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Changelog Bugfix: macOS git integration Which file do I need? Windows (8, 10, 11): ExpressLRS-Configurator-Setup-1.5.9.exe Mac OS X (please read macOS install notes😞ExpressLRS-Configurator-1.5.9.dmg Linux (please read linux install notes😞 expresslrs-configurator_1.5.9_amd64.deb (Ubuntu, debian) expresslrs-configurator-1.5.9.pacman (Arch) expresslrs-configurator-1.5.9.x86_64.rpm (Red Hat, Fedora, CentOS) flatpak install org.expresslrs.ExpressLRSConfigurator (Flatpak distribution format) expresslrs-configurator-1.5.9.zip (others) Lire la source

Changelog Bugfix: Platform IO installer fails if the path to the installer temporary directory is too long in Windows #492 Adding NewBeeDrone Alias/target #490 Adds Happymodel EPW5 and EPW6 targets #491 Which file do I need? Windows (8, 10, 11): ExpressLRS-Configurator-Setup-1.5.8.exe Mac OS X (please read macOS install notes😞ExpressLRS-Configurator-1.5.8.dmg Linux (please read linux install notes😞 expresslrs-configurator_1.5.8_amd64.deb (Ubuntu, debian) expresslrs-configurator-1.5.8.pacman (Arch) expresslrs-configurator-1.5.8.x86_64.rpm (Red Hat, Fedora, CentOS) flatpak install org.expresslrs.ExpressLRSConfigurator (Flatpak distribution format) expresslrs-configurator-1.5.8.zip (others) Lire la source

Changelog Use different data storage path so Platformio install works again Which file do I need? Windows (8, 10, 11): ExpressLRS-Configurator-Setup-1.5.7.exe Mac OS X (please read macOS install notes😞ExpressLRS-Configurator-1.5.7.dmg Linux (please read linux install notes😞 expresslrs-configurator_1.5.7_amd64.deb (Ubuntu, debian) expresslrs-configurator-1.5.7.pacman (Arch) expresslrs-configurator-1.5.7.x86_64.rpm (Red Hat, Fedora, CentOS) flatpak install org.expresslrs.ExpressLRSConfigurator (Flatpak distribution format) expresslrs-configurator-1.5.7.zip (others) Lire la source

Added DSHOT telemetry motor rpm info calculation to adaptive filter logic 🙂 Works with ALL ESCS. Added separate sensors source for Voltage and Current Added different battery types (Lipo, HV and Li-ion) Added receiver center point and calibration Added current to data output graph, in System Changed filtering on voltage and current analog sensors Removed Serial 5 hack for blheli32 Removed ESC Telemetry/VTX combined option from serial port configuration Fixed duration error in the statistic on experimental mode Lire la source

Hello and welcome to INAV 6.1 "Horizon Hawk" Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for help on: INAV Discord Server INAV Official on Facebook Tested and suggested hardware can be found here Important Notes The STM32 F3 code was removed from repository, it's no longer possible to compile F3 locally Upgrading from a previous release Upgrading from INAV 6 Download and install the new configurator Save to a file the current diff all from the CLI. Upgrade to INAV 6 using the Full Erase option in the configurator. Restore the configuration from the diff file Upgrading from INAV 5 and 5.1 Download and install the new configurator Save to a file the current diff all from the CLI. Upgrade to INAV 6 using the Full Erase option in the configurator. Upload your OSD font of choice from the OSD tab. Run your INAV 5.x diff through this tool. It will update some of the changed CLI parameters (See these release notes). Please pay special attention to the ahrs_inertia_comp_method parameter, as this must be correct for your platform. See the release notes below. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER. There are a large number of 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 6.0 features, and enjoy! Upgrading from older versions Please follow the instructions on this page. Important changes H7 stability INAV 6.1 fixes a bug that was causing the H7 MCU to stop receiving RX signal after EEPROM save operation was performed. This happened from CMS and from Configurator. INAV 6.1 fixes the issue and RX operation is no longer stopped after the save operation Betaflight HD OSD compatibility mode INAV 6.1 adds the BFHDCOMPAT OSD mode that is compatible with the Betaflight HD OSD layout. New targets HAKRCF722V2 HAKRCF405V2 SKYSTARSF722MINIHD SkyStars AT32 SkyStars H743 Changelist What's Changed OSD battery status cleanup by @breadoven in #8780 Use MC "slow down for turning" option for RTH trackback by @breadoven in #8867 Fix compilation if OSD is disabled by @DzikuVx in #8860 Pitot values should only be used if pitot sensor is healthy by @RomanLut in #8857 show !X on OSD on pitot failure by @RomanLut in #8856 Add ICM42688 and BMI270 to Betafpv F722 #8841 by @mmosca in #8842 Enable Auto RC Smoothing by default by @DzikuVx in #8908 Rangefinder OSD Element Bugfix by @Scavanger in #8853 Update Windows 11 - VS Code - WSL2 - Hardware Debugging.md by @whsMCU in #8818 Add support for AT32 chips by @DusKing1 in #8752 Show loiter instead of poshold in OSD for fixed wing by @MrD-RC in #8892 SITL (x86) Target by @Scavanger in #8731 6.1.0 sitl interop by @stronnag in #8913 Pull all servos to min when disarmed if thr is mixed in by @DzikuVx in #8916 Set ALLOW_BYPASS as default nav_extra_arming_safety by @DzikuVx in #8909 BFCOMPAT mods to increase precision in value scalings by @rmaia3d in #8866 [SITL] parameterise and reduce TASK_SERIAL rate by @stronnag in #8921 Add Betaflight "HD" compatibility by @mmosca in #8707 Improvements to BFCOMPAT character and icon mappings by @rmaia3d in #8926 Revert "Improvements to BFCOMPAT character and icon mappings" by @mmosca in #8928 [SITL] Enable telemetry: LTM and MAVLink by @stronnag in #8940 Fix RX susped on EEPROM operations by @DzikuVx in #8907 Navigation altitude and position controller reset improvements by @breadoven in #8896 [SITL Doc] fix typo, clarifications by @stronnag in #8952 Revert "Switch H7 to -Ofast optimizations" by @DzikuVx in #8948 Set F7 GCC optimizations to -O2 for F745 and -Os for F277 Always by @DzikuVx in #8953 Dzikuvx skystars h743 by @DzikuVx in #8954 Remove custom compiler optimizations by @DzikuVx in #8958 Fix LED Indicators mode for Fixed Wing and Rover by @MrD-RC in #8826 OSD single page stats by @M0j0Risin in #8755 Add HAKRCF722V2 target by @nmaggioni in #8970 Add HAKRCF405V2 target by @nmaggioni in #8969 [SITL] remove unused / unneeded variables by @stronnag in #8982 Add target SKYSTARSF722MINIHD by @shellixyz in #8794 Add support for FBUS by @MrD-RC in #8712 Improvements to BARO_MSP by @ricardodeazambuja in #8534 [SITL] sitl specific cmake cleanup (Windows only linker option) by @stronnag in #8995 Update OSD throttle options by @MrD-RC in #8806 New Contributors @whsMCU made their first contribution in #8818 @DusKing1 made their first contribution in #8752 @rmaia3d made their first contribution in #8866 @M0j0Risin made their first contribution in #8755 Full Changelog: 6.0.0...6.1.0-RC1 Lire la source

Changelog Add HDZero goggle backpack target #481 Add Foxeer 900M Target Categorize HDZero Goggle VRX Backpack as "Goggles" #484 Copy all elrs and bin files to the tmp output directory #480 Update Wiki links to remove the version in the URL #478 Fix: Check for non-ASCII before using dirtyPath #474 Update PIO udev rules link #475 Fix auto updater issue caused by event timing #469 Actions: Update to Ubuntu 20.04 #466 Which file do I need? Windows (8, 10, 11): ExpressLRS-Configurator-Setup-1.5.6.exe Mac OS X (please read macOS install notes😞ExpressLRS-Configurator-1.5.6.dmg Linux (please read linux install notes😞 expresslrs-configurator_1.5.6_amd64.deb (Ubuntu, debian) expresslrs-configurator-1.5.6.pacman (Arch) expresslrs-configurator-1.5.6.x86_64.rpm (Red Hat, Fedora, CentOS) flatpak install org.expresslrs.ExpressLRSConfigurator (Flatpak distribution format) expresslrs-configurator-1.5.6.zip (others) Lire la source

Add separate AAF values for ICM-42605 (#12616) Co-authored-by: Tobias Bolin <tobias_bolin@hotmail.com> Lire la source

What's Changed Improvements Fix unified targets that use OctoSPI. (BF4.4.x) by @hydra in #12307 [4.4-maintenance] increase FF smoothing max to suit elrs 1000hz link rate (#12426) by @limonspb in #12433 Fixes Fix max permissible CMS rows and up/down page arrows (#12277) by @SteveCEvans in #12284 BF 4.4.1 rollup 1 by @hydra in #12306 Fix SDFT batchSize rounding by @KarateBrot in #12332 4.4.1: Latest changes from unified targets, and sdcard build fix. by @blckmn in #12415 4.4-maintenance H7 Fix frozen ADC values by @klutvott123 in #12443 [4.4-maintenance] Fix ICM426XX AA filter (#12444) by @sugaarK in #12465 [4.4.1] FIX: Blackbox (as applied to 4.5.0) by @blckmn in #12520 DShot zero between beacon commands for 4.4, from 12544 by @ctzsnooze in #12555 Restore DShot Beacon control for 4.4 by @ctzsnooze in #12560 4.4.1 Include smartport telemetry for Fport (#12314) by @klutvott123 in #12572 Exclude MSP_OSD_CONFIG if USE_OSD not defined (#12513) by @klutvott123 in #12590 Add separate AAF values for ICM-42605 by @sugaarK in #12616 Targets 4.4.1: Patch for config.h files by @blckmn in #12380 4.4.1: Adding support for building by config by @blckmn in #12376 [4.4.1] FIX CONFIG: Adding USE_ACC, USE_GYRO and USE_BARO where appropriate. by @blckmn in #12477 [4.4.1] FIX CONFIG: Adding USE_FLASH to enable where hardware supports by @blckmn in #12499 Full Changelog: 4.4.0...4.4.1 Lire la source

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. Get it here: Lua Compatibility This is a bugfix release (bug-fixes only, no new targets or features) and is compatible with V3.X. Who should update from V3.2.0? There are minor fixes that benefit all users, so ideally everyone should update, however some fixes will be more important for: Users with Skystars SS24D receivers Users with Emax 900Mhz transmitter modules Users with Radiomaster Zorro, TX12 or TX16S handsets, with internal ELRS modules Users within the EU_LBT region Maintenance Hide the 'Reset Runtime Options' button in webui if runtime options are not customized #2053 Tweak output power values for Emax 900Mhz targets #2126 Fixes Fix Skystars SS24D target layout #2078 Fix "random hangs" when using the EU_LBT region, and a "channel in use" is detected #2055 Fix issue where some MSP commands would be mistakenly processed by the RX as RX commands #2062 Fix race condition in Telemetry #2103 Display the correct UID (the one that is currently being used) in the webui #2112 Fix the displayed telemetry bandwidth in LUA when using F1000 TLM 1:2 #2118 Fix "AST node column out of range", python 3.11 support (#2116) #2138 Fixed an issue that caused RF power to increase past the set limit on TX modules that use the SKY85321 #2142 Known Issues Changing the packet rate via the screen + 5way while a link is active between TX and RX may sometimes result in a failure to re-link after the rate change. Reverting back to the previous packet rate will recover the link. The current workaround for this issue is to use the LUA to change packet rates, which is not affected by this problem. Lire la source

Open bottle of Champagne (live stream) 🙂 Added DJI O3 HD OSD support Fixed startup messages visibility on HD systems. HD is just too slow to boooooooooooooooot 😉 Disabled Factory Reset functionality/button if lipo is connected (Safety first!) Lire la source

