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Hello and welcome to INAV 9.0.0 RC2 This release candidate is for testing the new features and changes that will be part of the INAV 9.0.0 release soon Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions and ask for help on: INAV Discord Server INAV Official on Facebook Note Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default. Known Issues in 9.0 Please read INAV Github issue reports for outstanding problems that were not resolved in time for the release. Upgrading from a previous release Upgrading from INAV 8.0 Backup configuration with CLI diff all command or use the Diff All and Save to file buttons. Download and install the new INAV Configurator 9.0 Flash INAV 9.0 WITH Full Chip Erase option enabled Load your 8.0 Diff settings in to the CLI. Then take a note or write down the incompatible settings changes marked in RED. Then copy your 8.0 Diff file and rename it 9.0. And edit the old incompatible settings. Now go to the Status Tab and press the Reset Setting button. Select Keep current settings from the defaults pop-up. Go to CLI and load your edited INAV 9.0 Diff Done Tip Concerning step 8. It can be a safer option to load your Diff All settings in two parts if you are using multiple Profiles. e.g. Control, Mixer or Battery. This can be done by copying and loading the Diff All text setting from the top, down to the bottom of the # master settings category. Then load that into the CLI and press enter. Once it has written, press the Save Settings button. Wait until it reboots and go back to the CLI tab again, then copy and load the rest of the Diff All text file. Starting from the # Control_profile 1 settings category, down to the bottom. Press enter. Once written, it will save by itself. Upgrading from older versions Please follow the instructions on this page. Highlights Minimum ground speed flexibility Via the Programming Framework. It allows the user to have more flexibility when flying in higher wind conditions. To ensure the airplane makes headway. In addition, you can program it to dynamically adjust the minimum ground speed according to the Wind direction and Wind speed. More information can be found in this link. OSD throttle gauge Allows the pilot to see the throttle as a vertical digital gauge. Functional information can be found here in the PR link Fixed wing altitude controller Changes have been made to improve its operation on a broader range of airframes. One of two methods can be selected to better suited different climb rate conditions. Altitude Velocity controller nav_fw_alt_use_position = OFF (default) Altitude Position controller nav_fw_alt_use_position = ON See here for more information. And the required PID tune settings for either control method. Position estimator improvements Changes to the position estimator are mainly intended to improve issues with Z velocity accuracy but also includes code clean-ups and fixes. There has also been setting changes added with the code alterations. Depending on the sensor data quality. It may be beneficial in some cases to revert your settings back to the old ones, or somewhere in between the two. Name CLI Old New w_z_baro_v 0.1 0.35 inav_w_z_gps_p 0.2 0.35 inav_w_z_gps_v 0.1 0.35 More information directly related to the changes can be found here. Sensor addition QMC5883P magnetometer driver Other changes: Barometer altitude added to CRSF telemetry. Better Fixed wing flight detection to handle auto disarm on landing. PR link Lulu filter fixes and improvements. PR Link Accelerometer and Barometer temperature compensation for better altitude control - Calibration method and PR link. Add flights counter to stats PR link Servo speed filter for tilt-rotor VTOL. PR link Enhance VTOL tilt-rotor support. To assist transition smoothness PR link Better air cushion compensation for multicopters and rangefinder fix. PR link Improved yaw estimation for magless multicopter operation. PR link - The default ahrs_acc_ignore_rate setting has also been lowered from 20 to 15. Mavlink clean-ups and fixes - 11060 11061 11062 OSD/CMS changes Name Function OSD_VERTICAL_SPEED_INDICATOR New name for OSD vario OSD_ADSB_WARNING CMS stick menu OSD_ADSB_INFO CMS stick menu OSD_THROTTLE_GAUGE OSD OSD_NAV_MIN_GROUND_SPEED OSD Functions Function Name Values Battery SMARTPORT vbat_meter_type , current_meter_type Programming Framework Gimbal Sensitivity Scales Operand A from [-16 : 15] Programming Framework Override Minimum Ground Speed When active, sets the minimum ground speed to the value specified in Operand A [m/s]. Minimum allowed value is set in nav_min_ground_speed. Maximum value is 150 Programming Framework Minimum Ground Speed [m/s] The current minimum ground speed allowed in navigation flight modes Programming Framework Horizontal Wind Speed [cm/s] Estimated wind speed. If the wind estimator is unavailable or the wind estimation is invalid, -1 is returned Programming Framework Wind Direction [deg] Estimated wind direction. If the wind estimator is unavailable or the wind estimation is invalid, -1 is returned Programming Framework Relative Wind Offset [deg] The relative offset between the heading of the aircraft and the heading of the wind. 0 indicates flying directly into a headwing. Negative numbers are a left offset. For example, if -20° is shown, turning right will correct towards 0. If the wind estimator is unavailable or the wind estimation is invalid, 0 is returned CLI New Settings Name Description blackbox_arm_control Can extend blackbox logging up to 60 seconds after disarming acc_temp_correction Accelerometer temperature correction factor to compensate for acceleromter drift baro_temp_correction Baro temperature correction factor to compensate for Baro altitude drift osd_adsb_warning_style ADSB warning element style - COMPACT or EXTENDED nav_fw_alt_use_position Use position for fixed wing altitude control rather than velocity osd_pan_servo_range_decadegrees Replaces the name of the old osd_pan_servo_pwm2centideg mavlink_autopilot_type Sets the Mavlink telemetry type - GENERIC or ARDUPILOT transition_pid_mmix_multiplier_pitch Intended to solve pitch coupling in transtion mode on tilting rotor VTOL transition_pid_mmix_multiplier_roll intended to solve roll/yaw coupling oscillation in transtion mode on tilting rotor VTOL transition_pid_mmix_multiplier_yaw Intended to solve yaw/roll coupling oscillation in transtion mode on tilting rotor VTOL New targets BLUEBERRYF435WING BLUEBERRYF435WING_SD BOTWINGF405 BOTWINGF722 BRAHMA_F405 BROTHERHOBBYH743 BROTHERHOBBYF405V3 CORVON743V1 CORVON743V1 CORVON405V2 DAKEFPVF722X8 DAKEFPVH743PRO DAKEFPVF435 HAPPYMODELF405 HUMMINGBIRD_FC305 FLYINGRCF4WINGMINI FLYCOLORF4 FLYSPARKF4V4 FOXEERF405V2 JHEMCUF435 JHEMF435AIO MICOAIR743AIO ORBITH743 ORBITF435 ORBITF435_SD RADIOLINKF405 SKYSTARSF405V2 TBS_LUCID_H7_WING TBS_LUCID_H7_WING_MINI SPEEDYBEEF405WINGV2 WARPF7 What's Changed Update Aocodarcf7mini by @dlt2018 in #9312 Add a template for new target PR by @mmosca in #9946 Add flights counter to stats by @ TransientTetra in #10020 Update Buzzer.md by @wchnflr in #10121 Added Zerodrag WARP7 by @vishnumda in #10262 Enable MSP override build flag by default by @xznhj8129 in #10330 Accelerometer and Barometer temperature compensation by @breadoven in #10382 Change gimbal sensitivity from programming framework by @error414 in #10405 MSP DisplayPort add DJI Native video system by @mmosca in #10440 Lulu fixes and improvements by @pjpei in #10416 Add new targets: MicoAir743AIO and MicoAir743v2 by @Minderring in #10557 MSP command to get radar position of other planes from esp32radar by jeffhendrix in #10571 Add new target ORBITF435 by @orbittechnologyx in #10578 Update libraries - pre-req for H7A3 by @mmosca in #10593 Fixed wing flight detection fix by @breadoven in #10621 Matekf405 spi flash blackbox fix by @mmosca in #10630 TBS_LUCID_H7: fix gyro2 by @bkleiner in #10678 fix LTM attitude (mis-cast) by @stronnag in #10680 Enable second dynamic gyro only if primary is enabled by @DzikuVx in #10687 Add barometer altitude to CRSF telemetry by @her01n in #10694 improve cli status NAV reasons by @stronnag in #10696 Updates to Iterm Lock for better readability by @DzikuVx in #10699 Add more flexibility for minimum ground speed by @MrD-RC in #10720 Update OSD.md by @MrD-RC in #10722 Add throttle gauge option to OSD by @MrD-RC in #10725 Update VTOL.md by DanielOBenson in 10775, 10779, 10780 fixed crash: Firmware crash when OSD is disabled but MSP Display UART is allocated by @RomanLut in #10792 Brother h743 by @sensei-hacker in #10805 Add new target: DAKEFPVF722X8 by @ThanYangFPV in #10811 Position estimator improvements by @breadoven in #10818 Add ADSB to CMS menu by @P-I-Engineer in #10820 New target JHEMCUF435 (non-AIO) by @sensei-hacker in #10825 Change the spelling error by @shivam-daksh in #10827 Docs: LED pin PWM as PINIO by @sensei-hacker in #10831 DAKEFPVF722X8: Add UART3 by @sensei-hacker in #10832 dmesg: log init messages to RAM until serial init by @sensei-hacker in #10836 Add new target CORVON743V1 by @holydust in #10839 F435 correct uart->tx_af by @sensei-hacker in #10840 New target DAKEFPVH743 by @sensei-hacker in #10843 Programming Framework.md - typo by @sensei-hacker in #10861 Use Nav max bank angle for multirotor ATTI mode by @breadoven in #10866 Fix cardinal OSD icon for DJI by @error414 in #10871 Add functions to serial.md by @sensei-hacker in #10880 Fix osd.md, add missing OSD_NAV_FW_ALT_CONTROL_RESPONSE by @druckgott in #10882 Add support for SKYSTARSF405V2 by @DusKing1 in #10884 Add new target ORBITH743 by @orbittechnologyx in #10889 Reversible motor fixes by @breadoven in #10890 Extend msp_override_mask to 32bits / channels by @stronnag in #10891 Removed dead links from the beepers list by @medvedev in #10894 Add custom targets for BOTWINGF405 and BOTWINGF722 flight controllers by @PrateekShanker99 in #10895 Add new target CORVON405V2 by @holydust in #10897 Corrected approach length marker by @b14ckyy in #10899 For burst mode dmar, define as DMA_REQUEST_TIMx_UP by @sensei-hacker in #10900 Update Bug_report.md by @b14ckyy in #10902 Option to use position for fixed wing nav altitude control by @breadoven in #10903 Docs: create contributing.md by @sensei-hacker in #10905 Nav RTH climb first fix by @breadoven in #10908 Add TBS_LUCID_H7_WING by @bkleiner in #10909 Add TBS_LUCID_H7_WING_MINI by @bkleiner in #10910 LED pin PWM.md: update link to screenshot by @sensei-hacker in #10914 Nav position estimator baro air cushion compensation fix by @breadoven in #10925 ADSB - Use extended OSD glyphs for dot in numbers and improve aircraft warning by @error414 in #10927 Branches clean up : merge docs from master to maintenance-8.x.x by @sensei-hacker in #10932 Add New Target: DAKEFPVH743PRO by @ThanYangFPV in #10940 Backport #10382 baro temp compensation to maintenance-8.x.x by @sensei-hacker in #10946 8.1 change gimbal sensitivity from programming framework by @sensei-hacker in #10950 CADDXF4_AIO_ELRS baro uses i2c2 by @sensei-hacker in #10951 8.1 JH fix matek f405 variants by @sensei-hacker in #10952 ADD NEW TARGET HUMMINGBIRD_FC305 by @LYNHQQ in #10954 Blackbox logging arm behaviour setting option by @breadoven in #10955 Add New Target DAKEFPVF435 by @ThanYangFPV in #10956 Create Building in Github Codespace.md by @WizzardDr in #10957 Flycolorf4 target by @DzikuVx in #10963 Foxeer F405V2 by @DzikuVx in #10964 Targets for darkmatter BRAHMA boards by @DzikuVx in #10965 Fix changing msp receiver crash by @stronnag in #10971 Jh fix gcc15 warnings by @stronnag in #10972 SpeedyBeeF405Wing V2 target by @DzikuVx in #10976 Fixes Building in Docker by @Lebensgefahr in #10982 Better default display i2c bus by @sensei-hacker in #10984 Allow servo speed filter carry over on the mixer profile switch by @shota3527 in #10986 Fixes for Brahma targets: F405 and F722 by @DzikuVx in #10987 Add New Target HAPPYMODELF405 by @githubDLG in #10989 Add QMC5883P driver by @BortEngineerDude in #10994 Fix some typos by @valeriyvan in #11003 Add target RADIOLINKF405 by @radiolinkW in #11006 Blackbox servos fix by @breadoven in #11010 Added ICM42605 IMU support for SKYSTARSH743HD by @DusKing1 in #11014 Fix Mac SITL CI by @Scavanger in #11017 DAKEFPVF722 SPL06 support by @sensei-hacker in #11022 Lucid_h7: add pc13 for 9v en by @bkleiner in #11023 DAKEFPVF722 support for DPS310 by @ThanYangFPV in #11041 New feature: SmartPort battery sensor by @functionpointer in #11045 Ublox: include array index to set satellites with no signal as unused by @sensei-hacker in #11064 Dakefpvf435 by @sensei-hacker in #11066 Update (fixed spelling mistakes in the page) GPS_fix_estimation.md by @Fire18Parrot in 11068 and 11071 Brotherhobbyf405 v3 - tested correct by @sensei-hacker in #11073 Add new target blueberryF435wing by @sunyanmeng963 in #11074 Replace "exposition" with "exponential" in Settings.md by @jp39 in #11084 Rename numeric vario to vertical speed indicator by @MrD-RC in #11085 Fix typo in Control Profiles documentation by @sensei-hacker in #11086 Update external mag I2C driver registration for HUMMINGBIRD_FC305 @LYNHQQ in #11090 Update CRSF telemetry modes sensor to better reflect INAV modes by @MrD-RC in #11094 Update Geofence AUTO mode to GEO by @MrD-RC in #11096 Corrected mode display ordering by @MrD-RC in #11097 Fix buffer overflow from deprecated MSP2_INAV_LOGIC_CONDITIONS by @MrD-RC in #11099 Update throttle gauge skip by @MrD-RC in #11101 Made SITL ports configurable by @xznhj8129 in #11103 Update SmartPort telemetry to reflect latest flight modes by @MrD-RC in #11104 Update status flag check for QMC5883 by @sensei-hacker in #11105 Updates to wind in the IPF by @MrD-RC in #11109 Update cygwin ci script for the sitl by @stronnag in #11111 Update "Building SITL" document by @stronnag in #11113 Add scaling to pan servo offset by @MrD-RC in #11072 Vtol.md: s/pid_profile/control_profile/ by @sensei-hacker in #11108 Raise the limit to display CRSF SNR values on OSD by @rmaia3d in #9793 Better yaw estimation for mulitirotor(magless operation) by @shota3527 in #11114 MSP2 via CSFR/SmartPort telemetry by @error414 in #11093 MSP protocol JSON definition file + derived documentation generation by @xznhj8129 in #11088 Remove legacy option of rebooting fc without using MSP by @mmosca in #9970 Fix ADSB cardinal for broken mag direction by @error414 in #11076 Mavlink systemid cli by @xznhj8129 in #11062 MAV_CMD_DO_REPOSITION to WP#255 for GCS NAV by @xznhj8129 in #11061 Regen mavlink headers + add missing values to funcs in mavlink.c by @xznhj8129 in #11060 Add options to adjust motor RPY when transition mode is activate(vtol) by @shota3527 in #10996 MSP json rev2 by @xznhj8129 in #11115 Battery control profile off by 1 by @sensei-hacker in #11118 Update references to that should be control_profile by @MrD-RC in #11122 New target: FlyingRC F4wing mini by @dixi83 in #11092 Update FlyingRC F4Wing Mini target by @MrD-RC in #11131 NEXUSX: USE_DSHOT_DMAR, use TIM2 instead of TIM5 by @functionpointer in #11129 Add I2C compass driver registration for HUMMINGBIRD FC305 by @LYNHQQ in #11134 Normalize line endings to LF in src/main/target/FLYSPARKF4V4 in #11137 Revert #11025 "[crsf] add temperature, RPM and AirSpeed telemetry" in #11139 Add JavaScript programming documentation by @sensei-hacker in #11143 Add flyspark target by @FlySparkfpv in #10788 Dynamic Custom OSD Elements position changing by companion computer by @Ahmed-hadzi in #11095 Add JHEMCU F435 AIO target board support by @jhemcu in #10740 MSP2 message exposing 3D attitude, position, and velocity by @yakorch in #11032 Full Changelog: 8.0.1...9.0.0 Lire la source

