yaw estimation
- Extended MSP override capability to 32-bit channels
CLI Updates
New Settings include blackbox arm control extension, temperature correction factors, ADSB warning styles, and VTOL transition PID multipliers.
New Flight Controller Targets: 32 additional targets now supported, including variants from Blueberry, DakeFPV, TBS, and others.
OSD/CMS Changes
New elements: OSD_VERTICAL_SPEED_INDICATOR, OSD_ADSB_WARNING, OSD_ADSB_INFO, OSD_THROTTLE_GAUGE, and OSD_NAV_MIN_GROUND_SPEED.
Upgrade Instructions
From INAV 8.0, users must perform full chip erase during flashing and reload configuration via CLI diff commands. Phased loading of multi-profile settings is recommended for safety.
Critical Renaming: PID Profile → Control Profile
The term "PID Profile" has been renamed to "Control Profile" throughout INAV 9.0 to better reflect that these profiles control more than just PID settings.
Renamed Settings
| Old Name (8.0.x) | New Name (9.0.0) | Notes |
|---|---|---|
controlrate_profile |
use_control_profile |
Selects which control profile to use |
mixer_pid_profile_linking |
mixer_control_profile_linking |
Links mixer profile to control profile |
osd_pan_servo_pwm2centideg |
osd_pan_servo_range_decadegrees |
Pan servo range renamed for clarity |
Removed Settings
| Setting Name | Reason | Replacement |
|---|---|---|
reboot_character |
Legacy MSP reboot method removed | Use standard MSP reboot command |
Contributors
Assets 221
INAV 9.0.0-RC2 release candidate for testing
Hello and welcome to INAV 9.0.0 RC2
This release candidate is for testing the new features and changes that will be part of the INAV 9.0.0 release soon
Please carefully read all of this document for the best possible experience and safety.
Contact other pilots, share experiences, suggestions and ask for help on:
|
INAV Discord Server |
|
INAV Official on Facebook |
Note
Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default.
Known Issues in 9.0
- Please read INAV Github issue reports for outstanding problems that were not resolved in time for the release.
Upgrading from a previous release
Upgrading from INAV 8.0
- Backup configuration with CLI
diff allcommand or use the Diff All and Save to file buttons. - Download and install the new INAV Configurator 9.0
- Flash INAV 9.0 WITH Full Chip Erase option enabled
- Load your 8.0
Diffsettings in to the CLI. Then take a note or write down the incompatible settings changes marked in RED. - Then copy your 8.0
Difffile and rename it 9.0. And edit the old incompatible settings. - Now go to the Status Tab and press the Reset Setting button.
- Select Keep current settings from the defaults pop-up.
- Go to CLI and load your edited INAV 9.0
Diff - Done
Tip
Concerning step 8.
It can be a safer option to load your Diff All settings in two parts if you are using multiple Profiles. e.g. Control, Mixer or Battery.
This can be done by copying and loading the Diff All text setting from the top, down to the bottom of the # master settings category. Then load that into the CLI and press enter. Once it has written, press the Save Settings button.
Wait until it reboots and go back to the CLI tab again, then copy and load the rest of the Diff All text file. Starting from the # Control_profile 1 settings category, down to the bottom. Press enter. Once written, it will save by itself.
Upgrading from older versions
Please follow the instructions on this page.
Highlights
Minimum ground speed flexibility
Via the Programming Framework. It allows the user to have more flexibility when flying in higher wind conditions. To ensure the airplane makes headway.
In addition, you can program it to dynamically adjust the minimum ground speed according to the Wind direction and Wind speed.
More information can be found in this link.
OSD throttle gauge
Allows the pilot to see the throttle as a vertical digital gauge.
Functional information can be found here in the PR link
Fixed wing altitude controller
Changes have been made to improve its operation on a broader range of airframes. One of two methods can be selected to better suited different climb rate conditions.
- Altitude Velocity controller
nav_fw_alt_use_position = OFF(default) - Altitude Position controller
nav_fw_alt_use_position = ON
See here for more information. And the required PID tune settings for either control method.
Position estimator improvements
Changes to the position estimator are mainly intended to improve issues with Z velocity accuracy but also includes code clean-ups and fixes.
There has also been setting changes added with the code alterations. Depending on the sensor data quality. It may be beneficial in some cases to revert your settings back to the old ones, or somewhere in between the two.
| Name CLI | Old | New |
|---|---|---|
w_z_baro_v |
0.1 | 0.35 |
inav_w_z_gps_p |
0.2 | 0.35 |
inav_w_z_gps_v |
0.1 | 0.35 |
More information directly related to the changes can be found here.
Sensor addition
QMC5883P magnetometer driver
Other changes:
- Barometer altitude added to CRSF telemetry.
- Better Fixed wing flight detection to handle auto disarm on landing. PR link
- Lulu filter fixes and improvements. PR Link
- Accelerometer and Barometer temperature compensation for better altitude control - Calibration method and PR link.
- Add flights counter to stats PR link
- Servo speed filter for tilt-rotor VTOL. PR link
- Enhance VTOL tilt-rotor support. To assist transition smoothness PR link
- Better air cushion compensation for multicopters and rangefinder fix. PR link
- Improved yaw estimation for magless multicopter operation. PR link - The default
ahrs_acc_ignore_ratesetting has also been lowered from 20 to 15. - Mavlink clean-ups and fixes - 11060 11061 11062
OSD/CMS changes
| Name | Function |
|---|---|
| OSD_VERTICAL_SPEED_INDICATOR | New name for OSD vario |
| OSD_ADSB_WARNING | CMS stick menu |
| OSD_ADSB_INFO | CMS stick menu |
| OSD_THROTTLE_GAUGE | OSD |
| OSD_NAV_MIN_GROUND_SPEED | OSD |
Functions
| Function | Name | Values |
|---|---|---|
| Battery | SMARTPORT | vbat_meter_type , current_meter_type |
| Programming Framework | Gimbal Sensitivity | Scales Operand A from [-16 : 15] |
| Programming Framework | Override Minimum Ground Speed | When active, sets the minimum ground speed to the value specified in Operand A [m/s]. Minimum allowed value is set in nav_min_ground_speed. Maximum value is 150 |
| Programming Framework | Minimum Ground Speed [m/s] | The current minimum ground speed allowed in navigation flight modes |
| Programming Framework | Horizontal Wind Speed [cm/s] | Estimated wind speed. If the wind estimator is unavailable or the wind estimation is invalid, -1 is returned |
| Programming Framework | Wind Direction [deg] | Estimated wind direction. If the wind estimator is unavailable or the wind estimation is invalid, -1 is returned |
| Programming Framework | Relative Wind Offset [deg] | The relative offset between the heading of the aircraft and the heading of the wind. 0 indicates flying directly into a headwing. Negative numbers are a left offset. For example, if -20° is shown, turning right will correct towards 0. If the wind estimator is unavailable or the wind estimation is invalid, 0 is returned |
CLI
New Settings
| Name | Description |
|---|---|
| blackbox_arm_control | Can extend blackbox logging up to 60 seconds after disarming |
| acc_temp_correction | Accelerometer temperature correction factor to compensate for acceleromter drift |
| baro_temp_correction | Baro temperature correction factor to compensate for Baro altitude drift |
| osd_adsb_warning_style | ADSB warning element style - COMPACT or EXTENDED |
| nav_fw_alt_use_position | Use position for fixed wing altitude control rather than velocity |
| osd_pan_servo_range_decadegrees | Replaces the name of the old osd_pan_servo_pwm2centideg |
| mavlink_autopilot_type | Sets the Mavlink telemetry type - GENERIC or ARDUPILOT |
| transition_pid_mmix_multiplier_pitch | Intended to solve pitch coupling in transtion mode on tilting rotor VTOL |
| transition_pid_mmix_multiplier_roll | intended to solve roll/yaw coupling oscillation in transtion mode on tilting rotor VTOL |
| transition_pid_mmix_multiplier_yaw | Intended to solve yaw/roll coupling oscillation in transtio... |
Contributors
Assets 221
INAV 8.0.1
Hello and welcome to INAV 8.0.1 "Gallant Goshawk"
Please carefully read all of this document for the best possible experience and safety.