Hello and welcome to INAV 6 "Horizon Hawk" Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for help on: INAV Discord Server INAV Official on Facebook Tested and suggested hardware can be found here Important Notes The STM32 F3 code was removed from repository, it's no longer possible to compile F3 locally Upgrading from a previous release Upgrading from INAV 5 and 5.1 Download and install the new configurator Save to a file the current diff all from the CLI. Upgrade to INAV 6 using the Full Erase option in the configurator. Upload your OSD font of choice from the OSD tab. Run your INAV 5.x diff through this tool. It will update some of the changed CLI parameters (See these release notes). Please pay special attention to the ahrs_inertia_comp_method parameter, as this must be correct for your platform. See the release notes below. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER. There are a large number of 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 6.0 features, and enjoy! Upgrading from older versions Please follow the instructions on this page. Important changes New AHRS (Attitude & Heading Reference System) INAV 6.0 includes a complete rework of the AHRS for Attitude Estimation, to make sure INAV always knows its correct attitude relative to the ground. This should once and for all fix the issue, known as "Horizon Drift" and makes any navigation mode as well as self-levelling modes like ANGLE fully reliable and allows much more precise GPS-Navigation. This affects Fixed Wing as well as Multirotor. The best results are given if the craft is equipped with GPS and in the case of Multirotor also with a compass. But also for pure LOS Craft that have no GPS on board, the AHI stability is noticeably improved in most situations. To work best with non-GPS Fixed Wings, the Reference Airspeed has to be set according the average cruise speed of the craft. When Updating from INAV 5.1 or older If you load a diff file from INAV 5.1 or older, it is safe to ignore errors related to imu_acc_ignore_rate, imu_acc_ignore_slope, imu_dcm_kp, imu_dcm_kp_map, or imu_dcm_ki_mag. These variables behave differently in 6.0 and have been renamed. You should use the default values of the new parameter first. Below are the new parameter defaults. set ahrs_acc_ignore_rate = 15 set ahrs_acc_ignore_slope = 5 set ahrs_dcm_kp = 2000 set ahrs_dcm_ki = 50 set ahrs_dcm_kp_mag = 2000 set ahrs_dcm_ki_mag = 50 ahrs_inertia_comp_method If you have used the Feature Preview release, your diff, you may have the parameter imu_inertia_comp_method. If not and you are coming from INAV 5.0 or 5.1, you may need to add the new parameter shown below. Firstly, if you have imu_inertia_comp_method in your diff, you can remove that line. If you are using fixed wing, you should add this new parameter to the # master section of your diff: set ahrs_inertia_comp_method = ADAPTIVE For all other platforms, you do not need to add anything. The default value of VELNED is correct for non-fixed wing platforms. For Fixed Wing Craft with no GPS: set fw_reference_airspeed = (set this in cm/s. Set this to airspeed at which PIDs were tuned. Usually should be set to cruise airspeed. Also used for coordinated turn calculation if airspeed sensor is not present.) HUD Offset change The operation of osd_horizon_offset has been reversed, to make it more intuitive. If you have a non-zero value for osd_horizon_offset it will need to be inverted. For example, osd_horizon_offset = 1 would become osd_horizon_offset = -1. Positive values move the HUD up, and negative values move it down. This is corrected with the CLI Update tool. RTH Trackback When triggered the craft returns along the trackback route until the end is reached at which point it reverts to normal RTH heading directly home. It doesn't perform the RTH climb phase but instead uses the track point altitude but with altitude never allowed below the altitude of the start point so it can climb but never descend below the start point. OFF by default, adjust nav_rth_trackback_mode to enable. For details see #7988 Accelerometer calibration is optional Accelerometer calibration is required only if any of the Accelerometer Based Flight Modes or Failsafe procedures is configured. For example, ACC calibration will be needed when Failsafe RTH is enabled, or any GPS assisted flight modes is configured. Acro only multirotor and fixed wings do not require calibration. nav_extra_arming_safety OFF option The off option has been removed from nav_extra_arming_safety. Instead, the allow_bypass can be used for with the same effect. To allow the bypass, yaw right and arm. The extra arming safety features will be disabled until the next power cycle of the battery. Please update your diff if you use this parameter; either manually, or using this tool. Improved fixed wing waypoint course tracking Attempts to improve fixed wing WP course tracking accuracy by adding a couple of options: Tracking accuracy option that forces craft toward the waypoint course line as quickly as possible and actively tracks the line thereafter. A single setting adjusts the strength of the tracking behaviour. Works for WP mode and RTH trackback. Option is disabled by default. Turn smoothing option for waypoint turns. Sets a loiter point within the turn such that the craft follows a loiter turn path that either passes through the waypoint or cuts the turn missing the waypoint (2 settings possible). Only works for WP mode. Option is disabled by default. See #8234 for details Support for Hardware In The Loop simulator in X-Plane 11 INAV flight controller can be used with X-Plane 11 flight simulator. Very useful for training, testing and debugging. Requires X-Plane 11 and HITL Plugin https://github.com/RomanLut/INAV-X-Plane-HITL Waypoint multi-mission in flight mission change Allows WP multi-missions to be changed in flight using new mission change mode. With mode active the required mission index can be selected by cycling through missions using the WP mode switch. Selected mission is loaded when mission change mode is switched off. Mission index can also be changed through addition of a new Mission Index adjustment function which should be useful for DJI users unable to use the normal OSD mission related fields. See #8354 for details MSP DisplayPort fixes and updates INAV has now support for various flavours of the MSP DisplayPort protocol used by HDZero, DJI Goggles 2, Walksnail Avatar or WTFOS. Based on the osd_video_system setting different canvas sizes and glyphs are used. Available options are: AUTO - for analogue systems only PAL NTSC HDZERO DJIWTF AVATAR BF43COMPAT - keep the compatibility with Betaflight 4.3 implementation by lowering canvas size, lowering the number of OSD glyphs and matching to Betaflight character mapping. Required for DJI MSP DisplayPort with DJI O3 Air Unit Enhance programming options for waypoint missions NOTE: Please read this section if you are using the Programming Framework (Programming tab). The programming framework surrounding waypoints has changed. This has caused a conflict in compatibility with previous versions of INAV. If you use anything in the programming tab. Please run your diff through this conversion tool, to keep your logic conditions working. Please feel free to check out the new waypoint related logical switch operands in the Programming Framework document. Increase nav_wp_safe_distance maximum nav_wp_safe_distance has been replaced with nav_wp_max_safe_distance. This setting uses metres, and used to define the maximum distance away that the first waypoint can be. Please update your diff if you use this parameter; either manually, or using this tool. Stop allowing navigation modes to be active while arming The ability to arm the craft while in a navigation mode has been removed. The only people who this will effect are those who use permanently enabled autolaunch. Pre-6.0 you could arm while in a navigation mode. However this is dangerous, as it is easy to not realise, arm, disable the launch, then have the motor go to the cruise throttle. You will still be able to use a navigation mode as the exit mode from a launch. You just need to use the correct procedure for initiating the launch: Be in a non-navigation mode Arm Select the flight mode that you want to use on launch exit Raise the throttle to the level you want on launch exit The motor will enter idle if idle throttle is used, or await being thrown Throw the plane in to the air, and autolaunch will trigger Disarm on land by default The disarm on landing flag is now set to ON by default. This means, after successful automated landing your aircraft should disarm and stop the motors automatically! Automated landing manual activation Allows an emergency landing to be triggered manually as required. Landing started or ended by rapid toggling of PosHold mode, at least 5 times at a minimum rate of 1Hz. Emergency landing position hold added which will work for all emergency landings regardless of cause so long as a valid position is available. Failsafe inhibited during manual emergency landing to allow landing to continue if Failsafe triggered whilst active. Other changes Gyro noise peaks are now logged into blackbox as separate fields, not debug options. Setting documentation Raw gyro signal is now logged into blackbox as separate field, not debug options. Setting documentation Adds auto smoothing of RC input based on RX refresh rate. Disabled by default, can be enabled with SET rc_filter_auto=ON Wind Estimator is now giving proper results 3D Matrix filter improves PID tuning on noisy Multirotors. See #8253 Strobe lights support. See #8536 Kakute H7 V2 Invert PINIO2 so VTX is ON by default See #8628 Other removed functions MTK GPS protocol support NAZA GPS protocol support BNO055 Secondary IMU function MPU6050 gyro support SPI RX protocol support JR XBUS RX protocol support SUMH RX protocol support New targets Foxeer F722 V4 Foxeer F745 AIO V3 Kakute H7 V2 SpeedyBee F745 AIO Zeez F7 V3 Diatone Mamba F722 WING AocodaRC F4 V2 HakRC F722D HakRC F411 AIO HakRC F405 DJI GEPRC F722 AIO SpeedyBee F405 WING CLI Changed settings Note: nav_extra_arming_safety The OFF option has been removed. ON and ALLOW_BYPASS are now the only valid options. ALLOW_BYPASS permits arming in "navigation unsafe" condition by temporally applying full right yaw when operating the arm switch. Name Values acc_hardware Removed: MPU6050 debug_modes New: POS_EST, Removed: GYRO, SBUS, FPORT, ERPM, RPM_FILTER, RPM_FREQ, DYNAMIC_FILTER, DYNAMIC_FILTER_FREQUENCY, IRLOCK, KALMAN_GAIN, PID_MEASUREMENT, SPM_CELLS, SPM_VS600, SPM_VARIO, IMU2, SMITH_PREDICTOR gps_provider Removed: UNUSED, NAZA, MTK mag_hardware Removed: GPSMAG nav_extra_arming_safety Removed: OFF osd_video_system New: HDZERO, DJIWTF, AVATAR, BF43COMPAT receiver_type Removed: SPI serial_rx Removed: SUMH, XB-B, XB-B-RJ01 New Items Name Description dynamic_gyro_notch_3d_q Q factor for 3D dynamic notches Values: 1 - 1000 Default: 200 dynamic_gyro_notch_mode Gyro dynamic notch type Default: 2D failsafe_mission_delay Applies if failsafe occurs when a WP mission is in progress. Sets the time delay in seconds between failsafe occurring and the selected failsafe procedure activating. If set to -1 the failsafe procedure won't activate at all and the mission will continue until the end. Values: -1 - 600 Default: 0 imu_gps_yaw_windcomp Wind compensation in heading estimation from gps groundcourse(fixed wing only) Default: TRUE imu_inertia_comp_method Inertia force compensation method when gps is avaliable, VELNED use the accleration from gps, TURNRATE calculates accleration by turnrate multiplied by speed, ADAPTIVE choose best result from two in each ahrs loop Default: VELNED nav_auto_disarm_delay Delay before craft disarms when nav_disarm_on_landing is set (ms) Values: 100 - 10000 Default: 1000 nav_fw_launch_abort_deadband Launch 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. Values: 2 - 250 Default: 100 nav_fw_launch_manual_throttle Allows launch with manually controlled throttle. INAV only levels wings and controls climb pitch during launch. Throttle is controlled directly by throttle stick movement. IF USED WITHOUT A GPS LOCK plane must be launched immediately after throttle is increased to avoid issues with climb out stabilisation and the launch ending sooner than expected (launch end timer starts as soon as the throttle stick is raised). Default: FALSE nav_fw_wp_tracking_accuracy Waypoint tracking accuracy forces the craft to quickly head toward and track along the waypoint course line as closely as possible. Settings 1 to 10 adjust the course tracking response. Higher values dampen the response reducing possible overshoot. A value of 5 is a good starting point. Set to 0 to disable. Values: 0 - 10 Default: 0 nav_fw_wp_tracking_max_angle Sets the maximum allowed alignment convergence angle to the waypoint course line when nav_fw_wp_tracking_accuracy is active [degrees]. Lower values result in smoother alignment with the course line but will take more distance until this is achieved. Values: 30 - 80 Default: 60 nav_fw_wp_turn_smoothing Smooths turns during WP missions by switching to a loiter turn at waypoints. When set to ON the craft will reach the waypoint during the turn. When set to ON-CUT the craft will turn inside the waypoint without actually reaching it (cuts the corner). Default: OFF nav_land_detect_sensitivity Changes sensitivity of landing detection. Higher values increase speed of detection but also increase risk of false detection. Default value should work in most cases. Values: 1 - 15 Default: 5 nav_rth_trackback_distance Maximum distance allowed for RTH trackback. Normal RTH is executed once this distance is exceeded [m]. Values: 50 - 2000 Default: 500 nav_rth_trackback_mode Useage modes for RTH Trackback. OFF = disabled, ON = Normal and Failsafe RTH, FS = Failsafe RTH only. Default: OFF nav_wp_max_safe_distance First waypoint in the mission should be closer than this value [m]. A value of 0 disables this check. Values: 0 - 1500 Default: 100 osd_ahi_pitch_interval Draws AHI at increments of the set pitch interval over the full pitch range. AHI line is drawn with ends offset when pitch first exceeds interval with offset increasing with increasing pitch. Offset direction changes between climb and dive. Set to 0 to disable (Not for pixel OSD) Values: 0 - 30 Default: 0 osd_msp_displayport_fullframe_interval Full Frame redraw interval for MSP DisplayPort [deciseconds]. This is how often a full frame update is sent to the DisplayPort, to cut down on OSD artifacting. The default value should be fine for most pilots. Though long range pilots may benefit from increasing the refresh time, especially near the edge of range. -1 = disabled (legacy mode) , 0 = every frame (not recommended) , default = 10 (1 second) Values: -1 - 600 Default: 10 pilot_name Pilot name Default: rc_filter_auto When enabled, INAV will set RC filtering based on refresh rate and smoothing factor. Default: FALSE rc_filter_lpf_hz RC data biquad filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay. Practical values are 20-50. Set to zero to disable entirely and use unsmoothed RC stick values Values: 15 - 250 Default: 50 rc_filter_smoothing_factor The RC filter smoothing factor. The higher the value, the more smoothing but also the more delay in response. Value 1 sets the filter at half the refresh rate. Value 100 sets the filter to aprox. 