Merge pull request #10718 from DusKing1/hugo-fix-SKYSTARSF405WING-tar… Lire la source

Fixes channel 17 behavior and hopefully, the long standing locking up issue. It has been running for 6h so far, and I will leave it running a bit longer, but need more users to report back. Lire la source

Prepare for 8.0.1 release Lire la source

Hello and welcome to INAV 8.0.0 "Gallant Goshawk" Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions and ask for help on: INAV Discord Server INAV Official on Facebook INAV 8 no longer includes F411 targets as part of the official release. GPS: UBLOX7 and UBLOX have been merged into a single UBLOX option, and units with older firmware are now deprecated. Only M8 and newer will be supported in the future. Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default. Known Issues in 8.0 None Upgrading from a previous release Upgrading from INAV 7.0 and 7.1 Backup configuration with CLI diff all command Download and install the new INAV Configurator 8.0 Flash INAV 8.0 WITH Full Chip Erase option enabled Edit the 7.x diff and apply Diff breaking changes described bellow, and save it as your new inav 8 diff. See Diff breaking changes section below. Select Keep current settings from the defaults pop-up Go to CLI and restore your edited inav diff Done This tool can help migrate your INAV 7.x diff over to INAV 8.0.0. It will take care of the major changes that have been highlighted in these release notes. Upgrading from older versions Please follow the instructions on this page. Highlights Geozones The Geozone feature allows pilots to define one or multiple areas on the map in Mission Control, to prevent accidental flying outside of allowed zones (Flight-Zones, FZ) or to avoid certain areas they are not allowed or not willing to fly in (No-Flight-Zone, NFZ). This type of feature might be known to many pilots as a "Geofence" and despite providing the same core functionality, INAV Geozones are significantly more versatile and provide more safety and features. Read the Documentation for more info IMPORTANT: Geozones will not be available for STM32F722 based Flight Controllers due to insufficient flash storage. GPS Fix estimation (dead reckoning, RTH without GPS fix) for Airplanes This new feature allows INAV to return to its launch location, in case of a failed GPS due to hardware failure or interference. INAV will use the remaining sensors and the already calculated wind speed and direction, to blindly return towards the home location. For this feature, no extra sensors are strictly necessary, aside from the standard Accelerometer, Gyroscope and Barometer, but its highly recommended to have a compass and for best precision, to also have an Airspeed sensor. The feature will not be able to precisely return to the pilot, but it allows the Aircraft to either get out of an area with interferences, or to give the pilot time and a chance to regain control for a manual return, when the aircraft is closer. Details here MSP-Linkstats A new MSP Message that allows RC links that communicate with the Flight controller via MSP, to provide Link Information to INAV like LQ, RSSI, Power Level, SNR and more. The first RC Link to support this is the mLRS Project with more possibly coming in the future. Details here MSP-VTX MSP-VTX has been updated by @geoffsim to increase compatibility with HDZero vtxs. Mavlink Advancement for MavlinkRC The previously simple Mavlink Telemetry was extended to be compatible with flow control capable links (Thanks @MUSTARDTIGERFPV). This now allows RC Control via Mavlink and Telemetry at the same time over a Single UART. It is tested successfully with ELRS Mavlink-RC and mLRS Mavlink. Additionally it allows the Use of Mission Planner, QGroundControl and potentially other GCS Applications to be used for Flight Monitoring with INAV. Note: To receive RSSI and LQ for ELRS Mavlink-RC you need to set mavlink_radio_type=ELRS in the CLI. Details here Walksnail Serial Gimbal and Headtracker support INAV now also supports the Caddx / Walksnail GM Series Gimbals. These can now be controlled via a dedicated uart UART or via MSP and don't need up to 3 PWM Outputs anymore. This enables the direct Gimbal Control via Head Tracking from Walksnail goggles, without additional wiring. Details Here OSD Updates Users can change the precision (amount of decimal places) for Altitude and Distance #10431 Enhancements for Custom OSD Elements #10282 Update arming screen for better space utilisation #10300 OSD system message improvements #10090 Better organisation of the post flight stats screen with more stats available #9617 ADSB Receiver Support It is now possible to connect an ADSB receiver to your flight controller and get OSD Warnings if any ADSB enabled Aircraft, is close by. INAV Configurator can show these Aircraft on the map for additional safety of UAV flights. ADSB is supported for generally available receivers like uAvionix pingRX (not tested) and Aerobit TT-SC1 (tested) and should also work with the upcoming PicoADSB Details here I-Term Lock for Fixed Wing The Fixed Wing PIDFF Controller was reworked. The PIDs are now attenuated based in the amount of Setpoint (Stick deflection in Acro Mode) for a more "Manual" flight feel during aggressive inputs while keeping the locked in feel of a PID-Assisted flight. This allows the Pilot to have a PID tune with very high P and I values for a locked in flight feel, while keeping a good manual feeling of the plane's flight characteristics, especially when flying slow. Additionally the Attenuation fixes the Bounce-Back caused by the Integral of the PID controller, after sharp roll or pitch inputs. Details Here U-Blox AssistNow Support in INAV Configurator AssistNow is a Service that provides GPS Satellite information data for offline-applications, to dramatically increase the time to fix for GPS Devices. By Providing your own AssistNow Token, INAV Configurator can automatically download the latest data set and transfer it to any connected INAV UAV. With this, a GPS fix after cold start should merely take seconds instead of minutes. This is especially helpful for people who go fly with a big fleet of aircraft. Details here Sensor ID change for SmartPort telemetry The sensor IDs for the Modes and GNSS data have changed in SmartPort telemetry. The default settings in INAV are to now use the new sensor IDs. The INAV OpenTX-Telemetry-Widget has been updated to use these new IDs. So you will not see any issues when using the latest version of this widget. However, if you use another widget or app that uses the SmartPort telemetry. It is recommended to inform the creator of the app/widget, as the old sensor IDs will be removed in INAV 10.0.0. Details here You can change INAV to use the old sensor IDs with the CLI parameter set frsky_use_legacy_gps_mode_sensor_ids = on. However, it is recommended to only use this only as long as necessary. This parameter will also be removed in INAV10.0.0. Improved SD Card support for F7 and H7 flight controllers using SDIO This version of INAV fixes some long standing bugs with the SDIO driver for H7 and F765 flight controllers. Now they share the same HAL based driver and fixes. This affects a small number of targets, as most targets use the older and slower SPI based access to SD cards. Moving forward, SDIO is the preferred and recommend way to implement SD Card blackbox in INAV, as it is faster than SPI and support up to 4BIT wide data access, versus SPI 1 bit. This change affects the following targets: FLYWOOH743PRO IFLIGHT_BLITZ_H7_PRO KAKUTEH7WING MATEKF765 MATEKH743 MICOAIR743 NEUTRONRCH7BT PIXRACER TBS_LUCID_H7 DJI O4 support DJI released a new air unit, and while rumors suggested it would include full INAV font support, that is unfortunately not true with the released firmware. There is also a bug on DJI firmware that prevents it from detecting when the flight controller is armed and leaves the air unit stuck in low power mode. There are two possible workaround for the arming issues: Turn off low power mode This should work with older INAV versions as well On INAV 8.0.0, you can type this on the cli: set enable_broken_o4_workaround = ON With the added workarounds, setup in INAV should be the same as O3. Other important changes: Multirotor inverted crash detection #10099 Waypoint tracking improvements #10278 (Note usage change for nav_fw_wp_tracking_accuracy may require change of setting) Fixed wing altitude velocity control #9471 (see know issues above related to this change) Diff breaking changes Profile consolidation The profile CLI command has been renamed to control_profile. When updating from an older version of INAV. You will need to edit your diff with this change. For example: # profile profile 1 set fw_p_pitch = 14 set fw_i_pitch = 5 set fw_d_pitch = 5 set fw_ff_pitch = 137 ... Will become # profile control_profile 1 set fw_p_pitch = 14 set fw_i_pitch = 5 set fw_d_pitch = 5 set fw_ff_pitch = 137 ... OSD Custom Elements If you have previously used OSD Custom Elements. You will need to update the diff for these, so that they continue to work in the same way. The system has been expanded to allow the use of logic condition results and have more numerical variations. To keep your OSD Custom Elements working, you will need to change the element type IDs, if they are 4, 5, 6, or 7. The table below shows the old and new IDs. Numeric format Old name Old ID New name New ID 000 CUSTOM_ELEMENT_TYPE_GV_SMALL 6 CUSTOM_ELEMENT_TYPE_GV_3 7 00000 CUSTOM_ELEMENT_TYPE_GV 4 CUSTOM_ELEMENT_TYPE_GV_5 9 0.0 CUSTOM_ELEMENT_TYPE_GV_SMALL_FLOAT 7 CUSTOM_ELEMENT_TYPE_GV_FLOAT_1_1 10 0000.0 CUSTOM_ELEMENT_TYPE_GV_FLOAT 5 CUSTOM_ELEMENT_TYPE_GV_FLOAT_4_1 16 Below, you can see the position of the IDs that you need to change if they are 4, 5, 6, or 7. osd_custom_elements 0 3 0 1 0 0 0 0 0 "FLAPS" ^ ^ ^ CLI New / Changed Items Name Description geozone Manages the geozone data set control_profile profile has been renamed to control_profile Changed Settings Name Values blackbox_device New: FILE (for SITL usage) debug_modes New: ADAPTIVE_FILTER, HEADTRACKER, GPS, LULU, SBUS2 dynamic_gyro_notch_mode Removed: 3D_R, 3D_P, 3D_Y, 3D_RP, 3D_RY, 3D_PY filter_type_full New: LULU gps_dyn_model New: SEA, MOWER gps_provider Removed: UBLOX7 (Use UBLOX; version specific capabilities will be auto-detected) nav_fw_wp_tracking_accuracy Now set distance from waypoint course line in meters rather some arbitrary tracking response value rangefinder_hardware New: TERARANGER_EVO, USD1_V0, NRA serial_rx New: SBUS2 New Settings Name Description disarm_always When you switch to Disarm, do so regardless of throttle position. If this Setting is OFF. It will only disarm only when the throttle is low. This is similar to the previous disarm_kill_switch option. Default setting is the same as the old default behaviour. Default: TRUE enable_broken_o4_workaround DJI O4 release firmware has a broken MSP DisplayPort implementation. This enables a workaround to restore ARM detection. Default: FALSE ez_snappiness EzTune snappiness Values: 0 - 100 Default: 0 failsafe_gps_fix_estimation_delay Controls whether waypoint mission is allowed to proceed with gps fix estimation. Sets the time delay in seconds between gps fix lost event and RTH activation. Minimum delay is 7 seconds. If set to -1 the mission will continue until the end. With default setting(7), waypoint mission is aborted and switched to RTH with 7 seconds delay. RTH is done with GPS Fix estimation. Values: -1 - 600 Default: 7 frsky_use_legacy_gps_mode_sensor_ids S.Port telemetry: If ON, send the legacy telemetry IDs for modes (Tmp1) and GNSS (Tmp2). These are old IDs, deprecated, and will be removed in INAV 10.0. Tools and scripts using these IDs should be updated to use the new IDs of 470 for Modes and 480 for GNSS. Default: 'OFF' Default: FALSE fw_iterm_lock_engage_threshold Defines error rate (in percents of max rate) when Iterm Lock is engaged when sticks are release. Iterm Lock will stay active until error drops below this number Values: 5 - 25 Default: 10 fw_iterm_lock_rate_threshold Defines rate percentage when full P I and D attenuation should happen. 100 disables Iterm Lock for P and D term Values: 10 - 100 Default: 40 fw_iterm_lock_time_max_ms Defines max time in milliseconds for how long ITerm Lock will shut down Iterm after sticks are release Values: 100 - 1000 Default: 500 geozone_avoid_altitude_range Altitude range in which an attempt is made to avoid a geozone upwards Values: 0 - 1000000 Default: 5000 geozone_detection_distance Distance from which a geozone is detected Values: 0 - 1000000 Default: 50000 geozone_mr_stop_distance Distance in which multirotors stops before the border Values: 0 - 100000 Default: 15000 geozone_no_way_home_action Action if RTH with active geozones is unable to calculate a course to home (RTH, EMRG_LAND). Default: RTH geozone_safe_altitude_distance Vertical distance that must be maintained to the upper and lower limits of the zone. Values: 0 - 10000 Default: 1000 geozone_safehome_as_inclusive Treat nearest safehome as inclusive geozone Default: FALSE geozone_safehome_zone_action Fence action for safehome zone (NONE, AVOID, POS_HOLD, RTH). Default: NONE gimbal_pan_channel Gimbal pan rc channel index. 0 is no channel. Values: 0 - 32 Default: 0 gimbal_pan_trim Trim gimbal pan center position. Values: -500 - 500 Default: 0 gimbal_roll_channel Gimbal roll rc channel index. 0 is no channel. Values: 0 - 32 Default: 0 gimbal_roll_trim Trim gimbal roll center position. Values: -500 - 500 Default: 0 gimbal_sensitivity Gimbal sensitivity is similar to gain and will affect how quickly the gimbal will react. Values: -16 - 15 Default: 0 gimbal_serial_single_uart Gimbal serial and headtracker device share same UART. FC RX goes to headtracker device, FC TX goes to gimbal. Default: FALSE gimbal_tilt_channel Gimbal tilt rc channel index. 0 is no channel. Values: 0 - 32 Default: 0 gimbal_tilt_trim Trim gimbal tilt center position. Values: -500 - 500 Default: 0 gyro_adaptive_filter_hpf_hz High pass filter cutoff frequency Values: 1 - 50 Default: 10 gyro_adaptive_filter_integrator_threshold_high High threshold for adaptive filter integrator Values: 1 - 10 Default: 4 gyro_adaptive_filter_integrator_threshold_low Low threshold for adaptive filter integrator Values: -10 - 0 Default: -2 gyro_adaptive_filter_max_hz Maximum frequency for adaptive filter Values: 0 - 505 Default: 150 gyro_adaptive_filter_min_hz Minimum frequency for adaptive filter Values: 0 - 250 Default: 50 gyro_adaptive_filter_std_lpf_hz Standard deviation low pass filter cutoff frequency Values: 0 - 10 Default: 2 gyro_adaptive_filter_target Target value for adaptive filter Values: 1 - 6 Default: 3.5 gyro_filter_mode Specifies the type of the software LPF of the gyro signals (OFF, STATIC, DYNAMIC, ADAPTIVE). Default: STATIC gyro_lulu_enabled Enable/disable gyro LULU filter Default: FALSE gyro_lulu_sample_count Gyro lulu sample count, in number of samples. Values: 1 - 15 Default: 3 headtracker_pan_ratio Head pan movement vs camera movement ratio Values: 0 - 5 Default: 1 headtracker_roll_ratio Head roll movement vs camera movement ratio Values: 0 - 5 Default: 1 headtracker_tilt_ratio Head tilt movement vs camera movement ratio Values: 0 - 5 Default: 1 headtracker_type Type of headtracker dervice (NONE, SERIAL, MSP). Default: NONE inav_allow_gps_fix_estimation Defines if inav will estimate GPS fix with magnetometer and barometer on GPS outages. Enables navigation and RTH without GPS fix on fixed wing. Also see failsafe_gps_fix_estimation_delay. Default: FALSE inav_default_alt_sensor Sets the default altitude sensor to use (GPS, BARO, GPS_ONLY, BARO_ONLY). Settings GPS and BARO always use both sensors unless there is an altitude error between the sensors that exceeds a set limit. In this case only the selected sensor will be used while the altitude error limit is exceeded. GPS error limit = 2 * inav_max_eph_epv. BARO error limit = 4 * inav_baro_epv. Settings GPS_ONLY and BARO_ONLY will use only the selected sensor even if the other sensor is working. The other sensor will only be used as a backup if the selected sensor is no longer available to use. Default: GPS inav_w_z_baro_v Weight of barometer climb rate measurements in estimated climb rate. Setting is used on both airplanes and multirotors. Values: 0 - 10 Default: 0.1 mavlink_min_txbuffer Minimum percent of TX buffer space free, before attempting to transmit telemetry. Requuires RADIO_STATUS messages to be processed. 