Contact other pilots, share experiences, suggestions and ask for help on:
|
INAV Discord Server |
|
INAV Official on Facebook |
INAV 8 no longer includes F411 targets as part of the official release.
GPS:
UBLOX7andUBLOXhave been merged into a singleUBLOXoption, and units with older firmware are now deprecated. Only M8 and newer will be supported in the future.
Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default.
This is a minor release and If nothing serious is found, this will be released as 8.0.1 final.
Fixed issues in 8.0.1
- #10646 Jeti receivers may lock up while using telemetry. (Thanks to https://elefun.no/ for helping us get in touch with JETI and arranging delivery of a DS-12 + REX3 rx on loan to debug the issue)
Known Issues in 8.0.1
- Fixedwing Altitude Velocity controller tuning. Requiring a more precise Autotune to be conducted. Read below
- Not an issue. But the Jeti update can benefit from more testing.
Upgrading from a previous release
Upgrading from INAV 8.0.0
- Backup configuration with CLI
diff allcommand - Download and install the new INAV Configurator 8.0
- Flash INAV 8.0 WITH Full Chip Erase option enabled
- Select Keep current settings from the defaults pop-up
- Go to CLI and restore your inav diff
Upgrading from INAV 7.0 and 7.1
- Backup configuration with CLI
diff allcommand - Download and install the new INAV Configurator 8.0
- Flash INAV 8.0 WITH Full Chip Erase option enabled
- Edit the 7.x diff and apply Diff breaking changes described bellow, and save it as your new inav 8 diff. See Diff breaking changes section below.
- Select Keep current settings from the defaults pop-up
- Go to CLI and restore your edited inav diff
- Done
This tool can help migrate your INAV 7.x diff over to INAV 8.0.0. It will take care of the major changes that have been highlighted in these release notes.
Upgrading from older versions
Please follow the instructions on this page.
Highlights
DJI O4 support (updated in 8.0.1)
DJI has released new firmware for O4, DJI Goggles 2, 3, N3 and integra that will add INAV font support on those goggles and fix the armed detection in O4.
With configurator 8.0.1 you should be able to select DJI_NATIVE as the video system, but if you don't want to upgrade, the AVATAR option should also give you the correct INAV font and canvas size, but don't forget to select INAV as the OSD type in your updated goggles.
The O4 arming workaround will be remove in INAV 9.
Geozones
The Geozone feature allows pilots to define one or multiple areas on the map in Mission Control, to prevent accidental flying outside of allowed zones (Flight-Zones, FZ) or to avoid certain areas they are not allowed or not willing to fly in (No-Flight-Zone, NFZ). This type of feature might be known to many pilots as a "Geofence" and despite providing the same core functionality, INAV Geozones are significantly more versatile and provide more safety and features. Read the Documentation for more info
IMPORTANT: Geozones will not be available for STM32F722 based Flight Controllers due to insufficient flash storage.
GPS Fix estimation (dead reckoning, RTH without GPS fix) for Airplanes
This new feature allows INAV to return to its launch location, in case of a failed GPS due to hardware failure or interference. INAV will use the remaining sensors and the already calculated wind speed and direction, to blindly return towards the home location. For this feature, no extra sensors are strictly necessary, aside from the standard Accelerometer, Gyroscope and Barometer, but its highly recommended to have a compass and for best precision, to also have an Airspeed sensor. The feature will not be able to precisely return to the pilot, but it allows the Aircraft to either get out of an area with interferences, or to give the pilot time and a chance to regain control for a manual return, when the aircraft is closer. Details here
MSP-Linkstats
A new MSP Message that allows RC links that communicate with the Flight controller via MSP, to provide Link Information to INAV like LQ, RSSI, Power Level, SNR and more. The first RC Link to support this is the mLRS Project with more possibly coming in the future. Details here
MSP-VTX
MSP-VTX has been updated by @geoffsim to increase compatibility with HDZero vtxs.
Mavlink Advancement for MavlinkRC
The previously simple Mavlink Telemetry was extended to be compatible with flow control capable links (Thanks @MUSTARDTIGERFPV). This now allows RC Control via Mavlink and Telemetry at the same time over a Single UART. It is tested successfully with ELRS Mavlink-RC and mLRS Mavlink. Additionally it allows the Use of Mission Planner, QGroundControl and potentially other GCS Applications to be used for Flight Monitoring with INAV.
Note: To receive RSSI and LQ for ELRS Mavlink-RC you need to set mavlink_radio_type=ELRS in the CLI. Details here
Walksnail Serial Gimbal and Headtracker support
INAV now also supports the Caddx / Walksnail GM Series Gimbals. These can now be controlled via a dedicated uart UART or via MSP and don't need up to 3 PWM Outputs anymore. This enables the direct Gimbal Control via Head Tracking from Walksnail goggles, without additional wiring. Details Here
OSD Updates
- Users can change the precision (amount of decimal places) for Altitude and Distance #10431
- Enhancements for Custom OSD Elements #10282
- Update arming screen for better space utilisation #10300
- OSD system message improvements #10090
- Better organisation of the post flight stats screen with more stats available #9617
ADSB Receiver Support
It is now possible to connect an ADSB receiver to your flight controller and get OSD Warnings if any ADSB enabled Aircraft, is close by. INAV Configurator can show these Aircraft on the map for additional safety of UAV flights. ADSB is supported for generally available receivers like uAvionix pingRX (not tested) and Aerobit TT-SC1 (tested) and should also work with the upcoming PicoADSB Details here
I-Term Lock for Fixed Wing
The Fixed Wing PIDFF Controller was reworked. The PIDs are now attenuated based in the amount of Setpoint (Stick deflection in Acro Mode) for a more "Manual" flight feel during aggressive inputs while keeping the locked in feel of a PID-Assisted flight. This allows the Pilot to have a PID tune with very high P and I values for a locked in flight feel, while keeping a good manual feeling of the plane's flight characteristics, especially when flying slow. Additionally the Attenuation fixes the Bounce-Back caused by the Integral of the PID controller, after sharp roll or pitch inputs. Details Here
U-Blox AssistNow Support in INAV Configurator
AssistNow is a Service that provides GPS Satellite information data for offline-applications, to dramatically increase the time to fix for GPS Devices. By Providing your own AssistNow Token, INAV Configurator can automatically download the latest data set and transfer it to any connected INAV UAV. With this, a GPS fix after cold start should merely take seconds instead of minutes. This is especially helpful for people who go fly with a big fleet of aircraft. Details here
Sensor ID change for SmartPort telemetry
The sensor IDs for the Modes and GNSS data have changed in SmartPort telemetry. The default settings in INAV are to now use the new sensor IDs. The INAV OpenTX-Telemetry-Widget has been updated to use these new IDs. So you will not see any issues when using the latest version of this widget. However, if you use another widget or app that uses the SmartPort telemetry. It is r...
Contributors
Assets 197
- 1.75 MB
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INAV 8.0.1 RC2
Hello and welcome to INAV 8.0.1 RC2 "Gallant Goshawk"
Please carefully read all of this document for the best possible experience and safety.
Contact other pilots, share experiences, suggestions and ask for help on:
|
INAV Discord Server |
|
INAV Official on Facebook |
INAV 8 no longer includes F411 targets as part of the official release.
GPS:
UBLOX7andUBLOXhave been merged into a singleUBLOXoption, and units with older firmware are now deprecated. Only M8 and newer will be supported in the future.
Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default.
This is a minor release and If nothing serious is found, this will be released as 8.0.1 final.
Fixed issues in 8.0.1
- #10646 Jeti receivers may lock up while using telemetry. (Thanks to https://elefun.no/ for helping us get in touch with JETI and arranging delivery of a DS-12 + REX3 rx on loan to debug the issue)
Known Issues in 8.0.1
- None, but the Jeti issue can benefit from more testing.
