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  1. Welcome to Betaflight 4.5.0-RC3 This is the third Release Candidate for 4.5.0. Release notes for 4.5.0 are here: https://betaflight.com/docs/wiki/release/Betaflight-4-5-Release-Notes IMPORTANT: Make sure you install and use the latest version of the Betaflight Configurator (10.10.0-RC3) before updating your firmware. Don't forget to check it out all the documentation on http://betaflight.com/. What's Changed Improvements Do not permit MSP on softserial ports as the load on the CPU is too great by @SteveCEvans in #13303 Use cpu_late_10ths_percent_limit to set limit on % of late tasks in 10th of a % by @SteveCEvans in #13330 Log the standard deviation of gyro cycle time in SCHEDULER_DETERMINISM and TIMING_ACCURACY by @SteveCEvans in #13377 Make servos great again by @StNekroman in #13451 Fixes Fix ESC-Sensor RPM by @haslinghuis in #13286 BLHeliSuite32 holds 4wayif code in indefinite loop waiting for ESC so remove timeout by @SteveCEvans in #13287 Make high rate IMU DcmKp change relative to user value by @ctzsnooze in #13304 Fix OSD defaults based on SD/HD by @SteveCEvans in #13320 Enable PINIO if PIN defined in config by @haslinghuis in #13315 Do not return MSP_RESULT_ERROR when succesful by @haslinghuis in #13328 Ensure MSP channel data is valid by @SteveCEvans in #13352 Voltage detection method by @freasy in #13350 Allow overriding the spi clock speed for icm42688 by @JBKingdon in #13346 TPA_LOW tidy up by @limonspb in #13337 Use fixed LED color table in RACE / BEACON LED profiles by @CapnBry in #13339 Naming LED Strip overlay rates by @ASDosjani in #13363 Update SERIALRX_PROVIDER default by @haslinghuis in #13371 Spektrum telemetry minor fix to address false Fastboot alerts on radios with latest update by @SpektrumRC in #13383 Increase ez_landing_limit default to 15 (was 5) by @tbolin in #13375 Fix Galileo toggling by @haslinghuis in #13384 Fix timer interval for battery and RSSI LED indication by @SteveCEvans in #13412 Do not go into failsafe when the correct roll/pitch/yaw/throttle are sent via MSP_OVERRIDE by @yrik in #13380 Fix space in status output when gps version is unknown by @haslinghuis in #13423 Fix code style by @haslinghuis in #13429 Fix OSD task timing when using MSP by @SteveCEvans in #13388 Include a target's config.h before common_pre.h. by @hydra in #13439 Fix rx spi processing required by @ledvinap in #13454 Targets Permit 8kHz PID loop on F405 overclocked to 216MHz by @SteveCEvans in #13356 New Contributors @yrik made their first contribution in #13380 @StNekroman made their first contribution in #13451 Full Changelog: 4.5.0-RC2...4.5.0-RC3 Lire la source
  2. Fix rx spi processing required (#13454) * fix RX_SPI_PROCESSING_REQUIRED - fix typo - remove unreachable 'return false;' in rxSpiProcessFrame * Simplify auxiliaryProcessingRequired rxRuntimeState.rcProcessFrameFn never returns false * fixup! fix RX_SPI_PROCESSING_REQUIRED --------- Co-authored-by: Petr Ledvina <ledvinap@hp124.ekotip.cz> Lire la source
  3. Added Tracer detection. Just to be consistent. 🙂 Improved GPS code. Improved adaptive filter. Added UBX protocol data to GPS Test. Fixed transition from analog osd to hd and back in the gui. Fixed crossfire power level 50mw (protocol revision 10). Fixed RSSI showing 100% without transmitter powered. Lire la source
  4. Hello and welcome to INAV 7.1 "Ferocious Falcon" 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 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards. The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays 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. Upgrading from a previous release Upgrading from INAV 7.0 Backup configuration with CLI diff all command Download and install the new INAV Configurator 7.1 Flash INAV 7.1 WITHOUT Full Chip Erase option Done Upgrading from INAV 6 and 6.1 Download and install the new INAV Configurator 7 Save to a file the current diff all from the CLI. Upgrade to INAV 7 using the Full Erase option in the configurator. In case of Analog FPV, upload your OSD font of choice from the OSD tab. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration. You should be ready, explore new 7.0 features, and enjoy! Upgrading from older versions Please follow the instructions on this page. Major changes Fixed wing Autoland with landing pattern INAV supports advanced automatic landings for fixed wing aircraft from version 7.1. The procedure is based on landings for man-carrying aircraft, so that safe landings at a specific location are possible. Supported are landings at Safehome after "Return to Home" or at a defined LAND waypoint for missions. See: Fixed Wing Landing.md Altitude and Heading estimation changes INAV now relies more heavily on GNSS data for navigation than before. This can provide more security if the Barometer fails, or if the multirotor is suffering from Compass interference. By still allowing it to navigate back to home. For more details see here Other changes Updated ICM426xx filtering The filtering of the ICM426xx gyros has been updated based on changes made to both Ardupilot and BetaFlight and we expect better performance, when comparing to previous INAV versions. Custom OSD Users can now customize their own OSD messages, by way of the Programming Framework. Details New Fixedwing flight mode The mode is called Angle Hold. For more details see here New targets FLYCOLORF7V2 CLI Changed settings Name Description gps_dyn_model Default: AIR_2G GPS navigation model: Pedestrian, Automotive, Air<1g, Air<2g, Air<4g. Default is AIR_2G. Use pedestrian/Automotive with caution, can cause flyaways with fast flying. New Items Name Description ahrs_gps_yaw_weight Arhs gps yaw weight when mag is avaliable, 0 means no gps yaw, 100 means equal weight as compass Values: 0 - 500 Default: 100 nav_fw_land_approach_length Length of the final approach Values: 100 - 100000 Default: 35000 nav_fw_land_final_approach_pitch2throttle_mod Modifier for pitch to throttle ratio at final approach. In Percent. Values: 100 - 400 Default: 100 nav_fw_land_flare_alt Initial altitude of the flare phase Values: 0 - 10000 Default: 150 nav_fw_land_flare_pitch Pitch value for flare phase. In degrees Values: -15 - 45 Default: 8 nav_fw_land_glide_alt Initial altitude of the glide phase Values: 100 - 5000 Default: 200 nav_fw_land_glide_pitch Pitch value for glide phase. In degrees. Values: -15 - 45 Default: 0 nav_fw_land_max_tailwind Max. tailwind (in cm/s) if no landing direction with downwind is available Values: 0 - 3000 Default: 140 nav_fw_launch_land_abort_deadband Launch and landing abort stick deadband in [r/c points], applied after r/c deadband and expo. The Roll/Pitch stick needs to be deflected beyond this deadband to abort the launch or landing. Values: 2 - 250 Default: 100 nav_min_ground_speed Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s. Values: 6 - 50 Default: 7 nav_rth_fs_landing_delay If landing is active on Failsafe and this is above 0. The aircraft will hover or loiter for X seconds before performing the landing. If the battery enters the warning or critical levels, the land will proceed. Default = 0 [seconds] Values: 0 - 1800 Default: 0 tailsitter_orientation_offset Apply a 90 deg pitch offset in sensor aliment for tailsitter flying mode Default: FALSE Removed Items Name Description inav_w_xyz_acc_p nav_fw_launch_abort_deadband TL;DR The list of most important changes is also available in a video form: https://youtu.be/8Q8t_KwlSAQ Changelist The full list of changes is available here The full list of INAV Configurator changes is available here What's Changed from INAV 7.0 Update from master by @MrD-RC in #9427 Fixed wing attitude stabilisation mode by @breadoven in #9294 F411 PSA by @DzikuVx in #9459 updates docs, removed vtx_freq artefacts by @RomanLut in #9506 GEPRCF405 add IIC2 and change the barometer to IIC2 by @YI-BOYANG in #9510 Enable dshot for unofficial BETAFPVF435 by @mmosca in #9532 Add VTX power info for MAMBAH743_2022B target by @mmosca in #9539 Release 7.0.0 by @DzikuVx in #9432 Additional Description for Control Derivative by @MrD-RC in #9521 Make min ground speed setable a parameter by @MrD-RC in #9428 update f4 vcp in line with BF by @stronnag in #9544 Add a parameter to delay landing in the event of a Failsafe by @MrD-RC in #9502 Add ICM42688P to KAKUTEH7 by @DzikuVx in #9546 Yaw/Altitude estimation sensor fusion by @shota3527 in #9387 Navpid back calculation anti-windup can only shrink integrator by @shota3527 in #9224 Add active waypoint number to blackbox by @breadoven in #9507 SITL: OSD CMS menu does not work by @RomanLut in #9344 add some icons for O3 with integra for ESP32 Radar instead of ? by @druckgott in #9499 WP mission mode RTH and Manual mode lockout improvements 7.1.0 by @breadoven in #9558 tail sitter vtol support by @shota3527 in #9347 USB MSC: Fix SCIS mode sense write protection bit by @mluessi in #9572 [Multirotor] Fix Sqrt Controller Position Z limits by @JulioCesarMatias in #9575 Fix #9562 bmi166 acc readout by @mmosca in #9563 Add support crsf baro altitude combined vario sensor by @r1000ru in #9438 rebase and re-pr Fix at32 targets by @shanggl in #9618 Allow S9 on SpeedyBee F405 V3 by @DzikuVx in #9614 Enable Camera Control modes for MSP DisplayPort by @mmosca in #9626 Add option to use display_force_sw_blink in msp displayport by @mmosca in #9627 Fix ahi pitch when inverted by @MrD-RC in #9609 Fixed wing auto level bug fix by @breadoven in #9641 Resolving HAKRCF722V2 anomalies by @hakrc1 in #9650 Adjust SW blink interval by @mmosca in #9644 FLYCOLORF7V2 by @DzikuVx in #9631 Change LPF filter setting for accgyro_icm42605.c and enable/configure hardware AA filter by @mmosca in #9675 Delay save settings to prevent ESC lockup on emergency rearm by @MrD-RC in #9681 Add PINIO to SPEEDYBEEF405WING by @DzikuVx in #9686 Multirotor emergency landing altitude control response detuning by @breadoven in #9687 Fix odometer by @MrD-RC in #9716 Revert "Delay save settings to prevent ESC lockup on emergency rearm" by @MrD-RC in #9715 Update Odo float type by @MrD-RC in #9718 Show STOP instead of IDLE if motor stop enabled by @MrD-RC in #9719 Fixed Wing Autoland by @Scavanger in #9713 Increase the maximum number of addressable LEDs 7.1 by @MrD-RC in #9717 Osd custom by @error414 in #9508 New Contributors @r1000ru made their first contribution in #9438 @hakrc1 made their first contribution in #9650 Full Changelog: 7.0.0...7.1.0-RC1 Lire la source
  5. PLEASE CHANGE YOUR ELRS RECEIVER BAUD RATE BACK TO STOCK VALUE (420000 baud)!!! Added receiver CRC error count to statistics. Added ELRS receiver AUTO detection. Removed crossfire tool from OSD when ELRS is detected. Fixed bug in statistics if quad was armed more then 16 times in one session. Removed cinematic frame from OSD. Cleaned up Ultra setup tool to hide analog pages in HD. Keeping it tide! Cleaned up FC setup tool to hide analog pages in HD. Keeping it tide! Cleaned up Hardware tools to hide GPS tool when no GPS present. Keeping it tide! Changed serial port configuration in the OSD. Lire la source