0 = always transmits. Values: 0 - 100 Default: 33 mavlink_radio_type Mavlink radio type (GENERIC, ELRS, SIK). Affects how RSSI and LQ are reported on OSD. Default: GENERIC nav_fw_alt_control_response Adjusts the deceleration response of fixed wing altitude control as the target altitude is approached. Decrease value to help avoid overshooting the target altitude. Values: 5 - 100 Default: 40 nav_fw_auto_climb_rate Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s] Values: 10 - 2000 Default: 500 nav_fw_launch_wiggle_to_wake_idle Trigger the idle throttle by wiggling the plane. 0 = disabled. 1 and 2 signify 1 or 2 yaw wiggles to activate. 1 wiggle has a higher detection point, for airplanes without a tail. 2 wiggles has a lower detection point, but requires the repeated action. This is intended for larger models and airplanes with tails. Values: 0 - 2 Default: 0 nav_fw_manual_climb_rate Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s] Values: 10 - 2500 Default: 300 nav_fw_pos_z_ff FF gain of altitude PID controller (Fixedwing) Values: 0 - 255 Default: 10 nav_mc_auto_climb_rate Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s] Values: 10 - 2000 Default: 500 nav_mc_inverted_crash_detection Setting a value > 0 enables inverted crash detection for multirotors. It will auto disarm in situations where the multirotor has crashed inverted on the ground and can't be manually disarmed due to loss of control or for some other reason. When enabled this setting defines the additional number of seconds before disarm beyond a minimum fixed time delay of 3s. Requires a barometer to work. Values: 0 - 15 Default: 0 nav_mc_manual_climb_rate Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s] Values: 10 - 2000 Default: 200 osd_adsb_distance_alert Distance inside which ADSB data flashes for proximity warning Values: 1 - 64000 Default: 3000 osd_adsb_distance_warning Distance in meters of ADSB aircraft that is displayed Values: 1 - 64000 Default: 20000 osd_adsb_ignore_plane_above_me_limit Ignore adsb planes above, limit, 0 disabled (meters) Values: 0 - 64000 Default: 0 osd_decimals_altitude Number of decimals for the altitude displayed in the OSD [3-5]. Values: 3 - 5 Default: 3 osd_decimals_distance Number of decimals for distance displayed in the OSD [3-5]. This includes distance from home, total distance, and distance remaining. Values: 3 - 5 Default: 3 osd_estimations_wind_mps Wind speed estimation in m/s Default: FALSE osd_highlight_djis_missing_font_symbols Show question marks where there is no symbol in the DJI font to represent the INAV OSD element's symbol. When off, blank spaces will be used. Only relevent for DJICOMPAT modes. Default: TRUE osd_radar_peers_display_time Time in seconds to display next peer Values: 1 - 10 Default: 3 osd_stats_show_metric_efficiency Enabling this option will show metric efficiency statistics on the post flight stats screen. In addition to the efficiency statistics in your chosen units. Default: FALSE Removed Settings Name Description control_deadband cpu_underclock disarm_kill_switch dji_workarounds fw_iterm_limit_stick_position gyro_anti_aliasing_lpf_type gyro_hardware_lpf gyro_main_lpf_type gyro_use_dyn_lpf inav_use_gps_no_baro inav_use_gps_velned ledstrip_visual_beeper max_throttle nav_auto_climb_rate nav_manual_climb_rate osd_stats_min_voltage_unit pidsum_limit pidsum_limit_yaw What's Changed bf2inav.py: clearer error messages, number PWM outputs by @sensei-hacker in #9611 Multirotor landing G bump detection improvements by @breadoven in #10138 Include trusted altitude for healthy position estimation by @breadoven in #10083 [crsf] move LAND flight mode into ARMED section by @stronnag in #10139 Attempt at building master on sucessfull push by @mmosca in #10131 Update dev-builds.yml by @mmosca in #10146 Change tag for nightly builds by @mmosca in #10149 Programming framework doc - loiter radius by @sensei-hacker in #10151 Update release notes with recommendation fro full chip erase. by @mmosca in #10152 OSD system message improvements by @breadoven in #10090 Remove unused and commented out function from osd.c by @rmaia3d in #10147 Update dev-builds.yml by @0crap in #10153 Add link to nightly builds by @mmosca in #10155 Walksnail Serial gimbal and headtracker support by @mmosca in #10109 Update readme.md by @0crap in #10160 Inhibit active failsafe procedures on landing detection by @breadoven in #10135 Multirotor inverted crash detection by @breadoven in #10099 Update Controls.md by @MrD-RC in #10163 Update nav config revision number by @breadoven in #10162 Don't run biulds for documentation only changes by @mmosca in #10164 Add ICM42688-G to IFLIGHTF4_SUCCEXD by @DzikuVx in #10161 Further serial gimbal/headtracker improvements by @mmosca in #10159 bind_rx cli command now supports CRSF based receivers by @mmosca in #10166 Update bind_rx cli documentation by @mmosca in #10170 Update Cli.md by @mmosca in #10171 Only generate nightly build release if the change includes code. by @mmosca in #10172 Fixed position for formation flight / inav radar by @error414 in #9883 Add msp command to send raw ublox commands to gps by @mmosca in #9349 Allow SBUS servo protocol to output 18 channels, expand mixer to up to 24 channels by @mmosca in #10165 [Targets] USE_MAG_ALL by @mmosca in #10176 Gyro LULU smoother as gyro filter alternative by @DzikuVx in #10177 LULU filter port to iNav as a single replacement for most filters in iNav, simplifying filter configuration drastically by @pjpei in #10145 [FIX] BMI088 driver: get BMI088 acc aligned by @Minderring in #10174 Add ICM-42688P to KakuteF4 by @jamming in #10175 Remove of register optimization in favor or relying on GCC optimization. by @DzikuVx in #10178 Add some docs on Serial Gimbal by @mmosca in #10182 Add flown loiter radius to programming logic by @breadoven in #10183 [GPS] Fix message rate for newer ublox devices and add some extra debugging features by @mmosca in #10179 Fixed position for formation flight / inav radar by @P-I-Engineer in #10190 mixer.h: PLATFORM_OTHER isn't valid, remove by @sensei-hacker in #10201 Fix typo in Rx doc.md by @RobertoD91 in #10202 [GPS] Fix GPS dynamic model setup for M10 GPS units by @mmosca in #10199 Add UBLOX PSA to README by @mmosca in #10204 [gps] correct version checks by @mmosca in #10205 IFLIGHT_BLITZ_ATF435 MAX_PWM_OUTPUT_PORTS should 8 by @sensei-hacker in #10206 Make LULU smoother independent from the gyro LPF by @DzikuVx in #10186 Update OSD.md - List all of the OSD-related docs by @sensei-hacker in #10212 [GPS] Add SEA and MOWER dynamic models. by @mmosca in #10211 [GPS] UBLOX and UBLOX7 have been merged into UBLOX by @mmosca in #10214 Update gps_provider documentaion by @mmosca in #10220 create single zip with all hex files, again. by @mmosca in #10221 All all baro to IFLIGHTF4_SUCCEXD by @DzikuVx in #10218 Improve MAVLink behavior with flow control capable links by @MUSTARDTIGERFPV in #10222 Add blackbox device FILE for SITL build by @bartslinger in #10228 GEPRC_F722_AIO include UART3 by @sensei-hacker in #10233 Add new targets: MicoAir405Mini, MicoAir405v2 and MicoAir743 by @Minderring in #10198 Add gyros to DakeFPV targets by @DzikuVx in #10242 Add a new target KakuteF4wing by @jamming in #10122 Inflight timer fix by @breadoven in #10245 SBUS2 telemetry support by @mmosca in #10169 Fix programming framework parameters using int16 instead of in32 by @MrD-RC in #10246 Lower sbus2 telemetry task priority by @mmosca in #10250 Make sure DEFAULT_I2C_DEVICE is always valid by @mmosca in #10253 Nav course hold yaw stick control improvement for fixed wing by @breadoven in #10187 Change MAVLink component ID to be a "proper" autopilot by @MUSTARDTIGERFPV in #10258 Increase SMARTAUDIO_MAX_POWER_COUNT to 8 by @bkleiner in #10261 add additional BBL headers for MAX SERVO increase by @stronnag in #10263 only BBL log servos defined in the mixer by @stronnag in #10267 add SERVOS to blackbox optional fields list by @stronnag in #10272 Allow serialpassthrough to set parity & stop bits by @MUSTARDTIGERFPV in #10271 Refactor sbus to support futaba's FASSTest26 sbus2 mode (Potentially 36 channels) by @mmosca in #10270 Fix mixer tab by @mmosca in #10277 Allow number of servos exceed pwm outputs, if servo protocol is sbus_pwm by @mmosca in #10276 Allow Mission Upload mid flight by @b14ckyy in #10273 cli.c: Add reason for Navigation Unsafe to status by @sensei-hacker in #10280 AOCODARCF7MINI_V1: DSHOT_DMAR and V1 output order by @sensei-hacker in #10260 Support SBUS2 FASSTest 12 channel short frame time by @mmosca in #10288 add h7 svd file by @bkleiner in #10289 Mac-OS wiki update | How to connect to configurator by @KY-S0ong in #10279 vtx: fix VTX_SETTINGS_POWER_COUNT by @bkleiner in #10290 Jh fix bbl servo logging by @stronnag in #10303 remove excessive SD debug from MSP processing by @stronnag in #10306 adsb enhanced by @error414 in #10298 Add AIKONF7 target by @mbainrot in #9603 Add FLYWOOH743PRO Target by @flywoo in #10285 Update Fixed Wing Landing.md by @b14ckyy in #10311 Update Fixed Wing Landing.md by @b14ckyy in #10312 add TBS_LUCID_FC target by @bkleiner in #10292 add stick_center note to vtol/mixer profile docs for 4+1 motor vtol configurations. by @P-I-Engineer in #10313 GEPRC_F722_AIO add target with UART3 instead of i2c by @sensei-hacker in #10310 MAMBAF722_2022B: use DMAR for motor 7 by @sensei-hacker in #10309 tbs-lucid: remove in-accessible servo pins by @bkleiner in #10332 Change Waypoint mode linear climb method by @breadoven in #10334 Waypoint tracking improvements by @breadoven in #10278 MSP headtracker parsing change by @mmosca in #10342 Update USB Flashing.md - mention using a hub with USB-C by @sensei-hacker in #10343 iFlight IFLIGHT_BLITZ_H7_WING changes by @DzikuVx in #10341 Update ci.yml by @mmosca in #10344 Use all cores during ci builds by @mmosca in #10337 Small fixes for serial gimbal by @mmosca in #10345 at32: add uart pinswap by @bkleiner in #10333 Added documentation about GVARs, PIDFF Controllers, & Integer Math by @trailx in #10335 Update Settings.yaml and settings.md to include units for nav_max_terrain_follow_alt by @daijoubu in #10352 Change SmartPort sensor IDs for GPS and Modes by @MrD-RC in #9868 Enhance OSD Custom Elements by @MrD-RC in #10282 fixed altitude estimator error estimation by @RomanLut in #10367 Update FLYWOOF745 config.c by @flywoo in #10368 [Fix] Potential stack smash in gforce OSD statistics by @Scavanger in #10358 tbs_lucid: mask PA13/PA14 to enable debugging by @bkleiner in #10365 lucid: use PC5 as adc, use PA13/PA14 as PINIO by @bkleiner in #10378 at32: add abilty to specify uart af by @bkleiner in #10366 Change bus for built-in compass for MICOAIR743 target by @bfmvsa in #10384 MICOARI743 Add alternative target that looks for compass on external connector by @mmosca in #10385 Further tweaks to mavlink by @mmosca in #10215 Switch parameters with battery capacity unit by @MrD-RC in #10389 Nav velocity Z estimation improvements by @breadoven in #10243 Navigation.md - Remove outdated references to inav_use_gps_no_baro by @sensei-hacker in #10408 Default altitude sensor setting fix by @breadoven in #10411 Fix lockup on disarm when wh used in post-flight stats by @MrD-RC in #10413 Add MSP command to get ESC telemetry by @jeffhendrix in #10388 Add PrincipioIoT F7 target by @DzikuVx in #10422 at32: add ability to specify uart rx/tx af independently by @bkleiner in #10396 Add feature freeze announcement by @mmosca in #10429 Fix custom OSD elements cli import by @MrD-RC in #10430 Update arming screen for better space utilisation by @MrD-RC in #10300 Allow the pilot to set the precision for altitude and distance in the OSD by @MrD-RC in #10431 Update DPS310 driver to support SPL07-003 by @DzikuVx in #10441 MSP VTX Code Updates by @geoffsim in #10355 Added IMUTemperature read function for ICM42605 by @ultrazar in #10423 Update TUNERCF405 target.h by @TUNERC-Aria in #10438 Have RSSI go from 0-100%, rather than 0-99% by @MrD-RC in #10450 Add spa06 and spl07 baro for Kakutef4/f7 FC by @jamming in #10458 Initial implementation of MSP RC stats and info messages by @MrD-RC in #10451 Revert change to MSP_SET_RAW_RC by @MrD-RC in #10461 [mspv2] pass "flags" field back to sender, define ILMI flag by @stronnag in #10464 Geozones (aka Geofence) by @Scavanger in #10459 Geozones.md by @b14ckyy in #10466 add annotated script to generate RN Changelog by @stronnag in #10468 add TBS_LUCID_H7 by @bkleiner in #10454 Add BF config to INAV target converter by @mmosca in #9556 [Fix] EZ-Tune Filter-HZ Fix by @Scavanger in #10467 Geozone RC2 Fixes by @Scavanger in #10471 Speedybee F405 AIO by @DzikuVx in #10444 gimbal_sensitivity uint8_t -> int8_t. Range is actually -16 to 15 by @mmosca in #10478 Add support for SKYSTARSSF405AIO target by @DusKing1 in #10469 Fix incorrect arming flags reporting on CLI by @mmosca in #10479 add GEPRC_TAKER_H743 target replacement by @DzikuVx in #10484 Fix nightly build by @mmosca in #10485 fixed: gps sensor can not recover from timeout in gps fix estimation mode by @RomanLut in #9574 Update osd.md for 8.0 by @MrD-RC in #10492 add target RADIOLINKF722 by @radiolinkW in #10476 Fixed wing launch mode failsafe fixes by @breadoven in #10486 BF2INAV converter updates by @mmosca in #10503 Fix PINIO in KAKUTEH7WING by @ot0tot in #10509 Show pilot name and craft name on arming screen if they are not empty by @MrD-RC in #10506 fix h7 sdcard init by @bkleiner in #10512 Omnibus F4.md: select IMU for V6 and Fireworks V2 by @sensei-hacker in #10519 h7: enable swd pins by @bkleiner in #10516 msp: expose number of vtx power levels, bands and channels by @bkleiner in #10395 Add a template for new target PR by @mmosca in #9946 f7: migrate sdcard to hal by @bkleiner in #10526 Change Autotune default max servo range by @b14ckyy in #10531 Update VTOL.md with a more detailed guide on setting up tilting servos by @dzaro-dev in #10528 Experimental bmp390 support. by @mmosca in #10542 Programming Framework.md: Fix markdown for Delta by @sensei-hacker in #10546 Correct comments on OSD symbols by @MrD-RC in #10558 Default motor stop to ON by @MrD-RC in #10568 Add support for SKYSTARSF405WING target by @DusKing1 in #10561 Add new target for HGLRCF405V2 by @HGLRC-T in #10417 SITL.md - Addtional info re joystick by @sensei-hacker in #10579 Fix barometer I2C address redefine issues by @Minderring in #10555 make gimbal trims signed int by @sensei-hacker in #10573 Simplify build and retry increasing agents by @mmosca in #10581 Fix nightly build by @mmosca in #10582 More nightly build fixes by @mmosca in #10583 Fixing nightly builds and cleaning up ci by @mmosca in #10585 Fixed wing altitude control fixes by @breadoven in #10541 Add targets for SEQUREH7 and SEQUREH7V2 by @MrD-RC in #10523 A little reminder on the OSD by @mmosca in #10589 Update description for disarm_always by @MrD-RC in #10592 Add SITL linux aarch64 build by @mmosca in #10602 O4 arming workaround by @mmosca in #10598 Fix typo by @mmosca in #10603 Strip version number of inav_SITL binaries in artifacts by @mmosca in #10604 Lower ubuntu version by @mmosca in #10605 Fix mac regular expression by @mmosca in #10609 Added extra format to Custom OSD Elements by @MrD-RC in #10594 Fix negative altitudes in OSD by @MrD-RC in #10612 Revert to actual BF font, now that DJI fixed G2 and newer by @mmosca in #10620 Remove blocking delay from batteryUpdate initialization by @mmosca in #10607 Add new target: AET-H743-Basic by @villivateur in #10600 New Contributors @pjpei made their first contribution in #10145 @Minderring made their first contribution in #10174 @jamming made their first contribution in #10175 @RobertoD91 made their first contribution in #10202 @MUSTARDTIGERFPV made their first contribution in #10222 @bartslinger made their first contribution in #10228 @KY-S0ong made their first contribution in #10279 @mbainrot made their first contribution in #9603 @trailx made their first contribution in #10335 @daijoubu made their first contribution in #10352 @bfmvsa made their first contribution in #10384 @ultrazar made their first contribution in #10423 @radiolinkW made their first contribution in #10476 @ot0tot made their first contribution in #10509 @HGLRC-T made their first contribution in #10417 @villivateur made their first contribution in #10600 Full Changelog: v20240613.18...8.0.0 Lire la source

