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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

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

Hello and welcome to INAV 5.1 "Ballistic Buzzard" 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 Please continue to support developers, for free, by checking out the following stores after having clicked on the following links: Support us on Banggood Your contribution from the past month has been very welcome! Thanks! Tested and suggested hardware can be found here Important Notes Config wipe mitigation INAV 5.1 lowers the probablity of a full config wipe on reboot. Bear in mind, technically it's not a bug. When FC is disconnected during EEPROM write, checksum will not updated and INAV will erase flash on next boot as a safety measure. To prevent this from happening, always wait until INAV fully reboots before disconnecting the flight controller. Mamba H743 and ZEEZF7 V2 external flash INAV 5.1 supports 128Mbit W25N01G flash memory that can be found on Mamba H743 and ZEEZF7 V2. Horizon Drift mitigation To improve AHI drift on fixed wings, apply following settings via CLI: For airplanes without a tail (wings, delta, etc) set imu_acc_ignore_rate = 9 set imu_acc_ignore_slope = 5 set nav_fw_pos_z_p = 35 set nav_fw_pos_z_i = 5 set nav_fw_pos_z_d = 10 set nav_fw_pos_xy_p = 70 set imu_dcm_kp = 1000 set imu_dcm_ki = 0 For airplanes with a tail (dedicated elevator) set imu_acc_ignore_rate = 7 set imu_acc_ignore_slope = 4 set nav_fw_pos_z_p = 25 set nav_fw_pos_z_i = 5 set nav_fw_pos_z_d = 7 set nav_fw_pos_xy_p = 55 set imu_dcm_kp = 1000 set imu_dcm_ki = 0 Upgrading from a previous release Upgrading from INAV 5 Download and install the new configurator Save to a file the current diff all from the CLI. Upgrade to INAV 5.1 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. You should be ready, explore new 5.1 features, and enjoy! Upgrading from older versions Please follow the instructions on this page. Important changes New targets SpeedyBee F7 V3 AtomRC F405 NAVI iFlight JB F7 Pro iFlight Blitz F7 Pro CLI New Settings 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. What's Changed Do not automatically persist the gyro calibration by @DzikuVx in #8216 Add PINIO support to Matek F405 SE by @MrD-RC in #8256 Make programming framework CLI safe by @MrD-RC in #8266 Fix esc temperature sensor maxing out by @MrD-RC in #8299 Speedybee F7 V3 by @DzikuVx in #8317 AtomRC F405 NAVI target by @DzikuVx in #8321 iFlight BLITZF7PRO target by @nmaggioni in #8335 iFlight JBF7PRO target by @nmaggioni in #8334 Full Changelog: 5.0.0...5.1.0 The full list of changes is available here The full list of INAV Configurator changes is available here 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 Upgrading from a previous release Upgrading from INAV 5 and 5.1 Download and install the new configurator Save to a file the current diff all from the CLI. Upgrade to INAV 6 using the Full Erase option in the configurator. Upload your OSD font of choice from the OSD tab. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER. There are a large number of new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration. You should be ready, explore new 5.0 features, and enjoy! Upgrading from older versions Please follow the instructions on this page. Important changes New AHRS (Attitude & Heading Reference System) INAV 6.0 includes a big Update to its AHRS for Attitude Estimation, to make sure INAV always knows it's 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-leveling 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 Crafts 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. Beta only: When Updating from INAV 5.1 or older, apply the following settings after loading back your previous DIFF (Any Fixed Wing or Copter): set imu_acc_ignore_rate = 15 set imu_acc_ignore_slope = 10 set imu_dcm_kp = 2000 set imu_dcm_ki = 50 set imu_dcm_kp_mag = 2000 set imu_dcm_ki_mag = 50 Fixed Wing only: set imu_inertia_comp_method = ADAPTIVE Copter only: set imu_inertia_comp_method = VELNED 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.) If you notice any problems, please head to the Discussion Thread here and post your feedback, if possible with DVR and Blackbox log: #8469 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. The full list of changes is available here The full list of INAV Configurator changes is available here What's Changed 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 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 Full Changelog: 5.1.0...6.0.0-FP1 Lire la source