  6. Changed YAW pid control Added sensor name to sensor editor screen. Fixed turtle mode and ultra osd interaction. Fixed turtle mode reliability when set on 'medium' switch. Fixed configuring esc from wizard without previously configured voltage sensor source. Force extended/transparent fonts on HD0/WTF setups. On WS it is still configurable (till they release new version). Lire la source
  7. Welcome to Betaflight 4.5.0-RC2 Happy New Year Flyers! This is our second Release Candidate for 4.5.0. Release notes for 4.5.0 are here: https://betaflight.com/docs/wiki/release/Betaflight-4-5-Release-Notes IMPORTANT: Make sure you install and use the latest version of the Betaflight Configurator (10.10.0-RC2) before updating your firmware. Don't forget to check it out all the documentation on http://betaflight.com. What's Changed Fixes Fix arming when GPS included in build but no active GNSS device attached + revert msp request for SatInfo by @haslinghuis in #13244 Led task optimistion by @SteveCEvans in #13247 Fix BMI160 gate, improve MPU6500 initialization and optimize directives for maintenance by @haslinghuis in #13237 Increasing frequency of MSP protocol in SITL by @Tuxliri in #13253 Fix missing GPS PG parameter by @haslinghuis in #13248 Fix CLI command "bind_rx" for CRSF by @KarateBrot in #13267 Scale heading appropriately by @SteveCEvans in #13269 Add timeout to serial four way interface for ESC programming by @SteveCEvans in #13277 Fix F7X2 AXIM flash region by @haslinghuis in #13270 Rename USE_QUICK_OSD_MENU by @haslinghuis in #13273 New Contributors @Tuxliri made their first contribution in #13253 Full Changelog: 4.5.0-RC1...4.5.0-RC2 Lire la source
  8. Changes since 3.3.1 Ability to control SX12xx output power when using a DAC controlled PA (#2498) Fix for 10kHz Duty-cycle not going to 0 or 100% on 8285-based PWM receivers (#2496) Fix PWM channel reset on TX/RX serial port config change via LUA (#2486, #2499) Fix GetLastPacketStats() and diversity packet CRC check (#2488, #2491) New targets supported by this release RadioMaster Bandit series Getting Started 3.0 Documentation The important stuff Arming must be on AUX1 for safety and feature reasons, having this fixed allows us to maintain small packet sizes and deliver better aux channel options Be sure to flash both the TX and RX. Lua script MUST be updated to elrsV3.lua and is backwards compatible with 2.x. Firmware get it here: Lua Compatibility This is a patch version release bug-fixes only (mostly) and is compatible with V3.X. Who should update from 3.3.1 or earlier? Users that are using 10kHz duty cycle output Warning The IMU has been temporarily disabled on TX modules that support it (Radiomaster Ranger, Radiomaster Bandit, Axis Thor). This has been done in order to work around a bug that has yet to be fixed, as described here: ExpressLRS/targets#30. The following features will not be available on IMU-enabled TXs until the bug has been fixed, and the IMU has been re-enabled: Bump to loan Auto-reduce RF power when inactive and disarmed Auto screen on/off Lire la source
  9. Add MSP request for UBLOX SatInfo and disable SatInfo on ARMING. (#13240 ) Lire la source
  10. Introducing: Betaflight 4.5.0-RC1 Merry Christmas Flyers! This is our first Release Candidate for 4.5.0. Out release notes for 4.5.0 are here: https://www.betaflight.com/docs/documentation/Release%20Notes/Betaflight%204.5%20Release%20Notes IMPORTANT: Make sure you install and use the latest version of the Betaflight Configurator (10.10.0-RC1) before updating your firmware. Don't forget to check it out all the documentation on http://betaflight.com. What's Changed Features OctoSPI and Memory Mapped Flash support by @hydra in #11825 Angle and Horizon Mode improvements by @ctzsnooze in #12231 Add rainbow effect to led strip by @ASDosjani in #12323 Add GPS Lap Timer by @SpencerGraffunder in #11856 RPM Limiter by @Tdogb in #12054 Add (e)RPM field to blackbox logs by @tbolin in #12823 Add support for IST8310 compass by @haslinghuis in #12917 Adding OSD quick menu by @limonspb in #12977 Added throttle flight statistics by @limonspb in #12978 Add support for MSP2_SENSOR_GPS message from RemoteID module by @SteveCEvans in #13062 STMicro LSM6DSV16X IMU support by @SteveCEvans in #13046 Additional TPA breakpoint for low Throttle by @pichim in #13006 STMicro LIS2MDL mag support by @SteveCEvans in #13150 STMicro LPS22DF baro support by @SteveCEvans in #13054 Throttlebased EzLanding by @tbolin in #12094 Improvements Default blackbox device to NONE on reset by @haslinghuis in #12221 Cleanup make by @blckmn in #12179 Add Octo X8 + to mixer defaults by @VirtualEnder in #12175 Add GYRO_CALIBRATION debug mode by @SteveCEvans in #12241 Enable retrieval of the BUILD_KEY using MSP2 by @blckmn in #12264 Source file re-arrangement for better separation of MCU types by @blckmn in #12268 ELRS - Simplify deferred ISR by @hydra in #12303 NVIC - Update ELRS and SPI atomic_block usage to use appropriate priority levels. by @hydra in #12302 add thrust_linear to blackbox header by @nerdCopter in #12337 Method for adding defaults using defines for resources. by @blckmn in #12342 Refactor GPS state_position by @haslinghuis in #12330 Makefile Cleanup - further simplification of local building by @blckmn in #12354 timerHardware removal - all targets use fullTimerHardware now. by @blckmn in #12349 Simplified platform.h by @blckmn in #12355 Adding additional MOTOR pin mappings for defaults by @blckmn in #12364 Refactor I2C to use I2Cx_SCL_PIN and I2Cx_SDA_PIN by @blckmn in #12357 Remove USE_SWDIO, simply refer to DEBUG by @blckmn in #12361 Using SPI default pins by @blckmn in #12367 To enable display of pin mapping for config.h by @blckmn in #12363 Added SITL Gazebo by @ahcorde in #12346 Move FLASH_PAGE_SIZE definition to CPU specific target.h files by @SteveCEvans in #12394 Add CMS support on TX for ELRS by @SteveCEvans in #12308 Auto generation of config.h from unified target repo by @blckmn in #12353 REFACTOR: moving timer definitions to MCU locations. by @blckmn in #12397 Enable cloud build features at runtime by @haslinghuis in #12388 Removing Custom Defaults by @blckmn in #12425 Rename ACC to ACC_REGS by @SteveCEvans in #12429 AT32F435 BlackBox FLASH support by @SteveCEvans in #12431 Rename MOSI and MISO to SDO and SDI by @haslinghuis in #12469 Removing Brushed ESC auto detect by @blckmn in #12479 Cleanup of USB drivers for AT32F4 by @blckmn in #12441 AT32 initial dshot support by @JBKingdon in #12464 FIX: If local config applied, do not include all drivers. by @blckmn in #12483 Make dyn idle startup increase configurable by @tbolin in #12432 FIX: SPI PIN defaults cleanup #2 by @blckmn in #12487 Debug 8 columns by @bw1129 in #12445 Remove SPEK1024 as the default RX (set to NONE) by @blckmn in #12500 Rename FAKE to VIRTUAL by @TheIsotopes in #12493 Add USB MSC support to AT32 by @SteveCEvans in #12481 Set DSHOT default by @haslinghuis in #12508 WORKFLOW: Adding call to create or update target list in API from config.h by @blckmn in #12540 Remove getRcStickDeflection and areSticksInApModePosition by @ctzsnooze in #12198 Update RSSI_DBM to include diversity antenna in OSD element (CRSF) by @haslinghuis in #12359 gyro_init.c remove duplicate include line for icm20689.h by @nerdCopter in #12582 Remove code comments using word retarded by @Quick-Flash in #12592 More efficient PTn gain calculation by @KarateBrot in #12610 Cleanup + led overlay expansion by @ASDosjani in #12554 add getCoreTemp by @HThuren in #12608 Add more info for sensor in (get) MSP_SENSOR_CONFIG by @HThuren in #12626 Implement Stopwatch by @KarateBrot in #12623 Make UBLOX models more configurable by @ASDosjani in #12587 Obtain HSE_VALUE from config.h where provided. by @blckmn in #12632 UBLOX Full Power mode + default STATIONARY model by @ASDosjani in #12659 Optimise DSHOT cache management loops by @SteveCEvans in #12672 Send motor data and then immediately decode prior telemetry data for bitbanged DSHOT by @SteveCEvans in #12685 Lead-Lag Compensator by @KarateBrot in #12730 Add GPS Status Line to CLI Status Output by @ZzyzxTek in #12769 Minor pid.c refactoring by @ctzsnooze in #12722 TPA optimisations by @ctzsnooze in #12721 DShot bitbang decode - simple refactor by @ctzsnooze in #12688 Allow custom H7 HSE freqs. Allow H7 HSI. Limit H723 speed to 520Mhz by @David-OConnor in #12291 Add NMEA Custom commands by @ASDosjani in #12591 Thrust linear code optimisations by @ctzsnooze in #12720 Improve behaviour when GPS Rescue is initiated close to home by @ctzsnooze in #12715 Removing Timer Usage Flags by @blckmn in #12862 Enables retrieval of the RELEASE_NAME using MSP2 by @haslinghuis in #12878 GPIO alternate function initialisation removal for HAL. by @blckmn in #12888 Separate resources for SOFTSERIAL_TX & SOFTSERIAL_RX by @DieHertz in #11786 IMU - increase gain on large Course over ground error by @ledvinap in #12792 Refactor imuCalcKpGain by @ledvinap in #12859 Add unfiltered gyro black box field by @tbolin in #12907 add uart 6 and 7 by @freasy in #12928 AT32F435 camera control by @freasy in #12913 Add default port settings for serial port functions by @haslinghuis in #12986 Use coloured fonts if supported by @SteveCEvans in #13005 M10 ValSet support, GPS connection stability by @freasy in #12799 Added dynamic expo factors to blackbox header by @pichim in #13004 Add LED strip config values to MSP by @ASDosjani in #12995 Add magnetic heading as debug and magnetic declination for the Mahony filter by @pichim in #13073 rearrange rescue phase enum and keep Mag during landing by @ctzsnooze in #13072 Dimmable RPM harmonics by @KarateBrot in #12838 Remove back-and-forth float to int to float conversion in acceleration calculation by @tbolin in #13158 Improved Magnetometer / Compass Bias Estimator by @pichim in #12998 Make AT32 I2C accesses fully interrupt driven by @SteveCEvans in #13171 Add OSD Link Quality alarm value to the MSP by @McGiverGim in #13121 Add additional timers for AT32F4 by @blckmn in #12548 Dshot RPM Telemetry Refactoring by @KarateBrot in #13012 at32: add PA0/PA1 as i2c pins by @bkleiner in #13187 Set serial duplex mode by @haslinghuis in #12909 Encapsulate LSM6DSV16X driver specific macros by @KarateBrot in #13196 Renamed tpa....lower to tpa_low_..., + tpa_low_always = OFF by default by @limonspb in #13206 Make lookupTableThrottleLimitType an extern variable by @limonspb in #13204 at32: add mux 3 for tmr9 on port c by @bkleiner in #13222 Add gyro jitter analysis to DEBUG_SCHEDULER_DETERMINISM by @SteveCEvans in #13230 Revive MSP message for mag declination by @haslinghuis in #13232 Add hardware LPF1 options for lsm6dsv16x gyro by @SteveCEvans in #13234 Revised LPF1+LPF2 filter cutoff bandwidths from STMicro by @SteveCEvans in #13239 Fixes Fix gating for USE_ACC_SPI_MPU9250 by @haslinghuis in #12240 Fix Bug causing Dynamic Idle to fail if RPM filtering is turned off by @ctzsnooze in #12270 Fix max permissible CMS rows and up/down page arrows by @SteveCEvans in #12277 SD - Use SDIO by default if target uses USE_SDCARD_SDIO. by @hydra in #12301 Don't enable all flash chips by default on EXST targets. by @hydra in #12300 Fix BMI160 accelerometer read in non-DMA