Merge pull request #10523 from iNavFlight/MrD_Add-targets-for-SEQUREH… Lire la source

Change Autotune default max servo range Lire la source

Merge pull request #10486 from breadoven/abo_failsafe_fixes Lire la source

add TBS_LUCID_H7 Lire la source

Update github actions Lire la source

Hello and welcome to INAV 7.1.2 "Ferocious Falcon" Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions and ask for help on: INAV Discord Server INAV Official on Facebook 7.1.2 fixes an altitude bug that was in 7.1.1. INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards. The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default. PosHold, Navigation and RTH without compass PSA Attention all drone pilots and enthusiasts, Are you ready to take your flights to new heights with INAV 7.1? We've got some important information to share with you. INAV 7.1 brings an exciting update to navigation capabilities. Now, you can soar through the skies, navigate waypoints, and even return to home without relying on a compass. Yes, you heard that right! But before you launch into the air, there's something crucial to consider. While INAV 7.1 may not require a compass for basic navigation functions, we strongly advise you to install one for optimal flight performance. Here's why: 🛰️ Better Flight Precision: A compass provides essential data for accurate navigation, ensuring smoother and more precise flight paths. 🌐 Enhanced Reliability: With a compass onboard, your drone can maintain stability even in challenging environments, low speeds and strong wind. 🚀 Minimize Risks: Although INAV 7.1 can get you where you need to go without a compass, flying without one may result in a bumpier ride and increased risk of drift or inaccurate positioning. Remember, safety and efficiency are paramount when operating drones. By installing a compass, you're not just enhancing your flight experience, but also prioritizing safety for yourself and those around you. So, before you take off on your next adventure, make sure to equip your drone with a compass. It's the smart choice for smoother flights and better navigation. Fly safe, fly smart with INAV 7.1 and a compass by your side! Currently, if you wish to fly a multirotor without a compass. You will need to enable a compass (fake is ok) to change navigational modes in Configurator. You should disable the compass after making the changes. This has been fixed for a future release. Upgrading from a previous release Upgrading from INAV 7.0 and 7.1 Backup configuration with CLI diff all command Download and install the new INAV Configurator 7.1 Flash INAV 7.1 WITH Full Chip Erase option enabled Select Keep current settings from the defaults pop-up Go to CLI and restore your 7.0 diff Done Upgrading from INAV 6 and 6.1 Download and install the new INAV Configurator 7 Save to a file the current diff all from the CLI. Upgrade to INAV 7 using the Full Erase option in the configurator. In case of Analog FPV, upload your OSD font of choice from the OSD tab. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration. You should be ready, explore new 7.0 features, and enjoy! Upgrading from older versions Please follow the instructions on this page. Major changes from 7.0 No longer require MAGNETOMETER to allow setting GPS related flight modes on Multirotors - bear in mind, mag is still advised as it greatly increases PosHold/RTH performance No longer require BARO to allow setting AltHold and GPS related modes on Multirotors - bear in mind, baro is still advised as it greatly increases PosHold/RTH performance Full Changelog: 7.1.1...7.1.2 What's Changed Add auto enabled flight modes to blackbox by @breadoven in #9950 Cherry pick AOCODARCF4V3 target commit from master into 7.1.1 branch by @mmosca in #9954 Cherry pick TAKERF722SE target from master by @mmosca in #9955 Enable baro-less navigation by default by @DzikuVx in #9966 Full Changelog: 7.1.0...7.1.2 Lire la source

Hello and welcome to INAV 7.1.1 "Ferocious Falcon" Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions and ask for help on: INAV Discord Server INAV Official on Facebook Important Notes INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards. The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default. PosHold, Navigation and RTH without compass PSA Attention all drone pilots and enthusiasts, Are you ready to take your flights to new heights with INAV 7.1? We've got some important information to share with you. INAV 7.1 brings an exciting update to navigation capabilities. Now, you can soar through the skies, navigate waypoints, and even return to home without relying on a compass. Yes, you heard that right! But before you launch into the air, there's something crucial to consider. While INAV 7.1 may not require a compass for basic navigation functions, we strongly advise you to install one for optimal flight performance. Here's why: 🛰️ Better Flight Precision: A compass provides essential data for accurate navigation, ensuring smoother and more precise flight paths. 🌐 Enhanced Reliability: With a compass onboard, your drone can maintain stability even in challenging environments, low speeds and strong wind. 🚀 Minimize Risks: Although INAV 7.1 can get you where you need to go without a compass, flying without one may result in a bumpier ride and increased risk of drift or inaccurate positioning. Remember, safety and efficiency are paramount when operating drones. By installing a compass, you're not just enhancing your flight experience, but also prioritizing safety for yourself and those around you. So, before you take off on your next adventure, make sure to equip your drone with a compass. It's the smart choice for smoother flights and better navigation. Fly safe, fly smart with INAV 7.1 and a compass by your side! Currently, if you wish to fly a multirotor without a compass. You will need to enable a compass (fake is ok) to change navigational modes in Configurator. You should disable the compass after making the changes. This has been fixed for a future release. Upgrading from a previous release Upgrading from INAV 7.0 and 7.1 Backup configuration with CLI diff all command Download and install the new INAV Configurator 7.1 Flash INAV 7.1 WITH Full Chip Erase option enabled Select Keep current settings from the defaults pop-up Go to CLI and restore your 7.0 diff Done Upgrading from INAV 6 and 6.1 Download and install the new INAV Configurator 7 Save to a file the current diff all from the CLI. Upgrade to INAV 7 using the Full Erase option in the configurator. In case of Analog FPV, upload your OSD font of choice from the OSD tab. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration. You should be ready, explore new 7.0 features, and enjoy! Upgrading from older versions Please follow the instructions on this page. Major changes No longer require MAGNETOMETER to allow setting GPS related flight modes on Multirotors - bear in mind, mag is still advised as it greatly increases PosHold/RTH performance No longer require BARO to allow setting AltHold and GPS related modes on Multirotors - bear in mind, baro is still advised as it greatly increases PosHold/RTH performance Changelist The full list of changes is available here The full list of INAV Configurator changes is available here What's Changed from INAV 7.1 Add auto enabled flight modes to blackbox by @breadoven in #9950 Cherry pick AOCODARCF4V3 target commit from master into 7.1.1 branch by @mmosca in #9954 Cherry pick TAKERF722SE target from master by @mmosca in #9955 Enable baro-less navigation by default by @DzikuVx in #9966 Minor Nav code improvements by @breadoven in #9947 FW Nav Auto Landing fixes by @breadoven in #9940 Prevent high throttle auto cancelling OSD stats screen on disarm by @breadoven in #9951 Fix macos builds in release_7.1.1 to fix builds by @mmosca in #9993 Cherry pick flywoof745 fixes from master by @mmosca in #9991 Revert Nav hold changes by @breadoven in #9999 WP mode altitude enforce hold fix by @breadoven in #10002 Full Changelog: 7.1.0...7.1.1 Lire la source

Hello and welcome to INAV 7.1 "Ferocious Falcon" Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions and ask for help on: INAV Discord Server INAV Official on Facebook Important Notes INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards. The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default. PosHold, Navigation and RTH without compass PSA Attention all drone pilots and enthusiasts, Are you ready to take your flights to new heights with INAV 7.1? We've got some important information to share with you. INAV 7.1 brings an exciting update to navigation capabilities. Now, you can soar through the skies, navigate waypoints, and even return to home without relying on a compass. Yes, you heard that right! But before you launch into the air, there's something crucial to consider. While INAV 7.1 may not require a compass for basic navigation functions, we strongly advise you to install one for optimal flight performance. Here's why: 🛰️ Better Flight Precision: A compass provides essential data for accurate navigation, ensuring smoother and more precise flight paths. 🌐 Enhanced Reliability: With a compass onboard, your drone can maintain stability even in challenging environments, low speeds and strong wind. 🚀 Minimize Risks: Although INAV 7.1 can get you where you need to go without a compass, flying without one may result in a bumpier ride and increased risk of drift or inaccurate positioning. Remember, safety and efficiency are paramount when operating drones. By installing a compass, you're not just enhancing your flight experience, but also prioritizing safety for yourself and those around you. So, before you take off on your next adventure, make sure to equip your drone with a compass. It's the smart choice for smoother flights and better navigation. Fly safe, fly smart with INAV 7.1 and a compass by your side! Upgrading from a previous release Upgrading from INAV 7.0 Backup configuration with CLI diff all command Download and install the new INAV Configurator 7.1 Flash INAV 7.1 WITH Full Chip Erase option enabled Select Keep current settings from the defaults pop-up Go to CLI and restore your 7.0 diff Done Upgrading from INAV 6 and 6.1 Download and install the new INAV Configurator 7 Save to a file the current diff all from the CLI. Upgrade to INAV 7 using the Full Erase option in the configurator. In case of Analog FPV, upload your OSD font of choice from the OSD tab. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration. You should be ready, explore new 7.0 features, and enjoy! Upgrading from older versions Please follow the instructions on this page. Major changes Fixed wing Autoland with landing pattern INAV supports advanced automatic landings for fixed wing aircraft from version 7.1. The procedure is based on landings for man-carrying aircraft, so that safe landings at a specific location are possible. Supported are landings at Safehome after "Return to Home" or at a defined LAND waypoint for missions. See: Fixed Wing Landing.md IMPORTANT: When updating from an older INAV version with a diff, please change the following settings before using Autoland for better performance. Plane with no tail: set nav_wp_radius = 1000 Plane with tail: set nav_wp_radius = 800 Compass and Barometer changes INAV now relies more heavily on GNSS data for navigation than before. This can provide more security if the Barometer fails, or if the multirotor is suffering from Compass interference. By still allowing it to navigate back to home. From the release of INAV 7.1. The use of a compass is no longer mandatory for multirotor navigation as it once was. BUT it is still recommended for the best navigation performance, when it comes to maintaining a fixed position for an extended period of time, without heading drift. e.g. in Poshold. Or taking off and immediately starting a Waypoint mission. If a user does decide to omit the use of a compass for a multirotor, be mindful that any navigation mode (RTH, Failsafe, Poshold, Cruise or a Waypoint mission) will not be operational UNTIL a GPS heading is first obtained, by flying in a straight line until both - The OSD Heading and Course over Ground indicators display a valid heading. Then keeping both headings closely aligned for a time. And the OSD Home arrow appears, showing a valid home direction. Example Video For more details see here Tailsitter Support for VTOL Tailsitter builds are now natively supported to allow proper Board Orientation switching during transition. Details Other changes Updated ICM426xx filtering The filtering of the ICM426xx gyros has been updated based on changes made to both Ardupilot and BetaFlight and we expect better performance, when comparing to previous INAV versions. OSD Changes Users can now customize their own OSD messages, by way of the Programming Framework. Details The Artificial Horizon will not properly track the real horizon in the correct way, when the craft is inverted. Details New Fixedwing flight mode The mode is called Angle Hold. For more details see here New targets FLYCOLORF7V2 CLI Changed settings Name Description gps_dyn_model Default: AIR_2G GPS navigation model: Pedestrian, Automotive, Air<1g, Air<2g, Air<4g. Default is AIR_2G. Use pedestrian/Automotive with caution, can cause flyaways with fast flying. New Items Name Description ahrs_gps_yaw_weight Arhs gps yaw weight when mag is avaliable, 0 means no gps yaw, 100 means equal weight as compass Values: 0 - 500 Default: 100 nav_fw_land_approach_length Length of the final approach Values: 100 - 100000 Default: 35000 nav_fw_land_final_approach_pitch2throttle_mod Modifier for pitch to throttle ratio at final approach. In Percent. Values: 100 - 400 Default: 100 nav_fw_land_flare_alt Initial altitude of the flare phase Values: 0 - 10000 Default: 150 nav_fw_land_flare_pitch Pitch value for flare phase. In degrees Values: -15 - 45 Default: 8 nav_fw_land_glide_alt Initial altitude of the glide phase Values: 100 - 5000 Default: 200 nav_fw_land_glide_pitch Pitch value for glide phase. In degrees. Values: -15 - 45 Default: 0 nav_fw_land_max_tailwind Max. tailwind (in cm/s) if no landing direction with downwind is available Values: 0 - 3000 Default: 140 nav_fw_launch_land_abort_deadband Launch and landing abort stick deadband in [r/c points], applied after r/c deadband and expo. The Roll/Pitch stick needs to be deflected beyond this deadband to abort the launch or landing. Values: 2 - 250 Default: 100. Replaces nav_fw_launch_abort_deadband nav_min_ground_speed Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s. Values: 6 - 50 Default: 7 nav_rth_fs_landing_delay If landing is active on Failsafe and this is above 0. The aircraft will hover or loiter for X seconds before performing the landing. If the battery enters the warning or critical levels, the land will proceed. Default = 0 [seconds] Values: 0 - 1800 Default: 0 tailsitter_orientation_offset Apply a 90 deg pitch offset in sensor aliment for tailsitter flying mode Default: FALSE Removed Items Name Description inav_w_xyz_acc_p nav_fw_launch_abort_deadband Replaced by nav_fw_launch_land_abort_deadband TL;DR The list of most important changes is also available in a video form: https://youtu.be/8Q8t_KwlSAQ Changelist The full list of changes is available here The full list of INAV Configurator changes is available here What's Changed from INAV 7.0 Update from master by @MrD-RC in #9427 Fixed wing attitude stabilisation mode by @breadoven in #9294 F411 PSA by @DzikuVx in #9459 updates docs, removed vtx_freq artefacts by @RomanLut in #9506 GEPRCF405 add IIC2 and change the barometer to IIC2 by @YI-BOYANG in #9510 Enable dshot for unofficial BETAFPVF435 by @mmosca in #9532 Add VTX power info for MAMBAH743_2022B target by @mmosca in #9539 Release 7.0.0 by @DzikuVx in #9432 Additional Description for Control Derivative by @MrD-RC in #9521 Make min ground speed setable a parameter by @MrD-RC in #9428 update f4 vcp in line with BF by @stronnag in #9544 Add a parameter to delay landing in the event of a Failsafe by @MrD-RC in #9502 Add ICM42688P to KAKUTEH7 by @DzikuVx in #9546 Yaw/Altitude estimation sensor fusion by @shota3527 in #9387 Navpid back calculation anti-windup can only shrink integrator by @shota3527 in #9224 Add active waypoint number to blackbox by @breadoven in #9507 SITL: OSD CMS menu does not work by @RomanLut in #9344 add some icons for O3 with integra for ESP32 Radar instead of ? by @druckgott in #9499 WP mission mode RTH and Manual mode lockout improvements 7.1.0 by @breadoven in #9558 tail sitter vtol support by @shota3527 in #9347 USB MSC: Fix SCIS mode sense write protection bit by @mluessi in #9572 [Multirotor] Fix Sqrt Controller Position Z limits by @JulioCesarMatias in #9575 Fix #9562 bmi166 acc readout by @mmosca in #9563 Add support crsf baro altitude combined vario sensor by @r1000ru in #9438 rebase and re-pr Fix at32 targets by @shanggl in #9618 Allow S9 on SpeedyBee F405 V3 by @DzikuVx in #9614 Enable Camera Control modes for MSP DisplayPort by @mmosca in #9626 Add option to use display_force_sw_blink in msp displayport by @mmosca in #9627 Fix ahi pitch when inverted by @MrD-RC in #9609 Fixed wing auto level bug fix by @breadoven in #9641 Resolving HAKRCF722V2 anomalies by @hakrc1 in #9650 Adjust SW blink interval by @mmosca in #9644 FLYCOLORF7V2 by @DzikuVx in #9631 Change LPF filter setting for accgyro_icm42605.c and enable/configure hardware AA filter by @mmosca in #9675 Delay save settings to prevent ESC lockup on emergency rearm by @MrD-RC in #9681 Add PINIO to SPEEDYBEEF405WING by @DzikuVx in #9686 Multirotor emergency landing altitude control response detuning by @breadoven in #9687 Fix odometer by @MrD-RC in #9716 Revert "Delay save settings to prevent ESC lockup on emergency rearm" by @MrD-RC in #9715 Update Odo float type by @MrD-RC in #9718 Show STOP instead of IDLE if motor stop enabled by @MrD-RC in #9719 Fixed Wing Autoland by @Scavanger in #9713 Increase the maximum number of addressable LEDs 7.1 by @MrD-RC in #9717 Osd custom by @error414 in #9508 gps_ublox.c: For M10 to use Glonass & Beideo concurrentlky, use B1C by @sensei-hacker in #9646 WP mode multirotor landing descent rate fix by @breadoven in #9728 Backport spektrum telemetry fix from master by @mmosca in #9744 IFLIGHT Blitz H7 Pro by @DzikuVx in #9748 [SITL] Fix RealFlight by @Scavanger in #9724 T-motor Velox F7 V2 target. by @DzikuVx in #9736 Revert GPS/Baro weight parameters to 7.0 values by @MrD-RC in #9734 fixed "Set LED Pin PWM" functionality in programming framework by @RomanLut in #9751 WP mode activation control fix by @breadoven in #9768 Add temp units to Betaflight compatibility mapping by @mmosca in #9774 IFLIGHT BLITZ F722 X1 by @DzikuVx in #9766 Show a timeout for in flight rearming by @MrD-RC in #9769 fix cygwin/sitl build with cmake 3.28.3 (#9787) by @stronnag in #9788 Add ICM42688P gyro to IFLIGHT_BLITZ_ATF4355 by @mmosca in #9797 [7.1-RC1] Autoland-Fix by @Scavanger in #9794 Add ICM42688P to TMOTORF7V2 by @mmosca in #9819 Servo.md: correct tab name by @sensei-hacker in #9799 Revert "Show a timeout for in flight rearming" by @MrD-RC in #9846 Add target to switch to second gyro on MAMBAH743_2022B, instead of first gyro by @mmosca in #9848 Add missing outputs for SKYSTARSHD2 by @MrD-RC in #9851 Revert baro alt vario over CRSF by @DzikuVx in #9858 FOXEERF722DUAL enable 5V power by default by @sensei-hacker in #9860 New Contributors @r1000ru made their first contribution in #9438 @hakrc1 made their first contribution in #9650 Full Changelog: 7.0.0...7.1.0 Lire la source