Upgrading from a previous release
Upgrading from INAV 8.0.0
- Backup configuration with CLI
diff allcommand - Download and install the new INAV Configurator 8.0
- Flash INAV 8.0 WITH Full Chip Erase option enabled
- Select Keep current settings from the defaults pop-up
- Go to CLI and restore your inav diff
Upgrading from INAV 7.0 and 7.1
- Backup configuration with CLI
diff allcommand - Download and install the new INAV Configurator 8.0
- Flash INAV 8.0 WITH Full Chip Erase option enabled
- Edit the 7.x diff and apply Diff breaking changes described bellow, and save it as your new inav 8 diff. See Diff breaking changes section below.
- Select Keep current settings from the defaults pop-up
- Go to CLI and restore your edited inav diff
- Done
This tool can help migrate your INAV 7.x diff over to INAV 8.0.0. It will take care of the major changes that have been highlighted in these release notes.
Upgrading from older versions
Please follow the instructions on this page.
Highlights
DJI O4 support (updated in 8.0.1)
DJI has released new firmware for O4, DJI Goggles 2, 3, N3 and integra that will add INAV font support on those goggles and fix the armed detection in O4.
With configurator 8.0.1 you should be able to select DJI_NATIVE as the video system, but if you don't want to upgrade, the AVATAR option should also give you the correct INAV font and canvas size, but don't forget to select INAV as the OSD type in your updated goggles.
The O4 arming workaround will be remove in INAV 9.
Geozones
The Geozone feature allows pilots to define one or multiple areas on the map in Mission Control, to prevent accidental flying outside of allowed zones (Flight-Zones, FZ) or to avoid certain areas they are not allowed or not willing to fly in (No-Flight-Zone, NFZ). This type of feature might be known to many pilots as a "Geofence" and despite providing the same core functionality, INAV Geozones are significantly more versatile and provide more safety and features. Read the Documentation for more info
IMPORTANT: Geozones will not be available for STM32F722 based Flight Controllers due to insufficient flash storage.
GPS Fix estimation (dead reckoning, RTH without GPS fix) for Airplanes
This new feature allows INAV to return to its launch location, in case of a failed GPS due to hardware failure or interference. INAV will use the remaining sensors and the already calculated wind speed and direction, to blindly return towards the home location. For this feature, no extra sensors are strictly necessary, aside from the standard Accelerometer, Gyroscope and Barometer, but its highly recommended to have a compass and for best precision, to also have an Airspeed sensor. The feature will not be able to precisely return to the pilot, but it allows the Aircraft to either get out of an area with interferences, or to give the pilot time and a chance to regain control for a manual return, when the aircraft is closer. Details here
MSP-Linkstats
A new MSP Message that allows RC links that communicate with the Flight controller via MSP, to provide Link Information to INAV like LQ, RSSI, Power Level, SNR and more. The first RC Link to support this is the mLRS Project with more possibly coming in the future. Details here
MSP-VTX
MSP-VTX has been updated by @geoffsim to increase compatibility with HDZero vtxs.
Mavlink Advancement for MavlinkRC
The previously simple Mavlink Telemetry was extended to be compatible with flow control capable links (Thanks @MUSTARDTIGERFPV). This now allows RC Control via Mavlink and Telemetry at the same time over a Single UART. It is tested successfully with ELRS Mavlink-RC and mLRS Mavlink. Additionally it allows the Use of Mission Planner, QGroundControl and potentially other GCS Applications to be used for Flight Monitoring with INAV.
Note: To receive RSSI and LQ for ELRS Mavlink-RC you need to set mavlink_radio_type=ELRS in the CLI. Details here
Walksnail Serial Gimbal and Headtracker support
INAV now also supports the Caddx / Walksnail GM Series Gimbals. These can now be controlled via a dedicated uart UART or via MSP and don't need up to 3 PWM Outputs anymore. This enables the direct Gimbal Control via Head Tracking from Walksnail goggles, without additional wiring. Details Here
OSD Updates
- Users can change the precision (amount of decimal places) for Altitude and Distance #10431
- Enhancements for Custom OSD Elements #10282
- Update arming screen for better space utilisation #10300
- OSD system message improvements #10090
- Better organisation of the post flight stats screen with more stats available #9617
ADSB Receiver Support
It is now possible to connect an ADSB receiver to your flight controller and get OSD Warnings if any ADSB enabled Aircraft, is close by. INAV Configurator can show these Aircraft on the map for additional safety of UAV flights. ADSB is supported for generally available receivers like uAvionix pingRX (not tested) and Aerobit TT-SC1 (tested) and should also work with the upcoming PicoADSB Details here
I-Term Lock for Fixed Wing
The Fixed Wing PIDFF Controller was reworked. The PIDs are now attenuated based in the amount of Setpoint (Stick deflection in Acro Mode) for a more "Manual" flight feel during aggressive inputs while keeping the locked in feel of a PID-Assisted flight. This allows the Pilot to have a PID tune with very high P and I values for a locked in flight feel, while keeping a good manual feeling of the plane's flight characteristics, especially when flying slow. Additionally the Attenuation fixes the Bounce-Back caused by the Integral of the PID controller, after sharp roll or pitch inputs. Details Here
U-Blox AssistNow Support in INAV Configurator
AssistNow is a Service that provides GPS Satellite information data for offline-applications, to dramatically increase the time to fix for GPS Devices. By Providing your own AssistNow Token, INAV Configurator can automatically download the latest data set and transfer it to any connected INAV UAV. With this, a GPS fix after cold start should merely take seconds instead of minutes. This is especially helpful for people who go fly with a big fleet of aircraft. Details here
Sensor ID change for SmartPort telemetry
The sensor IDs for the Modes and GNSS data have changed in SmartPort telemetry. The default settings in INAV are to now use the new sensor IDs. The INAV OpenTX-Telemetry-Widget has been updated to use these new IDs. So you will not see any issues when using the latest version of this widget. However, if you use another widget or app that uses the SmartPort telemetry. It is recommended to inform the creator of the app/widget, as the old sensor IDs will be removed in INAV 10.0.0. Details here
You can change INAV to use the old sensor IDs ...
Contributors
Assets 190
INAV 8.0.1 RC1
Hello and welcome to INAV 8.0.1 RC1 "Gallant Goshawk"
Please carefully read all of this document for the best possible experience and safety.
Contact other pilots, share experiences, suggestions and ask for help on:
|
INAV Discord Server |
|
INAV Official on Facebook |
INAV 8 no longer includes F411 targets as part of the official release.
GPS:
UBLOX7andUBLOXhave been merged into a singleUBLOXoption, and units with older firmware are now deprecated. Only M8 and newer will be supported in the future.
Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default.
This is a minor release and If nothing serious is found, this will be released as 8.0.1 final.
Known Issues in 8.0.1
- #10646 Jeti receivers may lock up while using telemetry. We are waiting for a loaner tx/rx to investigate and fix this issue once and for all. This has been a recurring issue for a few versions now.
Upgrading from a previous release
Upgrading from INAV 8.0.0
- Backup configuration with CLI
diff allcommand - Download and install the new INAV Configurator 8.0
- Flash INAV 8.0 WITH Full Chip Erase option enabled
- Select Keep current settings from the defaults pop-up
- Go to CLI and restore your inav diff
Upgrading from INAV 7.0 and 7.1
- Backup configuration with CLI
diff allcommand - Download and install the new INAV Configurator 8.0
- Flash INAV 8.0 WITH Full Chip Erase option enabled
- Edit the 7.x diff and apply Diff breaking changes described bellow, and save it as your new inav 8 diff. See Diff breaking changes section below.
- Select Keep current settings from the defaults pop-up
- Go to CLI and restore your edited inav diff
- Done
This tool can help migrate your INAV 7.x diff over to INAV 8.0.0. It will take care of the major changes that have been highlighted in these release notes.
Upgrading from older versions
Please follow the instructions on this page.
Highlights
DJI O4 support (updated in 8.0.1)
DJI will soon soon release new firmware for O4, DJI Goggles 2, 3, N3 and integra that will add INAV font and fix the arm detection.