SPI transfer by @SteveCEvans in #12338 Fix blackboxdevice missing by @haslinghuis in #12324 FIX: Flash status compilation error by @blckmn in #12360 Enable SPI DMA receive before transmit on AT32 by @SteveCEvans in #12368 FIX: Poor performance due to platform movements. by @blckmn in #12373 Fix MPU6000 reset by @klutvott123 in #12371 FIX: Several build issues following configuration changes by @blckmn in #12389 FIX: Multi-gyro enabled but not configured at compile time. by @blckmn in #12404 FIX: LED is zero based index (variance to resource command), ADC pins incorrectly mapped. by @blckmn in #12405 FIX: Custom defaults - premature configuration by @blckmn in #12410 FIX: Legacy drivers required for STM32F411DISCOVERY target by @blckmn in #12411 increase FF smoothing max to suit elrs 1000hz link rate by @sugaarK in #12426 FIX: Autogeneration of config.h inadvertently used PNONE instead of NONE by @blckmn in #12430 H7 Fix frozen ADC values by @klutvott123 in #12439 FIX: Multi gyro and SDIO hard fault by @blckmn in #12446 FIX CONFIG: MATEKF405TEMINI SPI3 + CONFIG DEFAULT_VOLTAGE_METER_SCALE + SYSTEM_HSE_MHZ by @haslinghuis in #12468 Improve GPS Rescue Pitch smoothing and disarming by @ctzsnooze in #12343 added fake barometer sensor name to cli lookup table, fixes cli status crash for SITL by @AJ92 in #12474 FIX: SPI Pins, and I2C pins should be configured in config.h by @blckmn in #12484 FIX: RX SPI modules not correctly activating (incorrect CS pin definition) by @blckmn in #12482 CONFIG: Fix SDCARD CS by @haslinghuis in #12488 FIX: ESCSERIAL_PIN not mapped correctly by @blckmn in #12486 FIX: CRSF no active serial port and telem causing hardfault by @blckmn in #12496 Fix RX protocol config by @haslinghuis in #12497 CONFIG: Fix blackbox by @haslinghuis in #12511 Exclude MSP_OSD_CONFIG if USE_OSD not defined by @klutvott123 in #12513 Revert 12302 NVIC SPI Priority by @ctzsnooze in #12505 CONFIG: Fix VTX feature by @haslinghuis in #12512 CONFIG: Add CAMERA_CONTROL if PIN defined by @haslinghuis in #12516 Fixes #12521 Add separate AAF values for ICM-42605 by @tbolin in #12524 FIX: IBUS telemetry by @haslinghuis in #12541 Keep sending DShot 0 packets between beacon commands by @ctzsnooze in #12544 Restore DShot Beacon control for 4.5 by @ctzsnooze in #12558 Enable OSD feature if USE_OSD_SD or USE_OSD_HD is defined by @SteveCEvans in #12563 Fix H7EXTREME by @haslinghuis in #12596 If DSHOT telemetry is still being received, wait by @SteveCEvans in #12612 Fix PG initialization of DMA defaults for TIMUP configuration by @blckmn in #12633 Position: Remove 15 m/s limit on estimated vario by @mluessi in #12669 Fix flash M25P16 ID with QUADSPI by @mluessi in #12670 fix bootloader jump for g4 mcu by @freasy in #12675 Fix missing cfg_pms.version by @SteveCEvans in #12695 Fix Softserial by @haslinghuis in #12679 Increment parameter group version of GPS config by @KarateBrot in #12681 Fix handling of attribute byte by @SteveCEvans in #12701 Refactor Feedforward Angle and RC Smoothing - mashup of 12578 and 12594 by @ctzsnooze in #12605 Detect if no motor GPIO is specified during DSHOT intialisation by @SteveCEvans in #12745 Tri-state USART TX output if load due to powered down peripheral is detected by @SteveCEvans in #12760 If CS is asserted between transfers then consider bus to be busy for all but owning device by @SteveCEvans in #12604 Converge IMU faster at higher groundspeed during GPS Rescue by @ctzsnooze in #12738 Fix GNSS new data by @haslinghuis in #12725 Fix bidirectional dshot on F7 by @haslinghuis in #12796 fixes not working Ghost on F4xx by @TheIsotopes in #12809 GPS Rescue Bugfix to ensure IMU adaptation to GPS course over ground by @ctzsnooze in #12789 Handle invalid baro pressure values by @haslinghuis in #12815 GPS rescue IMU adaptation 0.2 by @ctzsnooze in #12841 Fix wrong test for BOXMSPOVERRIDE channel by @ledvinap in #12857 Call updateInit() before writing motor command data by @SteveCEvans in #12865 Fix MAG redefines by @haslinghuis in #12882 G4 LPUART rework by @DieHertz in #11821 fix led strip for h7 by @freasy in #12890 Fix g force calculation by @Schuwi in #12892 Fix rcSmoothing warning beeper by @haslinghuis in #12893 Fix rcSmoothing warning OSD by @haslinghuis in #12898 Platform target evaluation fix by @ASDosjani in #12904 Fix Serial USB COM port by @freasy in #12911 Handle USART TX pulldown by @SteveCEvans in #12929 GPS rescue IMU, velocity iTerm and other fixes by @ctzsnooze in #12900 Revert 12577 change for F4 by @haslinghuis in #12969 Rename flight mode by @haslinghuis in #12983 Fix MSP_DISPLAYPORT_UART assignment by @SteveCEvans in #13000 Remove cs lock device by @SteveCEvans in #12999 Fix escserial for HAL targets. by @hydra in #12992 Fix: disable sag compensation if RPM limit is active by @limonspb in #12918 Enable/disable the UART TX before changing the TX pin mode by @SteveCEvans in #13017 UART enable disable f4 by @SteveCEvans in #13019 Allow for F7 UART idle preamble to be sent on startup by @SteveCEvans in #13021 AT32F43x: make sure the SRAM configuration is valid by @cruwaller in #13031 Fix MAX7456 clock configuration by @haslinghuis in #13030 Fix AT32 UART 7 and 8 by @haslinghuis in #13027 Fix debug_gps_altitude values by @ctzsnooze in #12803 Fix OSD VTX band/channel info when direct frequency is used by @cruwaller in #13032 Fix GPS Rescue parameters confusion by @haslinghuis in #13047 Only allow arming when valid Rx signals are received by @ctzsnooze in #13033 GPS Lap Timer: Fix best 3 not being calculated by @SpencerGraffunder in #13065 Remove dshot_telemetry_start_margin setting and auto-tune instead by @SteveCEvans in #13075 Fix circling behaviour during GPS Rescue descent phase by @ctzsnooze in #13091 Fix missing target define by @haslinghuis in #13078 Fix marking of softserial port usage by @SteveCEvans in #13097 fix ARTERY UART4 pin 'PH2&PH3' by @BAYCKRC in #13108 Removed SITL hardcoded state port number by @JacopoPan in #13117 Fix buffer overflow in JETIEXBUS character reception by @SteveCEvans in #13130 Disable ICM426XX AFSR feature to prevent stalls by @SteveCEvans in #13132 Check tx on MSP and GPS only by @SteveCEvans in #13100 Remove Special Chars from eRPM Blackbox Field by @KarateBrot in #13123 Fix compass loop time by @SteveCEvans in #13125 Update esc_sensor.h to support higher esc telemetry voltage display by @AlexRice13 in #13115 Increase PG version for rpm_filter by @haslinghuis in #13172 Fix Dshot telemetry by @haslinghuis in #13140 Mag scheduling improvements by @ctzsnooze in #13166 Fix disabling sensor configuration (when device needs battery power) by @haslinghuis in #13177 Fix: ledstrip vtx freq based color selection in RACE mode by @cruwaller in #13096 Fix default PID DENOM by @haslinghuis in #12509 Allow CRSF RX binding via cli by @Auster in #13119 Fixed incorrect accelerometer scaling in MSP by @flaviopinzarrone in #13026 Fix #12908 Add ICM-42688-P IMU to list of IMUs with overflow protection by @tbolin in #13013 Keep I-terms at zero throttle for fixed wings by @limonspb in #13127 Add RPM Limiter to baseline build by @KarateBrot in #13190 Fix # 12991 Change LSM6DSO gyro scaling to 70 mdps/LSB by @tbolin in #13014 Add LPS22DF to core build by @KarateBrot in #13197 Add ICM-42605 to list of gyros with overflow protection by @tbolin in #13194 Rpm limiter initial throttle cap prediction fix by @Tdogb in #13039 fix iterm bug introduced in PR13127 by @ctzsnooze in #13201 Fix OSD Quick Menu by @haslinghuis in #13211 Fix jumpy baro debug by @haslinghuis in #13217 Fix: RPM Limit - reset I-term at arm by @limonspb in #13214 Break LED_STRIP update into 20us chunks by @SteveCEvans in #13218 Added d_min for PID osd elements by @limonspb in #13227 Remove custom defaults and enable features on boot by @haslinghuis in #13216 Fix dma pin list by @SteveCEvans in #13233 Change MAX7456 AUTO default to PAL by @haslinghuis in #13235 Fix builds when PWM motor protocol is used by @haslinghuis in #13236 Add MSP request for UBLOX SatInfo and disable SatInfo on ARMING. by @haslinghuis in #13240 Targets AT32 development, introduction of AT32F435 target by @blckmn in #12247 Enable DMA on AT32F435 SPI by @SteveCEvans in #12327 Define USE_LATE_TASK_STATISTICS for AT32 by @SteveCEvans in #12328 Simplified Local Build using Permanent Config by @blckmn in #12341 NEW TARGET: AT32 debug targets, ATSTARTF435 and REVO-AT by @SteveCEvans in #12392 Require explicit usage of firmware partition for EXST targets. by @hydra in #12299 Adding VMA address to config.h by @blckmn in #12386 Adding last of the settings in unified targets by @blckmn in #12414 Add AT32F435 I2C support by @SteveCEvans in #12423 OSD is always enabled for SPRACINGH7RF and comments in config fix by @blckmn in #12440 Fix Matek H743 by @haslinghuis in #12447 Fix Config by @haslinghuis in #12448 Adding SERIAL provider defaults. Removing auto-generation comment by @blckmn in #12449 FIX CONFIG: Further config.h mappings - CURR, BATT, BARO and BLACKBOX by @blckmn in #12453 FIX CONFIG: Enabling DSHOT BURST by @blckmn in #12457 FIX: update & clean configuration by @haslinghuis in #12451 FIX CONFIG: ESC and NONE for current meters by @blckmn in #12458 FIX CONFIG: LED INVERSION by @blckmn in #12459 Add configuration by @haslinghuis in #12463 FIX CONFIG: PIN IO CONFIG, PIN IO BOX by @blckmn in #12467 FIX CONFIG: Dashboard I2C bus instance by @blckmn in #12470 FIX CONFIG: Adding DSHOT default settings by @blckmn in #12473 FIX CONFIG: GYRO by @haslinghuis in #12475 FIX CONFIG: BARO by @haslinghuis in #12476 FIX CONFIG: SDCARD Inversion by @blckmn in #12478 FIX CONFIG: Incorrect inverter pin definition by @blckmn in #12485 FIX CONFIG by @haslinghuis in #12480 Add 42688p gyro to JHEF411 by @howels in #12490 CONFIG: Add BMP280 to GEPRCF722 by @haslinghuis in #12491 FIX CONFIG: MATEKF405TE /MINI by @TheIsotopes in #12492 FIX CONFIG: Adding USE_FLASH as a permanent fixture for those targets with flash by @blckmn in #12498 Prevent SPRACINGH7RF accidentally using external storage for logging when required for EXST by @howels in #12495 CONFIG: Update FOXEERH743 by @haslinghuis in #12494 CONFIG: add BMP280 to SKYSTARSH7HD by @nerdCopter in #12518 CONFIG: Add FLASH_W25Q128FV to BETAFPVF722 by @haslinghuis in #12515 CONFIG: Add BMP280 to FLYWOOF411V2 by @haslinghuis in #12514 CONFIG: Add BMP280 to GEPRCF405 by @haslinghuis in #12532 CONFIG: Add BMP280 to SPEEDYBEE_F745_AIO by @haslinghuis in #12530 Add NEUTRONRCF435 support including AT32F435RGT7 1M FLASH by @SteveCEvans in #12534 CONFIG: define W25Q128FV for OMNIBUSF4 by @nerdCopter in #12547 CONFIG: define BMI270 for ATOMRCF405 by @nerdCopter in #12536 CONFIG: Register defaults for align-board by @haslinghuis in #12539 CONFIG: Update TODO by @haslinghuis in #12542 Fix NEUTRONRCG4AIO config file by @ctzsnooze in #12535 AT32: Add AIRBOTF435 REV1.0 by @haslinghuis in #12510 Remove USE_VIRTUAL_GYRO defintion for AT32F435 by @SteveCEvans in #12571 AIRBOTF435 has AT32F435RMT7 processor by @SteveCEvans in #12570 CONFIG: Add BMP280 to TMOTORF7 by @haslinghuis in #12528 Enable AIRBOTF435 MAX7456 by @SteveCEvans in #12584 CONFIG: Add ICM42688P to CRAZYBEEF4FS by @haslinghuis