Hello and welcome to INAV 7.1 "Ferocious Falcon" Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions and ask for help on: INAV Discord Server INAV Official on Facebook Important Notes INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards. The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default. Upgrading from a previous release Upgrading from INAV 7.0 Backup configuration with CLI diff all command Download and install the new INAV Configurator 7.1 Flash INAV 7.1 WITHOUT Full Chip Erase option Done Upgrading from INAV 6 and 6.1 Download and install the new INAV Configurator 7 Save to a file the current diff all from the CLI. Upgrade to INAV 7 using the Full Erase option in the configurator. In case of Analog FPV, upload your OSD font of choice from the OSD tab. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration. You should be ready, explore new 7.0 features, and enjoy! Upgrading from older versions Please follow the instructions on this page. Major changes Fixed wing Autoland with landing pattern INAV supports advanced automatic landings for fixed wing aircraft from version 7.1. The procedure is based on landings for man-carrying aircraft, so that safe landings at a specific location are possible. Supported are landings at Safehome after "Return to Home" or at a defined LAND waypoint for missions. See: Fixed Wing Landing.md Altitude and Heading estimation changes INAV now relies more heavily on GNSS data for navigation than before. This can provide more security if the Barometer fails, or if the multirotor is suffering from Compass interference. By still allowing it to navigate back to home. For more details see here Other changes Updated ICM426xx filtering The filtering of the ICM426xx gyros has been updated based on changes made to both Ardupilot and BetaFlight and we expect better performance, when comparing to previous INAV versions. Custom OSD Users can now customize their own OSD messages, by way of the Programming Framework. Details New Fixedwing flight mode The mode is called Angle Hold. For more details see here New targets FLYCOLORF7V2 CLI Changed settings Name Description gps_dyn_model Default: AIR_2G GPS navigation model: Pedestrian, Automotive, Air<1g, Air<2g, Air<4g. Default is AIR_2G. Use pedestrian/Automotive with caution, can cause flyaways with fast flying. New Items Name Description ahrs_gps_yaw_weight Arhs gps yaw weight when mag is avaliable, 0 means no gps yaw, 100 means equal weight as compass Values: 0 - 500 Default: 100 nav_fw_land_approach_length Length of the final approach Values: 100 - 100000 Default: 35000 nav_fw_land_final_approach_pitch2throttle_mod Modifier for pitch to throttle ratio at final approach. In Percent. Values: 100 - 400 Default: 100 nav_fw_land_flare_alt Initial altitude of the flare phase Values: 0 - 10000 Default: 150 nav_fw_land_flare_pitch Pitch value for flare phase. In degrees Values: -15 - 45 Default: 8 nav_fw_land_glide_alt Initial altitude of the glide phase Values: 100 - 5000 Default: 200 nav_fw_land_glide_pitch Pitch value for glide phase. In degrees. Values: -15 - 45 Default: 0 nav_fw_land_max_tailwind Max. tailwind (in cm/s) if no landing direction with downwind is available Values: 0 - 3000 Default: 140 nav_fw_launch_land_abort_deadband Launch and landing abort stick deadband in [r/c points], applied after r/c deadband and expo. The Roll/Pitch stick needs to be deflected beyond this deadband to abort the launch or landing. Values: 2 - 250 Default: 100 nav_min_ground_speed Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s. Values: 6 - 50 Default: 7 nav_rth_fs_landing_delay If landing is active on Failsafe and this is above 0. The aircraft will hover or loiter for X seconds before performing the landing. If the battery enters the warning or critical levels, the land will proceed. Default = 0 [seconds] Values: 0 - 1800 Default: 0 tailsitter_orientation_offset Apply a 90 deg pitch offset in sensor aliment for tailsitter flying mode Default: FALSE Removed Items Name Description inav_w_xyz_acc_p nav_fw_launch_abort_deadband TL;DR The list of most important changes is also available in a video form: https://youtu.be/8Q8t_KwlSAQ Changelist The full list of changes is available here The full list of INAV Configurator changes is available here What's Changed from INAV 7.0 Update from master by @MrD-RC in #9427 Fixed wing attitude stabilisation mode by @breadoven in #9294 F411 PSA by @DzikuVx in #9459 updates docs, removed vtx_freq artefacts by @RomanLut in #9506 GEPRCF405 add IIC2 and change the barometer to IIC2 by @YI-BOYANG in #9510 Enable dshot for unofficial BETAFPVF435 by @mmosca in #9532 Add VTX power info for MAMBAH743_2022B target by @mmosca in #9539 Release 7.0.0 by @DzikuVx in #9432 Additional Description for Control Derivative by @MrD-RC in #9521 Make min ground speed setable a parameter by @MrD-RC in #9428 update f4 vcp in line with BF by @stronnag in #9544 Add a parameter to delay landing in the event of a Failsafe by @MrD-RC in #9502 Add ICM42688P to KAKUTEH7 by @DzikuVx in #9546 Yaw/Altitude estimation sensor fusion by @shota3527 in #9387 Navpid back calculation anti-windup can only shrink integrator by @shota3527 in #9224 Add active waypoint number to blackbox by @breadoven in #9507 SITL: OSD CMS menu does not work by @RomanLut in #9344 add some icons for O3 with integra for ESP32 Radar instead of ? by @druckgott in #9499 WP mission mode RTH and Manual mode lockout improvements 7.1.0 by @breadoven in #9558 tail sitter vtol support by @shota3527 in #9347 USB MSC: Fix SCIS mode sense write protection bit by @mluessi in #9572 [Multirotor] Fix Sqrt Controller Position Z limits by @JulioCesarMatias in #9575 Fix #9562 bmi166 acc readout by @mmosca in #9563 Add support crsf baro altitude combined vario sensor by @r1000ru in #9438 rebase and re-pr Fix at32 targets by @shanggl in #9618 Allow S9 on SpeedyBee F405 V3 by @DzikuVx in #9614 Enable Camera Control modes for MSP DisplayPort by @mmosca in #9626 Add option to use display_force_sw_blink in msp displayport by @mmosca in #9627 Fix ahi pitch when inverted by @MrD-RC in #9609 Fixed wing auto level bug fix by @breadoven in #9641 Resolving HAKRCF722V2 anomalies by @hakrc1 in #9650 Adjust SW blink interval by @mmosca in #9644 FLYCOLORF7V2 by @DzikuVx in #9631 Change LPF filter setting for accgyro_icm42605.c and enable/configure hardware AA filter by @mmosca in #9675 Delay save settings to prevent ESC lockup on emergency rearm by @MrD-RC in #9681 Add PINIO to SPEEDYBEEF405WING by @DzikuVx in #9686 Multirotor emergency landing altitude control response detuning by @breadoven in #9687 Fix odometer by @MrD-RC in #9716 Revert "Delay save settings to prevent ESC lockup on emergency rearm" by @MrD-RC in #9715 Update Odo float type by @MrD-RC in #9718 Show STOP instead of IDLE if motor stop enabled by @MrD-RC in #9719 Fixed Wing Autoland by @Scavanger in #9713 Increase the maximum number of addressable LEDs 7.1 by @MrD-RC in #9717 Osd custom by @error414 in #9508 New Contributors @r1000ru made their first contribution in #9438 @hakrc1 made their first contribution in #9650 Full Changelog: 7.0.0...7.1.0-RC1 Lire la source