With configurator 8.0.1 you should be able to select DJI_NATIVE as the video system, but if you don't want to upgrade, the AVATAR option should also work.
For O4 firmware V1.00.0100 and earlier, the follwing still applies:
DJI released a new air unit, and while rumors suggested it would include full INAV font support, that is unfortunately not true with the released firmware. There is also a bug on DJI firmware that prevents it from detecting when the flight controller is armed and leaves the air unit stuck in low power mode.
There are two possible workaround for the arming issues:
- Turn off low power mode This should work with older INAV versions as well
- On INAV 8.0.0, you can type this on the cli:
set enable_broken_o4_workaround = ON
With the added workarounds, setup in INAV should be the same as O3.
Geozones
The Geozone feature allows pilots to define one or multiple areas on the map in Mission Control, to prevent accidental flying outside of allowed zones (Flight-Zones, FZ) or to avoid certain areas they are not allowed or not willing to fly in (No-Flight-Zone, NFZ). This type of feature might be known to many pilots as a "Geofence" and despite providing the same core functionality, INAV Geozones are significantly more versatile and provide more safety and features. Read the Documentation for more info
IMPORTANT: Geozones will not be available for STM32F722 based Flight Controllers due to insufficient flash storage.
GPS Fix estimation (dead reckoning, RTH without GPS fix) for Airplanes
This new feature allows INAV to return to its launch location, in case of a failed GPS due to hardware failure or interference. INAV will use the remaining sensors and the already calculated wind speed and direction, to blindly return towards the home location. For this feature, no extra sensors are strictly necessary, aside from the standard Accelerometer, Gyroscope and Barometer, but its highly recommended to have a compass and for best precision, to also have an Airspeed sensor. The feature will not be able to precisely return to the pilot, but it allows the Aircraft to either get out of an area with interferences, or to give the pilot time and a chance to regain control for a manual return, when the aircraft is closer. Details here
MSP-Linkstats
A new MSP Message that allows RC links that communicate with the Flight controller via MSP, to provide Link Information to INAV like LQ, RSSI, Power Level, SNR and more. The first RC Link to support this is the mLRS Project with more possibly coming in the future. Details here
MSP-VTX
MSP-VTX has been updated by @geoffsim to increase compatibility with HDZero vtxs.
Mavlink Advancement for MavlinkRC
The previously simple Mavlink Telemetry was extended to be compatible with flow control capable links (Thanks @MUSTARDTIGERFPV). This now allows RC Control via Mavlink and Telemetry at the same time over a Single UART. It is tested successfully with ELRS Mavlink-RC and mLRS Mavlink. Additionally it allows the Use of Mission Planner, QGroundControl and potentially other GCS Applications to be used for Flight Monitoring with INAV.
Note: To receive RSSI and LQ for ELRS Mavlink-RC you need to set mavlink_radio_type=ELRS in the CLI. Details here
Walksnail Serial Gimbal and Headtracker support
INAV now also supports the Caddx / Walksnail GM Series Gimbals. These can now be controlled via a dedicated uart UART or via MSP and don't need up to 3 PWM Outputs anymore. This enables the direct Gimbal Control via Head Tracking from Walksnail goggles, without additional wiring. Details Here
OSD Updates
- Users can change the precision (amount of decimal places) for Altitude and Distance #10431
- Enhancements for Custom OSD Elements #10282
- Update arming screen for better space utilisation #10300
- OSD system message improvements #10090
- Better organisation of the post flight stats screen with more stats available #9617
ADSB Receiver Support
It is now possible to connect an ADSB receiver to your flight controller and get OSD Warnings if any ADSB enabled Aircraft, is close by. INAV Configurator can show these Aircraft on the map for additional safety of UAV flights. ADSB is supported for generally available receivers like uAvionix pingRX (not tested) and Aerobit TT-SC1 (tested) and should also work with the upcoming PicoADSB Details here
I-Term Lock for Fixed Wing
The Fixed Wing PIDFF Controller was reworked. The PIDs are now attenuated based in the amount of Setpoint (Stick deflection in Acro Mode) for a more "Manual" flight feel during aggressive inputs while keeping the locked in feel of a PID-Assisted flight. This allows the Pilot to have a PID tune with very high P and I values for a locked in flight feel, while keeping a good manual feeling of the plane's flight characteristics, especially when flying slow. Additionally the Attenuation fixes the Bounce-Back caused by the Integral of the PID controller, after sharp roll or pitch inputs. Details Here
U-Blox AssistNow Support in INAV Configurator
AssistNow is a Service that provides GPS Satellite information data for offline-applications, to dramatically increase the time to fix for GPS Devices. By Providing your own AssistNow Token, INAV Configurator can automatically download the latest data set and transfer it to any connected INAV UAV. With this, a GPS fix after cold start should merely take seconds instead of minutes. This is especially helpful for people who go fly with a big fleet of aircraft. Details here
Sensor ID change for SmartPort telemetry
The sensor IDs for the Modes and GNSS data have changed in SmartPort telemetry. The default settings in INAV are to now use the new sensor IDs. The INAV OpenTX-Telemetry-Widget has been ...
Contributors
Assets 189
INAV 8.0.0
Hello and welcome to INAV 8.0.0 "Gallant Goshawk"
Please carefully read all of this document for the best possible experience and safety.
Contact other pilots, share experiences, suggestions and ask for help on:
|
INAV Discord Server |
|
INAV Official on Facebook |
INAV 8 no longer includes F411 targets as part of the official release.
GPS:
UBLOX7andUBLOXhave been merged into a singleUBLOXoption, and units with older firmware are now deprecated. Only M8 and newer will be supported in the future.
Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default.
Known Issues in 8.0
- Fixedwing Altitude Velocity controller tuning. Requiring a more precise Autotune to be conducted. Read below
Upgrading from a previous release
Upgrading from INAV 7.0 and 7.1
- Backup configuration with CLI
diff allcommand - Download and install the new INAV Configurator 8.0
- Flash INAV 8.0 WITH Full Chip Erase option enabled
- Edit the 7.x diff and apply Diff breaking changes described bellow, and save it as your new inav 8 diff. See Diff breaking changes section below.
- Select Keep current settings from the defaults pop-up
- Go to CLI and restore your edited inav diff
- Done
This tool can help migrate your INAV 7.x diff over to INAV 8.0.0. It will take care of the major changes that have been highlighted in these release notes.
Upgrading from older versions
Please follow the instructions on this page.
Highlights
Geozones
The Geozone feature allows pilots to define one or multiple areas on the map in Mission Control, to prevent accidental flying outside of allowed zones (Flight-Zones, FZ) or to avoid certain areas they are not allowed or not willing to fly in (No-Flight-Zone, NFZ). This type of feature might be known to many pilots as a "Geofence" and despite providing the same core functionality, INAV Geozones are significantly more versatile and provide more safety and features. Read the Documentation for more info
IMPORTANT: Geozones will not be available for STM32F722 based Flight Controllers due to insufficient flash storage.
GPS Fix estimation (dead reckoning, RTH without GPS fix) for Airplanes
This new feature allows INAV to return to its launch location, in case of a failed GPS due to hardware failure or interference. INAV will use the remaining sensors and the already calculated wind speed and direction, to blindly return towards the home location. For this feature, no extra sensors are strictly necessary, aside from the standard Accelerometer, Gyroscope and Barometer, but its highly recommended to have a compass and for best precision, to also have an Airspeed sensor. The feature will not be able to precisely return to the pilot, but it allows the Aircraft to either get out of an area with interferences, or to give the pilot time and a chance to regain control for a manual return, when the aircraft is closer. Details here
MSP-Linkstats
A new MSP Message that allows RC links that communicate with the Flight controller via MSP, to provide Link Information to INAV like LQ, RSSI, Power Level, SNR and more. The first RC Link to support this is the mLRS Project with more possibly coming in the future. Details here
MSP-VTX
MSP-VTX has been updated by @geoffsim to increase compatibility with HDZero vtxs.