in #12579 CONFIG: Add RUSHF7AIO by @haslinghuis in #12564 CONFIG: Add W25Q128FV to RUSHCORE7 by @haslinghuis in #12586 Add missing rx_spi_bus config to SX1280 targets by @ot0tot in #12567 Add FLASH_W25M512 to EMAX_BABYHAWK_II_HD by @haslinghuis in #12556 Fix NEUTRONRCF7AIO Target Defines by @benjamind2 in #12588 Add MERCURYG4 by @haslinghuis in #12461 CONFIG: Add AOCODARCF722_AIO by @haslinghuis in #12489 Add missing LUXF4OSD flash define by @ot0tot in #12609 CONFIG: Add W25Q128FV to LUXMINIF7 by @haslinghuis in #12603 CONFIG: Add BMI270 to SPEEDYBEEF7MINI by @haslinghuis in #12602 CONFIG: Add SUB250F411 by @haslinghuis in #12593 Fix F411 PA10 Motor DMA Assignment by @ot0tot in #12561 Add SPRO-SPRACINGH7NANO.config by @theojalba in #12575 CONFIG: Fix TMotor F7 BMP280 baro by @dawr68 in #12639 CONFIG: Fix TODO MAG & I2C by @haslinghuis in #12545 CONFIG: Add W25Q128FV to OMNINXT4 by @haslinghuis in #12652 CONFIG: Add BMP280 + W25Q128FV to AIRF7 by @haslinghuis in #12630 CONFIG: Add BARO_SPI_BMP280 to FRSKYF4 by @haslinghuis in #12649 CONFIG: Add BARO_BMP280 to FLYWOOF411 by @haslinghuis in #12650 CONFIG: Add W25Q128FV to REVOLTOSD by @haslinghuis in #12651 CONFIG: Add ICM42688P to AIKONF7 by @haslinghuis in #12627 Fix Mercury G4 and fix TODO for PID_PROCESS_DENOM for all targets by @haslinghuis in #12611 CONFIG: Add FLASH_W25Q128FV to SYNERGYF4 by @haslinghuis in #12660 CONFIG: New Target FOXEERF745V4_AIO by @blckmn in #12677 CONFIG: AOCODAF722MINI Add missing motor 8 output by @dawr68 in #12690 [CONFIG] Updates from master-config and more by @haslinghuis in #12741 [CONFIG] Add NUCLEOF446 Development Board by @haslinghuis in #12678 Implement DShot bit bang for AT32 by @freasy in #12577 [AT32] Change evaluation order by @ASDosjani in #12903 Add H725 target support by @haslinghuis in #12951 Known Issues BF - Fix QuadSPI include paths. by @hydra in #12298 New Contributors @VirtualEnder made their first contribution in #12175 @cvetaevvitaliy made their first contribution in #12352 @JBKingdon made their first contribution in #12356 @ahcorde made their first contribution in #12346 @AJ92 made their first contribution in #12474 @ot0tot made their first contribution in #12567 @theojalba made their first contribution in #12575 @dawr68 made their first contribution in #12639 @freasy made their first contribution in #12675 @ZzyzxTek made their first contribution in #12769 @avida made their first contribution in #12880 @Schuwi made their first contribution in #12892 @pichim made their first contribution in #13004 @BAYCKRC made their first contribution in #13108 @JacopoPan made their first contribution in #13117 @valeriyvan made their first contribution in #13164 @AlexRice13 made their first contribution in #13115 @bkleiner made their first contribution in #13187 @Auster made their first contribution in #13119 @flaviopinzarrone made their first contribution in #13026 @mcengiz98 made their first contribution in #13231 Full Changelog: 4.4.0...4.5.0-RC1 Lire la source
  11. WaF Bot

    INAV 7.0.0

    Hello and welcome to INAV 7 "Ferocious Falcon" 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 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards. The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays The FrSky D-series telemetry support has been removed. This applies to legacy D4R receivers and some 3rd party whoop boards 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. Upgrading from a previous release Upgrading from INAV 6 and 6.1 Download and install the new INAV Configurator 7 Save to a file the current diff all from the CLI. Upgrade to INAV 7 using the Full Erase option in the configurator. In case of Analog FPV, upload your OSD font of choice from the OSD tab. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration. You should be ready, explore new 7.0 features, and enjoy! Upgrading from older versions Please follow the instructions on this page. Major changes Flexible motor and servo output allocation INAV now was a function that allows to flexibly assign functions to PWM outputs directly from INAV Configurator. Specific function AUTO, MOTORS or SERVOS can be assigned to each Timer Group. Then, all outputs from this group will perform this function. Thanks to this, it's possible to use servos and motors in ways that previously required building a custom targets. Bear in mind: In some rare cases, output assignment might be different than in INAV 6. This makes it even more important to remove your props and double check your outputs before you power your flight controller with batteries for the first time after applying your old settings or enabling outputs. It is not possible to assign function to individual outputs. It's a hardware, not software limitation. Mixer profiles and VTOL support This has been a frequent request since PNP VTOL models started becoming more common. Read more in Mixer Profile INAV docs and VTOL INAV docs Ez Tune The Ez Tune is a simplified tuning framework similar to Betalight's Simplified Slider Tuning. Instead of setting each PID controller gain, rate, and filter setting separately, Pilot is presented with 8 sliders for: Axis ratio Main filter frequency Response Damping Stability Aggressiveness Rate Expo Ez Tune settings are not compatible with Betaflight Slider Tuning setting and cannot be migrated directly. Read the description in Configurator's Ez Tune tab on what each setting does and how it should be used. More on the topic of Ez Tune can be found here Timer DMA Burst INAV 7 adds the DMA Burst mode to selected target as ultimately fixes the problem of DSHOT protocol not working on some boards. Pilots do not have to take any actions, DSHOT is just available on previously affected flight controllers. This applies to: Matek F405 TE SpeedyBee F405 V3 JETI EXBUS fixed The JETI EXBUS protocol should now not hang the flight controller during operation. The issue was originally fixed in betaflight/betaflight#13130 . Thank you @SteveCEvans and @klutvott123 Multirotor Cruise Mode The Cruise Mode for Multirotors allows pilots to let go the radio sticks while UAV flies on a predefined course with predefined speed. Just like with regular PosHold, Throttle stick sets the altitude and course, while the pitch stick is used to set the horizontal speed. When released INAV will hold set speed, altitude, and course. More information available in here https://youtu.be/4pgDxexuSnU NMEA Protocol no longer available As mentioned in the Important Notes section, INAV 7 no longer supports the GPS NMEA protocol. All modern GPS module support one of the UBLOX protocols and as a result pilots must switch to either UBLOX or UBLOX7 protocol. GPS Improvements A number of improvements have been made to GPS support in INAV 7. It is now possible to select multiple GPS constellations, and not only Galileo. If your GPS modules does not support a particular combination, it will fallback to no extra constellations. M10 GPS units will now default to 10Hz, like M8 units and a new cli setting has been added to allow overriding the update rate of your UBLOX7 GPS (gps_ublox_nav_hz). This should allow you to fall back to 5Hz or bump it up to the limits of what is supported by your GPS module. MSP VTX support INAV now support MSP VTX when using MSP DisplayPort OSD. Now it is possible to change VTX power levels and channels via INAV's OSD menu or ELRS backpack without connecting the SmartAudio wire on HD-Zero VTXs. If you MSP DisplayPort OSD is working, no extra configuration is needed. Linear Descent RTH mode changed AT_LEAST_LINEAR_DESCENT is no longer a method for RTH. It has been replaced with a more flexible linear descent option that will work with any RTH method. If previously using AT_LEAST_LINEAR_DESCENT, you should now just use AT_LEAST as the RTH type. Linear Descent is now a separate option that can be used with any other RTH method. To make this possible, the target altitude of the descent is now the nav_rth_home_altitude. In some cases, if flying below the home position, this will work as a linear ascent. You can also decide when the linear descent will start. Set the nav_rth_linear_descent_start_distance parameter to the distance (metres) from the home point, where you want to start descending. Set to 0, the default setting; the descent will start immediately, as with the pre-7.0 implementation. These options are available in Configurator. See the Navigation Mode: Return to Home wiki for more details. Pilot Logos You can now have custom pilot logos on your OSD and arming screen (HD Only). You will need to create a custom font with your logos to show them on screen. The OSD logo is a 3x1 character symbol. This can be used with both analogue and HD. The arming screen logo is a 10x4 character image, and only works with HD systems. More details are available in the OSD Document. Other changes The AUTOLEVEL mode is renamed to AUTO LEVEL TRIM. The functionality remains the same. The osd_mah_used_precision parameter has been renamed osd_mah_precision. 24 channels available for Jeti systems (not available with F411 or F722 flight controllers). Virtual pitot is enabled by default. Other removed functions FrSky D-series telemetry output_mode setting that allows to reassign all PWM outputs to either MOTORS or SERVOS New targets SDmodel H7V1 Matek H743HD SpeedyBee F405 V4 SpeedeBee F405 Mini SpeedyBee F7 Mini V2 GEPRCF405 GEPRCF722 NEUTRONRC F435 Mini AIO DAKEFPV F405 DAKEFPV F722 AtomRC F405 NAVI Delux JHEMCUF722 JHEMCUF405 CLI Changed settings Name Description gps_provider Removed: NMEA gps_sbas_mode New: SPAN nav_rth_alt_mode Removed: AT_LEAST_LINEAR_DESCENT pitot_hardware New: DLVR-L10D New Items Name Description ez_aggressiveness EzTune aggressiveness Values: 0 - 200 Default: 100 ez_axis_ratio EzTune axis ratio Values: 25 - 175 Default: 110 ez_damping EzTune damping Values: 0 - 200 Default: 100 ez_enabled Enables EzTune feature Default: FALSE ez_expo EzTune expo Values: 0 - 200 Default: 100 ez_filter_hz EzTune filter cutoff frequency Values: 10 - 300 Default: 110 ez_rate EzTune rate Values: 0 - 200 Default: 100 ez_response EzTune response Values: 0 - 200 Default: 100 ez_stability EzTune stability Values: 0 - 200 Default: 100 gps_auto_baud_max_supported Max baudrate supported by GPS unit. This is used during autobaud. M8 supports up to 460400, M10 supports up to 921600 and 230400 is the value used before INAV 7.0 Default: 230400 gps_ublox_nav_hz Navigation update rate for UBLOX7 receivers. Some receivers may limit the maximum number of satellites tracked when set to a higher rate or even stop sending navigation updates if the value is too high. Some M10 devices can do up to 25Hz. 10 is a safe value for M8 and newer. Values: 5 - 200 Default: 10 gps_ublox_use_beidou Enable use of Beidou satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires gps hardware support [OFF/ON]. Default: FALSE gps_ublox_use_glonass Enable use of Glonass satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires gps haardware support [OFF/ON]. Default: FALSE led_pin_pwm_mode PWM mode of LED pin. Values: SHARED_LOW, SHARED_HIGH, LOW, HIGH. Default: SHARED_LOW mixer_automated_switch