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

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

Hello and welcome to INAV 7 "Ferocious Falcon" Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions and ask for help on: INAV Discord Server INAV Official on Facebook Important Notes INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards. The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays The FrSky D-series telemetry support has been removed. This applies to legacy D4R receivers and some 3rd party whoop boards Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default. Upgrading from a previous release Upgrading from INAV 6 and 6.1 Download and install the new INAV Configurator 7 Save to a file the current diff all from the CLI. Upgrade to INAV 7 using the Full Erase option in the configurator. In case of Analog FPV, upload your OSD font of choice from the OSD tab. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration. You should be ready, explore new 7.0 features, and enjoy! Upgrading from older versions Please follow the instructions on this page. Major changes Flexible motor and servo output allocation INAV now was a function that allows to flexibly assign functions to PWM outputs directly from INAV Configurator. Specific function AUTO, MOTORS or SERVOS can be assigned to each Timer Group. Then, all outputs from this group will perform this function. Thanks to this, it's possible to use servos and motors in ways that previously required building a custom targets. Bear in mind: In some rare cases, output assignment might be different than in INAV 6. This makes it even more important to remove your props and double check your outputs before you power your flight controller with batteries for the first time after applying your old settings or enabling outputs. It is not possible to assign function to individual outputs. It's a hardware, not software limitation. Mixer profiles and VTOL support This has been a frequent request since PNP VTOL models started becoming more common. Read more in Mixer Profile INAV docs and VTOL INAV docs Ez Tune The Ez Tune is a simplified tuning framework similar to Betalight's Simplified Slider Tuning. Instead of setting each PID controller gain, rate, and filter setting separately, Pilot is presented with 8 sliders for: Axis ratio Main filter frequency Response Damping Stability Aggressiveness Rate Expo Ez Tune settings are not compatible with Betaflight Slider Tuning setting and cannot be migrated directly. Read the description in Configurator's Ez Tune tab on what each setting does and how it should be used. More on the topic of Ez Tune can be found here Timer DMA Burst INAV 7 adds the DMA Burst mode to selected target as ultimately fixes the problem of DSHOT protocol not working on some boards. Pilots do not have to take any actions, DSHOT is just available on previously affected flight controllers. This applies to: Matek F405 TE SpeedyBee F405 V3 JETI EXBUS fixed The JETI EXBUS protocol should now not hang the flight controller during operation. The issue was originally fixed in betaflight/betaflight#13130 . Thank you @SteveCEvans and @klutvott123 Multirotor Cruise Mode The Cruise Mode for Multirotors allows pilots to let go the radio sticks while UAV flies on a predefined course with predefined speed. Just like with regular PosHold, Throttle stick sets the altitude and course, while the pitch stick is used to set the horizontal speed. When released INAV will hold set speed, altitude, and course. More information available in here https://youtu.be/4pgDxexuSnU NMEA Protocol no longer available As mentioned in the Important Notes section, INAV 7 no longer supports the GPS NMEA protocol. All modern GPS module support one of the UBLOX protocols and as a result pilots must switch to either UBLOX or UBLOX7 protocol. GPS Improvements A number of improvements have been made to GPS support in INAV 7. It is now possible to select multiple GPS constellations, and not only Galileo. If your GPS modules does not support a particular combination, it will fallback to no extra constellations. M10 GPS units will now default to 10Hz, like M8 units and a new cli setting has been added to allow overriding the update rate of your UBLOX7 GPS (gps_ublox_nav_hz). This should allow you to fall back to 5Hz or bump it up to the limits of what is supported by your GPS module. MSP VTX support INAV now support MSP VTX when using MSP DisplayPort OSD. Now it is possible to change VTX power levels and channels via INAV's OSD menu or ELRS backpack without connecting the SmartAudio wire on HD-Zero VTXs. If you MSP DisplayPort OSD is working, no extra configuration is needed. Linear Descent RTH mode changed AT_LEAST_LINEAR_DESCENT is no longer a method for RTH. It has been replaced with a more flexible linear descent option that will work with any RTH method. If previously using AT_LEAST_LINEAR_DESCENT, you should now just use AT_LEAST as the RTH type. Linear Descent is now a separate option that can be used with any other RTH method. To make this possible, the target altitude of the descent is now the nav_rth_home_altitude. In some cases, if flying below the home position, this will work as a linear ascent. You can also decide when the linear descent will start. Set the nav_rth_linear_descent_start_distance parameter to the distance (metres) from the home point, where you want to start descending. Set to 0, the default setting; the descent will start immediately, as with the pre-7.0 implementation. These options are available in Configurator. See the Navigation Mode: Return to Home wiki for more details. Pilot Logos You can now have custom pilot logos on your OSD and arming screen (HD Only). You will need to create a custom font with your logos to show them on screen. The OSD logo is a 3x1 character symbol. This can be used with both analogue and HD. The arming screen logo is a 10x4 character image, and only works with HD systems. More details are available in the OSD Document. Other changes The AUTOLEVEL mode is renamed to AUTO LEVEL TRIM. The functionality remains the same. The osd_mah_used_precision parameter has been renamed osd_mah_precision. 24 channels available for Jeti systems (not available with F411 or F722 flight controllers). Virtual pitot is enabled by default. Other removed functions FrSky D-series telemetry output_mode setting that allows to reassign all PWM outputs to either MOTORS or SERVOS New targets SDmodel H7V1 Matek H743HD SpeedyBee F405 V4 SpeedeBee F405 Mini SpeedyBee F7 Mini V2 GEPRCF405 GEPRCF722 NEUTRONRC F435 Mini AIO CLI Changed settings Name Description gps_provider Removed: NMEA gps_sbas_mode New: SPAN nav_rth_alt_mode Removed: AT_LEAST_LINEAR_DESCENT pitot_hardware New: DLVR-L10D New Items Name Description ez_aggressiveness EzTune aggressiveness Values: 0 - 200 Default: 100 ez_axis_ratio EzTune axis ratio Values: 25 - 175 Default: 110 ez_damping EzTune damping Values: 0 - 200 Default: 100 ez_enabled Enables EzTune feature Default: FALSE ez_expo EzTune expo Values: 0 - 200 Default: 100 ez_filter_hz EzTune filter cutoff frequency Values: 10 - 300 Default: 110 ez_rate EzTune rate Values: 0 - 200 Default: 100 ez_response EzTune response Values: 0 - 200 Default: 100 ez_stability EzTune stability Values: 0 - 200 Default: 100 gps_auto_baud_max_supported Max baudrate supported by GPS unit. This is used during autobaud. M8 supports up to 460400, M10 supports up to 921600 and 230400 is the value used before INAV 7.0 Default: 230400 gps_ublox_nav_hz Navigation update rate for UBLOX7 receivers. Some receivers may limit the maximum number of satellites tracked when set to a higher rate or even stop sending navigation updates if the value is too high. Some M10 devices can do up to 25Hz. 10 is a safe value for M8 and newer. Values: 5 - 200 Default: 10 gps_ublox_use_beidou Enable use of Beidou satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires gps hardware support [OFF/ON]. Default: FALSE gps_ublox_use_glonass Enable use of Glonass satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires gps haardware support [OFF/ON]. Default: FALSE led_pin_pwm_mode PWM mode of LED pin. Values: SHARED_LOW, SHARED_HIGH, LOW, HIGH. Default: SHARED_LOW mixer_automated_switch If set to on, This mixer_profile will try to switch to another mixer_profile when 1.RTH heading home is requested and distance to home is lager than 3*nav_fw_loiter_radius on mixer_profile is a MULTIROTOR or TRICOPTER platform_type. 2. RTH landing is requested on this mixer_profile is a AIRPLANE platform_type Default: FALSE mixer_pid_profile_linking If enabled, pid profile_index will follow mixer_profile index. Set to OFF(default) if you want to handle PID profile by your self. Recommend to set to ON on all mixer_profiles to let the mixer_profile handle the PID profile switching on a VTOL or mixed platform type setup. Default: FALSE mixer_switch_trans_timer If switch another mixer_profile is scheduled by mixer_automated_switch or mixer_automated_switch. Activate Mixertransion motor/servo mixing for this many decisecond(0.1s) before the actual mixer_profile switch. Values: 0 - 200 Default: 0 motorstop_on_low If enabled, motor will stop when throttle is low on this mixer_profile Default: FALSE nav_cruise_yaw_rate Max YAW rate when NAV COURSE HOLD/CRUISE mode is enabled. Set to 0 to disable on fixed wing (Note: On multirotor setting to 0 will disable Course Hold/Cruise mode completely) [dps] Values: 0 - 120 Default: 20 nav_landing_bump_detection Allows immediate landing detection based on G bump at touchdown when set to ON. Requires a barometer and currently only works for multirotors. Default: FALSE nav_mc_althold_throttle If set to STICK the FC remembers the throttle stick position when enabling ALTHOLD and treats it as the neutral midpoint for holding altitude. If set to MID_STICK or HOVER the neutral midpoint is set to the mid stick position or the hover throttle position respectively. Default: STICK nav_rth_linear_descent_start_distance The distance [m] away from home to start the linear descent. 0 = immediately (original linear descent behaviour) Values: 0 - 10000 Default: 0 nav_rth_use_linear_descent If enabled, the aircraft will gradually descent to the nav_rth_home_altitude en route. The distance from home to start the descent can be set with nav_rth_linear_descent_start_distance. Default: FALSE osd_arm_screen_display_time Amount of time to display the arm screen [ms] Values: 1000 - 5000 Default: 1500 osd_inav_to_pilot_logo_spacing The space between the INAV and pilot logos, if osd_use_pilot_logo is ON. This number may be adjusted so that it fits the odd/even col width displays. For example, if using an odd column width display, such as Walksnail, and this is set to 4. 1 will be added so that the logos are equally spaced from the centre of the screen. Values: 0 - 20 Default: 8 osd_joystick_down PWM value for DOWN key Values: 0 - 100 Default: 0 osd_joystick_enabled Enable OSD Joystick emulation Default: FALSE osd_joystick_enter PWM value for ENTER key Values: 0 - 100 Default: 75 osd_joystick_left PWM value for LEFT key Values: 0 - 100 Default: 63 osd_joystick_right PWM value for RIGHT key Values: 0 - 100 Default: 28 osd_joystick_up PWM value for UP key Values: 0 - 100 Default: 48 osd_mah_precision Number of digits used for mAh precision. Currently used by mAh Used and Battery Remaining Capacity Values: 4 - 6 Default: 4 osd_use_pilot_logo Use custom pilot logo with/instead of the INAV logo. The pilot logo must be characters 473 to 511 Default: FALSE pid_iterm_limit_percent Limits max/min I-term value in stabilization PID controller. It solves the problem of servo saturation before take-off/throwing the airplane into the air. Or multirotors with low authority. By default, error accumulated in I-term can not exceed 33% of total pid throw (around 165us on deafult pidsum_limit of pitch/roll). Set 0 to disable completely. Values: 0 - 200 Default: 33 tpa_on_yaw Throttle PID attenuation also reduces influence on YAW for multi-rotor, Should be set to ON for tilting rotors. Default: FALSE Removed Items Name Description dterm_lpf2_hz dterm_lpf2_type frsky_coordinates_format frsky_default_latitude frsky_default_longitude frsky_unit frsky_vfas_precision fw_iterm_throw_limit moron_threshold nav_fw_cruise_yaw_rate nav_use_midthr_for_althold osd_mah_used_precision output_mode Changelist The full list of changes is available here The full list of INAV Configurator changes is available here What's Changed from INAV 6.1.1 INAV 7 by @DzikuVx in #8886 Enable USE_SERVO_SBUS on all targets by @DzikuVx in #8876 Release 6.0 by @DzikuVx in #8763 Drop D-term LPF2 as no longer used by @DzikuVx in #8875 Drop FrDky D-series telemetry support by @DzikuVx in #8878 Allow scheduler to go down to 10us period by @DzikuVx in #8877 Drop moron_threshold setting by @DzikuVx in #8859 Release 6.0.0 by @DzikuVx in #8912 Add target BLACKPILL_F411 by @HKR1987 in #8902 Update GCC to 10.3.1 by @DzikuVx in #8917 Release 6.1.0 by @DzikuVx in #8887 docs: fix documentation of gvar set by @sensei-hacker in #8955 Update Building in MSYS2 Doc by @pwnept in #8934 Add osd menu option to preview font file by @mmosca in #8932 Jh update usb flash doc by @stronnag in #8974 Add the "GEPRCF722_BT_HD" target by @YI-BOYANG in #8943 Recognize MPU9255 as a valid IMU by @VasilKalchev in #8927 Cleanup m25p16 flash detection code by @mmosca in #8985 Update from master by @MrD-RC in #8987 Add IFLIGHT_BLITZ_F7_AIO target by @mmosca in #8977 Mark IFLIGHT_BLITZ_F7_AIO as SKIP_RELEASES by @mmosca in #8988 Have you ever wished INAV had a mute switch? by @mmosca in #8989 Enhance Linear Descent RTH feature by @MrD-RC in #8810 updated battery profile documentation by @RomanLut in #9002 INAV capitalization by @ryet9 in #9001 Rename AUTO LEVEL by @MrD-RC in #8972 fixed pitot sensor by @RomanLut in #9019 modify servo and motor and magnetometer for AocodaRC F4V2 by @dlt2018 in #9040 Release 6.1.0 mergeback by @DzikuVx in #8957 Fix: SpeedyBee F405 V3 uSD card vs OSD interference by @shirase in #9028 Update Navigation.md by @RomanLut in #9058 Update Aocodarcf7mini by @dlt2018 in #9056 Add MPU6000 and MPU6500 support to Foxeer F7 V4 target by @DzikuVx in #9070 Cleanup abandoned EXTI code by @DzikuVx in #9071 Multirotor WP speed fix when altitude enforce enabled by @breadoven in #9067 Update target.h by @pgp69 in #9037 updated controls documentation by @RomanLut in #9024 remove obsolete static_assert by @stronnag in #9077 [SITL OSX] Fix some of the warnings and add macosx SITL build to workflows by @mmosca in #9063 Add QUADSPI Support for H7 and M25P16 Flash Driver by @mluessi in #8915 Fix bug for DJI O3's altitude when using imperial by @MrD-RC in #9076 Switch sensor infrastructure to be float internally by @DzikuVx in #9075 [SITL] disable nagle for UART TCP by @stronnag in #9079 [SITL OSX] Fix lldb debugging in OSX and improve OSX detection by @mmosca in #9082 [SITL] consolidate IP helpers into target.c by @stronnag in #9080 [SITL] add missing BSD header from IP consolidation by @stronnag in #9085 [Docs] Readme updates by @stronnag in #9090 Speedybee F405 WING fixes by @DzikuVx in #9094 fix conflicting types by @stronnag in #9097 allow HITL to run with HW baro failure by @RomanLut in #9021 Set 10Hz update rate for M9 and M10 gps devices by default and allow higher refresh rates by @mmosca in #9103 Add board Aocodarcf405aio by @dlt2018 in #9089 Update Borad Aocodarch7dual by @dlt2018 in #9100 DSP based gyro operations by @DzikuVx in #9078 Acc processing with DSP by @DzikuVx in #9116 Remove brew update step for SITL mac build by @mmosca in #9127 ICM42605 gyro parsing fix by @erstec in #9125 Release 6.1.1 by @MrD-RC in #9106 Fix version check and apply GNSS configuration for M8+ gps by @mmosca in #9128 Multirotor landing bump detection by @breadoven in #8744 Add configuration of Beidou and Glonass to M8, M9 and M10 gps modules by @mmosca in #9124 update gpsConfig_t PG version by @stronnag in #9131 It looks like UBLOX ROM version 2.01 omits the = sign from PROTVER by @mmosca in #9132 reenable LTO for MacOS firmware builds by @stronnag in #9136 Flycolor F7 mini by @DzikuVx in #9122 updated buzzer documentation by @RomanLut in #9148 fixed beeper -ON_USB for 1S setup, fixed beeper -SYSTEM_INIT by @RomanLut in #9147 Enable possibility to simulate HW sensor failures in HITL by @RomanLut in #8858 Kakute H7 Wing by @erstec in #9145 Update target.h by @dlt2018 in #9151 fix target's by @dlt2018 in #9149 Improve OSD stats page avg efficiency value scaling by @rmaia3d in #9109 Fix AOCODARCH7DUAL Buzzer continous beeping issue by @lida2003 in #9143 [SITL] suppress spurious linker warning with gcc12+ by @stronnag in #9163 How to test a pull request.md - two minor typos by @sensei-hacker in #9170 Add some documentation on how to test a PR by @mmosca in #9168 fixed enter/exit camera osd stick positions docs by @RomanLut in #9165 Fix: Inav 7.0.0 last build not working on SPEEDYBEEF405V3 by @shirase in #9162 Foxeer H743 target by @DzikuVx in #9171 Add new OSD document by @MrD-RC in #9177 Kakute H7 Wing Defaults altered by @erstec in #9185 Add more baud rates to auto baud, as listed in m10 integration manual by @mmosca in #9174 Use all 8 motor outputs on AXISFLYINGF7PRO by @nmaggioni in #9179 MSP VTX support by @mmosca in #9166 Repair led strip by @dlt2018 in #9190 Get rid of some not needed floating point divisions by @DzikuVx in #9207 Restore autobaud for m8 gps by @mmosca in #9219 Update SPEEDYBEEF7V3. Fix Sensor VL53L1X by @druckgott in #9221 Extend from 4 ADC channels to 6 (Matek H743 and others) by @sensei-hacker in #9180 Nav altitude control improvements by @breadoven in #8920 fix neutronrcf435mini aio motor2 output bug by @shanggl in #9226 Try to set vscode to play nice with formating style by @mmosca in #9223 Fix for #9225, some OSD elements are skipped incorrectly, when GPS is not present. by @mmosca in #9229 Block by Runtime calibration of ACC only when ACC is required by @DzikuVx in #9227 Fix ADC on FOXEERH743 by @DzikuVx in #9230 Update speedybeef405v3 docs, with some common issues by @mmosca in #9231 Let M10 GPS disable SBAS and some small fixes changes by @mmosca in #9232 Multicopter emergency landing improvement/fix by @breadoven in #9169 Fix SITL memory leaks by @psmitty7373 in #9235 Add constrain for DynLPF computation by @DzikuVx in #9242 Multirotor Althold throttle hover option + altitude adjustment indication by @breadoven in #9220 OSD Altitude field fix by @breadoven in #9261 Add blackbox target heading + missing Nav auto enabled flight modes by @breadoven in #9249 SKYSTARSH743HD remove non-existent S9 & S10. Add servos target by @sensei-hacker in #9214 [doc] update serial_printf document iaw current implementation by @stronnag in #9266 Change motor/servo assignements for RUSH_BLADE_F7 targets by @mmosca in #9262 Pitot DLVR-L10D sensor by @jmajew in #9216 Add GEPRCF405 and GEPRCF722 targets by @YI-BOYANG in #9260 Multi function OSD utility by @breadoven in #8698 Timer DMA burst by @shirase in #9265 Add mup6500 for mambaf405us by @jianwwpro in #8827 Programming Frameword.md: Update to match Configurator renaming by @sensei-hacker in #9275 SpeedyBee F7 Mini V2 target by @DzikuVx in #9272 Speedybee F405 mini by @DzikuVx in #9273 Multirotor course hold/cruise mode by @breadoven in #9213 Bump navConfig PG that was forgotten in #9220 by @DzikuVx in #9278 Switch MatekF405TE to use burst DMA by @DzikuVx in #9277 Update Building in Windows 10 or 11 with Linux Subsystem.md by @wchnflr in #9279 BETAFPVF435 unofficial target by @mmosca in #9281 Make PWM allocation a bit smarter. by @mmosca in #9268 [sitl] add --version, add git commit to version output by @stronnag in #9286 docs/programming user21 typo by @sensei-hacker in #9289 Failsafe fixes by @breadoven in #9283 Mixer throttle fixes/improvements + more OSD Throttle changes by @breadoven in #9274 Ignore tasks.json and use tabs in C files by @MrD-RC in #9295 Enable the virtual pitot by default by @MrD-RC in #9299 Add DPS310 by @dlt2018 in #9284 Drop output_mode setting by @DzikuVx in #9300 Throttle related refactor/clean up by @breadoven in #9287 docs/ipf: Fix typos and clarify wording by @sensei-hacker in #9298 Further simplify timer usage flags. by @mmosca in #9288 Bulk update targets with new pwm output assignments by @mmosca in #9309 Remove timer compatibility define, since all targets have been updated by @mmosca in #9318 DSHOT delay fix by @shirase in #9321 [docs] modernise Serial and RX documents by @stronnag in #9322 Mixer profile to open the posibility for vtol/mixed platform by @shota3527 in #8555 Add SouthPAN SBAS for all my friends in AU/NZ. by @mmosca in #9320 Drop NMEA protocol by @DzikuVx in #9302 SpeedyBee F405 V4 by @DzikuVx in #9324 SpeedyBEEF405WING Change S11 timer, since TIM1 is used by LED by @mmosca in #9325 Remove info about F3 mcus from Temperature sensors documentation by @mmosca in #9337 Add Rate Dynamics to MSP by @DzikuVx in #9336 Update PR test instructions by @mmosca in #9338 Flight remaining flight distance value by @MrD-RC in #9333 Fix mixer config initialization sequence by @shota3527 in #9339 Fix for Rate dynamics MSP layer by @DzikuVx in #9340 Add myself to Authors by @mmosca in #9341 Add odometer to OSD by @MrD-RC in #9335 Update Controls.md by @MrD-RC in #9351 IPF: Add yaw operand to go with pitch and roll by @sensei-hacker in #9305 Add MatekH743HD variant by @MATEKSYS in #9244 additional fixes for mixer profile by @shota3527 in #9363 fixed HITL docs by @RomanLut in #9353 Add the Aocodarcf722aio file by @dlt2018 in #9314 Lower default hover throttle to 30% by @mmosca in #9361 Increase channels to 24 for Jeti by @MrD-RC in #9350 Add pilot logo to OSD by @MrD-RC in #9332 fixes servo output issue by @shota3527 in #9366 minor changes on ahrs by @shota3527 in #9360 Timer N channel fix by @shirase in #9276 Add ICM42605 driver for SKYSTARSF405HD by @DusKing1 in #9370 Multirotor coursehold/cruise mode fix by @breadoven in #9380 Ez Tune for Multirotors by @DzikuVx in #9354 update docker build scripts by @RomanLut in #9346 Add SYM_TOTAL and SYM_GFORCE to BFCOMPAT by @mmosca in #9385 In flight emergency rearm by @breadoven in #9254 Re-enable baro. max chip seems to cause issues by @mmosca in #9400 Make it easier to include all baro drivers to target by @mmosca in #9394 Make it easier to include all compass drivers to target by @mmosca in #9401 BFCOMPAT - improve wind and airspeed fields and labels by @rmaia3d in #9388 HITL/SITL: allow hitl/sitl to arm with uncalibrated accelerometer by @RomanLut in #9345 fix mixer_profie configurator issue by @shota3527 in #9364 flight/pid.c: fix AngleOverride(yaw) to degrees by @sensei-hacker in #9329 HITL: simulate battery voltage with any sensor by @RomanLut in #9212 HITL: hd osd support by @RomanLut in #9327 Fixed #9399 can't find baro chip on PB6/PB7 I2C1 by @lida2003 in #9412 Fix JETI EXBUS overflow by @DzikuVx in #9407 Disable ASFR function on ICM426xx driver by @DzikuVx in #9409 16G scale range for bmi270 accelerometer by @shota3527 in #9410 tpa on yaw and i-term limit by @shota3527 in #9408 FW Auto level trim bug fix by @breadoven in #9393 Enhance mAh remaining OSD element by @MrD-RC in #9334 Allow f722 to use mixer profile by @shota3527 in #9416 Correct disarm servo throttle by @DzikuVx in #9413 SAFETY issue -- servos.c: Correct servo throttle off when disarmed (not full throttle at disarm) by @sensei-hacker in #9330 OSD Joystick by @RomanLut in #9201 New target: ATOMRC Exceed F405 FC V2 by @NickB1 in #8956 Add more power options for 1G3 group by @MATEKSYS in #9243 New target: SDMODELH7V1 by @sensei-hacker in #9114 Framework.md - Note about common error by @sensei-hacker in #9422 Update OSD.md by @MrD-RC in #9425 comment on how to clone specific INAV releases added by @Daniel-1276 in #9414 update vtol documents by @shota3527 in #9426 Put getConfigMixerProfile as the last byte in message by @DzikuVx in #9431 [GPS] fix Neo6M recognition by @stronnag in #9446 Add DPS310 and SPL06 to FLYWOOF745 target by @mmosca in #9448 Various PWM output changes. Mainly to get rid of potential conflicts by @DzikuVx in #9452 Show system message when linear descent begins by @MrD-RC in #9453 New Contributors @HKR1987 made their first contribution in #8902 @VasilKalchev made their first contribution in #8927 @ryet9 made their first contribution in #9001 @shirase made their first contribution in #9028 @pgp69 made their first contribution in #9037 @lida2003 made their first contribution in #9143 @druckgott made their first contribution in #9221 @psmitty7373 made their first contribution in #9235 @jianwwpro made their first contribution in #8827 @wchnflr made their first contribution in #9279 @NickB1 made their first contribution in #8956 @Daniel-1276 made their first contribution in #9414 Full Changelog: 6.1.1...7.0.0-RC2 Changelog: 7.0.0-RC1...7.0.0-RC2 Lire la source