10% of the RC refresh rate Values: 1 - 100 Default: 30 Removed Items Name Description baro_median_filter eleres_freq eleres_loc_delay eleres_loc_en eleres_loc_power eleres_signature eleres_telemetry_en eleres_telemetry_power failsafe_mission see new failsafe_mission_delay imu2_align_pitch imu2_align_roll imu2_align_yaw imu2_gain_acc_x imu2_gain_acc_y imu2_gain_acc_z imu2_gain_mag_x imu2_gain_mag_y imu2_gain_mag_z imu2_hardware imu2_radius_acc imu2_radius_mag imu2_use_for_osd_ahi imu2_use_for_osd_heading imu2_use_for_stabilized nav_fw_auto_disarm_delay See generic nav_auto_disarm_delay nav_mc_auto_disarm_delay See generic nav_auto_disarm_delay nav_wp_safe_distance see nav_wp_max_safe_distance rc_filter_frequency rx_spi_id rx_spi_protocol rx_spi_rf_channel_count Changelist The full list of changes is available here The full list of INAV Configurator changes is available here What's Changed from INAV 5.1 Update VTx.md by @MrD-RC in #8825 not even INAV should dereference NULL pointers by @stronnag in #8862 Disable stick commands when CMS is active by @breadoven in #8870 Add GEPRC new target "GEPRC_F722_AIO" by @YI-BOYANG in #8570 [tools] add script to generate Release Notes CLI new/changed/removed settings sections by @stronnag in #8784 Update Programming Framework.md by @MrD-RC in #8797 CMS Save and Reboot eeprom save fix by @breadoven in #8793 Make CLI string input uppercase by @MrD-RC in #8804 docs/Programming framework: Fix typo, add examples by @sensei-hacker in #8805 Update Temperature sensors.md by @WizzX-FPV in #8811 Multirotor Failsafe landing detection false trigger fix by @breadoven in #8813 add icm42688p support in MATEKF405SE target by @MATEKSYS in #8812 Continuous Servo Autotrim Fix (Replacement for #8816) by @Scavanger in #8821 Improved wind estimator - OSD stale reading state by @MrD-RC in #8832 AXISFLYINGF7PRO target by @nmaggioni in #8831 Added AUTOLEVEL system message and updated pitch trim on screen by @tiriad in #8815 Add MSP_BATTERY_STATE for DJI Googles battery display by @mmosca in #8846 Add a mapping for 3D kph and mph symbols by @DzikuVx in #8761 Pan Enhancements and cardinal markers for ESP32 Radar by @MrD-RC in #8699 Fix WS2812 led definition in IFLIGHT_BLITZ_F722 target by @mmosca in #8770 ahrs parameter names change by @shota3527 in #8767 Fix formatting of decimal numbers in BF43COMPAT display mode by @mmosca in #8776 Simplify and fix altitude processing for BF43COMPAT by @DzikuVx in #8779 Clean old box comments by @JulioCesarMatias in #8076 Update Omnibus F4.md by @gigabytebit in #8088 Remove the rest of the PCA9685 driver by @JulioCesarMatias in #8085 Fix mixing motor and servo on same timer. by @sasodoma in #8071 [fc/fc_msp_box.c] Remove uncompiled line by @JulioCesarMatias in #8077 Clear the #if 0 by @JulioCesarMatias in #8118 Target release cleanup by @DzikuVx in #8108 Make use of calc_length_pythagorean_2D on some lines by @JulioCesarMatias in #8101 Edit GPS Provider list by @JulioCesarMatias in #8102 [flash_m25p16.c] Add W25Q128 variant by @JulioCesarMatias in #8054 Drop MTK GPS by @JulioCesarMatias in #8084 RTH Trackback by @breadoven in #7988 Remove nav_extra_arming_safety = OFF option by @MrD-RC in #8106 Fix PC2/PC3 ADC not working on MAMBAH743 by @hogthrob in #8149 [BMP280] Allow target-specific I2C address definition by @RomanLut in #8129 Drop support for NAZA GPS by @DzikuVx in #8144 Release 5.0.0 by @DzikuVx in #8061 Fix wrong merge by @DzikuVx in #8151 INAV 6 version bump by @DzikuVx in #8141 Set Gyro Raw as an independent Blackbox field, not debug mode by @DzikuVx in #8139 [cli.c] RC map code aesthetics by @JulioCesarMatias in #8153 Remove F3 from the codebase by @DzikuVx in #8053 Settings.md: Document osd_ahi_reverse_roll by @sensei-hacker in #8167 Drop a function used only in STM32F3 by @JulioCesarMatias in #8164 Drop the BNO055 I2C version by @DzikuVx in #8168 Drop the JR XBUS support as not used by @DzikuVx in #8176 Remove an unused definition by @JulioCesarMatias in #8181 Reorder box_t to save few hundreds of bytes by @JulioCesarMatias in #8180 Drop SPI RX as not used by any supported hardware by @DzikuVx in #8173 Reset fixed wing heading status on disarm by @breadoven in #8160 OmnibusF4 RX serial fix by @breadoven in #8175 Increased FW launch abort pitch/roll stick dead band by @breadoven in #8161 Remove additional validation for motor rate by @DzikuVx in #8174 Fix surface mode msp box availability logic by @breadoven in #8171 Update VTx.md by @MrD-RC in #8187 Opimise navwaypoint_t stuct alignment by @stronnag in #8182 Optimize memory for better alignment by @DzikuVx in #8183 Fix RX Serial Enumeration by @JulioCesarMatias in #8191 Remove unused rxRefreshRate by @JulioCesarMatias in #8189 Configurator: Reset PIDs button to use applied defaults by @MrD-RC in #8185 Log gyro noise peaks as separate fields by @DzikuVx in #8197 Drop SUMH RX protocol by @DzikuVx in #8198 Update jetiexbus.c by @RoadyFPV in #8202 Support for Flash Memory W25N01G of 128MB by @JulioCesarMatias in #8166 [STM32F3] Remove everything else by @JulioCesarMatias in #8204 Debug cleanup by @DzikuVx in #8211 [Building in Linux.md] Fix Typo by @JulioCesarMatias in #8222 Remove unused header file by @JulioCesarMatias in #8221 Drop the MPU-6050 Support by @JulioCesarMatias in #8213 Remove barometer median filter by @digitalentity in #8201 OSD PG reset template version bump by @breadoven in #8217 Nav launch stick abort deadband setting by @breadoven in #8218 RC interpolation updates by @DzikuVx in #8212 [config_eeprom.c] Replace a function with another one that already exists in the library by @JulioCesarMatias in #8215 Report motor RPM via MSP by @DzikuVx in #8225 Make HUD offset more intuitive by @MrD-RC in #8226 Nav launch manual throttle option by @breadoven in #8134 Remove some NO optimizations made by MCU_FLASH_SIZE by @JulioCesarMatias in #8230 fixed wind estimator by @RomanLut in #8228 fixed wind direction icon on osd by @RomanLut in #8227 Update Building in Windows 10 or 11 with MSYS2.md by @pwnept in #8248 Update Matrix Filter to 3D Matrix Filter by @DzikuVx in #8253 Add glide time, glide distance, and climb efficiency OSD elements by @MrD-RC in #8081 Update PPM by @MrD-RC in #8269 Updated profiles.md doc by @MrD-RC in #8279 Add USER3 mode by @shellixyz in #8276 Add target: NEUTRONRCH7BT by @shellixyz in #8277 Enforce waypoint altitude tolerance fix by @breadoven in #8280 Improved fixed wing waypoint course tracking by @breadoven in #8234 Allow autolevel in nav_course_hold_mode by @FinalFrag in #8178 Fix altitude conversion in MSP_SET_RAW_GPS by @stronnag in #8337 Updated CMS GPSNAV PIDs by @breadoven in #8326 make use of the MS2S macro whenever possible by @JulioCesarMatias in #8332 Support for Hardware In The Loop simulator in X-Plane 11 by @RomanLut in #8268 fixed BOX_PERMANENT_ID_USER3 collision by @RomanLut in #8346 Use ARRAYLEN macro where applicable by @JulioCesarMatias in #8323 Fix uint8_t to bool by @JulioCesarMatias in #8325 Rename pitotCalculateAirSpeed() by @JulioCesarMatias in #8330 INAV 5.1.0 Release branch by @DzikuVx in #8186 Mamba 2022B targets by @DzikuVx in #8368 Fix S1 by removing LED conflict by @DzikuVx in #8371 [OMNIBUSF4V3] Add BMI270 support by @JulioCesarMatias in #8351 [fc_core.c] Rename annexCode void by @JulioCesarMatias in #8329 Drop the old HIL by @JulioCesarMatias in #8281 Missing Nav default settings fix by @breadoven in #8396 Treat wp.p3 as bitfield by @stronnag in #8393 HakRC F405 DJI target by @nmaggioni in #8384 HakRC F722D target by @nmaggioni in #8387 Re-order boxmodes to have as little disruption to 5.1 as possible by @MrD-RC in #8394 added scripts to update Settings.md with Docker by @RomanLut in #8350 HakRC F411 AIO target by @nmaggioni in #8385 WP mode failsafe delay setting by @breadoven in #8363 Nav landing fixes by @breadoven in #8358 Waypoint multi-mission in flight mission change by @breadoven in #8354 Make sure first motorCount outputs get assigned to motor on MR by @mluessi in #8289 make use of the US2S macro whenever possible by @JulioCesarMatias in #8331 [INS] Use Acc and Gyro calibration validation to calibrate the 1G of the acceleration by @JulioCesarMatias in #8214 [HITL Mode] Make a "makeup" in the algorithm by @JulioCesarMatias in #8356 Enable LEDs by default on JBF7PRO by @nmaggioni in #8412 iNav to INAV by @DzikuVx in #8410 set GPS timeout to 2000ms by @stronnag in #8423 Add landing sensitivity setting + duplicate setting fix by @breadoven in #8427 fix "Blackbox Internals" encoding and update by @stronnag in #8431 MSP Displayport by @DzikuVx in #8435 Mamba f722 wing target by @DzikuVx in #8436 Add macro data conversion to MPU by @JulioCesarMatias in #8432 enable virtual pitot on F411 and F722 by @shota3527 in #8428 mavlink telemetry half/full duplex support by @RomanLut in #8274 Throw out all the setup part of the Gyro interrupt routine by @JulioCesarMatias in #8199 Allow more applied_defaults by @DzikuVx in #8437 Disable stick commands if in CLI by @MrD-RC in #8406 Fix bool values by @JulioCesarMatias in #8445 Pass the variable from uint8_t to bool by @JulioCesarMatias in #8444 ZEEZF7V3 target by @nmaggioni in #8442 Add ZeroFArray Macro and make use of it in some parts by @JulioCesarMatias in #8447 Rename the LOG function macros by @JulioCesarMatias in #8446 Stop showing all LCs for every LC set in dump by @MrD-RC in #8448 inav->INAV... redo by @DzikuVx in #8468 Add 2nd PINIO to MATEKF405SE for better use of resources by @MrD-RC in #8438 Add target KAKUTEF4V23. Support for M5 and M6 outputs. by @marianomd in #8135 Update virtual pitot to use 3d speed by @shota3527 in #8458 AHRS centrifugal force compensation by @shota3527 in #8403 Added support for DJI wtfos MSP-OSD full screen 60x22 OSD by @jeffhendrix in #8434 New SpeedyBee targets by @DzikuVx in #8478 Update Github actions version by @JulioCesarMatias in #8481 [Displayport MSP] Add Macros by @JulioCesarMatias in #8480 Update PixRacer README.md by @JulioCesarMatias in #8486 Fix read of DPS310 coef C11 by @JulioCesarMatias in #8485 Fix MPU6000 for HAKRCKD722 by @nmaggioni in #8493 Fix MPU6000 for HAKRCF405D by @nmaggioni in #8492 Drop IMU2 functionality by @DzikuVx in #8491 fix lpf config for bmi270/bmi160 by @shota3527 in #8495 add target aocodarcf4v2 by @dlt2018 in #8416 Add support HDZero 30x16 mode by @geoffsim in #8476 Drop some PPM definitions by @JulioCesarMatias in #8515 Update gyro orientation for Mamaba H743_2022B by @DzikuVx in #8505 Kakute H7 V2 by @DzikuVx in #8522 [target] Clear some unused defitions by @JulioCesarMatias in #8517 Added link to "something disabled" wiki by @MrD-RC in #8524 Fix heading graph on PixelOSD by @MrD-RC in #8526 [scheduler.c] Remove duplication by @JulioCesarMatias in #8556 RTH Trackback - suspend track recording on fixed wing during Loiter by @breadoven in #8512 Add PINIO 3 & 4 plus MATEKF722PX_PINIO target by @MrD-RC in #8401 Update ci.yml by @MrD-RC in #8560 Foxeer F722 V4 by @DzikuVx in #8544 Update Battery.md by @MrD-RC in #8559 [ci] remove remaining instances of ubuntu-18.04 by @stronnag in #8562 Waypoint turn smoothing and tracking accuracy improvements by @breadoven in #8519 OSD AHI pitch interval redraw option by @breadoven in #7018 Correct Omnibus readme by @sensei-hacker in #8573 Use course over ground as the default for fixed wing navigation "heading" by @breadoven in #8529 Changed CleanFlight to INAV by @MrD-RC in #8583 Fix incorrect temperature shown on OSD by @JulioCesarMatias in #8539 Remove unnecessary parameters from profiles by @MrD-RC in #8451 Increase nav_wp_safe_distance maximum by @MrD-RC in #8589 Add EDGE, DELAY, DELTA, APPROX_EQUAL switches and TIMER to Logic Conditions by @MrD-RC in #8581 Add symbols for remaining time/distance by @MrD-RC in #8584 Update target AOCODARCF7DUAL and remove MPU6500 by @dlt2018 in #8510 New debug_mode POS_EST that is useful for autonomous flight by @ricardodeazambuja in #8549 Foxeer F745AIO V3 by @DzikuVx in #8543 Change logo size for future enhancements by @MrD-RC in #8585 Fixed wing Nav altitude control fix by @breadoven in #8590 OSD Ground Course and Cross Track Error by @breadoven in #8604 Throttle low clean up by @breadoven in #8601 Waypoint accuracy tweak by @breadoven in #8620 Update target.h for AtomRC F405 NAVI by @DzikuVx in #8610 Stop allowing navigation modes to be active while arming. by @MrD-RC in #8611 Kakute H7 V2 Invert PINIO2 so VTX is ON by default by @DzikuVx in #8628 Add a BF4.3 Compatible restricted OSD implementation. by @mmosca in #8631 Update Navigation.md by @b14ckyy in #8633 Increase number of voltage digits in BF compatibility mode OSD by @mmosca in #8634 Be consistent in using #ifdef USE_SAFE_HOME by @sensei-hacker in #8635 [CLI] add missing arming flag name by @stronnag in #8637 Fix X8 mode on FoxeerF722V4 by @DzikuVx in #8644 fixed crsf attitude yaw overflow by @RomanLut in #8638 changed WP mode priority in crsf telemetry by @RomanLut in #8639 Nav "Yaw" usage refactor by @breadoven in #8643 Fix git security issue with docker build by @skeet70 in #8558 Add more symbols to BF43 translation table. by @mmosca in #8641 Consolidate post flight and non-essential save calls in to a single save action by @MrD-RC in #8439 add new target 'AOCODARCF722MINI' by @dlt2018 in #8472 [doc] document changes introduced by #8446 by @stronnag in #8660 Fixed wing climb rate fool proofing fix by @breadoven in #8661 OSD Heading field fix + field display index update by @breadoven in #8624 Emergency arming simplification by @breadoven in #8659 use MAX_SUPPORTED_RC_CHANNEL_COUNT instead of hardcoded 16 by @RomanLut in #8676 Add version info to cliStatus by @OptimusTi in #8671 Fix Docker build UID/GID mapping by @nmaggioni in #8679 Unused Baro filter fix by @breadoven in #8688 DEBUG_ALTITUDE fix by @breadoven in #8693 RTH Trackback fix by @breadoven in #8697 Rename functions to avoid confusion why it does not write eeprom by @sakisdog in #8690 Updates to CLI Outputs by @MrD-RC in #8689 send value throttle in telemetry exactly as shown on osd by @RomanLut in #8652 Update RUSH_BLADE_F7 and add RUSH_BLADE_F7_HD targets by @nmaggioni in #8680 Enhance programming options for waypoint missions by @MrD-RC in #8579 Update MSPDisplayPort and add Walksnail Avatar settings by @MrD-RC in #8654 Update Building in Windows with MSYS2.md by @pwnept in #8702 Change tz_offset min and max by @MrD-RC in #8470 Use BF SYM_AH_BAR9_4 as replacement for INAV SYM_AH_V_START family in BF Compatibility OSD mode by @mmosca in #8709 FW Nav Course Hold control method change by @breadoven in #8586 Disarm on land by default by @DzikuVx in #8711 Updates in the display of wind estimator by @shota3527 in #8523 Disable mAh scaling for BF compatibility by @DzikuVx in #8717 Add RPM symbol translation by @DzikuVx in #8718 Switch H7 to -Ofast optimizations by @DzikuVx in #8719 Add strobe overlay to RGB LEDs by @mmosca in #8536 Add pilot name by @MrD-RC in #8720 Fixed wing OSD home heading arrow and error fix by @breadoven in #8723 Fix MATEK F405SE and F722PX targets with PINIO by @MrD-RC in #8728 Fix build error in osd.c when USE_MSP_DISPLAYPORT is not defined. by @mmosca in #8729 [Doc] update blackbox.md for 6.0 cli options by @stronnag in #8732 Landing detector improvements by @breadoven in #8737 Manual emergency landing FW and MR by @breadoven in #8686 Correct INAv to INAV by @pwnept in #8746 add icm42688p support in MATEKF411TE target by @MATEKSYS in #8748 Landing detection invalid velocity protection by @breadoven in #8743 Update Flight Mode operand in programming framework by @MrD-RC in #8747 New Contributors @gigabytebit made their first contribution in #8088 @sasodoma made their first contribution in #8071 @hogthrob made their first contribution in #8149 @RoadyFPV made their first contribution in #8202 @pwnept made their first contribution in #8248 @FinalFrag made their first contribution in #8178 @shota3527 made their first contribution in #8428 @marianomd made their first contribution in #8135 @ricardodeazambuja made their first contribution in #8549 @mmosca made their first contribution in #8631 @b14ckyy made their first contribution in #8633 @skeet70 made their first contribution in #8558 @sakisdog made their first contribution in #8690 @WizzX-FPV made their first contribution in #8811 @YI-BOYANG made their first contribution in #8570 Full Changelog: 5.1.0...6.0.0 Lire la source