Mavlink Advancement for MavlinkRC
The previously simple Mavlink Telemetry was extended to be compatible with flow control capable links (Thanks @MUSTARDTIGERFPV). This now allows RC Control via Mavlink and Telemetry at the same time over a Single UART. It is tested successfully with ELRS Mavlink-RC and mLRS Mavlink. Additionally it allows the Use of Mission Planner, QGroundControl and potentially other GCS Applications to be used for Flight Monitoring with INAV.
Note: To receive RSSI and LQ for ELRS Mavlink-RC you need to set mavlink_radio_type=ELRS in the CLI. Details here
Walksnail Serial Gimbal and Headtracker support
INAV now also supports the Caddx / Walksnail GM Series Gimbals. These can now be controlled via a dedicated uart UART or via MSP and don't need up to 3 PWM Outputs anymore. This enables the direct Gimbal Control via Head Tracking from Walksnail goggles, without additional wiring. Details Here
OSD Updates
- Users can change the precision (amount of decimal places) for Altitude and Distance #10431
- Enhancements for Custom OSD Elements #10282
- Update arming screen for better space utilisation #10300
- OSD system message improvements #10090
- Better organisation of the post flight stats screen with more stats available #9617
ADSB Receiver Support
It is now possible to connect an ADSB receiver to your flight controller and get OSD Warnings if any ADSB enabled Aircraft, is close by. INAV Configurator can show these Aircraft on the map for additional safety of UAV flights. ADSB is supported for generally available receivers like uAvionix pingRX (not tested) and Aerobit TT-SC1 (tested) and should also work with the upcoming PicoADSB Details here
I-Term Lock for Fixed Wing
The Fixed Wing PIDFF Controller was reworked. The PIDs are now attenuated based in the amount of Setpoint (Stick deflection in Acro Mode) for a more "Manual" flight feel during aggressive inputs while keeping the locked in feel of a PID-Assisted flight. This allows the Pilot to have a PID tune with very high P and I values for a locked in flight feel, while keeping a good manual feeling of the plane's flight characteristics, especially when flying slow. Additionally the Attenuation fixes the Bounce-Back caused by the Integral of the PID controller, after sharp roll or pitch inputs. Details Here
U-Blox AssistNow Support in INAV Configurator
AssistNow is a Service that provides GPS Satellite information data for offline-applications, to dramatically increase the time to fix for GPS Devices. By Providing your own AssistNow Token, INAV Configurator can automatically download the latest data set and transfer it to any connected INAV UAV. With this, a GPS fix after cold start should merely take seconds instead of minutes. This is especially helpful for people who go fly with a big fleet of aircraft. Details here
Sensor ID change for SmartPort telemetry
The sensor IDs for the Modes and GNSS data have changed in SmartPort telemetry. The default settings in INAV are to now use the new sensor IDs. The INAV OpenTX-Telemetry-Widget has been updated to use these new IDs. So you will not see any issues when using the latest version of this widget. However, if you use another widget or app that uses the SmartPort telemetry. It is recommended to inform the creator of the app/widget, as the old sensor IDs will be removed in INAV 10.0.0. Details here
You can change INAV to use the old sensor IDs with the CLI parameter set frsky_use_legacy_gps_mode_sensor_ids = on. However, it is recommended to only use this only as long as necessary. This parameter will also be removed in INAV10.0.0.
Improved SD Card support for F7 and H7 flight controllers using SDIO
This version of INAV fixes some long standing bugs with the SDIO driver for H7 and F765 flight controllers. Now they share the same HAL based driver and fixes.
This affects a small number of targets, as most targets use the older and slower SPI based access to SD cards.
Moving forward, SDIO is the preferred and recommend way to implement SD Card blackbox in INAV, as it is faster than SPI and support up to 4BIT wide data access, versus SPI 1 bit.
This change affects the following targets:
- FLYWOOH743PRO
- IFLIGHT_BLITZ_H7_PRO
- KAKUTEH7WING
- MATEKF765
- MATEKH743
- MICOAIR743
- NEUTRONRCH7BT
- PIXRACER
- TBS_LUCID_H7
DJI O4 support
DJI released a new air unit, and while rumors suggested it would include full INAV font support, that is unfortunately not true wit...
Contributors
Assets 188
INAV 8.0.0 RC4
Hello and welcome to INAV 8.0.0 "Gallant Goshawk"
Please carefully read all of this document for the best possible experience and safety.
Contact other pilots, share experiences, suggestions and ask for help on:
|
INAV Discord Server |
|
INAV Official on Facebook |
INAV 8 no longer includes F411 targets as part of the official release.
GPS:
UBLOX7andUBLOXhave been merged into a singleUBLOXoption, and units with older firmware are now deprecated. Only M8 and newer will be supported in the future.
Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default.
Known Issues in 8.0 RC4
- Possible fixed wing pitch instability in autonomous flight modes (see #10536). Should be fixed in RC4 but if this issue still exists the main solution is to reduce
nav_fw_pos_z_dand possibly alsonav_fw_pos_z_p.
Highlights
Geozones
The Geozone feature allows pilots to define one or multiple areas on the map in Mission Control, to prevent accidental flying outside of allowed zones (Flight-Zones, FZ) or to avoid certain areas they are not allowed or not willing to fly in (No-Flight-Zone, NFZ). This type of feature might be known to many pilots as a "Geofence" and despite providing the same core functionality, INAV Geozones are significantly more versatile and provide more safety and features. Read the Documentation for more info
IMPORTANT: Geozones will not be available for STM32F722 based Flight Controllers due to insufficient flash storage.
GPS Fix estimation (dead reckoning, RTH without GPS fix) for Airplanes
This new feature allows INAV to return to its launch location, in case of a failed GPS due to hardware failure or interference. INAV will use the remaining sensors and the already calculated wind speed and direction, to blindly return towards the home location. For this feature, no extra sensors are strictly necessary, aside from the standard Accelerometer, Gyroscope and Barometer, but its highly recommended to have a compass and for best precision, to also have an Airspeed sensor. The feature will not be able to precisely return to the pilot, but it allows the Aircraft to either get out of an area with interferences, or to give the pilot time and a chance to regain control for a manual return, when the aircraft is closer. Details here
MSP-Linkstats
A new MSP Message that allows RC links that communicate with the Flight controller via MSP, to provide Link Information to INAV like LQ, RSSI, Power Level, SNR and more. The first RC Link to support this is the mLRS Project with more possibly coming in the future. Details here
MSP-VTX
MSP-VTX has been updated by @geoffsim to increase compatibility with HDZero vtxs.
Mavlink Advancement for MavlinkRC
The previously simple Mavlink Telemetry was extended to be compatible with flow control capable links (Thanks @MUSTARDTIGERFPV). This now allows RC Control via Mavlink and Telemetry at the same time over a Single UART. It is tested successfully with ELRS Mavlink-RC and mLRS Mavlink. Additionally it allows the Use of Mission Planner, QGroundControl and potentially other GCS Applications to be used for Flight Monitoring with INAV.