If set to on, This mixer_profile will try to switch to another mixer_profile when 1.RTH heading home is requested and distance to home is lager than 3*nav_fw_loiter_radius on mixer_profile is a MULTIROTOR or TRICOPTER platform_type. 2. RTH landing is requested on this mixer_profile is a AIRPLANE platform_type Default: FALSE mixer_pid_profile_linking If enabled, pid profile_index will follow mixer_profile index. Set to OFF(default) if you want to handle PID profile by your self. Recommend to set to ON on all mixer_profiles to let the mixer_profile handle the PID profile switching on a VTOL or mixed platform type setup. Default: FALSE mixer_switch_trans_timer If switch another mixer_profile is scheduled by mixer_automated_switch or mixer_automated_switch. Activate Mixertransion motor/servo mixing for this many decisecond(0.1s) before the actual mixer_profile switch. Values: 0 - 200 Default: 0 motorstop_on_low If enabled, motor will stop when throttle is low on this mixer_profile Default: FALSE nav_cruise_yaw_rate Max YAW rate when NAV COURSE HOLD/CRUISE mode is enabled. Set to 0 to disable on fixed wing (Note: On multirotor setting to 0 will disable Course Hold/Cruise mode completely) [dps] Values: 0 - 120 Default: 20 nav_landing_bump_detection Allows immediate landing detection based on G bump at touchdown when set to ON. Requires a barometer and currently only works for multirotors. Default: FALSE nav_mc_althold_throttle If set to STICK the FC remembers the throttle stick position when enabling ALTHOLD and treats it as the neutral midpoint for holding altitude. If set to MID_STICK or HOVER the neutral midpoint is set to the mid stick position or the hover throttle position respectively. Default: STICK nav_rth_linear_descent_start_distance The distance [m] away from home to start the linear descent. 0 = immediately (original linear descent behaviour) Values: 0 - 10000 Default: 0 nav_rth_use_linear_descent If enabled, the aircraft will gradually descent to the nav_rth_home_altitude en route. The distance from home to start the descent can be set with nav_rth_linear_descent_start_distance. Default: FALSE osd_arm_screen_display_time Amount of time to display the arm screen [ms] Values: 1000 - 5000 Default: 1500 osd_inav_to_pilot_logo_spacing The space between the INAV and pilot logos, if osd_use_pilot_logo is ON. This number may be adjusted so that it fits the odd/even col width displays. For example, if using an odd column width display, such as Walksnail, and this is set to 4. 1 will be added so that the logos are equally spaced from the centre of the screen. Values: 0 - 20 Default: 8 osd_joystick_down PWM value for DOWN key Values: 0 - 100 Default: 0 osd_joystick_enabled Enable OSD Joystick emulation Default: FALSE osd_joystick_enter PWM value for ENTER key Values: 0 - 100 Default: 75 osd_joystick_left PWM value for LEFT key Values: 0 - 100 Default: 63 osd_joystick_right PWM value for RIGHT key Values: 0 - 100 Default: 28 osd_joystick_up PWM value for UP key Values: 0 - 100 Default: 48 osd_mah_precision Number of digits used for mAh precision. Currently used by mAh Used and Battery Remaining Capacity Values: 4 - 6 Default: 4 osd_use_pilot_logo Use custom pilot logo with/instead of the INAV logo. The pilot logo must be characters 473 to 511 Default: FALSE pid_iterm_limit_percent Limits max/min I-term value in stabilization PID controller. It solves the problem of servo saturation before take-off/throwing the airplane into the air. Or multirotors with low authority. By default, error accumulated in I-term can not exceed 33% of total pid throw (around 165us on deafult pidsum_limit of pitch/roll). Set 0 to disable completely. Values: 0 - 200 Default: 33 tpa_on_yaw Throttle PID attenuation also reduces influence on YAW for multi-rotor, Should be set to ON for tilting rotors. Default: FALSE Removed Items Name Description dterm_lpf2_hz dterm_lpf2_type frsky_coordinates_format frsky_default_latitude frsky_default_longitude frsky_unit frsky_vfas_precision fw_iterm_throw_limit moron_threshold nav_fw_cruise_yaw_rate nav_use_midthr_for_althold osd_mah_used_precision output_mode Changelist The full list of changes is available here The full list of INAV Configurator changes is available here What's Changed from INAV 6.1.1 What's Changed INAV 7 by @DzikuVx in #8886 Enable USE_SERVO_SBUS on all targets by @DzikuVx in #8876 Release 6.0 by @DzikuVx in #8763 Drop D-term LPF2 as no longer used by @DzikuVx in #8875 Drop FrDky D-series telemetry support by @DzikuVx in #8878 Allow scheduler to go down to 10us period by @DzikuVx in #8877 Drop moron_threshold setting by @DzikuVx in #8859 Release 6.0.0 by @DzikuVx in #8912 Add target BLACKPILL_F411 by @HKR1987 in #8902 Update GCC to 10.3.1 by @DzikuVx in #8917 Release 6.1.0 by @DzikuVx in #8887 docs: fix documentation of gvar set by @sensei-hacker in #8955 Update Building in MSYS2 Doc by @pwnept in #8934 Add osd menu option to preview font file by @mmosca in #8932 Jh update usb flash doc by @stronnag in #8974 Add the "GEPRCF722_BT_HD" target by @YI-BOYANG in #8943 Recognize MPU9255 as a valid IMU by @VasilKalchev in #8927 Cleanup m25p16 flash detection code by @mmosca in #8985 Update from master by @MrD-RC in #8987 Add IFLIGHT_BLITZ_F7_AIO target by @mmosca in #8977 Mark IFLIGHT_BLITZ_F7_AIO as SKIP_RELEASES by @mmosca in #8988 Have you ever wished INAV had a mute switch? by @mmosca in #8989 Enhance Linear Descent RTH feature by @MrD-RC in #8810 updated battery profile documentation by @RomanLut in #9002 INAV capitalization by @ryet9 in #9001 Rename AUTO LEVEL by @MrD-RC in #8972 fixed pitot sensor by @RomanLut in #9019 modify servo and motor and magnetometer for AocodaRC F4V2 by @dlt2018 in #9040 Release 6.1.0 mergeback by @DzikuVx in #8957 Fix: SpeedyBee F405 V3 uSD card vs OSD interference by @shirase in #9028 Update Navigation.md by @RomanLut in #9058 Update Aocodarcf7mini by @dlt2018 in #9056 Add MPU6000 and MPU6500 support to Foxeer F7 V4 target by @DzikuVx in #9070 Cleanup abandoned EXTI code by @DzikuVx in #9071 Multirotor WP speed fix when altitude enforce enabled by @breadoven in #9067 Update target.h by @pgp69 in #9037 updated controls documentation by @RomanLut in #9024 remove obsolete static_assert by @stronnag in #9077 [SITL OSX] Fix some of the warnings and add macosx SITL build to workflows by @mmosca in #9063 Add QUADSPI Support for H7 and M25P16 Flash Driver by @mluessi in #8915 Fix bug for DJI O3's altitude when using imperial by @MrD-RC in #9076 Switch sensor infrastructure to be float internally by @DzikuVx in #9075 [SITL] disable nagle for UART TCP by @stronnag in #9079 [SITL OSX] Fix lldb debugging in OSX and improve OSX detection by @mmosca in #9082 [SITL] consolidate IP helpers into target.c by @stronnag in #9080 [SITL] add missing BSD header from IP consolidation by @stronnag in #9085 [Docs] Readme updates by @stronnag in #9090 Speedybee F405 WING fixes by @DzikuVx in #9094 fix conflicting types by @stronnag in #9097 allow HITL to run with HW baro failure by @RomanLut in #9021 Set 10Hz update rate for M9 and M10 gps devices by default and allow higher refresh rates by @mmosca in #9103 Add board Aocodarcf405aio by @dlt2018 in #9089 Update Borad Aocodarch7dual by @dlt2018 in #9100 DSP based gyro operations by @DzikuVx in #9078 Acc processing with DSP by @DzikuVx in #9116 Remove brew update step for SITL mac build by @mmosca in #9127 ICM42605 gyro parsing fix by @erstec in #9125 Release 6.1.1 by @MrD-RC in #9106 Fix version check and apply GNSS configuration for M8+ gps by @mmosca in #9128 Multirotor landing bump detection by @breadoven in #8744 Add configuration of Beidou and Glonass to M8, M9 and M10 gps modules by @mmosca in #9124 update gpsConfig_t PG version by @stronnag in #9131 It looks like UBLOX ROM version 2.01 omits the = sign from PROTVER by @mmosca in #9132 reenable LTO for MacOS firmware builds by @stronnag in #9136 Flycolor F7 mini by @DzikuVx in #9122 updated buzzer documentation by @RomanLut in #9148 fixed beeper -ON_USB for 1S setup, fixed beeper -SYSTEM_INIT by @RomanLut in #9147 Enable possibility to simulate HW sensor failures in HITL by @RomanLut in #8858 Kakute H7 Wing by @erstec in #9145 Update target.h by @dlt2018 in #9151 fix target's by @dlt2018 in #9149 Improve OSD stats page avg efficiency value scaling by @rmaia3d in #9109 Fix AOCODARCH7DUAL Buzzer continous beeping issue by @lida2003 in #9143 [SITL] suppress spurious linker warning with gcc12+ by @stronnag in #9163 How to test a pull request.md - two minor typos by @sensei-hacker in #9170 Add some documentation on how to test a PR by @mmosca in #9168 fixed enter/exit camera osd stick positions docs by @RomanLut in #9165 Fix: Inav 7.0.0 last build not working on SPEEDYBEEF405V3 by @shirase in #9162 Foxeer H743 target by @DzikuVx in #9171 Add new OSD document by @MrD-RC in #9177 Kakute H7 Wing Defaults altered by @erstec in #9185 Add more baud rates to auto baud, as listed in m10 integration manual by @mmosca in #9174 Use all 8 motor outputs on AXISFLYINGF7PRO by @nmaggioni in #9179 MSP VTX support by @mmosca in #9166 Repair led strip by @dlt2018 in #9190 Get rid of some not needed floating point divisions by @DzikuVx in #9207 Restore autobaud for m8 gps by @mmosca in #9219 Update SPEEDYBEEF7V3. Fix Sensor VL53L1X by @druckgott in #9221 Extend from 4 ADC channels to 6 (Matek H743 and others) by @sensei-hacker in #9180 Nav altitude control improvements by @breadoven in #8920 fix neutronrcf435mini aio motor2 output bug by @shanggl in #9226 Try to set vscode to play nice with formating style by @mmosca in #9223 Fix for #9225, some OSD elements are skipped incorrectly, when GPS is not present. by @mmosca in #9229 Block by Runtime calibration of ACC only when ACC is required by @DzikuVx in #9227 Fix ADC on FOXEERH743 by @DzikuVx in #9230 Update speedybeef405v3 docs, with some common issues by @mmosca in #9231 Let M10 GPS disable SBAS and some small fixes changes by @mmosca in #9232 Multicopter emergency landing improvement/fix by @breadoven in #9169 Fix SITL memory leaks by @psmitty7373 in #9235 Add constrain for DynLPF computation by @DzikuVx in #9242 Multirotor Althold throttle hover option + altitude adjustment indication by @breadoven in #9220 OSD Altitude field fix by @breadoven in #9261 Add blackbox target heading + missing Nav auto enabled flight modes by @breadoven in #9249 SKYSTARSH743HD remove non-existent S9 & S10. Add servos target by @sensei-hacker in #9214 [doc] update serial_printf document iaw current implementation by @stronnag in #9266 Change motor/servo assignements for RUSH_BLADE_F7 targets by @mmosca in #9262 Pitot DLVR-L10D sensor by @jmajew in #9216 Add GEPRCF405 and GEPRCF722 targets by @YI-BOYANG in #9260 Multi function OSD utility by @breadoven in #8698 Timer DMA burst by @shirase in #9265 Add mup6500 for mambaf405us by @jianwwpro in #8827 Programming Frameword.md: Update to match Configurator renaming by @sensei-hacker in #9275 SpeedyBee F7 Mini V2 target by @DzikuVx in #9272 Speedybee F405 mini by @DzikuVx in #9273 Multirotor course hold/cruise mode by @breadoven in #9213 Bump navConfig PG that was forgotten in #9220 by @DzikuVx in #9278 Switch MatekF405TE to use burst DMA by @DzikuVx in #9277 Update Building in Windows 10 or 11 with Linux Subsystem.md by @wchnflr in #9279 BETAFPVF435 unofficial target by @mmosca in #9281 Make PWM allocation a bit smarter. by @mmosca in #9268 [sitl] add --version, add git commit to version output by @stronnag in #9286 docs/programming user21 typo by @sensei-hacker in #9289 Failsafe fixes by @breadoven in #9283 Mixer throttle fixes/improvements + more OSD Throttle changes by @breadoven in #9274 Ignore tasks.json and use tabs in C files by @MrD-RC in #9295 Enable the virtual pitot by default by @MrD-RC in #9299 Add DPS310 by @dlt2018 in #9284 Drop output_mode setting by @DzikuVx in #9300 Throttle related refactor/clean up by @breadoven in #9287 docs/ipf: Fix typos and clarify wording by @sensei-hacker in #9298 Further simplify timer usage flags. by @mmosca in #9288 Bulk update targets with new pwm output assignments by @mmosca in #9309 Remove timer compatibility define, since all targets have been updated by @mmosca in #9318 DSHOT delay fix by @shirase in #9321 [docs] modernise Serial and RX documents by @stronnag in #9322 Mixer profile to open the posibility for vtol/mixed platform by @shota3527 in #8555 Add SouthPAN SBAS for all my friends in AU/NZ. by @mmosca in #9320 Drop NMEA protocol by @DzikuVx in #9302 SpeedyBee F405 V4 by @DzikuVx in #9324 SpeedyBEEF405WING Change S11 timer, since TIM1 is used by LED by @mmosca in #9325 Remove info about F3 mcus from Temperature sensors documentation by @mmosca in #9337 Add Rate Dynamics to MSP by @DzikuVx in #9336 Update PR test instructions by @mmosca in #9338 Flight remaining flight distance value by @MrD-RC in #9333 Fix mixer config initialization sequence by @shota3527 in #9339 Fix for Rate dynamics MSP layer by @DzikuVx in #9340 Add myself to Authors by @mmosca in #9341 Add odometer to OSD by @MrD-RC in #9335 Update Controls.md by @MrD-RC in #9351 IPF: Add yaw operand to go with pitch and roll by @sensei-hacker in #9305 Add MatekH743HD variant by @MATEKSYS in #9244 additional fixes for mixer profile by @shota3527 in #9363 fixed HITL docs by @RomanLut in #9353 Add the Aocodarcf722aio file by @dlt2018 in #9314 Lower default hover throttle to 30% by @mmosca in #9361 Increase channels to 24 for Jeti by @MrD-RC in #9350 Add pilot logo to OSD by @MrD-RC in #9332 fixes servo output issue by @shota3527 in #9366 minor changes on ahrs by @shota3527 in #9360 Timer N channel fix by @shirase in #9276 Add ICM42605 driver for SKYSTARSF405HD by @DusKing1 in #9370 Multirotor coursehold/cruise mode fix by @breadoven in #9380 Ez Tune for Multirotors by @DzikuVx in #9354 update docker build scripts by @RomanLut in #9346 Add SYM_TOTAL and SYM_GFORCE to BFCOMPAT by @mmosca in #9385 In flight emergency rearm by @breadoven in #9254 Re-enable baro. max chip seems to cause issues by @mmosca in #9400 Make it easier to include all baro drivers to target by @mmosca in #9394 Make it easier to include all compass drivers to target by @mmosca in #9401 BFCOMPAT - improve wind and airspeed fields and labels by @rmaia3d in #9388 HITL/SITL: allow hitl/sitl to arm with uncalibrated accelerometer by @RomanLut in #9345 fix mixer_profie configurator issue by @shota3527 in #9364 flight/pid.c: fix AngleOverride(yaw) to degrees by @sensei-hacker in #9329 HITL: simulate battery voltage with any sensor by @RomanLut in #9212 HITL: hd osd support by @RomanLut in #9327 Fixed #9399 can't find baro chip on PB6/PB7 I2C1 by @lida2003 in #9412 Fix JETI EXBUS overflow by @DzikuVx in #9407 Disable ASFR function on ICM426xx driver by @DzikuVx in #9409 16G scale range for bmi270 accelerometer by @shota3527 in #9410 tpa on yaw and i-term limit by @shota3527 in #9408 FW Auto level trim bug fix by @breadoven in #9393 Enhance mAh remaining OSD element by @MrD-RC in #9334 Allow f722 to use mixer profile by @shota3527 in #9416 Correct disarm servo throttle by @DzikuVx in #9413 SAFETY issue -- servos.c: Correct servo throttle off when disarmed (not full throttle at disarm) by @sensei-hacker in #9330 OSD Joystick by @RomanLut in #9201 New target: ATOMRC Exceed F405 FC V2 by @NickB1 in #8956 Add more power options for 1G3 group by @MATEKSYS in #9243 New target: SDMODELH7V1 by @sensei-hacker in #9114 Framework.md - Note about common error by @sensei-hacker in #9422 Update OSD.md by @MrD-RC in #9425 comment on how to clone specific INAV releases added by @Daniel-1276 in #9414 update vtol documents by @shota3527 in #9426 Put getConfigMixerProfile as the last byte in message by @DzikuVx in #9431 Multirotor arming safety course hold/cruise mode fix by @breadoven in #9435 [GPS] fix Neo6M recognition by @stronnag in #9446 Add DPS310 and SPL06 to FLYWOOF745 target by @mmosca in #9448 Various PWM output changes. Mainly to get rid of potential conflicts by @DzikuVx in #9452 Show system message when linear descent begins by @MrD-RC in #9453 Fixed wing RC altitude adjustment fix by @breadoven in #9462 Unable fo arm 3d esc rover by @mmosca in #9461 Change the SPI of Mamba H743 by @DzikuVx in #9464 Flywoof745 of der commented motor numbers by @sensei-hacker in #9479 Change speedybeeF7V3 default timer allocation by @mmosca in #9475 Correct output order of FLYWOOF745 target to match BF and production board layout. by @mmosca in #9478 TMOTORF7V2 has an optional baro, so add more drivers by @mmosca in #9465 Revert "Enable the virtual pitot by default" by @DzikuVx in #9470 AtomRC F405 DELUX by @DzikuVx in #9472 Add FLYWOO new target "FLYWOOF405S_AIO" by @wchnflr in #9251 FLYWOOF405S_AIO: rename CMakeLists by @sensei-hacker in #9494 DAKEFPVF722 target by @DzikuVx in #9496 DAKEFPVF405 target by @DzikuVx in #9495 fix hdzero channel settings over displayport by @error414 in #9486 target: Add JHEMCU F722 target board support by @jhemcu in #9522 New Contributors @HKR1987 made their first contribution in #8902 @VasilKalchev made their first contribution in #8927 @ryet9 made their first contribution in #9001 @shirase made their first contribution in #9028 @pgp69 made their first contribution in #9037 @lida2003 made their first contribution in #9143 @druckgott made their first contribution in #9221 @psmitty7373 made their first contribution in #9235 @jianwwpro made their first contribution in #8827 @wchnflr made their first contribution in #9279 @NickB1 made their first contribution in #8956 @Daniel-1276 made their first contribution in #9414 @error414 made their first contribution in #9486 @jhemcu made their first contribution in #9522 Full Changelog: 6.1.1...7.0.0 Lire la source
  12. Hello and welcome to INAV 7 "Ferocious Falcon" 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 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards. The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays The FrSky D-series telemetry support has been removed. This applies to legacy D4R receivers and some 3rd party whoop boards 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. Upgrading from a previous release Upgrading from INAV 6 and 6.1 Download and install the new INAV Configurator 7 Save to a file the current diff all from the CLI. Upgrade to INAV 7 using the Full Erase option in the configurator. In case of Analog FPV, upload your OSD font of choice from the OSD tab. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration. You should be ready, explore new 7.0 features, and enjoy! Upgrading from older versions Please follow the instructions on this page. Major changes Flexible motor and servo output allocation INAV now was a function that allows to flexibly assign functions to PWM outputs directly from INAV Configurator. Specific function AUTO, MOTORS or SERVOS can be assigned to each Timer Group. Then, all outputs from this group will perform this function. Thanks to this, it's possible to use servos and motors in ways that previously required building a custom targets. Bear in mind: In some rare cases, output assignment might be different than in INAV 6. This makes it even more important to remove your props and double check your outputs before you power your flight controller with batteries for the first time after applying your old settings or enabling outputs. It is not possible to assign function to individual outputs. It's a hardware, not software limitation. Mixer profiles and VTOL support This has been a frequent request since PNP VTOL models started becoming more common. Read more in Mixer Profile INAV docs and VTOL INAV docs Ez Tune The Ez Tune is a simplified tuning framework similar to Betalight's Simplified Slider Tuning. Instead of setting each PID controller gain, rate, and filter setting separately, Pilot is presented with 8 sliders for: Axis ratio Main filter frequency Response Damping Stability Aggressiveness Rate Expo Ez Tune settings are not compatible with Betaflight Slider Tuning setting and cannot be migrated directly. Read the description in Configurator's Ez Tune tab on what each setting does and how it should be used. More on the topic of Ez Tune can be found here Timer DMA Burst INAV 7 adds the DMA Burst mode to selected target as ultimately fixes the problem of DSHOT protocol not working on some boards. Pilots do not have to take any actions, DSHOT is just available on previously affected flight controllers. This applies to: Matek F405 TE SpeedyBee F405 V3 JETI EXBUS fixed The JETI EXBUS protocol should now not hang the flight controller during operation. The issue was originally fixed in betaflight/betaflight#13130 . Thank you @SteveCEvans and @klutvott123 Multirotor Cruise Mode The Cruise Mode for Multirotors allows pilots to let go the radio sticks while UAV flies on a predefined course with predefined speed. Just like with regular PosHold, Throttle stick sets the altitude and course, while the pitch stick is used to set the horizontal speed. When released INAV will hold set speed, altitude, and course. More information available in here https://youtu.be/4pgDxexuSnU NMEA Protocol no longer available As mentioned in the Important Notes section, INAV 7 no longer supports the GPS NMEA protocol. All modern GPS module support one of the UBLOX protocols and as a result pilots must switch to either UBLOX or UBLOX7 protocol. GPS Improvements A number of improvements have been made to GPS support in INAV 7. It is now possible to select multiple GPS constellations, and not only Galileo. If your GPS modules does not support a particular combination, it will fallback to no extra constellations. M10 GPS units will now default to 10Hz, like M8 units and a new cli setting has been added to allow overriding the update rate of your UBLOX7 GPS (gps_ublox_nav_hz). This should allow you to fall back to 5Hz or bump it up to the limits of what is supported by your GPS module. MSP VTX support INAV now support MSP VTX when using MSP DisplayPort OSD. Now it is possible to change VTX power levels and channels via INAV's OSD menu or ELRS backpack without connecting the SmartAudio wire on HD-Zero VTXs. If you MSP DisplayPort OSD is working, no extra configuration is needed. Linear Descent RTH mode changed AT_LEAST_LINEAR_DESCENT is no longer a method for RTH. It has been replaced with a more flexible linear descent option that will work with any RTH method. If previously using AT_LEAST_LINEAR_DESCENT, you should now just use AT_LEAST as the RTH type. Linear Descent is now a separate option that can be used with any other RTH method. To make this possible, the target altitude of the descent is now the nav_rth_home_altitude. In some cases, if flying below the home position, this will work as a linear ascent. You can also decide when the linear descent will start. Set the nav_rth_linear_descent_start_distance parameter to the distance (metres) from the home point, where you want to start descending. Set to 0, the default setting; the descent will start immediately, as with the pre-7.0 implementation. These options are available in Configurator. See the Navigation Mode: Return to Home wiki for more details. Pilot Logos You can now have custom pilot logos on your OSD and arming screen (HD Only). You will need to create a custom font with your logos to show them on screen. The OSD logo is a 3x1 character symbol. This can be used with both analogue and HD. The arming screen logo is a 10x4 character image, and only works with HD systems. More details are available in the OSD Document. Other changes The AUTOLEVEL mode is renamed to AUTO LEVEL TRIM. The functionality remains the same. The osd_mah_used_precision parameter has been renamed osd_mah_precision. 