Added Factory Reset. GUI 3.0.24 required. Added GUI presets to OSD (FC config, PIDS page, hold select) Added mouse support on all pages of the OSD Fixed menu visibility of certain items only when they make sense 🙂 Fixed bug with wrong cc pad mode set, when config was migrated from v1 blheli setup to v2 kiss setup. (Thank you Alin Victor) Fixed bug of sensor moving on VERY fast mouse movements in HD osd editor. (Thank you Alin Victor and MANDOXsquid) Lire la source

Added mouse support for osd mirror (Thank you MikeP, Alin Victor, EbrFPV and many others for testing and feedback!) Added flight performance parameters to inflight tuning (AF and BF) Added confirmation beeps on all configuration changes Lire la source

Hello and welcome to INAV 6 "Horizon Hawk" Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for help on: INAV Discord Server INAV Official on Facebook Tested and suggested hardware can be found here Important Notes The STM32 F3 code was removed from repository, it's no longer possible to compile F3 locally Upgrading from a previous release Upgrading from INAV 5 and 5.1 Download and install the new configurator Save to a file the current diff all from the CLI. Upgrade to INAV 6 using the Full Erase option in the configurator. Upload your OSD font of choice from the OSD tab. Run your INAV 5.x diff through this tool. It will update some of the changed CLI parameters (See these release notes). Please pay special attention to the ahrs_inertia_comp_method parameter, as this must be correct for your platform. See the release notes below. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER. There are a large number of 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 6.0 features, and enjoy! Upgrading from older versions Please follow the instructions on this page. Important changes New AHRS (Attitude & Heading Reference System) INAV 6.0 includes a complete rework of the AHRS for Attitude Estimation, to make sure INAV always knows its correct attitude relative to the ground. This should once and for all fix the issue, known as "Horizon Drift" and makes any navigation mode as well as self-levelling modes like ANGLE fully reliable and allows much more precise GPS-Navigation. This affects Fixed Wing as well as Multirotor. The best results are given if the craft is equipped with GPS and in the case of Multirotor also with a compass. But also for pure LOS Craft that have no GPS on board, the AHI stability is noticeably improved in most situations. To work best with non-GPS Fixed Wings, the Reference Airspeed has to be set according the average cruise speed of the craft. When Updating from INAV 5.1 or older If you load a diff file from INAV 5.1 or older, it is safe to ignore errors related to imu_acc_ignore_rate, imu_acc_ignore_slope, imu_dcm_kp, imu_dcm_kp_map, or imu_dcm_ki_mag. These variables behave differently in 6.0 and have been renamed. You should use the default values of the new parameter first. Below are the new parameter defaults. set ahrs_acc_ignore_rate = 15 set ahrs_acc_ignore_slope = 5 set ahrs_dcm_kp = 2000 set ahrs_dcm_ki = 50 set ahrs_dcm_kp_mag = 2000 set ahrs_dcm_ki_mag = 50 ahrs_inertia_comp_method If you have used the Feature Preview release, your diff, you may have the parameter imu_inertia_comp_method. If not and you are coming from INAV 5.0 or 5.1, you may need to add the new parameter shown below. Firstly, if you have imu_inertia_comp_method in your diff, you can remove that line. If you are using fixed wing, you should add this new parameter to the # master section of your diff: set ahrs_inertia_comp_method = ADAPTIVE For all other platforms, you do not need to add anything. The default value of VELNED is correct for non-fixed wing platforms. For Fixed Wing Craft with no GPS: set fw_reference_airspeed = (set this in cm/s. Set this to airspeed at which PIDs were tuned. Usually should be set to cruise airspeed. Also used for coordinated turn calculation if airspeed sensor is not present.) HUD Offset change The operation of osd_horizon_offset has been reversed, to make it more intuitive. If you have a non-zero value for osd_horizon_offset it will need to be inverted. For example, osd_horizon_offset = 1 would become osd_horizon_offset = -1. Positive values move the HUD up, and negative values move it down. This is corrected with the CLI Update tool. RTH Trackback When triggered the craft returns along the trackback route until the end is reached at which point it reverts to normal RTH heading directly home. It doesn't perform the RTH climb phase but instead uses the track point altitude but with altitude never allowed below the altitude of the start point so it can climb but never descend below the start point. OFF by default, adjust nav_rth_trackback_mode to enable. For details see #7988 Accelerometer calibration is optional Accelerometer calibration is required only if any of the Accelerometer Based Flight Modes or Failsafe procedures is configured. For example, ACC calibration will be needed when Failsafe RTH is enabled, or any GPS assisted flight modes is configured. Acro only multirotor and fixed wings do not require calibration. nav_extra_arming_safety OFF option The off option has been removed from nav_extra_arming_safety. Instead, the allow_bypass can be used for with the same effect. To allow the bypass, yaw right and arm. The extra arming safety features will be disabled until the next power cycle of the battery. Please update your diff if you use this parameter; either manually, or using this tool. Improved fixed wing waypoint course tracking Attempts to improve fixed wing WP course tracking accuracy by adding a couple of options: Tracking accuracy option that forces craft toward the waypoint course line as quickly as possible and actively tracks the line thereafter. A single setting adjusts the strength of the tracking behaviour. Works for WP mode and RTH trackback. Option is disabled by default. Turn smoothing option for waypoint turns. Sets a loiter point within the turn such that the craft follows a loiter turn path that either passes through the waypoint or cuts the turn missing the waypoint (2 settings possible). Only works for WP mode. Option is disabled by default. See #8234 for details Support for Hardware In The Loop simulator in X-Plane 11 INAV flight controller can be used with X-Plane 11 flight simulator. Very useful for training, testing and debugging. Requires X-Plane 11 and HITL Plugin https://github.com/RomanLut/INAV-X-Plane-HITL Waypoint multi-mission in flight mission change Allows WP multi-missions to be changed in flight using new mission change mode. With mode active the required mission index can be selected by cycling through missions using the WP mode switch. Selected mission is loaded when mission change mode is switched off. Mission index can also be changed through addition of a new Mission Index adjustment function which should be useful for DJI users unable to use the normal OSD mission related fields. See #8354 for details MSP DisplayPort fixes and updates INAV has now support for various flavours of the MSP DisplayPort protocol used by HDZero, DJI Goggles 2, Walksnail Avatar or WTFOS. Based on the osd_video_system setting different canvas sizes and glyphs are used. Available options are: AUTO - for analogue systems only PAL NTSC HDZERO DJIWTF AVATAR BF43COMPAT - keep the compatibility with Betaflight 4.3 implementation by lowering canvas size, lowering the number of OSD glyphs and matching to Betaflight character mapping. Required for DJI MSP DisplayPort with DJI O3 Air Unit Enhance programming options for waypoint missions The programming framework surrounding waypoints has changed. This has caused a conflict in compatibility with previous versions of INAV. If you use anything in the programming tab. Please run your diff through this conversion tool, to keep your logic conditions working. Please feel free to check out the new waypoint related logical switch operands in the Programming Framework document. Increase nav_wp_safe_distance maximum nav_wp_safe_distance has been replaced with nav_wp_max_safe_distance. This setting uses metres, and used to define the maximum distance away that the first waypoint can be. Please update your diff if you use this parameter; either manually, or using this tool. Stop allowing navigation modes to be active while arming The ability to arm the craft while in a navigation mode has been removed. The only people who this will effect are those who use permanently enabled autolaunch. Pre-6.0 you could arm while in a navigation mode. However this is dangerous, as it is easy to not realise, arm, disable the launch, then have the motor go to the cruise throttle. You will still be able to use a navigation mode as the exit mode from a launch. You just need to use the correct procedure for initiating the launch: Be in a non-navigation mode Arm Select the flight mode that you want to use on launch exit Raise the throttle to the level you want on launch exit The motor will enter idle if idle throttle is used, or await being thrown Throw the plane in to the air, and autolaunch will trigger Disarm on land by default The disarm on landing flag is now set to ON by default. This means, after successful automated landing your aircraft should disarm and stop the motors automatically! Automated landing manual activation Allows an emergency landing to be triggered manually as required. Landing started or ended by rapid toggling of PosHold mode, at least 5 times at a minimum rate of 1Hz. Emergency landing position hold added which will work for all emergency landings regardless of cause so long as a valid position is available. Failsafe inhibited during manual emergency landing to allow landing to continue if Failsafe triggered whilst active. Other changes Gyro noise peaks are now logged into blackbox as separate fields, not debug options. Setting documentation Raw gyro signal is now logged into blackbox as separate field, not debug options. Setting documentation Adds auto smoothing of RC input based on RX refresh rate. Disabled by default, can be enabled with SET rc_filter_auto=ON Wind Estimator is now giving proper results 3D Matrix filter improves PID tuning on noisy Multirotors. See #8253 Strobe lights support. See #8536 Kakute H7 V2 Invert PINIO2 so VTX is ON by default See #8628 Other removed functions MTK GPS protocol support NAZA GPS protocol support BNO055 Secondary IMU function MPU6050 gyro support SPI RX protocol support JR XBUS RX protocol support SUMH RX protocol support New targets Foxeer F722 V4 Foxeer F745 AIO V3 Kakute H7 V2 SpeedyBee F745 AIO Zeez F7 V3 Diatone Mamba F722 WING AocodaRC F4 V2 HakRC F722D HakRC F411 AIO HakRC F405 DJI CLI Changed settings Note: nav_extra_arming_safety The OFF option has been removed. ON and ALLOW_BYPASS are now the only valid options. ALLOW_BYPASS permits arming in "navigation unsafe" condition by temporally applying full right yaw when operating the arm switch. Name Values acc_hardware Removed: MPU6050 debug_modes New: POS_EST, Removed: GYRO, SBUS, FPORT, ERPM, RPM_FILTER, RPM_FREQ, DYNAMIC_FILTER, DYNAMIC_FILTER_FREQUENCY, IRLOCK, KALMAN_GAIN, PID_MEASUREMENT, SPM_CELLS, SPM_VS600, SPM_VARIO, IMU2, SMITH_PREDICTOR gps_provider Removed: UNUSED, NAZA, MTK mag_hardware Removed: GPSMAG nav_extra_arming_safety Removed: OFF osd_video_system New: HDZERO, DJIWTF, AVATAR, BF43COMPAT receiver_type Removed: SPI serial_rx Removed: SUMH, XB-B, XB-B-RJ01 New Items Name Description dynamic_gyro_notch_3d_q Q factor for 3D dynamic notches Values: 1 - 1000 Default: 200 dynamic_gyro_notch_mode Gyro dynamic notch type Default: 2D failsafe_mission_delay Applies if failsafe occurs when a WP mission is in progress. Sets the time delay in seconds between failsafe occurring and the selected failsafe procedure activating. If set to -1 the failsafe procedure won't activate at all and the mission will continue until the end. Values: -1 - 600 Default: 0 imu_gps_yaw_windcomp Wind compensation in heading estimation from gps groundcourse(fixed wing only) Default: TRUE imu_inertia_comp_method Inertia force compensation method when gps is avaliable, VELNED use the accleration from gps, TURNRATE calculates accleration by turnrate multiplied by speed, ADAPTIVE choose best result from two in each ahrs loop Default: VELNED nav_auto_disarm_delay Delay before craft disarms when nav_disarm_on_landing is set (ms) Values: 100 - 10000 Default: 1000 nav_fw_launch_abort_deadband Launch 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. Values: 2 - 250 Default: 100 nav_fw_launch_manual_throttle Allows launch with manually controlled throttle. INAV only levels wings and controls climb pitch during launch. Throttle is controlled directly by throttle stick movement. IF USED WITHOUT A GPS LOCK plane must be launched immediately after throttle is increased to avoid issues with climb out stabilisation and the launch ending sooner than expected (launch end timer starts as soon as the throttle stick is raised). Default: FALSE nav_fw_wp_tracking_accuracy Waypoint tracking accuracy forces the craft to quickly head toward and track along the waypoint course line as closely as possible. Settings 1 to 10 adjust the course tracking response. Higher values dampen the response reducing possible overshoot. A value of 5 is a good starting point. Set to 0 to disable. Values: 0 - 10 Default: 0 nav_fw_wp_tracking_max_angle Sets the maximum allowed alignment convergence angle to the waypoint course line when nav_fw_wp_tracking_accuracy is active [degrees]. Lower values result in smoother alignment with the course line but will take more distance until this is achieved. Values: 30 - 80 Default: 60 nav_fw_wp_turn_smoothing Smooths turns during WP missions by switching to a loiter turn at waypoints. When set to ON the craft will reach the waypoint during the turn. When set to ON-CUT the craft will turn inside the waypoint without actually reaching it (cuts the corner). Default: OFF nav_land_detect_sensitivity Changes sensitivity of landing detection. Higher values increase speed of detection but also increase risk of false detection. Default value should work in most cases. Values: 1 - 15 Default: 5 nav_rth_trackback_distance Maximum distance allowed for RTH trackback. Normal RTH is executed once this distance is exceeded [m]. Values: 50 - 2000 Default: 500 nav_rth_trackback_mode Useage modes for RTH Trackback. OFF = disabled, ON = Normal and Failsafe RTH, FS = Failsafe RTH only. Default: OFF nav_wp_max_safe_distance First waypoint in the mission should be closer than this value [m]. A value of 0 disables this check. Values: 0 - 1500 Default: 100 osd_ahi_pitch_interval Draws AHI at increments of the set pitch interval over the full pitch range. AHI line is drawn with ends offset when pitch first exceeds interval with offset increasing with increasing pitch. Offset direction changes between climb and dive. Set to 0 to disable (Not for pixel OSD) Values: 0 - 30 Default: 0 osd_msp_displayport_fullframe_interval Full Frame redraw interval for MSP DisplayPort [deciseconds]. This is how often a full frame update is sent to the DisplayPort, to cut down on OSD artifacting. The default value should be fine for most pilots. Though long range pilots may benefit from increasing the refresh time, especially near the edge of range. -1 = disabled (legacy mode) , 0 = every frame (not recommended) , default = 10 (1 second) Values: -1 - 600 Default: 10 pilot_name Pilot name Default: rc_filter_auto When enabled, INAV will set RC filtering based on refresh rate and smoothing factor. Default: FALSE rc_filter_lpf_hz RC data biquad filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay. Practical values are 20-50. Set to zero to disable entirely and use unsmoothed RC stick values Values: 15 - 250 Default: 50 rc_filter_smoothing_factor The RC filter smoothing factor. The higher the value, the more smoothing but also the more delay in response. Value 1 sets the filter at half the refresh rate. Value 100 sets the filter to aprox. 