Note: To receive RSSI and LQ for ELRS Mavlink-RC you need to set mavlink_radio_type=ELRS in the CLI. Details here
Walksnail Serial Gimbal and Headtracker support
INAV now also supports the Caddx / Walksnail GM Series Gimbals. These can now be controlled via a dedicated uart UART or via MSP and don't need up to 3 PWM Outputs anymore. This enables the direct Gimbal Control via Head Tracking from Walksnail goggles, without additional wiring. Details Here
OSD Updates
- Users can change the precision (amount of decimal places) for Altitude and Distance #10431
- Enhancements for Custom OSD Elements #10282
- Update arming screen for better space utilisation #10300
- OSD system message improvements #10090
- Better organisation of the post flight stats screen with more stats available #9617
ADSB Receiver Support
It is now possible to connect an ADSB receiver to your flight controller and get OSD Warnings if any ADSB enabled Aircraft, is close by. INAV Configurator can show these Aircraft on the map for additional safety of UAV flights. ADSB is supported for generally available receivers like uAvionix pingRX (not tested) and Aerobit TT-SC1 (tested) and should also work with the upcoming PicoADSB Details here
I-Term Lock for Fixed Wing
The Fixed Wing PIDFF Controller was reworked. The PIDs are now attenuated based in the amount of Setpoint (Stick deflection in Acro Mode) for a more "Manual" flight feel during aggressive inputs while keeping the locked in feel of a PID-Assisted flight. This allows the Pilot to have a PID tune with very high P and I values for a locked in flight feel, while keeping a good manual feeling of the plane's flight characteristics, especially when flying slow. Additionally the Attenuation fixes the Bounce-Back caused by the Integral of the PID controller, after sharp roll or pitch inputs. Details Here
U-Blox AssistNow Support in INAV Configurator
AssistNow is a Service that provides GPS Satellite information data for offline-applications, to dramatically increase the time to fix for GPS Devices. By Providing your own AssistNow Token, INAV Configurator can automatically download the latest data set and transfer it to any connected INAV UAV. With this, a GPS fix after cold start should merely take seconds instead of minutes. This is especially helpful for people who go fly with a big fleet of aircraft. Details here
Sensor ID change for SmartPort telemetry
The sensor IDs for the Modes and GNSS data have changed in SmartPort telemetry. The default settings in INAV are to now use the new sensor IDs. The INAV OpenTX-Telemetry-Widget has been updated to use these new IDs. So you will not see any issues when using the latest version of this widget. However, if you use another widget or app that uses the SmartPort telemetry. It is recommended to inform the creator of the app/widget, as the old sensor IDs will be removed in INAV 10.0.0. Details here
You can change INAV to use the old sensor IDs with the CLI parameter set frsky_use_legacy_gps_mode_sensor_ids = on. However, it is recommended to only use this only as long as necessary. This parameter will also be removed in INAV10.0.0.
Improved SD Card support for F7 and H7 flight controllers using SDIO
This version of INAV fixes some long standing bugs with the SDIO driver for H7 and F765 flight controllers. Now they share the same HAL based driver and fixes.
This affects a small number of targets, as most targets use the older and slower SPI based access to SD cards.
Moving forward, SDIO is the preferred and recommend way to implement SD Card blackbox in INAV, as it is faster than SPI and support up to 4BIT wide data access, versus SPI 1 bit.
This change affects the following targets:
- FLYWOOH743PRO
- IFLIGHT_BLITZ_H7_PRO
- KAKUTEH7WING
- MATEKF765
- MATEKH743
- MICOAIR743
- NEUTRONRCH7BT
- PIXRACER
- TBS_LUCID_H7
Other important changes:
- Multirotor inverted crash detection #10099
- Waypoint tracking improvements #10278 (Note usage change for
nav_fw_wp_tracking_accuracymay require change of setting) - Fixed wing altitude velocity control #9471 (see know issues above related to this change)
Upgrading from a previous release
Upgrading from INAV 7.0 and 7.1
- Backup configuration with CLI
diff allcommand - Download and install the new INAV Configurator 8.0
- Flash INAV 8.0 WITH Full Chip Erase option enabled
- Edit the 7.x diff and apply Diff breaking changes described bellow, and save it as your new inav 8 diff.
- Select Keep current settings from the defaults pop-up
- Go to CLI and restore your edited inav diff
- Done
This tool can help migrate your INAV 7.x diff over to INAV 8.0.0. It will take ...
Contributors
Assets 184
INAV 8.0.0 RC3
Hello and welcome to INAV 8.0.0 "Gallant Goshawk"
Please carefully read all of this document for the best possible experience and safety.
Contact other pilots, share experiences, suggestions and ask for help on:
|
INAV Discord Server |
|
INAV Official on Facebook |
INAV 8 no longer includes F411 targets as part of the official release.
GPS:
UBLOX7andUBLOXhave been merged into a singleUBLOXoption, and units with older firmware are now deprecated. Only M8 and newer will be supported in the future.
Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default.
Known Issues in 8.0 RC3
- None, but let us know if you find something. ;)
Highlights
Geozones
The Geozone feature allows pilots to define one or multiple areas on the map in Mission Control, to prevent accidental flying outside of allowed zones (Flight-Zones, FZ) or to avoid certain areas they are not allowed or not willing to fly in (No-Flight-Zone, NFZ). This type of feature might be known to many pilots as a "Geofence" and despite providing the same core functionality, INAV Geozones are significantly more versatile and provide more safety and features. Read the Documentation for more info
IMPORTANT: Geozones will not be available for STM32F722 based Flight Controllers due to insufficient flash storage.
GPS Fix estimation (dead reckoning, RTH without GPS fix) for Airplanes
This new feature allows INAV to return to its launch location, in case of a failed GPS due to hardware failure or interference. INAV will use the remaining sensors and the already calculated wind speed and direction, to blindly return towards the home location. For this feature, no extra sensors are strictly necessary, aside from the standard Accelerometer, Gyroscope and Barometer, but its highly recommended to have a compass and for best precision, to also have an Airspeed sensor. The feature will not be able to precisely return to the pilot, but it allows the Aircraft to either get out of an area with interferences, or to give the pilot time and a chance to regain control for a manual return, when the aircraft is closer. Details here
MSP-Linkstats
A new MSP Message that allows RC links that communicate with the Flight controller via MSP, to provide Link Information to INAV like LQ, RSSI, Power Level, SNR and more. The first RC Link to support this is the mLRS Project with more possibly coming in the future. Details here
MSP-VTX
MSP-VTX has been updated by @geoffsim to increase compatibility with HDZero vtxs.
Mavlink Advancement for MavlinkRC
The previously simple Mavlink Telemetry was extended to be compatible with flow control capable links (Thanks @MUSTARDTIGERFPV). This now allows RC Control via Mavlink and Telemetry at the same time over a Single UART. It is tested successfully with ELRS Mavlink-RC and mLRS Mavlink. Additionally it allows the Use of Mission Planner, QGroundControl and potentially other GCS Applications to be used for Flight Monitoring with INAV.
Note: To receive RSSI and LQ for ELRS Mavlink-RC you need to set mavlink_radio_type=ELRS in the CLI. Details here
Walksnail Serial Gimbal and Headtracker support
INAV now also supports the Caddx / Walksnail GM Series Gimbals. These can now be controlled via a dedicated uart UART or via MSP and don't need up to 3 PWM Outputs anymore. This enables the direct Gimbal Control via Head Tracking from Walksnail goggles, without additional wiring. Details Here
OSD Updates
- Users can change the precision (amount of decimal places) for Altitude and Distance #10431
- Enhancements for Custom OSD Elements #10282
- Update arming screen for better space utilisation #10300
- OSD system message improvements #10090
- Better organisation of the post flight stats screen with more stats available #9617
ADSB Receiver Support
It is now possible to connect an ADSB receiver to your flight controller and get OSD Warnings if any ADSB enabled Aircraft, is close by. INAV Configurator can show these Aircraft on the map for additional safety of UAV flights. ADSB is supported for generally available receivers like uAvionix pingRX (not tested) and Aerobit TT-SC1 (tested) and should also work with the upcoming PicoADSB Details here
I-Term Lock for Fixed Wing
The Fixed Wing PIDFF Controller was reworked. The PIDs are now attenuated based in the amount of Setpoint (Stick deflection in Acro Mode) for a more "Manual" flight feel during aggressive inputs while keeping the locked in feel of a PID-Assisted flight. This allows the Pilot to have a PID tune with very high P and I values for a locked in flight feel, while keeping a good manual feeling of the plane's flight characteristics, especially when flying slow. Additionally the Attenuation fixes the Bounce-Back caused by the Integral of the PID controller, after sharp roll or pitch inputs. Details Here
U-Blox AssistNow Support in INAV Configurator
AssistNow is a Service that provides GPS Satellite information data for offline-applications, to dramatically increase the time to fix for GPS Devices. By Providing your own AssistNow Token, INAV Configurator can automatically download the latest data set and transfer it to any connected INAV UAV. With this, a GPS fix after cold start should merely take seconds instead of minutes. This is especially helpful for people who go fly with a big fleet of aircraft. Details here
Sensor ID change for SmartPort telemetry
The sensor IDs for the Modes and GNSS data have changed in SmartPort telemetry. The default settings in INAV are to now use the new sensor IDs. The INAV OpenTX-Telemetry-Widget has been updated to use these new IDs. So you will not see any issues when using the latest version of this widget. However, if you use another widget or app that uses the SmartPort telemetry. It is recommended to inform the creator of the app/widget, as the old sensor IDs will be removed in INAV 10.0.0. Details here
You can change INAV to use the old sensor IDs with the CLI parameter set frsky_use_legacy_gps_mode_sensor_ids = on. However, it is recommended to only use this only as long as necessary. This parameter will also be removed in INAV10.0.0.