24 channels available for Jeti systems (not available with F411 or F722 flight controllers). Virtual pitot is enabled by default. Other removed functions FrSky D-series telemetry output_mode setting that allows to reassign all PWM outputs to either MOTORS or SERVOS New targets SDmodel H7V1 Matek H743HD SpeedyBee F405 V4 SpeedeBee F405 Mini SpeedyBee F7 Mini V2 GEPRCF405 GEPRCF722 NEUTRONRC F435 Mini AIO CLI Changed settings Name Description gps_provider Removed: NMEA gps_sbas_mode New: SPAN nav_rth_alt_mode Removed: AT_LEAST_LINEAR_DESCENT pitot_hardware New: DLVR-L10D New Items Name Description ez_aggressiveness EzTune aggressiveness Values: 0 - 200 Default: 100 ez_axis_ratio EzTune axis ratio Values: 25 - 175 Default: 110 ez_damping EzTune damping Values: 0 - 200 Default: 100 ez_enabled Enables EzTune feature Default: FALSE ez_expo EzTune expo Values: 0 - 200 Default: 100 ez_filter_hz EzTune filter cutoff frequency Values: 10 - 300 Default: 110 ez_rate EzTune rate Values: 0 - 200 Default: 100 ez_response EzTune response Values: 0 - 200 Default: 100 ez_stability EzTune stability Values: 0 - 200 Default: 100 gps_auto_baud_max_supported Max baudrate supported by GPS unit. This is used during autobaud. M8 supports up to 460400, M10 supports up to 921600 and 230400 is the value used before INAV 7.0 Default: 230400 gps_ublox_nav_hz Navigation update rate for UBLOX7 receivers. Some receivers may limit the maximum number of satellites tracked when set to a higher rate or even stop sending navigation updates if the value is too high. Some M10 devices can do up to 25Hz. 10 is a safe value for M8 and newer. Values: 5 - 200 Default: 10 gps_ublox_use_beidou Enable use of Beidou satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires gps hardware support [OFF/ON]. Default: FALSE gps_ublox_use_glonass Enable use of Glonass satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires gps haardware support [OFF/ON]. Default: FALSE led_pin_pwm_mode PWM mode of LED pin. Values: SHARED_LOW, SHARED_HIGH, LOW, HIGH. Default: SHARED_LOW mixer_automated_switch If set to on, This mixer_profile will try to switch to another mixer_profile when 1.RTH heading home is requested and distance to home is lager than 3*nav_fw_loiter_radius on mixer_profile is a MULTIROTOR or TRICOPTER platform_type. 2. RTH landing is requested on this mixer_profile is a AIRPLANE platform_type Default: FALSE mixer_pid_profile_linking If enabled, pid profile_index will follow mixer_profile index. Set to OFF(default) if you want to handle PID profile by your self. Recommend to set to ON on all mixer_profiles to let the mixer_profile handle the PID profile switching on a VTOL or mixed platform type setup. Default: FALSE mixer_switch_trans_timer If switch another mixer_profile is scheduled by mixer_automated_switch or mixer_automated_switch. Activate Mixertransion motor/servo mixing for this many decisecond(0.1s) before the actual mixer_profile switch. Values: 0 - 200 Default: 0 motorstop_on_low If enabled, motor will stop when throttle is low on this mixer_profile Default: FALSE nav_cruise_yaw_rate Max YAW rate when NAV COURSE HOLD/CRUISE mode is enabled. Set to 0 to disable on fixed wing (Note: On multirotor setting to 0 will disable Course Hold/Cruise mode completely) [dps] Values: 0 - 120 Default: 20 nav_landing_bump_detection Allows immediate landing detection based on G bump at touchdown when set to ON. Requires a barometer and currently only works for multirotors. Default: FALSE nav_mc_althold_throttle If set to STICK the FC remembers the throttle stick position when enabling ALTHOLD and treats it as the neutral midpoint for holding altitude. If set to MID_STICK or HOVER the neutral midpoint is set to the mid stick position or the hover throttle position respectively. Default: STICK nav_rth_linear_descent_start_distance The distance [m] away from home to start the linear descent. 0 = immediately (original linear descent behaviour) Values: 0 - 10000 Default: 0 nav_rth_use_linear_descent If enabled, the aircraft will gradually descent to the nav_rth_home_altitude en route. The distance from home to start the descent can be set with nav_rth_linear_descent_start_distance. Default: FALSE osd_arm_screen_display_time Amount of time to display the arm screen [ms] Values: 1000 - 5000 Default: 1500 osd_inav_to_pilot_logo_spacing The space between the INAV and pilot logos, if osd_use_pilot_logo is ON. This number may be adjusted so that it fits the odd/even col width displays. For example, if using an odd column width display, such as Walksnail, and this is set to 4. 1 will be added so that the logos are equally spaced from the centre of the screen. Values: 0 - 20 Default: 8 osd_joystick_down PWM value for DOWN key Values: 0 - 100 Default: 0 osd_joystick_enabled Enable OSD Joystick emulation Default: FALSE osd_joystick_enter PWM value for ENTER key Values: 0 - 100 Default: 75 osd_joystick_left PWM value for LEFT key Values: 0 - 100 Default: 63 osd_joystick_right PWM value for RIGHT key Values: 0 - 100 Default: 28 osd_joystick_up PWM value for UP key Values: 0 - 100 Default: 48 osd_mah_precision Number of digits used for mAh precision. Currently used by mAh Used and Battery Remaining Capacity Values: 4 - 6 Default: 4 osd_use_pilot_logo Use custom pilot logo with/instead of the INAV logo. The pilot logo must be characters 473 to 511 Default: FALSE pid_iterm_limit_percent Limits max/min I-term value in stabilization PID controller. It solves the problem of servo saturation before take-off/throwing the airplane into the air. Or multirotors with low authority. By default, error accumulated in I-term can not exceed 33% of total pid throw (around 165us on deafult pidsum_limit of pitch/roll). Set 0 to disable completely. Values: 0 - 200 Default: 33 tpa_on_yaw Throttle PID attenuation also reduces influence on YAW for multi-rotor, Should be set to ON for tilting rotors. Default: FALSE Removed Items Name Description dterm_lpf2_hz dterm_lpf2_type frsky_coordinates_format frsky_default_latitude frsky_default_longitude frsky_unit frsky_vfas_precision fw_iterm_throw_limit moron_threshold nav_fw_cruise_yaw_rate nav_use_midthr_for_althold osd_mah_used_precision output_mode Changelist The full list of changes is available here The full list of INAV Configurator changes is available here What's Changed from INAV 6.1.1 INAV 7 by @DzikuVx in #8886 Enable USE_SERVO_SBUS on all targets by @DzikuVx in #8876 Release 6.0 by @DzikuVx in #8763 Drop D-term LPF2 as no longer used by @DzikuVx in #8875 Drop FrDky D-series telemetry support by @DzikuVx in #8878 Allow scheduler to go down to 10us period by @DzikuVx in #8877 Drop moron_threshold setting by @DzikuVx in #8859 Release 6.0.0 by @DzikuVx in #8912 Add target BLACKPILL_F411 by @HKR1987 in #8902 Update GCC to 10.3.1 by @DzikuVx in #8917 Release 6.1.0 by @DzikuVx in #8887 docs: fix documentation of gvar set by @sensei-hacker in #8955 Update Building in MSYS2 Doc by @pwnept in #8934 Add osd menu option to preview font file by @mmosca in #8932 Jh update usb flash doc by @stronnag in #8974 Add the "GEPRCF722_BT_HD" target by @YI-BOYANG in #8943 Recognize MPU9255 as a valid IMU by @VasilKalchev in #8927 Cleanup m25p16 flash detection code by @mmosca in #8985 Update from master by @MrD-RC in #8987 Add IFLIGHT_BLITZ_F7_AIO target by @mmosca in #8977 Mark IFLIGHT_BLITZ_F7_AIO as SKIP_RELEASES by @mmosca in #8988 Have you ever wished INAV had a mute switch? by @mmosca in #8989 Enhance Linear Descent RTH feature by @MrD-RC in #8810 updated battery profile documentation by @RomanLut in #9002 INAV capitalization by @ryet9 in #9001 Rename AUTO LEVEL by @MrD-RC in #8972 fixed pitot sensor by @RomanLut in #9019 modify servo and motor and magnetometer for AocodaRC F4V2 by @dlt2018 in #9040 Release 6.1.0 mergeback by @DzikuVx in #8957 Fix: SpeedyBee F405 V3 uSD card vs OSD interference by @shirase in #9028 Update Navigation.md by @RomanLut in #9058 Update Aocodarcf7mini by @dlt2018 in #9056 Add MPU6000 and MPU6500 support to Foxeer F7 V4 target by @DzikuVx in #9070 Cleanup abandoned EXTI code by @DzikuVx in #9071 Multirotor WP speed fix when altitude enforce enabled by @breadoven in #9067 Update target.h by @pgp69 in #9037 updated controls documentation by @RomanLut in #9024 remove obsolete static_assert by @stronnag in #9077 [SITL OSX] Fix some of the warnings and add macosx SITL build to workflows by @mmosca in #9063 Add QUADSPI Support for H7 and M25P16 Flash Driver by @mluessi in #8915 Fix bug for DJI O3's altitude when using imperial by @MrD-RC in #9076 Switch sensor infrastructure to be float internally by @DzikuVx in #9075 [SITL] disable nagle for UART TCP by @stronnag in #9079 [SITL OSX] Fix lldb debugging in OSX and improve OSX detection by @mmosca in #9082 [SITL] consolidate IP helpers into target.c by @stronnag in #9080 [SITL] add missing BSD header from IP consolidation by @stronnag in #9085 [Docs] Readme updates by @stronnag in #9090 Speedybee F405 WING fixes by @DzikuVx in #9094 fix conflicting types by @stronnag in #9097 allow HITL to run with HW baro failure by @RomanLut in #9021 Set 10Hz update rate for M9 and M10 gps devices by default and allow higher refresh rates by @mmosca in #9103 Add board Aocodarcf405aio by @dlt2018 in #9089 Update Borad Aocodarch7dual by @dlt2018 in #9100 DSP based gyro operations by @DzikuVx in #9078 Acc processing with DSP by @DzikuVx in #9116 Remove brew update step for SITL mac build by @mmosca in #9127 ICM42605 gyro parsing fix by @erstec in #9125 Release 6.1.1 by @MrD-RC in #9106 Fix version check and apply GNSS configuration for M8+ gps by @mmosca in #9128 Multirotor landing bump detection by @breadoven in #8744 Add configuration of Beidou and Glonass to M8, M9 and M10 gps modules by @mmosca in #9124 