10% of the RC refresh rate Values: 1 - 100 Default: 30 Removed Items Name Description baro_median_filter eleres_freq eleres_loc_delay eleres_loc_en eleres_loc_power eleres_signature eleres_telemetry_en eleres_telemetry_power failsafe_mission see new failsafe_mission_delay imu2_align_pitch imu2_align_roll imu2_align_yaw imu2_gain_acc_x imu2_gain_acc_y imu2_gain_acc_z imu2_gain_mag_x imu2_gain_mag_y imu2_gain_mag_z imu2_hardware imu2_radius_acc imu2_radius_mag imu2_use_for_osd_ahi imu2_use_for_osd_heading imu2_use_for_stabilized nav_fw_auto_disarm_delay See generic nav_auto_disarm_delay nav_mc_auto_disarm_delay See generic nav_auto_disarm_delay nav_wp_safe_distance see nav_wp_max_safe_distance rc_filter_frequency rx_spi_id rx_spi_protocol rx_spi_rf_channel_count 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 RC2 [tools] add script to generate Release Notes CLI new/changed/removed settings sections by @stronnag in #8784 Update Programming Framework.md by @MrD-RC in #8797 CMS Save and Reboot eeprom save fix by @breadoven in #8793 Make CLI string input uppercase by @MrD-RC in #8804 docs/Programming framework: Fix typo, add examples by @sensei-hacker in #8805 Update Temperature sensors.md by @WizzX-FPV in #8811 Multirotor Failsafe landing detection false trigger fix by @breadoven in #8813 add icm42688p support in MATEKF405SE target by @MATEKSYS in #8812 Continuous Servo Autotrim Fix (Replacement for #8816) by @Scavanger in #8821 Improved wind estimator - OSD stale reading state by @MrD-RC in #8832 AXISFLYINGF7PRO target by @nmaggioni in #8831 Added AUTOLEVEL system message and updated pitch trim on screen by @tiriad in #8815 Add MSP_BATTERY_STATE for DJI Googles battery display by @mmosca in #8846 What's Changed from INAV 6 RC1 Add a mapping for 3D kph and mph symbols by @DzikuVx in #8761 Pan Enhancements and cardinal markers for ESP32 Radar by @MrD-RC in #8699 Fix WS2812 led definition in IFLIGHT_BLITZ_F722 target by @mmosca in #8770 ahrs parameter names change by @shota3527 in #8767 Fix formatting of decimal numbers in BF43COMPAT display mode by @mmosca in #8776 Simplify and fix altitude processing for BF43COMPAT by @DzikuVx in #8779 What's Changed from INAV 5.1 Clean old box comments by @JulioCesarMatias in #8076 Update Omnibus F4.md by @gigabytebit in #8088 Remove the rest of the PCA9685 driver by @JulioCesarMatias in #8085 Fix mixing motor and servo on same timer. by @sasodoma in #8071 [fc/fc_msp_box.c] Remove uncompiled line by @JulioCesarMatias in #8077 Clear the #if 0 by @JulioCesarMatias in #8118 Target release cleanup by @DzikuVx in #8108 Make use of calc_length_pythagorean_2D on some lines by @JulioCesarMatias in #8101 Edit GPS Provider list by @JulioCesarMatias in #8102 [flash_m25p16.c] Add W25Q128 variant by @JulioCesarMatias in #8054 Drop MTK GPS by @JulioCesarMatias in #8084 RTH Trackback by @breadoven in #7988 Remove nav_extra_arming_safety = OFF option by @MrD-RC in #8106 Fix PC2/PC3 ADC not working on MAMBAH743 by @hogthrob in #8149 [BMP280] Allow target-specific I2C address definition by @RomanLut in #8129 Drop support for NAZA GPS by @DzikuVx in #8144 Release 5.0.0 by @DzikuVx in #8061 Fix wrong merge by @DzikuVx in #8151 INAV 6 version bump by @DzikuVx in #8141 Set Gyro Raw as an independent Blackbox field, not debug mode by @DzikuVx in #8139 [cli.c] RC map code aesthetics by @JulioCesarMatias in #8153 Remove F3 from the codebase by @DzikuVx in #8053 Settings.md: Document osd_ahi_reverse_roll by @sensei-hacker in #8167 Drop a function used only in STM32F3 by @JulioCesarMatias in #8164 Drop the BNO055 I2C version by @DzikuVx in #8168 Drop the JR XBUS support as not used by @DzikuVx in #8176 Remove an unused definition by @JulioCesarMatias in #8181 Reorder box_t to save few hundreds of bytes by @JulioCesarMatias in #8180 Drop SPI RX as not used by any supported hardware by @DzikuVx in #8173 Reset fixed wing heading status on disarm by @breadoven in #8160 OmnibusF4 RX serial fix by @breadoven in #8175 Increased FW launch abort pitch/roll stick dead band by @breadoven in #8161 Remove additional validation for motor rate by @DzikuVx in #8174 Fix surface mode msp box availability logic by @breadoven in #8171 Update VTx.md by @MrD-RC in #8187 Opimise navwaypoint_t stuct alignment by @stronnag in #8182 Optimize memory for better alignment by @DzikuVx in #8183 Fix RX Serial Enumeration by @JulioCesarMatias in #8191 Remove unused rxRefreshRate by @JulioCesarMatias in #8189 Configurator: Reset PIDs button to use applied defaults by @MrD-RC in #8185 Log gyro noise peaks as separate fields by @DzikuVx in #8197 Drop SUMH RX protocol by @DzikuVx in #8198 Update jetiexbus.c by @RoadyFPV in #8202 Support for Flash Memory W25N01G of 128MB by @JulioCesarMatias in #8166 [STM32F3] Remove everything else by @JulioCesarMatias in #8204 Debug cleanup by @DzikuVx in #8211 [Building in Linux.md] Fix Typo by @JulioCesarMatias in #8222 Remove unused header file by @JulioCesarMatias in #8221 Drop the MPU-6050 Support by @JulioCesarMatias in #8213 Remove barometer median filter by @digitalentity in #8201 OSD PG reset template version bump by @breadoven in #8217 Nav launch stick abort deadband setting by @breadoven in #8218 RC interpolation updates by @DzikuVx in #8212 [config_eeprom.c] Replace a function with another one that already exists in the library by @JulioCesarMatias in #8215 Report motor RPM via MSP by @DzikuVx in #8225 Make HUD offset more intuitive by @MrD-RC in #8226 Nav launch manual throttle option by @breadoven in #8134 Remove some NO optimizations made by MCU_FLASH_SIZE by @JulioCesarMatias in #8230 fixed wind estimator by @RomanLut in #8228 fixed wind direction icon on osd by @RomanLut in #8227 Update Building in Windows 10 or 11 with MSYS2.md by @pwnept in #8248 Update Matrix Filter to 3D Matrix Filter by @DzikuVx in #8253 Add glide time, glide distance, and climb efficiency OSD elements by @MrD-RC in #8081 Update PPM by @MrD-RC in #8269 Updated profiles.md doc by @MrD-RC in #8279 Add USER3 mode by @shellixyz in #8276 Add target: NEUTRONRCH7BT by @shellixyz in #8277 Enforce waypoint altitude tolerance fix by @breadoven in #8280 Improved fixed wing waypoint course tracking by @breadoven in #8234 Allow autolevel in nav_course_hold_mode by @FinalFrag in #8178 Fix altitude conversion in MSP_SET_RAW_GPS by @stronnag in #8337 Updated CMS GPSNAV PIDs by @breadoven in #8326 make use of the MS2S macro whenever possible by @JulioCesarMatias in #8332 Support for Hardware In The Loop simulator in X-Plane 11 by @RomanLut in #8268 fixed BOX_PERMANENT_ID_USER3 collision by @RomanLut in #8346 Use ARRAYLEN macro where applicable by @JulioCesarMatias in #8323 Fix uint8_t to bool by @JulioCesarMatias in #8325 Rename pitotCalculateAirSpeed() by @JulioCesarMatias in #8330 INAV 5.1.0 Release branch by @DzikuVx in #8186 Mamba 2022B targets by @DzikuVx in #8368 Fix S1 by removing LED conflict by @DzikuVx in #8371 [OMNIBUSF4V3] Add BMI270 support by @JulioCesarMatias in #8351 [fc_core.c] Rename annexCode void by @JulioCesarMatias in #8329 Drop the old HIL by @JulioCesarMatias in #8281 Missing Nav default settings fix by @breadoven in #8396 Treat wp.p3 as bitfield by @stronnag in #8393 HakRC F405 DJI target by @nmaggioni in #8384 HakRC F722D target by @nmaggioni in #8387 Re-order boxmodes to have as little disruption to 5.1 as possible by @MrD-RC in #8394 added scripts to update Settings.md with Docker by @RomanLut in #8350 HakRC F411 AIO target by @nmaggioni in #8385 WP mode failsafe delay setting by @breadoven in #8363 Nav landing fixes by @breadoven in #8358 Waypoint multi-mission in flight mission change by @breadoven in #8354 Make sure first motorCount outputs get assigned to motor on MR by @mluessi in #8289 make use of the US2S macro whenever possible by @JulioCesarMatias in #8331 [INS] Use Acc and Gyro calibration validation to calibrate the 1G of the acceleration by @JulioCesarMatias in #8214 [HITL Mode] Make a "makeup" in the algorithm by @JulioCesarMatias in #8356 Enable LEDs by default on JBF7PRO by @nmaggioni in #8412 iNav to INAV by @DzikuVx in #8410 set GPS timeout to 2000ms by @stronnag in #8423 Add landing sensitivity setting + duplicate setting fix by @breadoven in #8427 fix "Blackbox Internals" encoding and update by @stronnag in #8431 MSP Displayport by @DzikuVx in #8435 Mamba f722 wing target by @DzikuVx in #8436 Add macro data conversion to MPU by @JulioCesarMatias in #8432 enable virtual pitot on F411 and F722 by @shota3527 in #8428 mavlink telemetry half/full duplex support by @RomanLut in #8274 Throw out all the setup part of the Gyro interrupt routine by @JulioCesarMatias in #8199 Allow more applied_defaults by @DzikuVx in #8437 Disable stick commands if in CLI by @MrD-RC in #8406 Fix bool values by @JulioCesarMatias in #8445 Pass the variable from uint8_t to bool by @JulioCesarMatias in #8444 ZEEZF7V3 target by @nmaggioni in #8442 Add ZeroFArray Macro and make use of it in some parts by @JulioCesarMatias in #8447 Rename the LOG function macros by @JulioCesarMatias in #8446 Stop showing all LCs for every LC set in dump by @MrD-RC in #8448 inav->INAV... redo by @DzikuVx in #8468 Add 2nd PINIO to MATEKF405SE for better use of resources by @MrD-RC in #8438 Add target KAKUTEF4V23. Support for M5 and M6 outputs. by @marianomd in #8135 Update virtual pitot to use 3d speed by @shota3527 in #8458 AHRS centrifugal force compensation by @shota3527 in #8403 Added support for DJI wtfos MSP-OSD full screen 60x22 OSD by @jeffhendrix in #8434 New SpeedyBee targets by @DzikuVx in #8478 Update Github actions version by @JulioCesarMatias in #8481 [Displayport MSP] Add Macros by @JulioCesarMatias in #8480 Update PixRacer README.md by @JulioCesarMatias in #8486 Fix read of DPS310 coef C11 by @JulioCesarMatias in #8485 Fix MPU6000 for HAKRCKD722 by @nmaggioni in #8493 Fix MPU6000 for HAKRCF405D by @nmaggioni in #8492 Drop IMU2 functionality by @DzikuVx in #8491 fix lpf config for bmi270/bmi160 by @shota3527 in #8495 add target aocodarcf4v2 by @dlt2018 in #8416 Add support HDZero 30x16 mode by @geoffsim in #8476 Drop some PPM definitions by @JulioCesarMatias in #8515 Update gyro orientation for Mamaba H743_2022B by @DzikuVx in #8505 Kakute H7 V2 by @DzikuVx in #8522 [target] Clear some unused defitions by @JulioCesarMatias in #8517 Added link to "something disabled" wiki by @MrD-RC in #8524 Fix heading graph on PixelOSD by @MrD-RC in #8526 [scheduler.c] Remove duplication by @JulioCesarMatias in #8556 RTH Trackback - suspend track recording on fixed wing during Loiter by @breadoven in #8512 Add PINIO 3 & 4 plus MATEKF722PX_PINIO target by @MrD-RC in #8401 Update ci.yml by @MrD-RC in #8560 Foxeer F722 V4 by @DzikuVx in #8544 Update Battery.md by @MrD-RC in #8559 [ci] remove remaining instances of ubuntu-18.04 by @stronnag in #8562 Waypoint turn smoothing and tracking accuracy improvements by @breadoven in #8519 OSD AHI pitch interval redraw option by @breadoven in #7018 Correct Omnibus readme by @sensei-hacker in #8573 Use course over ground as the default for fixed wing navigation "heading" by @breadoven in #8529 Changed CleanFlight to INAV by @MrD-RC in #8583 Fix incorrect temperature shown on OSD by @JulioCesarMatias in #8539 Remove unnecessary parameters from profiles by @MrD-RC in #8451 Increase nav_wp_safe_distance maximum by @MrD-RC in #8589 Add EDGE, DELAY, DELTA, APPROX_EQUAL switches and TIMER to Logic Conditions by @MrD-RC in #8581 Add symbols for remaining time/distance by @MrD-RC in #8584 Update target AOCODARCF7DUAL and remove MPU6500 by @dlt2018 in #8510 New debug_mode POS_EST that is useful for autonomous flight by @ricardodeazambuja in #8549 Foxeer F745AIO V3 by @DzikuVx in #8543 Change logo size for future enhancements by @MrD-RC in #8585 Fixed wing Nav altitude control fix by @breadoven in #8590 OSD Ground Course and Cross Track Error by @breadoven in #8604 Throttle low clean up by @breadoven in #8601 Waypoint accuracy tweak by @breadoven in #8620 Update target.h for AtomRC F405 NAVI by @DzikuVx in #8610 Stop allowing navigation modes to be active while arming. by @MrD-RC in #8611 Kakute H7 V2 Invert PINIO2 so VTX is ON by default by @DzikuVx in #8628 Add a BF4.3 Compatible restricted OSD implementation. by @mmosca in #8631 Update Navigation.md by @b14ckyy in #8633 Increase number of voltage digits in BF compatibility mode OSD by @mmosca in #8634 Be consistent in using #ifdef USE_SAFE_HOME by @sensei-hacker in #8635 [CLI] add missing arming flag name by @stronnag in #8637 Fix X8 mode on FoxeerF722V4 by @DzikuVx in #8644 fixed crsf attitude yaw overflow by @RomanLut in #8638 changed WP mode priority in crsf telemetry by @RomanLut in #8639 Nav "Yaw" usage refactor by @breadoven in #8643 Fix git security issue with docker build by @skeet70 in #8558 Add more symbols to BF43 translation table. by @mmosca in #8641 Consolidate post flight and non-essential save calls in to a single save action by @MrD-RC in #8439 add new target 'AOCODARCF722MINI' by @dlt2018 in #8472 [doc] document changes introduced by #8446 by @stronnag in #8660 Fixed wing climb rate fool proofing fix by @breadoven in #8661 OSD Heading field fix + field display index update by @breadoven in #8624 Emergency arming simplification by @breadoven in #8659 use MAX_SUPPORTED_RC_CHANNEL_COUNT instead of hardcoded 16 by @RomanLut in #8676 Add version info to cliStatus by @OptimusTi in #8671 Fix Docker build UID/GID mapping by @nmaggioni in #8679 Unused Baro filter fix by @breadoven in #8688 DEBUG_ALTITUDE fix by @breadoven in #8693 RTH Trackback fix by @breadoven in #8697 Rename functions to avoid confusion why it does not write eeprom by @sakisdog in #8690 Updates to CLI Outputs by @MrD-RC in #8689 send value throttle in telemetry exactly as shown on osd by @RomanLut in #8652 Update RUSH_BLADE_F7 and add RUSH_BLADE_F7_HD targets by @nmaggioni in #8680 Enhance programming options for waypoint missions by @MrD-RC in #8579 Update MSPDisplayPort and add Walksnail Avatar settings by @MrD-RC in #8654 Update Building in Windows with MSYS2.md by @pwnept in #8702 Change tz_offset min and max by @MrD-RC in #8470 Use BF SYM_AH_BAR9_4 as replacement for INAV SYM_AH_V_START family in BF Compatibility OSD mode by @mmosca in #8709 FW Nav Course Hold control method change by @breadoven in #8586 Disarm on land by default by @DzikuVx in #8711 Updates in the display of wind estimator by @shota3527 in #8523 Disable mAh scaling for BF compatibility by @DzikuVx in #8717 Add RPM symbol translation by @DzikuVx in #8718 Switch H7 to -Ofast optimizations by @DzikuVx in #8719 Add strobe overlay to RGB LEDs by @mmosca in #8536 Add pilot name by @MrD-RC in #8720 Fixed wing OSD home heading arrow and error fix by @breadoven in #8723 Fix MATEK F405SE and F722PX targets with PINIO by @MrD-RC in #8728 Fix build error in osd.c when USE_MSP_DISPLAYPORT is not defined. by @mmosca in #8729 [Doc] update blackbox.md for 6.0 cli options by @stronnag in #8732 Landing detector improvements by @breadoven in #8737 Manual emergency landing FW and MR by @breadoven in #8686 Correct INAv to INAV by @pwnept in #8746 add icm42688p support in MATEKF411TE target by @MATEKSYS in #8748 Landing detection invalid velocity protection by @breadoven in #8743 Update Flight Mode operand in programming framework by @MrD-RC in #8747 New Contributors @gigabytebit made their first contribution in #8088 @sasodoma made their first contribution in #8071 @hogthrob made their first contribution in #8149 @RoadyFPV made their first contribution in #8202 @pwnept made their first contribution in #8248 @FinalFrag made their first contribution in #8178 @shota3527 made their first contribution in #8428 @marianomd made their first contribution in #8135 @ricardodeazambuja made their first contribution in #8549 @mmosca made their first contribution in #8631 @b14ckyy made their first contribution in #8633 @skeet70 made their first contribution in #8558 @sakisdog made their first contribution in #8690 @WizzX-FPV made their first contribution in #8811 Full Changelog: 5.1.0...6.0.0-RC3 Lire la source

Added Acceleration Factor feature Fixed TBS Crossfire tools Fixed HD menu position Lire la source

Small bug creeped in 🙂 Fixed bug when it is not possible to move sensors in osd editor when you are in NON CANVAS MSP OSD mode aka OLD DJI 😉 If you are using canvas mode - you DONT have to update. Thanks parasite_fpv for spotting the bug 🙂 Lire la source

Added HD OSD mirror Added fast msp baudrate Added font transparency More info and downloads available in the wiki https://github.com/KissUltra/wiki/wiki/Releases:-2.0.1-B45 Lire la source

Getting Started 2.0 Documentation The important stuff Arming state must be HIGH on AUX1 for safety and feature reasons This update is not required for most users and is only meant to fix some small issues. Enhancements N/A New targets N/A Bug fixes Fix build errors for TX modules due to NeoPixelBus library (#2070) A note on versioning The versioning scheme chosen by the ExpressLRS devs is based on the semantic versioning scheme. Where a version is defined as “major.minor.patch” major = major new feature and/or incompatible changes minor = minor features or enhancements and/or new targets patch = bug-fixes Lire la source