Hello and welcome to INAV 7 "Ferocious Falcon" Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions and ask for help on: INAV Discord Server INAV Official on Facebook Important Notes The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays The FrSky D-series telemetry support has been removed. This applies to legacy D4R receivers and some 3rd party whoop boards Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default. Upgrading from a previous release Upgrading from INAV 6 and 6.1 Download and install the new INAV Configurator 7 Save to a file the current diff all from the CLI. Upgrade to INAV 7 using the Full Erase option in the configurator. In case of Analog FPV, upload your OSD font of choice from the OSD tab. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration. You should be ready, explore new 7.0 features, and enjoy! Upgrading from older versions Please follow the instructions on this page. Major changes Flexible motor and servo output allocation INAV now was a function that allows to flexibly assign functions to PWM outputs directly from INAV Configurator. Specific function AUTO, MOTORS or SERVOS can be assigned to each Timer Group. Then, all outputs from this group will perform this function. Thanks to this, it's possible to use servos and motors in ways that previously required building a custom targets. Bear in mind: In some rare cases, output assignment might be different than in INAV 6. This makes it even more important to remove your props and double check your outputs before you power your flight controller with batteries for the first time after applying your old settings or enabling outputs. It is not possible to assign function to individual outputs. It's a hardware, not software limitation. Mixer profiles and VTOL support This has been a frequent request since PNP VTOL models started becoming more common. Read more in Mixer Profile INAV docs and VTOL INAV docs Ez Tune The Ez Tune is a simplified tuning framework similar to Betalight's Simplified Slider Tuning. Instead of setting each PID controller gain, rate, and filter setting separately, Pilot is presented with 8 sliders for: Axis ratio Main filter frequency Response Damping Stability Aggressiveness Rate Expo Ez Tune settings are not compatible with Betaflight Slider Tuning setting and cannot be migrated directly. Read the description in Configurator's Ez Tune tab on what each setting does and how it should be used. Timer DMA Burst INAV 7 adds the DMA Burst mode to selected target as ultimately fixes the problem of DSHOT protocol not working on some boards. Pilots do not have to take any actions, DSHOT is just available on previously affected flight controllers. This applies to: Matek F405 TE SpeedyBee F405 V3 JETI EXBUS fixed The JETI EXBUS protocol should now not hang the flight controller during operation. The issue was originally fixed in betaflight/betaflight#13130 . Thank you @SteveCEvans and @klutvott123 Multirotor Cruise Mode The Cruise Mode for Multirotors allows pilots to let go the radio sticks while UAV flies on a predefined course with predefined speed. Just like with regular PosHold, Throttle stick sets the altitude and course, while the pitch stick is used to set the horizontal speed. When released INAV will hold set speed, altitude, and course. More information available in here https://youtu.be/4pgDxexuSnU NMEA Protocol no longer available As mentioned in the Important Notes section, INAV 7 no longer supports the GPS NMEA protocol. All modern GPS module support one of the UBLOX protocols and as a result pilots must switch to either UBLOX or UBLOX7 protocol. GPS Improvements A number of improvements have been made to GPS support in INAV 7. It is now possible to select multiple GPS constellations, and not only Galileo. If your GPS modules does not support a particular combination, it will fallback to no extra constellations. M10 GPS units will now default to 10Hz, like M8 units and a new cli setting has been added to allow overriding the update rate of your UBLOX7 GPS (gps_ublox_nav_hz). This should allow you to fall back to 5Hz or bump it up to the limits of what is supported by your GPS module. MSP VTX support INAV now support MSP VTX when using MSP DisplayPort OSD. Now it is possible to change VTX power levels and channels via INAV's OSD menu or ELRS backpack without connecting the SmartAudio wire on HD-Zero VTXs. If you MSP DisplayPort OSD is working, no extra configuration is needed. Linear Descent RTH mode changed AT_LEAST_LINEAR_DESCENT is no longer a method for RTH. It has been replaced with a more flexible linear descent option that will work with any RTH method. If previously using AT_LEAST_LINEAR_DESCENT, you should now just use AT_LEAST as the RTH type. Linear Descent is now a separate option that can be used with any other RTH method. To make this possible, the target altitude of the descent is now the nav_rth_home_altitude. In some cases, if flying below the home position, this will work as a linear ascent. You can also decide when the linear descent will start. Set the nav_rth_linear_descent_start_distance parameter to the distance (metres) from the home point, where you want to start descending. Set to 0, the default setting; the descent will start immediately, as with the pre-7.0 implementation. These options are available in Configurator. See the Navigation Mode: Return to Home wiki for more details. Pilot Logos You can now have custom pilot logos on your OSD and arming screen (HD Only). You will need to create a custom font with your logos to show them on screen. The OSD logo is a 3x1 character symbol. This can be used with both analogue and HD. The arming screen logo is a 10x4 character image, and only works with HD systems. More details are available in the OSD Document. Other changes The AUTOLEVEL mode is renamed to AUTO LEVEL TRIM. The functionality remains the same. The osd_mah_used_precision parameter has been renamed osd_mah_precision. 24 channels available for Jeti systems (not available with F411 or F722 flight controllers). Virtual pitot is enabled by default. Other removed functions FrSky D-series telemetry output_mode setting that allows to reassign all PWM outputs to either MOTORS or SERVOS New targets SDmodel H7V1 Matek H743HD SpeedyBee F405 V4 SpeedeBee F405 Mini SpeedyBee F7 Mini V2 GEPRCF405 GEPRCF722 NEUTRONRC F435 Mini AIO CLI Changed settings Name Description gps_provider Removed: NMEA gps_sbas_mode New: SPAN nav_rth_alt_mode Removed: AT_LEAST_LINEAR_DESCENT pitot_hardware New: DLVR-L10D New Items Name Description ez_aggressiveness EzTune aggressiveness Values: 0 - 200 Default: 100 ez_axis_ratio EzTune axis ratio Values: 25 - 175 Default: 110 ez_damping EzTune damping Values: 0 - 200 Default: 100 ez_enabled Enables EzTune feature Default: FALSE ez_expo EzTune expo Values: 0 - 200 Default: 100 ez_filter_hz EzTune filter cutoff frequency Values: 10 - 300 Default: 110 ez_rate EzTune rate Values: 0 - 200 Default: 100 ez_response EzTune response Values: 0 - 200 Default: 100 ez_stability EzTune stability Values: 0 - 200 Default: 100 gps_auto_baud_max_supported Max baudrate supported by GPS unit. This is used during autobaud. M8 supports up to 460400, M10 supports up to 921600 and 230400 is the value used before INAV 7.0 Default: 230400 gps_ublox_nav_hz Navigation update rate for UBLOX7 receivers. Some receivers may limit the maximum number of satellites tracked when set to a higher rate or even stop sending navigation updates if the value is too high. Some M10 devices can do up to 25Hz. 10 is a safe value for M8 and newer. Values: 5 - 200 Default: 10 gps_ublox_use_beidou Enable use of Beidou satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires gps hardware support [OFF/ON]. Default: FALSE gps_ublox_use_glonass Enable use of Glonass satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires gps haardware support [OFF/ON]. Default: FALSE led_pin_pwm_mode PWM mode of LED pin. Values: SHARED_LOW, SHARED_HIGH, LOW, HIGH. Default: SHARED_LOW mixer_automated_switch If set to on, This mixer_profile will try to switch to another mixer_profile when 1.RTH heading home is requested and distance to home is lager than 3*nav_fw_loiter_radius on mixer_profile is a MULTIROTOR or TRICOPTER platform_type. 2. RTH landing is requested on this mixer_profile is a AIRPLANE platform_type Default: FALSE mixer_pid_profile_linking If enabled, pid profile_index will follow mixer_profile index. Set to OFF(default) if you want to handle PID profile by your self. Recommend to set to ON on all mixer_profiles to let the mixer_profile handle the PID profile switching on a VTOL or mixed platform type setup. Default: FALSE mixer_switch_trans_timer If switch another mixer_profile is scheduled by mixer_automated_switch or mixer_automated_switch. Activate Mixertransion motor/servo mixing for this many decisecond(0.1s) before the actual mixer_profile switch. Values: 0 - 200 Default: 0 motorstop_on_low If enabled, motor will stop when throttle is low on this mixer_profile Default: FALSE nav_cruise_yaw_rate Max YAW rate when NAV COURSE HOLD/CRUISE mode is enabled. Set to 0 to disable on fixed wing (Note: On multirotor setting to 0 will disable Course Hold/Cruise mode completely) [dps] Values: 0 - 120 Default: 20 nav_landing_bump_detection Allows immediate landing detection based on G bump at touchdown when set to ON. Requires a barometer and currently only works for multirotors. Default: FALSE nav_mc_althold_throttle If set to STICK the FC remembers the throttle stick position when enabling ALTHOLD and treats it as the neutral midpoint for holding altitude. If set to MID_STICK or HOVER the neutral midpoint is set to the mid stick position or the hover throttle position respectively. Default: STICK nav_rth_linear_descent_start_distance The distance [m] away from home to start the linear descent. 0 = immediately (original linear descent behaviour) Values: 0 - 10000 Default: 0 nav_rth_use_linear_descent If enabled, the aircraft will gradually descent to the nav_rth_home_altitude en route. The distance from home to start the descent can be set with nav_rth_linear_descent_start_distance. Default: FALSE osd_arm_screen_display_time Amount of time to display the arm screen [ms] Values: 1000 - 5000 Default: 1500 osd_inav_to_pilot_logo_spacing The space between the INAV and pilot logos, if osd_use_pilot_logo is ON. This number may be adjusted so that it fits the odd/even col width displays. For example, if using an odd column width display, such as Walksnail, and this is set to 4. 1 will be added so that the logos are equally spaced from the centre of the screen. Values: 0 - 20 Default: 8 osd_joystick_down PWM value for DOWN key Values: 0 - 100 Default: 0 osd_joystick_enabled Enable OSD Joystick emulation Default: FALSE osd_joystick_enter PWM value for ENTER key Values: 0 - 100 Default: 75 osd_joystick_left PWM value for LEFT key Values: 0 - 100 Default: 63 osd_joystick_right PWM value for RIGHT key Values: 0 - 100 Default: 28 osd_joystick_up PWM value for UP key Values: 0 - 100 Default: 48 osd_mah_precision Number of digits used for mAh precision. Currently used by mAh Used and Battery Remaining Capacity Values: 4 - 6 Default: 4 osd_use_pilot_logo Use custom pilot logo with/instead of the INAV logo. The pilot logo must be characters 473 to 511 Default: FALSE pid_iterm_limit_percent Limits max/min I-term value in stabilization PID controller. It solves the problem of servo saturation before take-off/throwing the airplane into the air. Or multirotors with low authority. By default, error accumulated in I-term can not exceed 33% of total pid throw (around 165us on deafult pidsum_limit of pitch/roll). Set 0 to disable completely. Values: 0 - 200 Default: 33 tpa_on_yaw Throttle PID attenuation also reduces influence on YAW for multi-rotor, Should be set to ON for tilting rotors. Default: FALSE Removed Items Name Description dterm_lpf2_hz dterm_lpf2_type frsky_coordinates_format frsky_default_latitude frsky_default_longitude frsky_unit frsky_vfas_precision fw_iterm_throw_limit moron_threshold nav_fw_cruise_yaw_rate nav_use_midthr_for_althold osd_mah_used_precision output_mode Changelist The full list of changes is available here The full list of INAV Configurator changes is available here What's Changed from INAV 6.1.1 INAV 7 by @DzikuVx in #8886 Enable USE_SERVO_SBUS on all targets by @DzikuVx in #8876 Release 6.0 by @DzikuVx in #8763 Drop D-term LPF2 as no longer used by @DzikuVx in #8875 Drop FrDky D-series telemetry support by @DzikuVx in #8878 Allow scheduler to go down to 10us period by @DzikuVx in #8877 Drop moron_threshold setting by @DzikuVx in #8859 Release 6.0.0 by @DzikuVx in #8912 Add target BLACKPILL_F411 by @HKR1987 in #8902 Update GCC to 10.3.1 by @DzikuVx in #8917 Release 6.1.0 by @DzikuVx in #8887 docs: fix documentation of gvar set by @sensei-hacker in #8955 Update Building in MSYS2 Doc by @pwnept in #8934 Add osd menu option to preview font file by @mmosca in #8932 Jh update usb flash doc by @stronnag in #8974 Add the "GEPRCF722_BT_HD" target by @YI-BOYANG in #8943 Recognize MPU9255 as a valid IMU by @VasilKalchev in #8927 Cleanup m25p16 flash detection code by @mmosca in #8985 Update from master by @MrD-RC in #8987 Add IFLIGHT_BLITZ_F7_AIO target by @mmosca in #8977 Mark IFLIGHT_BLITZ_F7_AIO as SKIP_RELEASES by @mmosca in #8988 Have you ever wished INAV had a mute switch? by @mmosca in #8989 Enhance Linear Descent RTH feature by @MrD-RC in #8810 updated battery profile documentation by @RomanLut in #9002 INAV capitalization by @ryet9 in #9001 Rename AUTO LEVEL by @MrD-RC in #8972 fixed pitot sensor by @RomanLut in #9019 modify servo and motor and magnetometer for AocodaRC F4V2 by @dlt2018 in #9040 Release 6.1.0 mergeback by @DzikuVx in #8957 Fix: SpeedyBee F405 V3 uSD card vs OSD interference by @shirase in #9028 Update Navigation.md by @RomanLut in #9058 Update Aocodarcf7mini by @dlt2018 in #9056 Add MPU6000 and MPU6500 support to Foxeer F7 V4 target by @DzikuVx in #9070 Cleanup abandoned EXTI code by @DzikuVx in #9071 Multirotor WP speed fix when altitude enforce enabled by @breadoven in #9067 Update target.h by @pgp69 in #9037 updated controls documentation by @RomanLut in #9024 remove obsolete static_assert by @stronnag in #9077 [SITL OSX] Fix some of the warnings and add macosx SITL build to workflows by @mmosca in #9063 Add QUADSPI Support for H7 and M25P16 Flash Driver by @mluessi in #8915 Fix bug for DJI O3's altitude when using imperial by @MrD-RC in #9076 Switch sensor infrastructure to be float internally by @DzikuVx in #9075 [SITL] disable nagle for UART TCP by @stronnag in #9079 [SITL OSX] Fix lldb debugging in OSX and improve OSX detection by @mmosca in #9082 [SITL] consolidate IP helpers into target.c by @stronnag in #9080 [SITL] add missing BSD header from IP consolidation by @stronnag in #9085 [Docs] Readme updates by @stronnag in #9090 Speedybee F405 WING fixes by @DzikuVx in #9094 fix conflicting types by @stronnag in #9097 allow HITL to run with HW baro failure by @RomanLut in #9021 Set 10Hz update rate for M9 and M10 gps devices by default and allow higher refresh rates by @mmosca in #9103 Add board Aocodarcf405aio by @dlt2018 in #9089 Update Borad Aocodarch7dual by @dlt2018 in #9100 DSP based gyro operations by @DzikuVx in #9078 Acc processing with DSP by @DzikuVx in #9116 Remove brew update step for SITL mac build by @mmosca in #9127 ICM42605 gyro parsing fix by @erstec in #9125 Release 6.1.1 by @MrD-RC in #9106 Fix version check and apply GNSS configuration for M8+ gps by @mmosca in #9128 Multirotor landing bump detection by @breadoven in #8744 Add configuration of Beidou and Glonass to M8, M9 and M10 gps modules by @mmosca in #9124 update gpsConfig_t PG version by @stronnag in #9131 It looks like UBLOX ROM version 2.01 omits the = sign from PROTVER by @mmosca in #9132 reenable LTO for MacOS firmware builds by @stronnag in #9136 Flycolor F7 mini by @DzikuVx in #9122 updated buzzer documentation by @RomanLut in #9148 fixed beeper -ON_USB for 1S setup, fixed beeper -SYSTEM_INIT by @RomanLut in #9147 Enable possibility to simulate HW sensor failures in HITL by @RomanLut in #8858 Kakute H7 Wing by @erstec in #9145 Update target.h by @dlt2018 in #9151 fix target's by @dlt2018 in #9149 Improve OSD stats page avg efficiency value scaling by @rmaia3d in #9109 Fix AOCODARCH7DUAL Buzzer continous beeping issue by @lida2003 in #9143 [SITL] suppress spurious linker warning with gcc12+ by @stronnag in #9163 How to test a pull request.md - two minor typos by @sensei-hacker in #9170 Add some documentation on how to test a PR by @mmosca in #9168 fixed enter/exit camera osd stick positions docs by @RomanLut in #9165 Fix: Inav 7.0.0 last build not working on SPEEDYBEEF405V3 by @shirase in #9162 Foxeer H743 target by @DzikuVx in #9171 Add new OSD document by @MrD-RC in #9177 Kakute H7 Wing Defaults altered by @erstec in #9185 Add more baud rates to auto baud, as listed in m10 integration manual by @mmosca in #9174 Use all 8 motor outputs on AXISFLYINGF7PRO by @nmaggioni in #9179 MSP VTX support by @mmosca in #9166 Repair led strip by @dlt2018 in #9190 Get rid of some not needed floating point divisions by @DzikuVx in #9207 Restore autobaud for m8 gps by @mmosca in #9219 Update SPEEDYBEEF7V3. Fix Sensor VL53L1X by @druckgott in #9221 Extend from 4 ADC channels to 6 (Matek H743 and others) by @sensei-hacker in #9180 Nav altitude control improvements by @breadoven in #8920 fix neutronrcf435mini aio motor2 output bug by @shanggl in #9226 Try to set vscode to play nice with formating style by @mmosca in #9223 Fix for #9225, some OSD elements are skipped incorrectly, when GPS is not present. by @mmosca in #9229 Block by Runtime calibration of ACC only when ACC is required by @DzikuVx in #9227 Fix ADC on FOXEERH743 by @DzikuVx in #9230 Update speedybeef405v3 docs, with some common issues by @mmosca in #9231 Let M10 GPS disable SBAS and some small fixes changes by @mmosca in #9232 Multicopter emergency landing improvement/fix by @breadoven in #9169 Fix SITL memory leaks by @psmitty7373 in #9235 Add constrain for DynLPF computation by @DzikuVx in #9242 Multirotor Althold throttle hover option + altitude adjustment indication by @breadoven in #9220 OSD Altitude field fix by @breadoven in #9261 Add blackbox target heading + missing Nav auto enabled flight modes by @breadoven in #9249 SKYSTARSH743HD remove non-existent S9 & S10. Add servos target by @sensei-hacker in #9214 [doc] update serial_printf document iaw current implementation by @stronnag in #9266 Change motor/servo assignements for RUSH_BLADE_F7 targets by @mmosca in #9262 Pitot DLVR-L10D sensor by @jmajew in #9216 Add GEPRCF405 and GEPRCF722 targets by @YI-BOYANG in #9260 Multi function OSD utility by @breadoven in #8698 Timer DMA burst by @shirase in #9265 Add mup6500 for mambaf405us by @jianwwpro in #8827 Programming Frameword.md: Update to match Configurator renaming by @sensei-hacker in #9275 SpeedyBee F7 Mini V2 target by @DzikuVx in #9272 Speedybee F405 mini by @DzikuVx in #9273 Multirotor course hold/cruise mode by @breadoven in #9213 Bump navConfig PG that was forgotten in #9220 by @DzikuVx in #9278 Switch MatekF405TE to use burst DMA by @DzikuVx in #9277 Update Building in Windows 10 or 11 with Linux Subsystem.md by @wchnflr in #9279 BETAFPVF435 unofficial target by @mmosca in #9281 Make PWM allocation a bit smarter. by @mmosca in #9268 [sitl] add --version, add git commit to version output by @stronnag in #9286 docs/programming user21 typo by @sensei-hacker in #9289 Failsafe fixes by @breadoven in #9283 Mixer throttle fixes/improvements + more OSD Throttle changes by @breadoven in #9274 Ignore tasks.json and use tabs in C files by @MrD-RC in #9295 Enable the virtual pitot by default by @MrD-RC in #9299 Add DPS310 by @dlt2018 in #9284 Drop output_mode setting by @DzikuVx in #9300 Throttle related refactor/clean up by @breadoven in #9287 docs/ipf: Fix typos and clarify wording by @sensei-hacker in #9298 Further simplify timer usage flags. by @mmosca in #9288 Bulk update targets with new pwm output assignments by @mmosca in #9309 Remove timer compatibility define, since all targets have been updated by @mmosca in #9318 DSHOT delay fix by @shirase in #9321 [docs] modernise Serial and RX documents by @stronnag in #9322 Mixer profile to open the posibility for vtol/mixed platform by @shota3527 in #8555 Add SouthPAN SBAS for all my friends in AU/NZ. by @mmosca in #9320 Drop NMEA protocol by @DzikuVx in #9302 SpeedyBee F405 V4 by @DzikuVx in #9324 SpeedyBEEF405WING Change S11 timer, since TIM1 is used by LED by @mmosca in #9325 Remove info about F3 mcus from Temperature sensors documentation by @mmosca in #9337 Add Rate Dynamics to MSP by @DzikuVx in #9336 Update PR test instructions by @mmosca in #9338 Flight remaining flight distance value by @MrD-RC in #9333 Fix mixer config initialization sequence by @shota3527 in #9339 Fix for Rate dynamics MSP layer by @DzikuVx in #9340 Add myself to Authors by @mmosca in #9341 Add odometer to OSD by @MrD-RC in #9335 Update Controls.md by @MrD-RC in #9351 IPF: Add yaw operand to go with pitch and roll by @sensei-hacker in #9305 Add MatekH743HD variant by @MATEKSYS in #9244 additional fixes for mixer profile by @shota3527 in #9363 fixed HITL docs by @RomanLut in #9353 Add the Aocodarcf722aio file by @dlt2018 in #9314 Lower default hover throttle to 30% by @mmosca in #9361 Increase channels to 24 for Jeti by @MrD-RC in #9350 Add pilot logo to OSD by @MrD-RC in #9332 fixes servo output issue by @shota3527 in #9366 minor changes on ahrs by @shota3527 in #9360 Timer N channel fix by @shirase in #9276 Add ICM42605 driver for SKYSTARSF405HD by @DusKing1 in #9370 Multirotor coursehold/cruise mode fix by @breadoven in #9380 Ez Tune for Multirotors by @DzikuVx in #9354 update docker build scripts by @RomanLut in #9346 Add SYM_TOTAL and SYM_GFORCE to BFCOMPAT by @mmosca in #9385 In flight emergency rearm by @breadoven in #9254 Re-enable baro. max chip seems to cause issues by @mmosca in #9400 Make it easier to include all baro drivers to target by @mmosca in #9394 Make it easier to include all compass drivers to target by @mmosca in #9401 BFCOMPAT - improve wind and airspeed fields and labels by @rmaia3d in #9388 HITL/SITL: allow hitl/sitl to arm with uncalibrated accelerometer by @RomanLut in #9345 fix mixer_profie configurator issue by @shota3527 in #9364 flight/pid.c: fix AngleOverride(yaw) to degrees by @sensei-hacker in #9329 HITL: simulate battery voltage with any sensor by @RomanLut in #9212 HITL: hd osd support by @RomanLut in #9327 Fixed #9399 can't find baro chip on PB6/PB7 I2C1 by @lida2003 in #9412 Fix JETI EXBUS overflow by @DzikuVx in #9407 Disable ASFR function on ICM426xx driver by @DzikuVx in #9409 16G scale range for bmi270 accelerometer by @shota3527 in #9410 tpa on yaw and i-term limit by @shota3527 in #9408 FW Auto level trim bug fix by @breadoven in #9393 Enhance mAh remaining OSD element by @MrD-RC in #9334 Allow f722 to use mixer profile by @shota3527 in #9416 Correct disarm servo throttle by @DzikuVx in #9413 SAFETY issue -- servos.c: Correct servo throttle off when disarmed (not full throttle at disarm) by @sensei-hacker in #9330 OSD Joystick by @RomanLut in #9201 New target: ATOMRC Exceed F405 FC V2 by @NickB1 in #8956 Add more power options for 1G3 group by @MATEKSYS in #9243 New target: SDMODELH7V1 by @sensei-hacker in #9114 Framework.md - Note about common error by @sensei-hacker in #9422 Update OSD.md by @MrD-RC in #9425 comment on how to clone specific INAV releases added by @Daniel-1276 in #9414 update vtol documents by @shota3527 in #9426 Put getConfigMixerProfile as the last byte in message by @DzikuVx in #9431 New Contributors @HKR1987 made their first contribution in #8902 @VasilKalchev made their first contribution in #8927 @ryet9 made their first contribution in #9001 @shirase made their first contribution in #9028 @pgp69 made their first contribution in #9037 @lida2003 made their first contribution in #9143 @druckgott made their first contribution in #9221 @psmitty7373 made their first contribution in #9235 @jianwwpro made their first contribution in #8827 @wchnflr made their first contribution in #9279 @NickB1 made their first contribution in #8956 @Daniel-1276 made their first contribution in #9414 Full Changelog: 6.1.1...7.0.0-RC1 Lire la source