Improved SD Card support for F7 and H7 flight controllers using SDIO
This version of INAV fixes some long standing bugs with the SDIO driver for H7 and F765 flight controllers. Now they share the same HAL based driver and fixes.
This affects a small number of targets, as most targets use the older and slower SPI based access to SD cards.
Moving forward, SDIO is the preferred and recommend way to implement SD Card blackbox in INAV, as it is faster than SPI and support up to 4BIT wide data access, versus SPI 1 bit.
This change affects the following targets:
- FLYWOOH743PRO
- IFLIGHT_BLITZ_H7_PRO
- KAKUTEH7WING
- MATEKF765
- MATEKH743
- MICOAIR743
- NEUTRONRCH7BT
- PIXRACER
- TBS_LUCID_H7
Other important changes:
Upgrading from a previous release
Upgrading from INAV 7.0 and 7.1
- Backup configuration with CLI
diff allcommand - Download and install the new INAV Configurator 8.0
- Flash INAV 8.0 WITH Full Chip Erase option enabled
- Edit the 7.x diff and apply Diff breaking changes described bellow, and save it as your new inav 8 diff.
- Select Keep current settings from the defaults pop-up
- Go to CLI and restore your edited inav diff
- Done
This tool can help migrate your INAV 7.x diff over to INAV 8.0.0. It will take care of the major changes that have been highlighted in these release notes.
Diff breaking changes
Profile consolidation
The profile CLI command has been renamed to control_profile. When updating from an older version of INAV. You will need to edit your diff with this change. For example:
# profile
profile 1
set fw_p_pitch = 14
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 137...
Contributors
Assets 180
INAV 8.0.0 RC2
Hello and welcome to INAV 8.0.0 "Gallant Goshawk"
Please carefully read all of this document for the best possible experience and safety.
Contact other pilots, share experiences, suggestions and ask for help on:
|
INAV Discord Server |
|
INAV Official on Facebook |
Important Notes
INAV 8 no longer includes F411 targets as part of the official release.
GPS:
UBLOX7andUBLOXhave been merged into a singleUBLOXoption, and units with older firmware are now deprecated. Only M8 and newer will be supported in the future.
Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default.
Known Issues in 8.0 RC2
- None, but let us know if you find something. ;)
Highlights
Geozones
The Geozone feature allows pilots to define one or multiple areas on the map in Mission Control, to prevent accidental flying outside of allowed zones (Flight-Zones, FZ) or to avoid certain areas they are not allowed or not willing to fly in (No-Flight-Zone, NFZ). This type of feature might be known to many pilots as a "Geofence" and despite providing the same core functionality, INAV Geozones are significantly more versatile and provide more safety and features. Read the Documentation for more info
IMPORTANT: Geozones will not be available for STM32F722 based Flight Controllers due to insufficient flash storage.
GPS Fix estimation (dead reckoning, RTH without GPS fix) for Airplanes
This new feature allows INAV to return to its launch location, in case of a failed GPS due to hardware failure or interference. INAV will use the remaining sensors and the already calculated wind speed and direction, to blindly return towards the home location. For this feature, no extra sensors are strictly necessary, aside from the standard Accelerometer, Gyroscope and Barometer, but its highly recommended to have a compass and for best precision, to also have an Airspeed sensor. The feature will not be able to precisely return to the pilot, but it allows the Aircraft to either get out of an area with interferences, or to give the pilot time and a chance to regain control for a manual return, when the aircraft is closer. Details here
MSP-Linkstats
A new MSP Message that allows RC links that communicate with the Flight controller via MSP, to provide Link Information to INAV like LQ, RSSI, Power Level, SNR and more. The first RC Link to support this is the mLRS Project with more possibly coming in the future. Details here
MSP-VTX
MSP-VTX has been updated by @geoffsim to increase compatibility with HDZero vtxs.
Mavlink Advancement for MavlinkRC
The previously simple Mavlink Telemetry was extended to be compatible with flow control capable links (Thanks @MUSTARDTIGERFPV). This now allows RC Control via Mavlink and Telemetry at the same time over a Single UART. It is tested successfully with ELRS Mavlink-RC and mLRS Mavlink. Additionally it allows the Use of Mission Planner, QGroundControl and potentially other GCS Applications to be used for Flight Monitoring with INAV.
Note: To receive RSSI and LQ for ELRS Mavlink-RC you need to set mavlink_radio_type=ELRS in the CLI. Details here
Walksnail Serial Gimbal and Headtracker support
INAV now also supports the Caddx / Walksnail GM Series Gimbals. These can now be controlled via a dedicated uart UART or via MSP and don't need up to 3 PWM Outputs anymore. This enables the direct Gimbal Control via Head Tracking from Walksnail goggles, without additional wiring. Details Here
OSD Updates
- Users can change the precision (amount of decimal places) for Altitude and Distance #10431
- Enhancements for Custom OSD Elements #10282
- Update arming screen for better space utilisation #10300
- OSD system message improvements #10090
- Better organisation of the post flight stats screen with more stats available #9617
ADSB Receiver Support
It is now possible to connect an ADSB receiver to your flight controller and get OSD Warnings if any ADSB enabled Aircraft, is close by. INAV Configurator can show these Aircraft on the map for additional safety of UAV flights. ADSB is supported for generally available receivers like uAvionix pingRX (not tested) and Aerobit TT-SC1 (tested) and should also work with the upcoming PicoADSB Details here
I-Term Lock for Fixed Wing
The Fixed Wing PIDFF Controller was reworked. The PIDs are now attenuated based in the amount of Setpoint (Stick deflection in Acro Mode) for a more "Manual" flight feel during aggressive inputs while keeping the locked in feel of a PID-Assisted flight. This allows the Pilot to have a PID tune with very high P and I values for a locked in flight feel, while keeping a good manual feeling of the plane's flight characteristics, especially when flying slow. Additionally the Attenuation fixes the Bounce-Back caused by the Integral of the PID controller, after sharp roll or pitch inputs. Details Here
U-Blox AssistNow Support in INAV Configurator
AssistNow is a Service that provides GPS Satellite information data for offline-applications, to dramatically increase the time to fix for GPS Devices. By Providing your own AssistNow Token, INAV Configurator can automatically download the latest data set and transfer it to any connected INAV UAV. With this, a GPS fix after cold start should merely take seconds instead of minutes. This is especially helpful for people who go fly with a big fleet of aircraft. Details here
Sensor ID change for SmartPort telemetry
The sensor IDs for the Modes and GNSS data have changed in SmartPort telemetry. The default settings in INAV are to now use the new sensor IDs. The INAV OpenTX-Telemetry-Widget has been updated to use these new IDs. So you will not see any issues when using the latest version of this widget. However, if you use another widget or app that uses the SmartPort telemetry. It is recommended to inform the creator of the app/widget, as the old sensor IDs will be removed in INAV 10.0.0. Details here
You can change INAV to use the old sensor IDs with the CLI parameter set frsky_use_legacy_gps_mode_sensor_ids = on. However, it is recommended to only use this only as long as necessary. This parameter will also be removed in INAV10.0.0.