Hello and welcome to INAV 6 "Horizon Hawk" Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for help on: INAV Discord Server INAV Official on Facebook Tested and suggested hardware can be found here Important Notes The STM32 F3 code was removed from repository, it's no longer possible to compile F3 locally Upgrading from a previous release Upgrading from INAV 5 and 5.1 Download and install the new configurator Save to a file the current diff all from the CLI. Upgrade to INAV 6 using the Full Erase option in the configurator. 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 a large number of 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 6.0 features, and enjoy! Upgrading from older versions Please follow the instructions on this page. Important changes New AHRS (Attitude & Heading Reference System) INAV 6.0 includes a complete rework of the AHRS for Attitude Estimation, to make sure INAV always knows its correct attitude relative to the ground. This should once and for all fix the issue, known as "Horizon Drift" and makes any navigation mode as well as self-levelling modes like ANGLE fully reliable and allows much more precise GPS-Navigation. This affects Fixed Wing as well as Multirotor. The best results are given if the craft is equipped with GPS and in the case of Multirotor also with a compass. But also for pure LOS Craft that have no GPS on board, the AHI stability is noticeably improved in most situations. To work best with non-GPS Fixed Wings, the Reference Airspeed has to be set according the average cruise speed of the craft. For Fixed Wing Craft with no GPS: set fw_reference_airspeed = (set this in cm/s. Set this to airspeed at which PIDs were tuned. Usually should be set to cruise airspeed. Also used for coordinated turn calculation if airspeed sensor is not present.) HUD Offset change The operation of osd_horizon_offset has been reversed, to make it more intuitive. If you have a non-zero value for osd_horizon_offset it will need to be inverted. For example, osd_horizon_offset = 1 would become osd_horizon_offset = -1. Positive values move the HUD up, and negative values move it down. RTH Trackback When triggered the craft returns along the trackback route until the end is reached at which point it reverts to normal RTH heading directly home. It doesn't perform the RTH climb phase but instead uses the track point altitude but with altitude never allowed below the altitude of the start point so it can climb but never descend below the start point. OFF by default, adjust nav_rth_trackback_mode to enable. For details see #7988 Accelerometer calibration is optional Accelerometer calibration is required only if any of the Accelerometer Based Flight Modes or Failsafe procedures is configured. For example, ACC calibration will be needed when Failsafe RTH is enabled, or any GPS assisted flight modes is configured. Acro only multirotor and fixed wings do not require calibration. nav_extra_arming_safety OFF option The off option has been removed from nav_extra_arming_safety. Instead, the allow_bypass can be used for with the same effect. To allow the bypass, yaw right and arm. The extra arming safety features will be disabled until the next power cycle of the battery. Please update your diff if you use this parameter; either manually, or using this tool. Improved fixed wing waypoint course tracking Attempts to improve fixed wing WP course tracking accuracy by adding a couple of options: Tracking accuracy option that forces craft toward the waypoint course line as quickly as possible and actively tracks the line thereafter. A single setting adjusts the strength of the tracking behaviour. Works for WP mode and RTH trackback. Option is disabled by default. Turn smoothing option for waypoint turns. Sets a loiter point within the turn such that the craft follows a loiter turn path that either passes through the waypoint or cuts the turn missing the waypoint (2 settings possible). Only works for WP mode. Option is disabled by default. See #8234 for details Support for Hardware In The Loop simulator in X-Plane 11 INAV flight controller can be used with X-Plane 11 flight simulator. Very useful for training, testing and debugging. Requires X-Plane 11 and HITL Plugin https://github.com/RomanLut/INAV-X-Plane-HITL Waypoint multi-mission in flight mission change Allows WP multi-missions to be changed in flight using new mission change mode. With mode active the required mission index can be selected by cycling through missions using the WP mode switch. Selected mission is loaded when mission change mode is switched off. Mission index can also be changed through addition of a new Mission Index adjustment function which should be useful for DJI users unable to use the normal OSD mission related fields. See #8354 for details MSP Displayport fixes and updates INAV has now support for various flavours of the MSP Displayport protocol used by HDZero, DJI Goggles 2, Walksnail Avatar or WTFOS. Based on the osd_video_system setting different canvas sizes and glyphs are used. Available options are: AUTO - for analog systems only PAL NTSC HDZERO DJIWTF AVATAR BF43COMPAT - keep the compatibility with Betaflight 4.3 implementation by lowering canvas size, lowering the number of OSD glyphs and matching to Betaflight character mapping. Required for DJI MSP Displayport with DJI O3 Air Unit Enhance programming options for waypoint missions The programming framework surrounding waypoints has changed. This has caused a conflict in compatibility with previous versions of INAV. If you use anything in the programming tab. Please run your diff through this conversion tool, to keep your logic conditions working. Please feel free to check out the new waypoint related logical switch operands in the Programming Framework document. Increase nav_wp_safe_distance maximum nav_wp_safe_distance has been replaced with nav_wp_max_safe_distance. This setting uses metres, and used to define the maximum distance away that the first waypoint can be. Please update your diff if you use this parameter; either manually, or using this tool. Stop allowing navigation modes to be active while arming The ability to arm the craft while in a navigation mode has been removed. The only people who this will effect are those who use permanently enabled autolaunch. Pre-6.0 you could arm while in a navigation mode. However this is dangerous, as it is easy to not realise, arm, disable the launch, then have the motor go to the cruise throttle. You will still be able to use a navigation mode as the exit mode from a launch. You just need to use the correct procedure for initiating the launch: Be in a non-navigation mode Arm Select the flight mode that you want to use on launch exit Raise the throttle to the level you want on launch exit The motor will enter idle if idle throttle is used, or await being thrown Throw the plane in to the air, and autolaunch will trigger Disarm on land by default The disarm on landing flag is now set to ON by default. This means, after successful automated landing your aircraft should disarm and stop the motors automatically! Automated landing manual activation Allows an emergency landing to be triggered manually as required. Landing started or ended by rapid toggling of PosHold mode, at least 5 times at a minimum rate of 1Hz. Emergency landing position hold added which will work for all emergency landings regardless of cause so long as a valid position is available. Failsafe inhibited during manual emergency landing to allow landing to continue if Failsafe triggered whilst active. Other changes Gyro noise peaks are now logged into blackbox as separate fields, not debug options. Setting documentation Raw gyro signal is now logged into blackbox as separate field, not debug options. Setting documentation Adds auto smoothing of RC input based on RX refresh rate. Disabled by default, can be enabled with SET rc_filter_auto=ON Wind Estimator is now giving proper results 3D Matrix filter improves PID tuning on noisy Multirotors. See #8253 Strobe lights support. See #8536 Kakute H7 V2 Invert PINIO2 so VTX is ON by default See #8628 Other removed functions MTK GPS protocol support NAZA GPS protocol support BNO055 Secondary IMU function MPU6050 gyro support SPI RX protocol support JR XBUS RX protocol support SUMH RX protocol support New targets Foxeer F722 V4 Foxeer F745 AIO V3 Kakute H7 V2 SpeedyBee F745 AIO Zeez F7 V3 Diatone Mamba F722 WING AocodaRC F4 V2 HakRC F722D HakRC F411 AIO HakRC F405 DJI CLI Changed settings Note: nav_extra_arming_safety The OFF option has been removed. ON and ALLOW_BYPASS are now the only valid options. ALLOW_BYPASS permits arming in "navigation unsafe" condition by temporally applying full right yaw when operating the arm switch. Name Values acc_hardware Removed: MPU6050 debug_modes New: POS_EST debug_modes Removed: GYRO, SBUS, FPORT, ERPM, RPM_FILTER, RPM_FREQ, DYNAMIC_FILTER, DYNAMIC_FILTER_FREQUENCY, IRLOCK, KALMAN_GAIN, PID_MEASUREMENT, SPM_CELLS, SPM_VS600, SPM_VARIO, IMU2, SMITH_PREDICTOR gps_provider Removed: UNUSED, NAZA, MTK mag_hardware Removed: GPSMAG nav_extra_arming_safety Removed: OFF osd_video_system New: HDZERO, DJIWTF, AVATAR, BF43COMPAT osd_video_system Removed: HD receiver_type Removed: SPI serial_rx Removed: SUMH, XB-B, XB-B-RJ01 New Items Name Description ahrs_acc_ignore_rate Total gyro rotation rate threshold [deg/s] before scaling to consider accelerometer trustworthy Values: 0 - 30 Default: 15 ahrs_acc_ignore_slope Half-width of the interval to gradually reduce accelerometer weight. Centered at imu_acc_ignore_rate (exactly 50% weight) Values: 0 - 10 Default: 5 ahrs_dcm_ki Inertial Measurement Unit KI Gain for accelerometer measurements Values: 0 - 65535 Default: 50 ahrs_dcm_ki_mag Inertial Measurement Unit KI Gain for compass measurements Values: 0 - 65535 Default: 50 ahrs_dcm_kp Inertial Measurement Unit KP Gain for accelerometer measurements Values: 0 - 65535 Default: 2000 ahrs_dcm_kp_mag Inertial Measurement Unit KP Gain for compass measurements Values: 0 - 65535 Default: 2000 ahrs_gps_yaw_windcomp Wind compensation in heading estimation from gps groundcourse(fixed wing only) Default: TRUE ahrs_inertia_comp_method Inertia force compensation method when gps is avaliable, VELNED use the accleration from gps, TURNRATE calculates accleration by turnrate multiplied by speed, ADAPTIVE choose best result from two in each ahrs loop Default: VELNED dynamic_gyro_notch_3d_q Q factor for 3D dynamic notches Values: 1 - 1000 Default: 200 dynamic_gyro_notch_mode Gyro dynamic notch type Default: 2D failsafe_mission_delay Applies if failsafe occurs when a WP mission is in progress. Sets the time delay in seconds between failsafe occurring and the selected failsafe procedure activating. If set to -1 the failsafe procedure won't activate at all and the mission will continue until the end. Values: -1 - 600 Default: 0 nav_auto_disarm_delay Delay before craft disarms when nav_disarm_on_landing is set (ms) Values: 100 - 10000 Default: 1000 nav_fw_launch_manual_throttle Allows launch with manually controlled throttle. INAV only levels wings and controls climb pitch during launch. Throttle is controlled directly by throttle stick movement. IF USED WITHOUT A GPS LOCK plane must be launched immediately after throttle is increased to avoid issues with climb out stabilisation and the launch ending sooner than expected (launch end timer starts as soon as the throttle stick is raised). Default: FALSE nav_fw_wp_tracking_accuracy Waypoint tracking accuracy forces the craft to quickly head toward and track along the waypoint course line as closely as possible. Settings 1 to 10 adjust the course tracking response. Higher values dampen the response reducing possible overshoot. A value of 5 is a good starting point. Set to 0 to disable. Values: 0 - 10 Default: 0 nav_fw_wp_tracking_max_angle Sets the maximum allowed alignment convergence angle to the waypoint course line when nav_fw_wp_tracking_accuracy is active [degrees]. Lower values result in smoother alignment with the course line but will take more distance until this is achieved. Values: 30 - 80 Default: 60 nav_fw_wp_turn_smoothing Smooths turns during WP missions by switching to a loiter turn at waypoints. When set to ON the craft will reach the waypoint during the turn. When set to ON-CUT the craft will turn inside the waypoint without actually reaching it (cuts the corner). Default: OFF nav_land_detect_sensitivity Changes sensitivity of landing detection. Higher values increase speed of detection but also increase risk of false detection. Default value should work in most cases. Values: 1 - 15 Default: 5 nav_rth_trackback_distance Maximum distance allowed for RTH trackback. Normal RTH is executed once this distance is exceeded [m]. Values: 50 - 2000 Default: 500 nav_rth_trackback_mode Useage modes for RTH Trackback. OFF = disabled, ON = Normal and Failsafe RTH, FS = Failsafe RTH only. Default: OFF nav_wp_max_safe_distance First waypoint in the mission should be closer than this value [m]. A value of 0 disables this check. Values: 0 - 1500 Default: 100 osd_ahi_pitch_interval Draws AHI at increments of the set pitch interval over the full pitch range. AHI line is drawn with ends offset when pitch first exceeds interval with offset increasing with increasing pitch. Offset direction changes between climb and dive. Set to 0 to disable (Not for pixel OSD) Values: 0 - 30 Default: 0 osd_msp_displayport_fullframe_interval Full Frame redraw interval for MSP DisplayPort [deciseconds]. This is how often a full frame update is sent to the DisplayPort, to cut down on OSD artifacting. The default value should be fine for most pilots. Though long range pilots may benefit from increasing the refresh time, especially near the edge of range. -1 = disabled (legacy mode) , 0 = every frame (not recommended) , default = 10 (1 second) Values: -1 - 600 Default: 10 osd_pan_servo_indicator_show_degrees Show the degress of offset from centre on the pan servo OSD display element. Default: FALSE osd_pan_servo_offcentre_warning Degrees either side of the pan servo centre; where it is assumed camera is wanted to be facing forwards, but isn't at 0. If in this range and not 0 for longer than 10 seconds, the pan servo offset OSD element will blink. 0 means the warning is disabled. Values: 0 - 45 Default: 10 pilot_name Pilot name Default: rc_filter_auto When enabled, INAV will set RC filtering based on refresh rate and smoothing factor. Default: FALSE rc_filter_lpf_hz RC data biquad filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay. Practical values are 20-50. Set to zero to disable entirely and use unsmoothed RC stick values Values: 15 - 250 Default: 50 rc_filter_smoothing_factor The RC filter smoothing factor. The higher the value, the more smoothing but also the more delay in response. Value 1 sets the filter at half the refresh rate. Value 100 sets the filter to aprox. 10% of the RC refresh rate Values: 1 - 100 Default: 30 Removed Items Name Description baro_median_filter eleres_freq eleres_loc_delay eleres_loc_en eleres_loc_power eleres_signature eleres_telemetry_en eleres_telemetry_power failsafe_mission see new failsafe_mission_delay imu2_align_pitch imu2_align_roll imu2_align_yaw imu2_gain_acc_x imu2_gain_acc_y imu2_gain_acc_z imu2_gain_mag_x imu2_gain_mag_y imu2_gain_mag_z imu2_hardware imu2_radius_acc imu2_radius_mag imu2_use_for_osd_ahi imu2_use_for_osd_heading imu2_use_for_stabilized imu_acc_ignore_rate see new ahrs_* equivalent imu_acc_ignore_slope see new ahrs_* equivalent imu_dcm_ki see new ahrs_* equivalent imu_dcm_ki_mag see new ahrs_* equivalent imu_dcm_kp see new ahrs_* equivalent imu_dcm_kp_mag see new ahrs_* equivalent nav_fw_auto_disarm_delay See generic nav_auto_disarm_delay nav_mc_auto_disarm_delay See generic nav_auto_disarm_delay nav_wp_safe_distance see nav_wp_max_safe_distance rc_filter_frequency rx_spi_id rx_spi_protocol rx_spi_rf_channel_count 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 RC1 Add a mapping for 3D kph and mph symbols by @DzikuVx in #8761 Pan Enhancements and cardinal markers for ESP32 Radar by @MrD-RC in #8699 Fix WS2812 led definition in IFLIGHT_BLITZ_F722 target by @mmosca in #8770 ahrs parameter names change by @shota3527 in #8767 Fix formatting of decimal numbers in BF43COMPAT display mode by @mmosca in #8776 Simplify and fix altitude processing for BF43COMPAT by @DzikuVx in #8779 What's Changed from INAV 5.1 Clean old box comments by @JulioCesarMatias in #8076 Update Omnibus F4.md by @gigabytebit in #8088 Remove the rest of the PCA9685 driver by @JulioCesarMatias in #8085 Fix mixing motor and servo on same timer. by @sasodoma in #8071 [fc/fc_msp_box.c] Remove uncompiled line by @JulioCesarMatias in #8077 Clear the #if 0 by @JulioCesarMatias in #8118 Target release cleanup by @DzikuVx in #8108 Make use of calc_length_pythagorean_2D on some lines by @JulioCesarMatias in #8101 Edit GPS Provider list by @JulioCesarMatias in #8102 [flash_m25p16.c] Add W25Q128 variant by @JulioCesarMatias in #8054 Drop MTK GPS by @JulioCesarMatias in #8084 RTH Trackback by @breadoven in #7988 Remove nav_extra_arming_safety = OFF option by @MrD-RC in #8106 Fix PC2/PC3 ADC not working on MAMBAH743 by @hogthrob in #8149 [BMP280] Allow target-specific I2C address definition by @RomanLut in #8129 Drop support for NAZA GPS by @DzikuVx in #8144 Release 5.0.0 by @DzikuVx in #8061 Fix wrong merge by @DzikuVx in #8151 INAV 6 version bump by @DzikuVx in #8141 Set Gyro Raw as an independent Blackbox field, not debug mode by @DzikuVx in #8139 [cli.c] RC map code aesthetics by @JulioCesarMatias in #8153 Remove F3 from the codebase by @DzikuVx in #8053 Settings.md: Document osd_ahi_reverse_roll by @sensei-hacker in #8167 Drop a function used only in STM32F3 by @JulioCesarMatias in #8164 Drop the BNO055 I2C version by @DzikuVx in #8168 Drop the JR XBUS support as not used by @DzikuVx in #8176 Remove an unused definition by @JulioCesarMatias in #8181 Reorder box_t to save few hundreds of bytes by @JulioCesarMatias in #8180 Drop SPI RX as not used by any supported hardware by @DzikuVx in #8173 Reset fixed wing heading status on disarm by @breadoven in #8160 OmnibusF4 RX serial fix by @breadoven in #8175 Increased FW launch abort pitch/roll stick dead band by @breadoven in #8161 Remove additional validation for motor rate by @DzikuVx in #8174 Fix surface mode msp box availability logic by @breadoven in #8171 Update VTx.md by @MrD-RC in #8187 Opimise navwaypoint_t stuct alignment by @stronnag in #8182 Optimize memory for better alignment by @DzikuVx in #8183 Fix RX Serial Enumeration by @JulioCesarMatias in #8191 Remove unused rxRefreshRate by @JulioCesarMatias in #8189 Configurator: Reset PIDs button to use applied defaults by @MrD-RC in #8185 Log gyro noise peaks as separate fields by @DzikuVx in #8197 Drop SUMH RX protocol by @DzikuVx in #8198 Update jetiexbus.c by @RoadyFPV in #8202 Support for Flash Memory W25N01G of 128MB by @JulioCesarMatias in #8166 [STM32F3] Remove everything else by @JulioCesarMatias in #8204 Debug cleanup by @DzikuVx in #8211 [Building in Linux.md] Fix Typo by @JulioCesarMatias in #8222 Remove unused header file by @JulioCesarMatias in #8221 Drop the MPU-6050 Support by @JulioCesarMatias in #8213 Remove barometer median filter by @digitalentity in #8201 OSD PG reset template version bump by @breadoven in #8217 Nav launch stick abort deadband setting by @breadoven in #8218 RC interpolation updates by @DzikuVx in #8212 [config_eeprom.c] Replace a function with another one that already exists in the library by @JulioCesarMatias in #8215 Report motor RPM via MSP by @DzikuVx in #8225 Make HUD offset more intuitive by @MrD-RC in #8226 Nav launch manual throttle option by @breadoven in #8134 Remove some NO optimizations made by MCU_FLASH_SIZE by @JulioCesarMatias in #8230 fixed wind estimator by @RomanLut in #8228 fixed wind direction icon on osd by @RomanLut in #8227 Update Building in Windows 10 or 11 with MSYS2.md by @pwnept in #8248 Update Matrix Filter to 3D Matrix Filter by @DzikuVx in #8253 Add glide time, glide distance, and climb efficiency OSD elements by @MrD-RC in #8081 Update PPM by @MrD-RC in #8269 Updated profiles.md doc by @MrD-RC in #8279 Add USER3 mode by @shellixyz in #8276 Add target: NEUTRONRCH7BT by @shellixyz in #8277 Enforce waypoint altitude tolerance fix by @breadoven in #8280 Improved fixed wing waypoint course tracking by @breadoven in #8234 Allow autolevel in nav_course_hold_mode by @FinalFrag in #8178 Fix altitude conversion in MSP_SET_RAW_GPS by @stronnag in #8337 Updated CMS GPSNAV PIDs by @breadoven in #8326 make use of the MS2S macro whenever possible by @JulioCesarMatias in #8332 Support for Hardware In The Loop simulator in X-Plane 11 by @RomanLut in #8268 fixed BOX_PERMANENT_ID_USER3 collision by @RomanLut in #8346 Use ARRAYLEN macro where applicable by @JulioCesarMatias in #8323 Fix uint8_t to bool by @JulioCesarMatias in #8325 Rename pitotCalculateAirSpeed() by @JulioCesarMatias in #8330 INAV 5.1.0 Release branch by @DzikuVx in #8186 Mamba 2022B targets by @DzikuVx in #8368 Fix S1 by removing LED conflict by @DzikuVx in #8371 [OMNIBUSF4V3] Add BMI270 support by @JulioCesarMatias in #8351 [fc_core.c] Rename annexCode void by @JulioCesarMatias in #8329 Drop the old HIL by @JulioCesarMatias in #8281 Missing Nav default settings fix by @breadoven in #8396 Treat wp.p3 as bitfield by @stronnag in #8393 HakRC F405 DJI target by @nmaggioni in #8384 HakRC F722D target by @nmaggioni in #8387 Re-order boxmodes to have as little disruption to 5.1 as possible by @MrD-RC in #8394 added scripts to update Settings.md with Docker by @RomanLut in #8350 HakRC F411 AIO target by @nmaggioni in #8385 WP mode failsafe delay setting by @breadoven in #8363 Nav landing fixes by @breadoven in #8358 Waypoint multi-mission in flight mission change by @breadoven in #8354 Make sure first motorCount outputs get assigned to motor on MR by @mluessi in #8289 make use of the US2S macro whenever possible by @JulioCesarMatias in #8331 [INS] Use Acc and Gyro calibration validation to calibrate the 1G of the acceleration by @JulioCesarMatias in #8214 [HITL Mode] Make a "makeup" in the algorithm by @JulioCesarMatias in #8356 Enable LEDs by default on JBF7PRO by @nmaggioni in #8412 iNav to INAV by @DzikuVx in #8410 set GPS timeout to 2000ms by @stronnag in #8423 Add landing sensitivity setting + duplicate setting fix by @breadoven in #8427 fix "Blackbox Internals" encoding and update by @stronnag in #8431 MSP Displayport by @DzikuVx in #8435 Mamba f722 wing target by @DzikuVx in #8436 Add macro data conversion to MPU by @JulioCesarMatias in #8432 enable virtual pitot on F411 and F722 by @shota3527 in #8428 mavlink telemetry half/full duplex support by @RomanLut in #8274 Throw out all the setup part of the Gyro interrupt routine by @JulioCesarMatias in #8199 Allow more applied_defaults by @DzikuVx in #8437 Disable stick commands if in CLI by @MrD-RC in #8406 Fix bool values by @JulioCesarMatias in #8445 Pass the variable from uint8_t to bool by @JulioCesarMatias in #8444 ZEEZF7V3 target by @nmaggioni in #8442 Add ZeroFArray Macro and make use of it in some parts by @JulioCesarMatias in #8447 Rename the LOG function macros by @JulioCesarMatias in #8446 Stop showing all LCs for every LC set in dump by @MrD-RC in #8448 inav->INAV... redo by @DzikuVx in #8468 Add 2nd PINIO to MATEKF405SE for better use of resources by @MrD-RC in #8438 Add target KAKUTEF4V23. Support for M5 and M6 outputs. by @marianomd in #8135 Update virtual pitot to use 3d speed by @shota3527 in #8458 AHRS centrifugal force compensation by @shota3527 in #8403 Added support for DJI wtfos MSP-OSD full screen 60x22 OSD by @jeffhendrix in #8434 New SpeedyBee targets by @DzikuVx in #8478 Update Github actions version by @JulioCesarMatias in #8481 [Displayport MSP] Add Macros by @JulioCesarMatias in #8480 Update PixRacer README.md by @JulioCesarMatias in #8486 Fix read of DPS310 coef C11 by @JulioCesarMatias in #8485 Fix MPU6000 for HAKRCKD722 by @nmaggioni in #8493 Fix MPU6000 for HAKRCF405D by @nmaggioni in #8492 Drop IMU2 functionality by @DzikuVx in #8491 fix lpf config for bmi270/bmi160 by @shota3527 in #8495 add target aocodarcf4v2 by @dlt2018 in #8416 Add support HDZero 30x16 mode by @geoffsim in #8476 Drop some PPM definitions by @JulioCesarMatias in #8515 Update gyro orientation for Mamaba H743_2022B by @DzikuVx in #8505 Kakute H7 V2 by @DzikuVx in #8522 [target] Clear some unused defitions by @JulioCesarMatias in #8517 Added link to "something disabled" wiki by @MrD-RC in #8524 Fix heading graph on PixelOSD by @MrD-RC in #8526 [scheduler.c] Remove duplication by @JulioCesarMatias in #8556 RTH Trackback - suspend track recording on fixed wing during Loiter by @breadoven in #8512 Add PINIO 3 & 4 plus MATEKF722PX_PINIO target by @MrD-RC in #8401 Update ci.yml by @MrD-RC in #8560 Foxeer F722 V4 by @DzikuVx in #8544 Update Battery.md by @MrD-RC in #8559 [ci] remove remaining instances of ubuntu-18.04 by @stronnag in #8562 Waypoint turn smoothing and tracking accuracy improvements by @breadoven in #8519 OSD AHI pitch interval redraw option by @breadoven in #7018 Correct Omnibus readme by @sensei-hacker in #8573 Use course over ground as the default for fixed wing navigation "heading" by @breadoven in #8529 Changed CleanFlight to INAV by @MrD-RC in #8583 Fix incorrect temperature shown on OSD by @JulioCesarMatias in #8539 Remove unnecessary parameters from profiles by @MrD-RC in #8451 Increase nav_wp_safe_distance maximum by @MrD-RC in #8589 Add EDGE, DELAY, DELTA, APPROX_EQUAL switches and TIMER to Logic Conditions by @MrD-RC in #8581 Add symbols for remaining time/distance by @MrD-RC in #8584 Update target AOCODARCF7DUAL and remove MPU6500 by @dlt2018 in #8510 New debug_mode POS_EST that is useful for autonomous flight by @ricardodeazambuja in #8549 Foxeer F745AIO V3 by @DzikuVx in #8543 Change logo size for future enhancements by @MrD-RC in #8585 Fixed wing Nav altitude control fix by @breadoven in #8590 OSD Ground Course and Cross Track Error by @breadoven in #8604 Throttle low clean up by @breadoven in #8601 Waypoint accuracy tweak by @breadoven in #8620 Update target.h for AtomRC F405 NAVI by @DzikuVx in #8610 Stop allowing navigation modes to be active while arming. by @MrD-RC in #8611 Kakute H7 V2 Invert PINIO2 so VTX is ON by default by @DzikuVx in #8628 Add a BF4.3 Compatible restricted OSD implementation. by @mmosca in #8631 Update Navigation.md by @b14ckyy in #8633 Increase number of voltage digits in BF compatibility mode OSD by @mmosca in #8634 Be consistent in using #ifdef USE_SAFE_HOME by @sensei-hacker in #8635 [CLI] add missing arming flag name by @stronnag in #8637 Fix X8 mode on FoxeerF722V4 by @DzikuVx in #8644 fixed crsf attitude yaw overflow by @RomanLut in #8638 changed WP mode priority in crsf telemetry by @RomanLut in #8639 Nav "Yaw" usage refactor by @breadoven in #8643 Fix git security issue with docker build by @skeet70 in #8558 Add more symbols to BF43 translation table. by @mmosca in #8641 Consolidate post flight and non-essential save calls in to a single save action by @MrD-RC in #8439 add new target 'AOCODARCF722MINI' by @dlt2018 in #8472 [doc] document changes introduced by #8446 by @stronnag in #8660 Fixed wing climb rate fool proofing fix by @breadoven in #8661 OSD Heading field fix + field display index update by @breadoven in #8624 Emergency arming simplification by @breadoven in #8659 use MAX_SUPPORTED_RC_CHANNEL_COUNT instead of hardcoded 16 by @RomanLut in #8676 Add version info to cliStatus by @OptimusTi in #8671 Fix Docker build UID/GID mapping by @nmaggioni in #8679 Unused Baro filter fix by @breadoven in #8688 DEBUG_ALTITUDE fix by @breadoven in #8693 RTH Trackback fix by @breadoven in #8697 Rename functions to avoid confusion why it does not write eeprom by @sakisdog in #8690 Updates to CLI Outputs by @MrD-RC in #8689 send value throttle in telemetry exactly as shown on osd by @RomanLut in #8652 Update RUSH_BLADE_F7 and add RUSH_BLADE_F7_HD targets by @nmaggioni in #8680 Enhance programming options for waypoint missions by @MrD-RC in #8579 Update MSPDisplayPort and add Walksnail Avatar settings by @MrD-RC in #8654 Update Building in Windows with MSYS2.md by @pwnept in #8702 Change tz_offset min and max by @MrD-RC in #8470 Use BF SYM_AH_BAR9_4 as replacement for INAV SYM_AH_V_START family in BF Compatibility OSD mode by @mmosca in #8709 FW Nav Course Hold control method change by @breadoven in #8586 Disarm on land by default by @DzikuVx in #8711 Updates in the display of wind estimator by @shota3527 in #8523 Disable mAh scaling for BF compatibility by @DzikuVx in #8717 Add RPM symbol translation by @DzikuVx in #8718 Switch H7 to -Ofast optimizations by @DzikuVx in #8719 Add strobe overlay to RGB LEDs by @mmosca in #8536 Add pilot name by @MrD-RC in #8720 Fixed wing OSD home heading arrow and error fix by @breadoven in #8723 Fix MATEK F405SE and F722PX targets with PINIO by @MrD-RC in #8728 Fix build error in osd.c when USE_MSP_DISPLAYPORT is not defined. by @mmosca in #8729 [Doc] update blackbox.md for 6.0 cli options by @stronnag in #8732 Landing detector improvements by @breadoven in #8737 Manual emergency landing FW and MR by @breadoven in #8686 Correct INAv to INAV by @pwnept in #8746 add icm42688p support in MATEKF411TE target by @MATEKSYS in #8748 Landing detection invalid velocity protection by @breadoven in #8743 Update Flight Mode operand in programming framework by @MrD-RC in #8747 New Contributors @gigabytebit made their first contribution in #8088 @sasodoma made their first contribution in #8071 @hogthrob made their first contribution in #8149 @RoadyFPV made their first contribution in #8202 @pwnept made their first contribution in #8248 @FinalFrag made their first contribution in #8178 @shota3527 made their first contribution in #8428 @marianomd made their first contribution in #8135 @ricardodeazambuja made their first contribution in #8549 @mmosca made their first contribution in #8631 @b14ckyy made their first contribution in #8633 @skeet70 made their first contribution in #8558 @sakisdog made their first contribution in #8690 Full Changelog: 5.1.0...6.0.0-RC1 Full Changelog: 5.10...6.0.0-RC2 Lire la source