Bonjour amis pilotes, Je viens vers vous car je rencontre un problème pour la configuration de ma Omnibus F4 Pro v3. Le drone est un tricopter fait maison taille 600, et j'utilise INAV pour mettre un GPS et obtenir le RTH etc... 4 sorties sur ma carte de vol, 3 pour les moteurs et 1 pour le servo de direction yaw. Mon problème : Sous INAV, je n'ai pas réussi a remapper mes sorties via le CLI, les commandes ne passent simplement pas. Je ne suis pas sur non plus d'avoir flasher mon contrôleur avec la bon firmware car j'avais le choix entre OmnibusF4, OmnibusF4 v3 ou OmnibusF4, Pro, alors euhh!!!! 😞 Il est presque terminer mais je m'inquiete de devoir peut être changer de carte si celle-ci n'est pas compatible INAV correctement. Merci d'avance pour votre aide.

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

Hello and welcome to INAV 6.1.1 "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 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 "Dolphining" bug fix This release fixes a "dolphining" bug that was affecting fixed wing airplanes in autonomous modes and causing airplanes not being able to precisely control altitude. INAV 6.1.1 addresses this issue and solved the problem. New targets FLYWOOF405PRO Changelist What's Changed FLYWOOF405PRO target by @DzikuVx in #9115 Proposed fix for "dolphining" bug in 6.1 by @M0j0Risin in #9111 Full Changelog: 6.1.0...6.1.1 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 CLI Changed Items Name Item acc_hardware New: LSM6DXX current_sensor New: FAKE gps_provider New: FAKE nav_extra_arming_safety Default: ALLOW_BYPASS osd_video_system New: BFHDCOMPAT rangefinder_hardware New: FAKE receiver_type New: SIM (SITL) serial_rx New: FBUS voltage_sensor New: FAKE 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 [SITL] Fix disconnect issue under cygwin by @Scavanger in #9000 Fix issue with DJI O3 showing miles instead of kFt by @MrD-RC in #9007 Betaflight configuration AH_DECORATION improvements by @mmosca in #9010 add dps310 driver for SAGEATF4 target by @shanggl in #9011 Fix SITL compilation on macosx by @mmosca in #9012 [SITL] 'fix off-by-one' test for max serial port by @stronnag in #9029 Fix mspSerialTxBytesFree() in msp_serial.c by @Scavanger in #9022 fix gpio mux to fix neutronrcf435mini fc blackbox missing bug. by @shanggl in #9014 [SITL] fix race condition in serial_tcp.c by @stronnag in #9043 Update HAKRCF405V2 DMA definitions by @nmaggioni in #9030 Update HAKRCF722V2 DMA definitions by @nmaggioni in #9031 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 @shanggl made their first contribution in #9011 Full Changelog: 6.0.0...6.1.0 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

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

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