Other important changes:
Upgrading from a previous release
Upgrading from INAV 7.0 and 7.1
- Backup configuration with CLI
diff allcommand - Download and install the new INAV Configurator 8.0
- Flash INAV 8.0 WITH Full Chip Erase option enabled
- Select Keep current settings from the defaults pop-up
- Go to CLI and restore your 7.x diff
- Done
Diff breaking changes
Profile consolidation
The profile CLI command has been renamed to control_profile. When updating from an older version of INAV. You will need to edit your diff with this change. For example:
# profile
profile 1
set fw_p_pitch = 14
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 137
...
Will become
# profile
control_profile 1
set fw_p_pitch = 14
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 137
...
OSD Custom Elements
If you have previously used OSD Custom Elements. You will need to update the diff for these, so that they continue to work in the same way. The system has been expanded to allow the use of logic condition results and have more numerical variations. To keep your OSD Custom Elements working, you will need to change the element type IDs, if they are 4, 5, 6, or 7. The table below shows the old and new IDs.
| Numeric format | Old name | Old ID | New name | New ID |
|---|---|---|---|---|
| 000 | CUSTOM_ELEMENT_TYPE_GV_SMALL | 6 | CUSTOM_ELEMENT_TYPE_GV_3 | 7 |
| 00000 ... |
Contributors
Assets 181
INAV 8.0.0 RC1
Hello and welcome to INAV 8.0.0 "Gallant Goshawk"
Please carefully read all of this document for the best possible experience and safety.
Contact other pilots, share experiences, suggestions and ask for help on:
|
INAV Discord Server |
|
INAV Official on Facebook |
Place holder for release notes*
Important Notes
INAV 8 no longer includes F411 targets as part of the official release.
GPS:
UBLOX7andUBLOXhave been merged into a singleUBLOXoption, and units with older firmware are now deprecated. Only M8 and newer will be supported in the future.
Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default.
Known Issues in 8.0 RC1
- Configurator: When adding a Circular Geozone and Zoom or Pan the map with the mouse curser inside the Circle, Connection to Flight controller is lost
- Configurator: Failsafe Indicator in status bar is not working
- Configurator: Auto Channel selection in Modes Tab is not working
- Configurator: Sensor status is not always updated after a Disconnect and Reconnect
Highlights
Geozones
The Geozone feature allows pilots to define one or multiple areas on the map in Mission Control, to prevent accidental flying outside of allowed zones (Flight-Zones, FZ) or to avoid certain areas they are not allowed or not willing to fly in (No-Flight-Zone, NFZ). This type of feature might be known to many pilots as a "Geofence" and despite providing the same core functionality, INAV Geozones are significantly more versatile and provide more safety and features. Read the Documentation for more info
IMPORTANT: Geozones will not be available for STM32F722 based Flight Controllers due to insufficient flash storage.
GPS Fix estimation (dead reckoning, RTH without GPS fix) for Airplanes
This new feature allows INAV to return to its launch location, in case of a failed GPS due to hardware failure or interference. INAV will use the remaining sensors and the already calculated wind speed and direction, to blindly return towards the home location. For this feature, no extra sensors are strictly necessary, aside from the standard Accelerometer, Gyroscope and Barometer, but its highly recommended to have a compass and for best precision, to also have an Airspeed sensor. The feature will not be able to precisely return to the pilot, but it allows the Aircraft to either get out of an area with interferences, or to give the pilot time and a chance to regain control for a manual return, when the aircraft is closer. Details here
MSP-Linkstats
A new MSP Message that allows RC links that communicate with the Flight controller via MSP, to provide Link Information to INAV like LQ, RSSI, Power Level, SNR and more. The first RC Link to support this is the mLRS Project with more possibly coming in the future. Details here
MSP-VTX
MSP-VTX has been updated by @geoffsim to increase compatibility with HDZero vtxs.
Mavlink Advancement for MavlinkRC
The previously simple Mavlink Telemetry was extended to be compatible with flow control capable links (Thanks @MUSTARDTIGERFPV). This now allows RC Control via Mavlink and Telemetry at the same time over a Single UART. It is tested successfully with ELRS Mavlink-RC and mLRS Mavlink. Additionally it allows the Use of Mission Planner, QGroundControl and potentially other GCS Applications to be used for Flight Monitoring with INAV.
Note: To receive RSSI and LQ for ELRS Mavlink-RC you need to set mavlink_radio_type=ELRS in the CLI. Details here
Walksnail Serial Gimbal and Headtracker support
INAV now also supports the Caddx / Walksnail GM Series Gimbals. These can now be controlled via a dedicated uart UART or via MSP and don't need up to 3 PWM Outputs anymore. This enables the direct Gimbal Control via Head Tracking from Walksnail goggles, without additional wiring. Details Here
OSD Updates
- Users can change the precision (amount of decimal places) for Altitude and Distance #10431
- Enhancements for Custom OSD Elements #10282
- Update arming screen for better space utilisation #10300
- OSD system message improvements #10090
- Better organisation of the post flight stats screen with more stats available #9617
ADSB Receiver Support
It is now possible to connect an ADSB receiver to your flight controller and get OSD Warnings if any ADSB enabled Aircraft, is close by. INAV Configurator can show these Aircraft on the map for additional safety of UAV flights. ADSB is supported for generally available receivers like uAvionix pingRX (not tested) and Aerobit TT-SC1 (tested) and should also work with the upcoming PicoADSB Details here
I-Term Lock for Fixed Wing
The Fixed Wing PIDFF Controller was reworked. The PIDs are now attenuated based in the amount of Setpoint (Stick deflection in Acro Mode) for a more "Manual" flight feel during aggressive inputs while keeping the locked in feel of a PID-Assisted flight. This allows the Pilot to have a PID tune with very high P and I values for a locked in flight feel, while keeping a good manual feeling of the plane's flight characteristics, especially when flying slow. Additionally the Attenuation fixes the Bounce-Back caused by the Integral of the PID controller, after sharp roll or pitch inputs. Details Here
U-Blox AssistNow Support in INAV Configurator
AssistNow is a Service that provides GPS Satellite information data for offline-applications, to dramatically increase the time to fix for GPS Devices. By Providing your own AssistNow Token, INAV Configurator can automatically download the latest data set and transfer it to any connected INAV UAV. With this, a GPS fix after cold start should merely take seconds instead of minutes. This is especially helpful for people who go fly with a big fleet of aircraft. Details here
Sensor ID change for SmartPort telemetry
The sensor IDs for the Modes and GNSS data have changed in SmartPort telemetry. The default settings in INAV are to now use the new sensor IDs. The INAV OpenTX-Telemetry-Widget has been updated to use these new IDs. So you will not see any issues when using the latest version of this widget. However, if you use another widget or app that uses the SmartPort telemetry. It is recommended to inform the creator of the app/widget, as the old sensor IDs will be removed in INAV 10.0.0. Details here
You can change INAV to use the old sensor IDs with the CLI parameter set frsky_use_legacy_gps_mode_sensor_ids = on. However, it is recommended to only use this only as long as necessary. This parameter will also be removed in INAV10.0.0.
Other important changes:
Upgrading from a previous release
Upgrading from INAV 7.0 and 7.1
- Backup configuration with CLI
diff allcommand - Download and install the new INAV Configurator 8.0
- Flash INAV 8.0 WITH Full Chip Erase option enabled
- Select Keep current settings from the defaults pop-up
- Go to CLI and restore your 7.x diff
- Done
Diff breaking changes
Profile consolidation
The profile CLI command has been renamed to control_profile. When updating from an older version of INAV. You will need to edit your diff with this change. For example:
# profile
profile 1
set fw_p_pitch = 14
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 137
...
Will become
# profile
control_profile 1
set fw_p_pitch = 14
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 137
...
OSD Custom Elements
If you have previously used OSD Custom Elements. You will need to update the diff for these, so that they continue to work in the same way. The system has been expanded to allow the use of logic condition results and have more numerical variations. To keep your OSD Custom Elements working, you will need to change the element type IDs, if they are 4, 5, 6, or 7. The table below shows the old and new IDs.
| Numeric format | Old name | Old ID | New name ...