HD OSD changes HD OSD extended fonts support (DJI WTF/Walksnail/HD0) Added experimental flight code DJI O3 SBUS receiver fixes Fixed ESC info bugs Small fixes and improvements all over the place 🙂 Big thanks to all you guys for testing and feedback on this release! More info: https://github.com/KissUltra/wiki/wiki/Releases:-2.0.1-B44 Lire la source

Hello and welcome to INAV 6 "Horizon Hawk" Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for help on: INAV Discord Server INAV Official on Facebook Tested and suggested hardware can be found here Important Notes The STM32 F3 code was removed from repository, it's no longer possible to compile F3 locally Upgrading from a previous release Upgrading from INAV 5 and 5.1 Download and install the new configurator Save to a file the current diff all from the CLI. Upgrade to INAV 6 using the Full Erase option in the configurator. 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 a large number of 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 5.0 features, and enjoy! Upgrading from older versions Please follow the instructions on this page. Important changes New AHRS (Attitude & Heading Reference System) INAV 6.0 includes a complete rework of the AHRS for Attitude Estimation, to make sure INAV always knows its correct attitude relative to the ground. This should once and for all fix the issue, known as "Horizon Drift" and makes any navigation mode as well as self-levelling modes like ANGLE fully reliable and allows much more precise GPS-Navigation. This affects Fixed Wing as well as Multirotor. The best results are given if the craft is equipped with GPS and in the case of Multirotor also with a compass. But also for pure LOS Craft that have no GPS on board, the AHI stability is noticeably improved in most situations. To work best with non-GPS Fixed Wings, the Reference Airspeed has to be set according the average cruise speed of the craft. When Updating from INAV 5.1 or older, apply the following settings after loading back your previous DIFF (Any Fixed Wing or Copter): set imu_acc_ignore_rate = 15 set imu_acc_ignore_slope = 5 set imu_dcm_kp = 2000 set imu_dcm_ki = 50 set imu_dcm_kp_mag = 2000 set imu_dcm_ki_mag = 50 For Fixed Wing Craft with no GPS: set fw_reference_airspeed = (set this in cm/s. Set this to airspeed at which PIDs were tuned. Usually should be set to cruise airspeed. Also used for coordinated turn calculation if airspeed sensor is not present.) HUD Offset change The operation of osd_horizon_offset has been reversed, to make it more intuitive. If you have a non-zero value for osd_horizon_offset it will need to be inverted. For example, osd_horizon_offset = 1 would become osd_horizon_offset = -1. Positive values move the HUD up, and negative values move it down. RTH Trackback When triggered the craft returns along the trackback route until the end is reached at which point it reverts to normal RTH heading directly home. It doesn't perform the RTH climb phase but instead uses the track point altitude but with altitude never allowed below the altitude of the start point so it can climb but never descend below the start point. OFF by default, adjust nav_rth_trackback_mode to enable. For details see #7988 Accelerometer calibration is optional Accelerometer calibration is required only if any of the Accelerometer Based Flight Modes or Failsafe procedures is configured. For example, ACC calibration will be needed when Failsafe RTH is enabled, or any GPS assisted flight modes is configured. Acro only multirotor and fixed wings do not require calibration. nav_extra_arming_safety OFF option The off option has been removed from nav_extra_arming_safety. Instead, the allow_bypass can be used for with the same effect. To allow the bypass, yaw right and arm. The extra arming safety features will be disabled until the next power cycle of the battery. Please update your diff if you use this parameter; either manually, or using this tool. Improved fixed wing waypoint course tracking Attempts to improve fixed wing WP course tracking accuracy by adding a couple of options: Tracking accuracy option that forces craft toward the waypoint course line as quickly as possible and actively tracks the line thereafter. A single setting adjusts the strength of the tracking behaviour. Works for WP mode and RTH trackback. Option is disabled by default. Turn smoothing option for waypoint turns. Sets a loiter point within the turn such that the craft follows a loiter turn path that either passes through the waypoint or cuts the turn missing the waypoint (2 settings possible). Only works for WP mode. Option is disabled by default. See #8234 for details Support for Hardware In The Loop simulator in X-Plane 11 INAV flight controller can be used with X-Plane 11 flight simulator. Very useful for training, testing and debugging. Requires X-Plane 11 and HITL Plugin https://github.com/RomanLut/INAV-X-Plane-HITL Waypoint multi-mission in flight mission change Allows WP multi-missions to be changed in flight using new mission change mode. With mode active the required mission index can be selected by cycling through missions using the WP mode switch. Selected mission is loaded when mission change mode is switched off. Mission index can also be changed through addition of a new Mission Index adjustment function which should be useful for DJI users unable to use the normal OSD mission related fields. See #8354 for details MSP Displayport fixes and updates INAV has now support for various flavours of the MSP Displayport protocol used by HDZero, DJI Goggles 2, Walksnail Avatar or WTFOS. Based on the osd_video_system setting different canvas sizes and glyphs are used. Available options are: AUTO - for analog systems only PAL NTSC HDZERO DJIWTF AVATAR BF43COMPAT - keep the compatibility with Betaflight 4.3 implementation by lowering canvas size, lowering the number of OSD glyphs and matching to Betaflight character mapping. Required for DJI MSP Displayport with DJI O3 Air Unit Enhance programming options for waypoint missions The programming framework surrounding waypoints has changed. This has caused a conflict in compatibility with previous versions of INAV. If you use anything in the programming tab. Please run your diff through this conversion tool, to keep your logic conditions working. Please feel free to check out the new waypoint related logical switch operands in the Programming Framework document. Increase nav_wp_safe_distance maximum nav_wp_safe_distance has been replaced with nav_wp_max_safe_distance. This setting uses metres, and used to define the maximum distance away that the first waypoint can be. Please update your diff if you use this parameter; either manually, or using this tool. Stop allowing navigation modes to be active while arming The ability to arm the craft while in a navigation mode has been removed. The only people who this will effect are those who use permanently enabled autolaunch. Pre-6.0 you could arm while in a navigation mode. However this is dangerous, as it is easy to not realise, arm, disable the launch, then have the motor go to the cruise throttle. You will still be able to use a navigation mode as the exit mode from a launch. You just need to use the correct procedure for initiating the launch: Be in a non-navigation mode Arm Select the flight mode that you want to use on launch exit Raise the throttle to the level you want on launch exit The motor will enter idle if idle throttle is used, or await being thrown Throw the plane in to the air, and autolaunch will trigger Disarm on land by default The disarm on landing flag is now set to ON by default. This means, after successful automated landing your aircraft should disarm and stop the motors automatically! Automated landing manual activation Allows an emergency landing to be triggered manually as required. Landing started or ended by rapid toggling of PosHold mode, at least 5 times at a minimum rate of 1Hz. Emergency landing position hold added which will work for all emergency landings regardless of cause so long as a valid position is available. Failsafe inhibited during manual emergency landing to allow landing to continue if Failsafe triggered whilst active. Other changes Gyro noise peaks are now logged into blackbox as separate fields, not debug options. Setting documentation Raw gyro signal is now logged into blackbox as separate field, not debug options. Setting documentation Adds auto smoothing of RC input based on RX refresh rate. Disabled by default, can be enabled with SET rc_filter_auto=ON Wind Estimator is now giving proper results 3D Matrix filter improves PID tuning on noisy Multirotors. See #8253 Strobe lights support. See #8536 Kakute H7 V2 Invert PINIO2 so VTX is ON by default See #8628 Other removed functions MTK GPS protocol support NAZA GPS protocol support BNO055 Secondary IMU function MPU6050 gyro support SPI RX protocol support JR XBUS RX protocol support SUMH RX protocol support New targets Foxeer F722 V4 Foxeer F745 AIO V3 Kakute H7 V2 SpeedyBee F745 AIO Zeez F7 V3 Diatone Mamba F722 WING AocodaRC F4 V2 HakRC F722D HakRC F411 AIO HakRC F405 DJI CLI Changed settings Note: nav_extra_arming_safety The OFF option has been removed. ON and ALLOW_BYPASS are now the only valid options. ALLOW_BYPASS permits arming in "navigation unsafe" condition by temporally applying full right yaw when operating the arm switch. Name Values acc_hardware Removed: MPU6050 debug_modes New: POS_EST, Removed: GYRO, SBUS, FPORT, ERPM, RPM_FILTER, RPM_FREQ, DYNAMIC_FILTER, DYNAMIC_FILTER_FREQUENCY, IRLOCK, KALMAN_GAIN, PID_MEASUREMENT, SPM_CELLS, SPM_VS600, SPM_VARIO, IMU2, SMITH_PREDICTOR gps_provider Removed: UNUSED, NAZA, MTK mag_hardware Removed: GPSMAG nav_extra_arming_safety Removed: OFF osd_video_system New: HDZERO, DJIWTF, AVATAR, BF43COMPAT receiver_type Removed: SPI serial_rx Removed: SUMH, XB-B, XB-B-RJ01 New Items Name Description dynamic_gyro_notch_3d_q Q factor for 3D dynamic notches Values: 1 - 1000 Default: 200 dynamic_gyro_notch_mode Gyro dynamic notch type Default: 2D failsafe_mission_delay Applies if failsafe occurs when a WP mission is in progress. Sets the time delay in seconds between failsafe occurring and the selected failsafe procedure activating. If set to -1 the failsafe procedure won't activate at all and the mission will continue until the end. Values: -1 - 600 Default: 0 imu_gps_yaw_windcomp Wind compensation in heading estimation from gps groundcourse(fixed wing only) Default: TRUE imu_inertia_comp_method Inertia force compensation method when gps is avaliable, VELNED use the accleration from gps, TURNRATE calculates accleration by turnrate multiplied by speed, ADAPTIVE choose best result from two in each ahrs loop Default: VELNED nav_auto_disarm_delay Delay before craft disarms when nav_disarm_on_landing is set (ms) Values: 100 - 10000 Default: 1000 nav_fw_launch_abort_deadband Launch 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. Values: 2 - 250 Default: 100 nav_fw_launch_manual_throttle Allows launch with manually controlled throttle. INAV only levels wings and controls climb pitch during launch. Throttle is controlled directly by throttle stick movement. IF USED WITHOUT A GPS LOCK plane must be launched immediately after throttle is increased to avoid issues with climb out stabilisation and the launch ending sooner than expected (launch end timer starts as soon as the throttle stick is raised). Default: FALSE nav_fw_wp_tracking_accuracy Waypoint tracking accuracy forces the craft to quickly head toward and track along the waypoint course line as closely as possible. Settings 1 to 10 adjust the course tracking response. Higher values dampen the response reducing possible overshoot. A value of 5 is a good starting point. Set to 0 to disable. Values: 0 - 10 Default: 0 nav_fw_wp_tracking_max_angle Sets the maximum allowed alignment convergence angle to the waypoint course line when nav_fw_wp_tracking_accuracy is active [degrees]. Lower values result in smoother alignment with the course line but will take more distance until this is achieved. Values: 30 - 80 Default: 60 nav_fw_wp_turn_smoothing Smooths turns during WP missions by switching to a loiter turn at waypoints. When set to ON the craft will reach the waypoint during the turn. When set to ON-CUT the craft will turn inside the waypoint without actually reaching it (cuts the corner). Default: OFF nav_land_detect_sensitivity Changes sensitivity of landing detection. Higher values increase speed of detection but also increase risk of false detection. Default value should work in most cases. Values: 1 - 15 Default: 5 nav_rth_trackback_distance Maximum distance allowed for RTH trackback. Normal RTH is executed once this distance is exceeded [m]. Values: 50 - 2000 Default: 500 nav_rth_trackback_mode Useage modes for RTH Trackback. OFF = disabled, ON = Normal and Failsafe RTH, FS = Failsafe RTH only. Default: OFF nav_wp_max_safe_distance First waypoint in the mission should be closer than this value [m]. A value of 0 disables this check. Values: 0 - 1500 Default: 100 osd_ahi_pitch_interval Draws AHI at increments of the set pitch interval over the full pitch range. AHI line is drawn with ends offset when pitch first exceeds interval with offset increasing with increasing pitch. Offset direction changes between climb and dive. Set to 0 to disable (Not for pixel OSD) Values: 0 - 30 Default: 0 osd_msp_displayport_fullframe_interval Full Frame redraw interval for MSP DisplayPort [deciseconds]. This is how often a full frame update is sent to the DisplayPort, to cut down on OSD artifacting. The default value should be fine for most pilots. Though long range pilots may benefit from increasing the refresh time, especially near the edge of range. -1 = disabled (legacy mode) , 0 = every frame (not recommended) , default = 10 (1 second) Values: -1 - 600 Default: 10 pilot_name Pilot name Default: rc_filter_auto When enabled, INAV will set RC filtering based on refresh rate and smoothing factor. Default: FALSE rc_filter_lpf_hz RC data biquad filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay. Practical values are 20-50. Set to zero to disable entirely and use unsmoothed RC stick values Values: 15 - 250 Default: 50 rc_filter_smoothing_factor The RC filter smoothing factor. The higher the value, the more smoothing but also the more delay in response. Value 1 sets the filter at half the refresh rate. Value 100 sets the filter to aprox. 10% of the RC refresh rate Values: 1 - 100 Default: 30 Removed Items Name Description baro_median_filter eleres_freq eleres_loc_delay eleres_loc_en eleres_loc_power eleres_signature eleres_telemetry_en eleres_telemetry_power failsafe_mission see new failsafe_mission_delay imu2_align_pitch imu2_align_roll imu2_align_yaw imu2_gain_acc_x imu2_gain_acc_y imu2_gain_acc_z imu2_gain_mag_x imu2_gain_mag_y imu2_gain_mag_z imu2_hardware imu2_radius_acc imu2_radius_mag imu2_use_for_osd_ahi imu2_use_for_osd_heading imu2_use_for_stabilized nav_fw_auto_disarm_delay See generic nav_auto_disarm_delay nav_mc_auto_disarm_delay See generic nav_auto_disarm_delay nav_wp_safe_distance see nav_wp_max_safe_distance rc_filter_frequency rx_spi_id rx_spi_protocol rx_spi_rf_channel_count Changelist The full list of changes is available here The full list of INAV Configurator changes is available here What's Changed (automated list) Clean old box comments by @JulioCesarMatias in #8076 Update Omnibus F4.md by @gigabytebit in #8088 Remove the rest of the PCA9685 driver by @JulioCesarMatias in #8085 Fix mixing motor and servo on same timer. by @sasodoma in #8071 [fc/fc_msp_box.c] Remove uncompiled line by @JulioCesarMatias in #8077 Clear the #if 0 by @JulioCesarMatias in #8118 Target release cleanup by @DzikuVx in #8108 Make use of calc_length_pythagorean_2D on some lines by @JulioCesarMatias in #8101 Edit GPS Provider list by @JulioCesarMatias in #8102 [flash_m25p16.c] Add W25Q128 variant by @JulioCesarMatias in #8054 Drop MTK GPS by @JulioCesarMatias in #8084 RTH Trackback by @breadoven in #7988 Remove nav_extra_arming_safety = OFF option by @MrD-RC in #8106 Fix PC2/PC3 ADC not working on MAMBAH743 by @hogthrob in #8149 [BMP280] Allow target-specific I2C address definition by @RomanLut in #8129 Drop support for NAZA GPS by @DzikuVx in #8144 Release 5.0.0 by @DzikuVx in #8061 Fix wrong merge by @DzikuVx in #8151 INAV 6 version bump by @DzikuVx in #8141 Set Gyro Raw as an independent Blackbox field, not debug mode by @DzikuVx in #8139 [cli.c] RC map code aesthetics by @JulioCesarMatias in #8153 Remove F3 from the codebase by @DzikuVx in #8053 Settings.md: Document osd_ahi_reverse_roll by @sensei-hacker in #8167 Drop a function used only in STM32F3 by @JulioCesarMatias in #8164 Drop the BNO055 I2C version by @DzikuVx in #8168 Drop the JR XBUS support as not used by @DzikuVx in #8176 Remove an unused definition by @JulioCesarMatias in #8181 Reorder box_t to save few hundreds of bytes by @JulioCesarMatias in #8180 Drop SPI RX as not used by any supported hardware by @DzikuVx in #8173 Reset fixed wing heading status on disarm by @breadoven in #8160 OmnibusF4 RX serial fix by @breadoven in #8175 Increased FW launch abort pitch/roll stick dead band by @breadoven in #8161 Remove additional validation for motor rate by @DzikuVx in #8174 Fix surface mode msp box availability logic by @breadoven in #8171 Update VTx.md by @MrD-RC in #8187 Opimise navwaypoint_t stuct alignment by @stronnag in #8182 Optimize memory for better alignment by @DzikuVx in #8183 Fix RX Serial Enumeration by @JulioCesarMatias in #8191 Remove unused rxRefreshRate by @JulioCesarMatias in #8189 Configurator: Reset PIDs button to use applied defaults by @MrD-RC in #8185 Log gyro noise peaks as separate fields by @DzikuVx in #8197 Drop SUMH RX protocol by @DzikuVx in #8198 Update jetiexbus.c by @RoadyFPV in #8202 Support for Flash Memory W25N01G of 128MB by @JulioCesarMatias in #8166 [STM32F3] Remove everything else by @JulioCesarMatias in #8204 Debug cleanup by @DzikuVx in #8211 [Building in Linux.md] Fix Typo by @JulioCesarMatias in #8222 Remove unused header file by @JulioCesarMatias in #8221 Drop the MPU-6050 Support by @JulioCesarMatias in #8213 Remove barometer median filter by @digitalentity in #8201 OSD PG reset template version bump by @breadoven in #8217 Nav launch stick abort deadband setting by @breadoven in #8218 RC interpolation updates by @DzikuVx in #8212 [config_eeprom.c] Replace a function with another one that already exists in the library by @JulioCesarMatias in #8215 Report motor RPM via MSP by @DzikuVx in #8225 Make HUD offset more intuitive by @MrD-RC in #8226 Nav launch manual throttle option by @breadoven in #8134 Remove some NO optimizations made by MCU_FLASH_SIZE by @JulioCesarMatias in #8230 fixed wind estimator by @RomanLut in #8228 fixed wind direction icon on osd by @RomanLut in #8227 Update Building in Windows 10 or 11 with MSYS2.md by @pwnept in #8248 Update Matrix Filter to 3D Matrix Filter by @DzikuVx in #8253 Add glide time, glide distance, and climb efficiency OSD elements by @MrD-RC in #8081 Update PPM by @MrD-RC in #8269 Updated profiles.md doc by @MrD-RC in #8279 Add USER3 mode by @shellixyz in #8276 Add target: NEUTRONRCH7BT by @shellixyz in #8277 Enforce waypoint altitude tolerance fix by @breadoven in #8280 Improved fixed wing waypoint course tracking by @breadoven in #8234 Allow autolevel in nav_course_hold_mode by @FinalFrag in #8178 Fix altitude conversion in MSP_SET_RAW_GPS by @stronnag in #8337 Updated CMS GPSNAV PIDs by @breadoven in #8326 make use of the MS2S macro whenever possible by @JulioCesarMatias in #8332 Support for Hardware In The Loop simulator in X-Plane 11 by @RomanLut in #8268 fixed BOX_PERMANENT_ID_USER3 collision by @RomanLut in #8346 Use ARRAYLEN macro where applicable by @JulioCesarMatias in #8323 Fix uint8_t to bool by @JulioCesarMatias in #8325 Rename pitotCalculateAirSpeed() by @JulioCesarMatias in #8330 INAV 5.1.0 Release branch by @DzikuVx in #8186 Mamba 2022B targets by @DzikuVx in #8368 Fix S1 by removing LED conflict by @DzikuVx in #8371 [OMNIBUSF4V3] Add BMI270 support by @JulioCesarMatias in #8351 [fc_core.c] Rename annexCode void by @JulioCesarMatias in #8329 Drop the old HIL by @JulioCesarMatias in #8281 Missing Nav default settings fix by @breadoven in #8396 Treat wp.p3 as bitfield by @stronnag in #8393 HakRC F405 DJI target by @nmaggioni in #8384 HakRC F722D target by @nmaggioni in #8387 Re-order boxmodes to have as little disruption to 5.1 as possible by @MrD-RC in #8394 added scripts to update Settings.md with Docker by @RomanLut in #8350 HakRC F411 AIO target by @nmaggioni in #8385 WP mode failsafe delay setting by @breadoven in #8363 Nav landing fixes by @breadoven in #8358 Waypoint multi-mission in flight mission change by @breadoven in #8354 Make sure first motorCount outputs get assigned to motor on MR by @mluessi in #8289 make use of the US2S macro whenever possible by @JulioCesarMatias in #8331 [INS] Use Acc and Gyro calibration validation to calibrate the 1G of the acceleration by @JulioCesarMatias in #8214 [HITL Mode] Make a "makeup" in the algorithm by @JulioCesarMatias in #8356 Enable LEDs by default on JBF7PRO by @nmaggioni in #8412 iNav to INAV by @DzikuVx in #8410 set GPS timeout to 2000ms by @stronnag in #8423 Add landing sensitivity setting + duplicate setting fix by @breadoven in #8427 fix "Blackbox Internals" encoding and update by @stronnag in #8431 MSP Displayport by @DzikuVx in #8435 Mamba f722 wing target by @DzikuVx in #8436 Add macro data conversion to MPU by @JulioCesarMatias in #8432 enable virtual pitot on F411 and F722 by @shota3527 in #8428 mavlink telemetry half/full duplex support by @RomanLut in #8274 Throw out all the setup part of the Gyro interrupt routine by @JulioCesarMatias in #8199 Allow more applied_defaults by @DzikuVx in #8437 Disable stick commands if in CLI by @MrD-RC in #8406 Fix bool values by @JulioCesarMatias in #8445 Pass the variable from uint8_t to bool by @JulioCesarMatias in #8444 ZEEZF7V3 target by @nmaggioni in #8442 Add ZeroFArray Macro and make use of it in some parts by @JulioCesarMatias in #8447 Rename the LOG function macros by @JulioCesarMatias in #8446 Stop showing all LCs for every LC set in dump by @MrD-RC in #8448 inav->INAV... redo by @DzikuVx in #8468 Add 2nd PINIO to MATEKF405SE for better use of resources by @MrD-RC in #8438 Add target KAKUTEF4V23. Support for M5 and M6 outputs. by @marianomd in #8135 Update virtual pitot to use 3d speed by @shota3527 in #8458 AHRS centrifugal force compensation by @shota3527 in #8403 Added support for DJI wtfos MSP-OSD full screen 60x22 OSD by @jeffhendrix in #8434 New SpeedyBee targets by @DzikuVx in #8478 Update Github actions version by @JulioCesarMatias in #8481 [Displayport MSP] Add Macros by @JulioCesarMatias in #8480 Update PixRacer README.md by @JulioCesarMatias in #8486 Fix read of DPS310 coef C11 by @JulioCesarMatias in #8485 Fix MPU6000 for HAKRCKD722 by @nmaggioni in #8493 Fix MPU6000 for HAKRCF405D by @nmaggioni in #8492 Drop IMU2 functionality by @DzikuVx in #8491 fix lpf config for bmi270/bmi160 by @shota3527 in #8495 add target aocodarcf4v2 by @dlt2018 in #8416 Add support HDZero 30x16 mode by @geoffsim in #8476 Drop some PPM definitions by @JulioCesarMatias in #8515 Update gyro orientation for Mamaba H743_2022B by @DzikuVx in #8505 Kakute H7 V2 by @DzikuVx in #8522 [target] Clear some unused defitions by @JulioCesarMatias in #8517 Added link to "something disabled" wiki by @MrD-RC in #8524 Fix heading graph on PixelOSD by @MrD-RC in #8526 [scheduler.c] Remove duplication by @JulioCesarMatias in #8556 RTH Trackback - suspend track recording on fixed wing during Loiter by @breadoven in #8512 Add PINIO 3 & 4 plus MATEKF722PX_PINIO target by @MrD-RC in #8401 Update ci.yml by @MrD-RC in #8560 Foxeer F722 V4 by @DzikuVx in #8544 Update Battery.md by @MrD-RC in #8559 [ci] remove remaining instances of ubuntu-18.04 by @stronnag in #8562 Waypoint turn smoothing and tracking accuracy improvements by @breadoven in #8519 OSD AHI pitch interval redraw option by @breadoven in #7018 Correct Omnibus readme by @sensei-hacker in #8573 Use course over ground as the default for fixed wing navigation "heading" by @breadoven in #8529 Changed CleanFlight to INAV by @MrD-RC in #8583 Fix incorrect temperature shown on OSD by @JulioCesarMatias in #8539 Remove unnecessary parameters from profiles by @MrD-RC in #8451 Increase nav_wp_safe_distance maximum by @MrD-RC in #8589 Add EDGE, DELAY, DELTA, APPROX_EQUAL switches and TIMER to Logic Conditions by @MrD-RC in #8581 Add symbols for remaining time/distance by @MrD-RC in #8584 Update target AOCODARCF7DUAL and remove MPU6500 by @dlt2018 in #8510 New debug_mode POS_EST that is useful for autonomous flight by @ricardodeazambuja in #8549 Foxeer F745AIO V3 by @DzikuVx in #8543 Change logo size for future enhancements by @MrD-RC in #8585 Fixed wing Nav altitude control fix by @breadoven in #8590 OSD Ground Course and Cross Track Error by @breadoven in #8604 Throttle low clean up by @breadoven in #8601 Waypoint accuracy tweak by @breadoven in #8620 Update target.h for AtomRC F405 NAVI by @DzikuVx in #8610 Stop allowing navigation modes to be active while arming. by @MrD-RC in #8611 Kakute H7 V2 Invert PINIO2 so VTX is ON by default by @DzikuVx in #8628 Add a BF4.3 Compatible restricted OSD implementation. by @mmosca in #8631 Update Navigation.md by @b14ckyy in #8633 Increase number of voltage digits in BF compatibility mode OSD by @mmosca in #8634 Be consistent in using #ifdef USE_SAFE_HOME by @sensei-hacker in #8635 [CLI] add missing arming flag name by @stronnag in #8637 Fix X8 mode on FoxeerF722V4 by @DzikuVx in #8644 fixed crsf attitude yaw overflow by @RomanLut in #8638 changed WP mode priority in crsf telemetry by @RomanLut in #8639 Nav "Yaw" usage refactor by @breadoven in #8643 Fix git security issue with docker build by @skeet70 in #8558 Add more symbols to BF43 translation table. by @mmosca in #8641 Consolidate post flight and non-essential save calls in to a single save action by @MrD-RC in #8439 add new target 'AOCODARCF722MINI' by @dlt2018 in #8472 [doc] document changes introduced by #8446 by @stronnag in #8660 Fixed wing climb rate fool proofing fix by @breadoven in #8661 OSD Heading field fix + field display index update by @breadoven in #8624 Emergency arming simplification by @breadoven in #8659 use MAX_SUPPORTED_RC_CHANNEL_COUNT instead of hardcoded 16 by @RomanLut in #8676 Add version info to cliStatus by @OptimusTi in #8671 Fix Docker build UID/GID mapping by @nmaggioni in #8679 Unused Baro filter fix by @breadoven in #8688 DEBUG_ALTITUDE fix by @breadoven in #8693 RTH Trackback fix by @breadoven in #8697 Rename functions to avoid confusion why it does not write eeprom by @sakisdog in #8690 Updates to CLI Outputs by @MrD-RC in #8689 send value throttle in telemetry exactly as shown on osd by @RomanLut in #8652 Update RUSH_BLADE_F7 and add RUSH_BLADE_F7_HD targets by @nmaggioni in #8680 Enhance programming options for waypoint missions by @MrD-RC in #8579 Update MSPDisplayPort and add Walksnail Avatar settings by @MrD-RC in #8654 Update Building in Windows with MSYS2.md by @pwnept in #8702 Change tz_offset min and max by @MrD-RC in #8470 Use BF SYM_AH_BAR9_4 as replacement for INAV SYM_AH_V_START family in BF Compatibility OSD mode by @mmosca in #8709 FW Nav Course Hold control method change by @breadoven in #8586 Disarm on land by default by @DzikuVx in #8711 Updates in the display of wind estimator by @shota3527 in #8523 Disable mAh scaling for BF compatibility by @DzikuVx in #8717 Add RPM symbol translation by @DzikuVx in #8718 Switch H7 to -Ofast optimizations by @DzikuVx in #8719 Add strobe overlay to RGB LEDs by @mmosca in #8536 Add pilot name by @MrD-RC in #8720 Fixed wing OSD home heading arrow and error fix by @breadoven in #8723 Fix MATEK F405SE and F722PX targets with PINIO by @MrD-RC in #8728 Fix build error in osd.c when USE_MSP_DISPLAYPORT is not defined. by @mmosca in #8729 [Doc] update blackbox.md for 6.0 cli options by @stronnag in #8732 Landing detector improvements by @breadoven in #8737 Manual emergency landing FW and MR by @breadoven in #8686 Correct INAv to INAV by @pwnept in #8746 add icm42688p support in MATEKF411TE target by @MATEKSYS in #8748 Landing detection invalid velocity protection by @breadoven in #8743 Update Flight Mode operand in programming framework by @MrD-RC in #8747 New Contributors @gigabytebit made their first contribution in #8088 @sasodoma made their first contribution in #8071 @hogthrob made their first contribution in #8149 @RoadyFPV made their first contribution in #8202 @pwnept made their first contribution in #8248 @FinalFrag made their first contribution in #8178 @shota3527 made their first contribution in #8428 @marianomd made their first contribution in #8135 @ricardodeazambuja made their first contribution in #8549 @mmosca made their first contribution in #8631 @b14ckyy made their first contribution in #8633 @skeet70 made their first contribution in #8558 @sakisdog made their first contribution in #8690 Full Changelog: 5.1.0...6.0.0-RC1 Lire la source