update gpsConfig_t PG version by @stronnag in #9131 It looks like UBLOX ROM version 2.01 omits the = sign from PROTVER by @mmosca in #9132 reenable LTO for MacOS firmware builds by @stronnag in #9136 Flycolor F7 mini by @DzikuVx in #9122 updated buzzer documentation by @RomanLut in #9148 fixed beeper -ON_USB for 1S setup, fixed beeper -SYSTEM_INIT by @RomanLut in #9147 Enable possibility to simulate HW sensor failures in HITL by @RomanLut in #8858 Kakute H7 Wing by @erstec in #9145 Update target.h by @dlt2018 in #9151 fix target's by @dlt2018 in #9149 Improve OSD stats page avg efficiency value scaling by @rmaia3d in #9109 Fix AOCODARCH7DUAL Buzzer continous beeping issue by @lida2003 in #9143 [SITL] suppress spurious linker warning with gcc12+ by @stronnag in #9163 How to test a pull request.md - two minor typos by @sensei-hacker in #9170 Add some documentation on how to test a PR by @mmosca in #9168 fixed enter/exit camera osd stick positions docs by @RomanLut in #9165 Fix: Inav 7.0.0 last build not working on SPEEDYBEEF405V3 by @shirase in #9162 Foxeer H743 target by @DzikuVx in #9171 Add new OSD document by @MrD-RC in #9177 Kakute H7 Wing Defaults altered by @erstec in #9185 Add more baud rates to auto baud, as listed in m10 integration manual by @mmosca in #9174 Use all 8 motor outputs on AXISFLYINGF7PRO by @nmaggioni in #9179 MSP VTX support by @mmosca in #9166 Repair led strip by @dlt2018 in #9190 Get rid of some not needed floating point divisions by @DzikuVx in #9207 Restore autobaud for m8 gps by @mmosca in #9219 Update SPEEDYBEEF7V3. Fix Sensor VL53L1X by @druckgott in #9221 Extend from 4 ADC channels to 6 (Matek H743 and others) by @sensei-hacker in #9180 Nav altitude control improvements by @breadoven in #8920 fix neutronrcf435mini aio motor2 output bug by @shanggl in #9226 Try to set vscode to play nice with formating style by @mmosca in #9223 Fix for #9225, some OSD elements are skipped incorrectly, when GPS is not present. by @mmosca in #9229 Block by Runtime calibration of ACC only when ACC is required by @DzikuVx in #9227 Fix ADC on FOXEERH743 by @DzikuVx in #9230 Update speedybeef405v3 docs, with some common issues by @mmosca in #9231 Let M10 GPS disable SBAS and some small fixes changes by @mmosca in #9232 Multicopter emergency landing improvement/fix by @breadoven in #9169 Fix SITL memory leaks by @psmitty7373 in #9235 Add constrain for DynLPF computation by @DzikuVx in #9242 Multirotor Althold throttle hover option + altitude adjustment indication by @breadoven in #9220 OSD Altitude field fix by @breadoven in #9261 Add blackbox target heading + missing Nav auto enabled flight modes by @breadoven in #9249 SKYSTARSH743HD remove non-existent S9 & S10. Add servos target by @sensei-hacker in #9214 [doc] update serial_printf document iaw current implementation by @stronnag in #9266 Change motor/servo assignements for RUSH_BLADE_F7 targets by @mmosca in #9262 Pitot DLVR-L10D sensor by @jmajew in #9216 Add GEPRCF405 and GEPRCF722 targets by @YI-BOYANG in #9260 Multi function OSD utility by @breadoven in #8698 Timer DMA burst by @shirase in #9265 Add mup6500 for mambaf405us by @jianwwpro in #8827 Programming Frameword.md: Update to match Configurator renaming by @sensei-hacker in #9275 SpeedyBee F7 Mini V2 target by @DzikuVx in #9272 Speedybee F405 mini by @DzikuVx in #9273 Multirotor course hold/cruise mode by @breadoven in #9213 Bump navConfig PG that was forgotten in #9220 by @DzikuVx in #9278 Switch MatekF405TE to use burst DMA by @DzikuVx in #9277 Update Building in Windows 10 or 11 with Linux Subsystem.md by @wchnflr in #9279 BETAFPVF435 unofficial target by @mmosca in #9281 Make PWM allocation a bit smarter. by @mmosca in #9268 [sitl] add --version, add git commit to version output by @stronnag in #9286 docs/programming user21 typo by @sensei-hacker in #9289 Failsafe fixes by @breadoven in #9283 Mixer throttle fixes/improvements + more OSD Throttle changes by @breadoven in #9274 Ignore tasks.json and use tabs in C files by @MrD-RC in #9295 Enable the virtual pitot by default by @MrD-RC in #9299 Add DPS310 by @dlt2018 in #9284 Drop output_mode setting by @DzikuVx in #9300 Throttle related refactor/clean up by @breadoven in #9287 docs/ipf: Fix typos and clarify wording by @sensei-hacker in #9298 Further simplify timer usage flags. by @mmosca in #9288 Bulk update targets with new pwm output assignments by @mmosca in #9309 Remove timer compatibility define, since all targets have been updated by @mmosca in #9318 DSHOT delay fix by @shirase in #9321 [docs] modernise Serial and RX documents by @stronnag in #9322 Mixer profile to open the posibility for vtol/mixed platform by @shota3527 in #8555 Add SouthPAN SBAS for all my friends in AU/NZ. by @mmosca in #9320 Drop NMEA protocol by @DzikuVx in #9302 SpeedyBee F405 V4 by @DzikuVx in #9324 SpeedyBEEF405WING Change S11 timer, since TIM1 is used by LED by @mmosca in #9325 Remove info about F3 mcus from Temperature sensors documentation by @mmosca in #9337 Add Rate Dynamics to MSP by @DzikuVx in #9336 Update PR test instructions by @mmosca in #9338 Flight remaining flight distance value by @MrD-RC in #9333 Fix mixer config initialization sequence by @shota3527 in #9339 Fix for Rate dynamics MSP layer by @DzikuVx in #9340 Add myself to Authors by @mmosca in #9341 Add odometer to OSD by @MrD-RC in #9335 Update Controls.md by @MrD-RC in #9351 IPF: Add yaw operand to go with pitch and roll by @sensei-hacker in #9305 Add MatekH743HD variant by @MATEKSYS in #9244 additional fixes for mixer profile by @shota3527 in #9363 fixed HITL docs by @RomanLut in #9353 Add the Aocodarcf722aio file by @dlt2018 in #9314 Lower default hover throttle to 30% by @mmosca in #9361 Increase channels to 24 for Jeti by @MrD-RC in #9350 Add pilot logo to OSD by @MrD-RC in #9332 fixes servo output issue by @shota3527 in #9366 minor changes on ahrs by @shota3527 in #9360 Timer N channel fix by @shirase in #9276 Add ICM42605 driver for SKYSTARSF405HD by @DusKing1 in #9370 Multirotor coursehold/cruise mode fix by @breadoven in #9380 Ez Tune for Multirotors by @DzikuVx in #9354 update docker build scripts by @RomanLut in #9346 Add SYM_TOTAL and SYM_GFORCE to BFCOMPAT by @mmosca in #9385 In flight emergency rearm by @breadoven in #9254 Re-enable baro. max chip seems to cause issues by @mmosca in #9400 Make it easier to include all baro drivers to target by @mmosca in #9394 Make it easier to include all compass drivers to target by @mmosca in #9401 BFCOMPAT - improve wind and airspeed fields and labels by @rmaia3d in #9388 HITL/SITL: allow hitl/sitl to arm with uncalibrated accelerometer by @RomanLut in #9345 fix mixer_profie configurator issue by @shota3527 in #9364 flight/pid.c: fix AngleOverride(yaw) to degrees by @sensei-hacker in #9329 HITL: simulate battery voltage with any sensor by @RomanLut in #9212 HITL: hd osd support by @RomanLut in #9327 Fixed #9399 can't find baro chip on PB6/PB7 I2C1 by @lida2003 in #9412 Fix JETI EXBUS overflow by @DzikuVx in #9407 Disable ASFR function on ICM426xx driver by @DzikuVx in #9409 16G scale range for bmi270 accelerometer by @shota3527 in #9410 tpa on yaw and i-term limit by @shota3527 in #9408 FW Auto level trim bug fix by @breadoven in #9393 Enhance mAh remaining OSD element by @MrD-RC in #9334 Allow f722 to use mixer profile by @shota3527 in #9416 Correct disarm servo throttle by @DzikuVx in #9413 SAFETY issue -- servos.c: Correct servo throttle off when disarmed (not full throttle at disarm) by @sensei-hacker in #9330 OSD Joystick by @RomanLut in #9201 New target: ATOMRC Exceed F405 FC V2 by @NickB1 in #8956 Add more power options for 1G3 group by @MATEKSYS in #9243 New target: SDMODELH7V1 by @sensei-hacker in #9114 Framework.md - Note about common error by @sensei-hacker in #9422 Update OSD.md by @MrD-RC in #9425 comment on how to clone specific INAV releases added by @Daniel-1276 in #9414 update vtol documents by @shota3527 in #9426 Put getConfigMixerProfile as the last byte in message by @DzikuVx in #9431 [GPS] fix Neo6M recognition by @stronnag in #9446 Add DPS310 and SPL06 to FLYWOOF745 target by @mmosca in #9448 Various PWM output changes. Mainly to get rid of potential conflicts by @DzikuVx in #9452 Show system message when linear descent begins by @MrD-RC in #9453 Fixed wing RC altitude adjustment fix by @breadoven in #9462 Unable fo arm 3d esc rover by @mmosca in #9461 Change the SPI of Mamba H743 by @DzikuVx in #9464 Flywoof745 of der commented motor numbers by @sensei-hacker in #9479 Change speedybeeF7V3 default timer allocation by @mmosca in #9475 Correct output order of FLYWOOF745 target to match BF and production board layout. by @mmosca in #9478 TMOTORF7V2 has an optional baro, so add more drivers by @mmosca in #9465 Revert "Enable the virtual pitot by default" by @DzikuVx in #9470 AtomRC F405 DELUX by @DzikuVx in #9472 Add FLYWOO new target "FLYWOOF405S_AIO" by @wchnflr in #9251 FLYWOOF405S_AIO: rename CMakeLists by @sensei-hacker in #9494 DAKEFPVF722 target by @DzikuVx in #9496 DAKEFPVF405 target by @DzikuVx in #9495 fix hdzero channel settings over displayport by @error414 in #9486 New Contributors @HKR1987 made their first contribution in #8902 @VasilKalchev made their first contribution in #8927 @ryet9 made their first contribution in #9001 @shirase made their first contribution in #9028 @pgp69 made their first contribution in #9037 @lida2003 made their first contribution in #9143 @druckgott made their first contribution in #9221 @psmitty7373 made their first contribution in #9235 @jianwwpro made their first contribution in #8827 @wchnflr made their first contribution in #9279 @NickB1 made their first contribution in #8956 @Daniel-1276 made their first contribution in #9414 @error414 made their first contribution in #9486 Full Changelog: 6.1.1...7.0.0-RC3 Changelog: 7.0.0-RC2...7.0.0-RC3 Lire la source
  13. Fix buffer overflow in JETIEXBUS character reception (#13130) (#13136) * Fix buffer overflow in jetiexbus character reception * Update src/main/rx/jetiexbus.c --------- Co-authored-by: Steve Evans <SteveCEvans@users.noreply.github.com> Lire la source
  14. What's Changed Features Add support for MSP2_SENSOR_GPS message from RemoteID module by @SteveCEvans in #13081 Fixes Fix USE_TELEMETRY_IBUS by @haslinghuis in #12873 Call updateInit() before writing motor command data by @SteveCEvans in #12866 [MAINT] Add dshot_telemetry_start_margin setting (#12912) by @haslinghuis in #12964 fix led strip for h7 (#12890) by @haslinghuis in #12976 Enable/disable the UART TX before changing the TX pin mode by @SteveCEvans in #13018 4.4 maintenance uart enable/disable f4 by @SteveCEvans in #13020 Allow for F7 UART idle preamble to be sent on startup - 4.4-maintenance by @SteveCEvans in #13022 Remove dshot_telemetry_start_margin setting to use auto-tune(#13075) by @haslinghuis in #13082 Check tx on MSP and GPS only by @haslinghuis in #13113 Disable ICM4268xx AFSR feature to prevent stalls by @haslinghuis in #13137 Fix buffer overflow in JETIEXBUS character reception (#13130) by @haslinghuis in #13136 Full Changelog: 4.4.2...4.4.3 Lire la source
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