Introducing: Betaflight 4.4.0 Our release notes for 4.4.0 are here: https://betaflight.com/docs/wiki/release/Betaflight%204.4%20Release%20Notes IMPORTANT: Make sure you install and use the latest version of the Betaflight Configurator (10.9.0) before updating your firmware. Please read these important introductory notes: There is a new betaflight.com website that houses all the documentation and media for helping you get the best out of Betaflight. Well done to the team who have pulled that together. Check it out: http://www.betaflight.com. If your target does not present the 4.4.0 releases in 10.9.0 of the configurator, then please flash 4.3.2 and then submit a support request from within the CLI tab. This should give us enough information to at least get your target up and running with 4.4.0. The reason it will be missing is the manufacturer or our flyers, have yet to provide the details needed about what hardware is on the board. After updating to Betaflight 4.4.0, you MUST use the latest 10.9.0 Betaflight Configurator. Earlier configurator versions (e.g.10.8) will not work properly with 4.4 releases. 4.4 has a new Cloud Building System. This is design to extend the life of smaller flash sized MCUs (F411 and F722) based boards. You need to enable the various options in the build, before selecting "Load Firmware Online" within the configurator. It is super simple, but just be aware that unless you have selected the option for your firmware it will not be available once you flash the board. Don't stress, if you miss an option, just request a new build! 🙂 HD OSD support has been added. This is not currently supported by HD Zero, but some effort there is in the works so watch this space. Check all your settings carefully before arming for the first time. Check PIDs, Filters, Rates, motor configuration and motor rotation. For the first flights, arm in a safe place, fly gently, and look out for any setup or build issues. Betaflight has a presence on the Discord messaging platform - and this is the primary location for support, questions and discussions. Come and join us. Most developers hang out there, so this is a great place to talk about the things you are tinkering with in Betaflight, or get help with really complicated configuration problems. Alternatively, if you don't use Discord and you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this in our Facebook group. What's Changed Features Add OSD_CRAFTNAME_MSGS to insert additional data into CraftName by @howels in #11771 Ghost MSP support by @daleckystepan in #11242 ExpressLRS 3.0 compatibility mode by @phobos- in #11783 VTX Device over MSP by @phobos- in #11705 Feature/dshot extended telemetry on unused ranges by @damosvil in #11694 Set PID profile count and RATE profile count to 4 by @haslinghuis in #11770 Implement battery continuation by @rvdveen in #11084 Watt Hours Drawn OSD Element and Post Flight Stat by @jonmahoney15 in #11843 CLOUD_BUILD enablement. Supporting the use of a cloud build server. by @blckmn in #11850 Add AUX channel value to OSD (e.g. for Pilot's Heart Rate) by @alexeystn in #10789 Ready Mode by @jonmahoney15 in #11886 Add support for getting/setting elrs uid via msp API by @jeffpearce in #11192 Rename 'display_name' to 'pilot_name'; rename 'name' to 'craft_name' ;Add the 'MSP2_GET_TEXT' and 'MSP2_SET_TEXT' MSP commands by @krasiyan in #11391 Add HD OSD support by @SteveCEvans in #11964 MSP messages to get and set PID and rate profile names. by @qvasic in #12020 Show PID and rate profile names in OSD menu. by @qvasic in #11962 Improvements Add angle limit to OSD settings menu by @SpencerGraffunder in #11257 Adds blackbox fields_disabled_mask to msp by @fgiudice98 in #10054 Remove unused rxRefreshRate by @daleckystepan in #11668 Update GPS Rescue by @ctzsnooze in #11579 Extract function toUpperCase for osd elements by @limonspb in #11670 Only write to FLASH once 64 bytes are buffered by @SteveCEvans in #11697 Save flash: Replace CLI params for OSD stats and warnings with bitmasks by @limonspb in #11671 Use timed timeouts for USB HAL functions, not simple counts, as per H7 by @SteveCEvans in #11669 Use macros for power with integer exponents by @mathiasvr in #11126 Style: Use angle brackets with standard library headers by @mathiasvr in #11196 Remove USE_EXTI, USE_GYRO_EXTI and USE_MPU_DATA_READY_SIGNAL defines by @SteveCEvans in #11585 MAX7456 cleanups 1 by @hydra in #11662 Refactoring IMU, ACC and small PID loop improvements by @daleckystepan in #11326 Move to Github Actions for PRs by @blckmn in #11723 Don't set sleepTime to ut_delay in BARO_STATE_PRESSURE_SAMPLE state by @SteveCEvans in #11740 CLI: Raise upper limit of dyn_idle_min_rpm by @KarateBrot in #11769 Allow dyn_notch_min_hz as low as 20Hz by @bw1129 in #11795 Refactor barometer as floats with pt2 smoothing by @ctzsnooze in #11775 Change Dynamic Notch Min Hz default to 100Hz by @SupaflyFPV in #11827 Unify all eRPM to RPM calculations into one single function by @damosvil in #11772 GPS Rescue smoothed with upsampled inputs, bug fixes by @ctzsnooze in #11834 Cleanup some switch-case-s by @DusKing1 in #11810 Add MSP displayport sub-command definitions by @SteveCEvans in #11864 Enhancements for ICM-426xx (gyro and acc) by @KarateBrot in #11866 Fix function brace style by @mathiasvr in #11191 ExpressLRS: Minor style fix and clean up by @mathiasvr in #11195 Use ARRAYLEN macro where applicable by @mathiasvr in #11190 Populate unified targets as separate target folders by @blckmn in #11885 Move TPA to PID profile by @haslinghuis in #11779 Use std abs() instead of ABS() macro by @mathiasvr in #11097 Use lrintf for explicit rounding of float to integer by @mathiasvr in #11102 Remove old style definitions by @KarateBrot in #11887 BMI160/270: Stronger acc anti-aliasing by @KarateBrot in #11895 Revert GPS satellite minimums to single gps_rescue_min_sats value by @ctzsnooze in #11905 Removing 'UNIFIED_TARGET' by @blckmn in #11909 Remove duplicate DSHOT port configuration by @SteveCEvans in #11915 Lock altitude task at 100Hz & fix baro calibration by @KarateBrot in #11911 use PWM_RANGE consistently by @ctzsnooze in #11921 Enable MSP Displayport on a serial port using FUNCTION_MSP_DISPLAYPORT by @SteveCEvans in #11913 Moving OSD to cloud build option by @blckmn in #11926 Final target clean up by @blckmn in #11925 Adding board scratch space. by @blckmn in #11920 Parse GPS DOP values by @KarateBrot in #11912 Dedicated task for GPS Rescue by @KarateBrot in #11972 Refactor RPM Filter by @KarateBrot in #11765 Add HD OSD system elements for VTX temp and goggle fan speed by @SteveCEvans in #11999 Fix/enhance NMEA & Ublox message polling for GPS by @KarateBrot in #12022 NMEA ATGM336 - support 10Hz refresh rate by @krzysztofkuczek in #12008 Display FLASH JEDEC ID in status and flash_info by @SteveCEvans in #12051 Extend error output by @haslinghuis in #12063 Cloud build option for 64 leds by @limonspb in #12064 Add support for Omron 2SMBP-02B barometer by @mluessi in #11173 Display OSD canvas size in status command by @SteveCEvans in #12108 Improved SDFT windowing by @KarateBrot in #12117 Disarm on fail-safe when allow arming without fix is enabled and failsafe procedure is set to GPS-RESCUE by @haslinghuis in #12120 Flash M25P16: Add QSPI support by @mluessi in #12103 Add osd_canvas_width/height variables by @SteveCEvans in #12164 Automatically apply HD settings if HD VTX is detected by @SteveCEvans in #12184 Fixes Fix compilation error when USE_RX_MSP_OVERRIDE is defined without USE_RX_MSP. by @hydra in #11661 IRC Ghost protocol improvements by @daleckystepan in #10801 Ghost jitter fix by @daleckystepan in #11234 Fixing segmentation fault of SITL. by @xuhao1 in #11302 Fix mcu types by @daleckystepan in #11716 Add support for BMI160 gyro for unified targets where TARGET_FLASH_SIZE > 512 by @SteveCEvans in #11707 Make sure to write dshot stop cmd to all other motors when targeting … by @RoarFPV in #11672 Fix debug mode D_LPF by @KarateBrot in #11721 Fix data overwriting in VCP_DataTx on F4 by @daleckystepan in #11713 Fix cli unit test on Clang 13 by @daleckystepan in #11184 Flashfs: Add support for asynchronous complete erase by @mluessi in #11719 Revert b6e2790 as this broke FrSky SPI by @SteveCEvans in #11750 Remove superfluous double ; by @SteveCEvans in #11761 Lower max CraftName length to avoid ugly truncation errors by @howels in #11801 Gps rescue - default to Ublox, fix landing phase criteria, fix level mode offsets by @ctzsnooze in #11756 Maintain previous MSP GPS Heading resolution by @ctzsnooze in #11814 MSC - Fix MSC on H7. by @hydra in #11804 Fix SD card initialisation by @SteveCEvans in #11839 Hide accel related modes if accel disabled by @mituritsyn in #11665 Negate CS at end of SPI accesses by @SteveCEvans in #11845 Fix for old telemetry sent to RPM filter during a re-arming sequence by @damosvil in #11847 Restore iTerm Windup to all axes, active by default by @ctzsnooze in #11806 Fix the normal airmode mixer by @Quick-Flash in #11857 Fixes for maxAlt and gpsTrust bugs by @ctzsnooze in #11841 Defer DSHOT telemetry calculations to avoid overload on F411 MCUs by @damosvil in #11851 Ensure that airmode off to on always has a smooth transition by @Quick-Flash in #11867 Fix MSP removed parameter comment by @klutvott123 in #11873 Fix CMS anti gravity gain by @klutvott123 in #11872 Make anti-windup affect the gain from Anti Gravity by @tbolin in #11878 Use SPI DMA for single segments if negateCS false on end marker by @SteveCEvans in #11883 ICM-426xx AAF bugfix & refactoring by @KarateBrot in #11880 Add def for AKK/RDQ SmartAudio bug by @howels in #11891 Fix read of DPS310 coef C11 by @SteveCEvans in #11898 Beeper READY_BEEP when home fix is first achieved by @ctzsnooze in #11896 Fix chaining of FLASH SPI transactions by @SteveCEvans in #11897 Fix osd_aux_channel range by @haslinghuis in #11902 Fixes for SITL - adding to the standard list of targets by @blckmn in #11910 Fix SITL build by @haslinghuis in #11917 Fix for OSD Aux Value channel selection by @haslinghuis in #11919 Set GPIOs to GPIO_SPEED_FREQ_LOW for timer based DSHOT by @SteveCEvans in #11916 Add case for MSP OSD device detection by @haslinghuis in #11931 Allow serial port to share all MSP functions at once by @SteveCEvans in #11950 Fix debug GPS_DOP by @KarateBrot in #11956 Enable Instruction and Data cache and prefetch on G4 by @SteveCEvans in #11973 Added RSNR to the OSD by @TonyBlit in #11062 Fix ATTITUDE task rate by @KarateBrot in #11975 Fix RPM Filter copy instructions by @KarateBrot in #11988 Fix compatibility for name field by @haslinghuis in #11980 Revert RPM Filter copy instructions to old method by @KarateBrot in #11994 Add missing gyro check by @ASDosjani in #12000 Fix msp API_VERSION_MINOR by @KarateBrot in #12001 Fix OSD_X macro to correctly load the high bit by @bri3d in #12038 Gps Rescue: Fix "velocityD" filtering by @KarateBrot in #12042 Use USE_DMA_SPEC without preconditions by @haslinghuis in #12050 Fix ELRS gating issues. by @hydra in #12055 Center logo and CMS display for HD OSD by @SteveCEvans in #12056 Small fix for msp vtx over crsf framing by @phobos- in #12059 Fixed edt telemetry initial value assignation by @damosvil in #12074 FIX: USE_RX_CC2500 was not gating correctly by @blckmn in #12083 Center ARMED message and stats by @SteveCEvans in #12086 FIX: MSP Displayport now has dependency on OSD config by @blckmn in #12106 FIX: CC2500 not building due to undefined pins. by @blckmn in #12125 FIX: SPI_DPS310 not gated correctly by @blckmn in #12131 Ensure OSD elements are on canvas by @SteveCEvans in #12144 Fix reset PG behaviour and configurator interactions based on USE_OSD_SD and USE_OSD_HD definitions by @SteveCEvans in #12152 Avoid debugging other data than RPM telemetry when decoding DSHOT RPM by @damosvil in #12166 Improve performance for ELRS SX1280 SPI callbacks and SPI/ELRS handlers. by @hydra in #11460 FIX: Hard fault on dump of settings if no OSD selected by @blckmn in #12171 Fixed getDshotAverageRpm function by @damosvil in #12178 Minor fixes for Dyn Notch & SDFT by @KarateBrot in #12199 GPS Rescue Bugfix, add a failsafe debug, refactor stick deflection by @ctzsnooze in #12195 Include MSP over telemetry for ghost by @klutvott123 in #12208 Fix DEBUG_ALTITUDE by @KarateBrot in #12213 Fix SITL by @haslinghuis in #12217 Fix SDFT batch process by @KarateBrot in #12218 fix SITL by @ykeuter in #12220 Targets Add STM32F411SX1280 unified target by @SteveCEvans in #11648 Add ICM42688P for all unified builds by @SteveCEvans in #11664 Change DEFAULT_RX_FEATURE by @haslinghuis in #11708 Removing all legacy targets (cloud build / embedded config) by @blckmn in #11884 STM32H750 as a standard target by @blckmn in #11957 FIX: Include the legacy drivers (gated) by @blckmn in #12069 Fix STM32H750 target support by @hydra in #12091 STM32H730 base target support. by @hydra in #12093 Known Issues FIX: Using OSD config when USE_OSD not defined. by @blckmn in #11963 New Contributors @SpencerGraffunder made their first contribution in #11257 @xuhao1 made their first contribution in #11302 @VitroidFPV made their first contribution in #11714 @RoarFPV made their first contribution in #11672 @howels made their first contribution in #11771 @bw1129 made their first contribution in #11795 @MARCO-E5 made their first contribution in #11793 @damosvil made their first contribution in #11694 @P-I-Engineer made their first contribution in #11275 @jonmahoney15 made their first contribution in #11843 @Quick-Flash made their first contribution in #11857 @tbolin made their first contribution in #11878 @jeffpearce made their first contribution in #11192 @krasiyan made their first contribution in #11391 @HThuren made their first contribution in #11918 @atomic-7 made their first contribution in #11942 @ASDosjani made their first contribution in #12000 @benjamind2 made their first contribution in #12016 @qvasic made their first contribution in #12020 @bri3d made their first contribution in #12038 @sugaarK made their first contribution in #12044 @ykeuter made their first contribution in #12220 Full Changelog: 4.3.0...4.4.0 Lire la source

Adding Launch Control as standard option. (#12229) * Adding Launch Control as standard option. * Adding so it is not present in the CORE_BUILD * Adding comment Lire la source

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. Get it here: Lua Compatibility This is a minor version release (new features, targets and bug-fixes only) and is compatible with V3.X. Who should update from V3.1? Anyone using a PWM RX and set failsafe values from Lua Owners of the new Radiomaster hardware listed below Anyone using 868/915 receivers and wanting to use higher power for telemetry output The other fixes listed do not affect flight performance, and the features are either minor or not yet available (Gemini) due to lack of commercial hardware. New Targets Transmitter Modules Radiomaster 2.4GHz Boxer #1999 New Features Gemini 2.4GHz #1914 ExpressLRS Gemini Tx Module Configuration Import/Export for backing up or cloning your TX #1943 Configurable TX PWM fan speeds based on power output level #2011 The telemetry power on 868/900mhz receivers can now be selected from 10mW, 25mW, or 50mW via the Lua (note, this was technically included in version 3.1.2, but was missed in the release notes) #1981 Maintenance Update EMAX 900 OLED power settings #1986 Fix GitHub build warnings #1948 GitHub Actions: update deprecated PIO platform command #2023 Fixes Fixes DIY hardware with different pin mappings and allows auto WiFi mode to be entered. (sx1280) #1990 Fixes WiFi updating on ESP8285 based receivers due to not enough space. #2019 #2024 Minor fix that may improve RX connection after a failsafe if the frequency has drifted. #1997 Fix PWM output for ESP32 based receivers. Note that no ESP32 base PWM RX are currently available commercially. #1951 Fix PWM failsafe value channel mapping #2020 Free up some more RAM on ESP8285 based devices #2026 Add condition to prevent config commits from the main loop while in WiFi update mode #2037 Fix visibility of TLM status on the web UI. #2035 Improve wifi scanning #2036 Known Issues On performing WiFi updates to some TX modules you may get a “Bad Size Given” error. If you get this error, it can be remedied by either flashing via UART, or flashing the repartitioner from https://github.com/ExpressLRS/repartitioner/releases/download/1.0/repartitioner.bin then reflashing via wifi after it has completed. For more information about the problem see https://github.com/ExpressLRS/repartitioner/ Lire la source