Hello and welcome to INAV 5.0 "Ballistic Buzzard" 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 Please continue to support developers, for free, by checking out the following stores after having clicked on the following links: Support us on Banggood Your contribution from the past month has been very welcome! Thanks! Tested and suggested hardware can be found here Important Notes Save performed on every power on; could result in wiped configuration A new feature on this firmware causes a save command to be executed every time the flight controller is powered on. If this save command is interrupted, the configuration could become corrupted, and you full configuration will be wiped. We recommend that you instead install INAV 5.1, which removed this save command, while keeping the new feature. PCA9685 PWM driver no longer supported The I2C PCA9685 servo driver is no longer supported as obsolete and not widely adopted. All PCA9685 setups are advised to upgrade to SBUS output and SBUS to PWM decoders Gyro and Acc alignment settings removed The align_acc and align_gyro settings are removed. Gyro/Acc orientation should always be set with align_board_yaw GPS Glitch Detection The NAV_GPS_GLITCH_DETECTION was removed as not suitable for modern aircraft. There is no user action required Removal of depreciated MSP frames INAV 5 removed the support for the following MSP frames: MSP_IDENT MSP_PID MSP_PID_CONTROLLER MSP_BF_CONFIG MSP_BF_BUILD_INFO MSP_SET_PID_CONTROLLER MSP_SET_PID MSP_SET_BF_CONFIG MSP_CF_SERIAL_CONFIG MSP_SET_CF_SERIAL_CONFIG No user action is required in the case of the INAV Configurator or mwptools (mwp etc.). In the case of 3rd party INAV configuration apps, this change might break the compatibility if the app was using any of those frames. SpeedyBee developers have been notified, other apps have to adjust accordingly. Strict MSP payload length checking In order to help mitigate the "randomly changed settings" bug, strict MSP payload length checking has been implemented. Fixed size MSP frames that do not specify the correct payload size will be rejected. The INAV Configurator and mwptools (mwp etc.) are compliant. In the case of 3rd party INAV configuration / mission planning / monitoring apps, this change might break interoperability if the app was not correctly setting the payload size. SpeedyBee developers have been notified, other apps may have to adjust accordingly. Upgrading from a previous release Upgrading from INAV 4 and 4.1 Download and install the new configurator Save to a file the current diff all from the CLI. Upgrade to INAV 5.0 using the Full Erase option in the configurator. Upload your OSD font of choice from the OSD tab. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER. There are a large number of new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration. You should be ready, explore new 5.0 features, and enjoy! Upgrading from older versions Please follow the instructions on this page. Important changes Configurable outputs mode INAV allows changing the function assignment of ALL PWM outputs. Bear in mind, that it's not resource mapping! This function allows assigning all outputs as motors or all outputs as servos. It's driven by CLI output_mode setting AUTO assigns outputs according to the default mapping SERVOS assigns all outputs to servos MOTORS assigns all outputs to motors Improved landing detection Updates landing detection for multirotor and add detection for fixed-wing. Detects when flying and activates landing detection from that point. Multirotor detection was added for non-autonomous landing as well as RTH. Fixed-wing detection is based on velocity, axis rates, and finally absolute movement in roll and pitch (so it probably wouldn't work if stuck in a tree being blown around by the wind). For details see #7270 Add the ability to adjust LED Strip color with RC channel LED hue can be updated with an RC channel. For example, CLI led 7 8,10::H:6 will adjust hue of LED number 7 based on RC channel 6. For details see #7618 An option to not calibrate the gyro during boot This feature allows to arm of INAV aircraft on a boat or any other moving vehicle, as it allows to use of stored gyro calibration value instead of calibrating on every boot. init_gyro_cal If defined to OFF, it will ignore the gyroscope calibration done at each startup. Instead, the gyroscope's last calibration from when you calibrated will be used. It also means you don't have to keep the UAV stationary during a startup. gyro_zero_x gyro X calibration stored gyro_zero_y gyro Y calibration stored gyro_zero_z gyro Z calibration stored WP mission waypoint enforce altitude option Provides an option to force mission waypoint altitude to be achieved before moving on to the next waypoint. If the set altitude hasn't been achieved when the craft arrives at the waypoint it will hold and adjust the altitude as required with a target margin of 100cm. Planes use a spiral loiter whilst changing altitude. The option is set for the whole mission and applicable to basic and timed hold waypoints. For details see #7644 Improved Altitude Hold controller INAV will now use the SQRT controller for Altitude Control on Multirotors. No extra pilot action required. For details see #7845 TBS Sixty9 SA2.1 UART Configuration Adds the vtx_smartaudio_stopbits setting that when set to 1 fixes the TBS Sixty9 SmartAudio 2.1 issues. Rangefinder in Logic Conditions Adds following value as Logic Conditions Operands: AGL_STATUS boolean 1 when AGL can be trusted, 0 when AGL estimate can not be trusted AGL integer Above The Groud Altitude in cm RANGEFINDER_RAW integer raw distance provided by the rangefinder in cm Matek 1G3SE control via IRC Tramp To use the Matek 1G3SE with IRC Tramp. You will need to enter the CLI command set vtx_frequency_group = FREQUENCYGROUP_1G3. You must also make sure that the initial VTx settings in the configuration tab are in a valid range. They are: vtx_band 1 or 2 vtx_channel between 1 and 9 As part of this change. The default VTx band has been changed from 4 to 1. If you are updating, please check that the band is still correct for your setup. For details see #7949 Motor update frequency changes motor_pwm_rate setting is right now used only in case on BRUSHED motor output. STANDARD, ONESHOT125, MULTISHOT and all DSHOT protocols use predefined update rate that can not be changed PWM function mapping change for some targets KAKUTEH7, MAMBAF722_2022A and MAMBAH743 have now 4 motor and 4 servo outputs by default. To enable X8 mode, CLI set output_mode=MOTORS command has to be used. SPEEDYBEEF4 has now the following pin assignment in the fixed wing mode: S1-S4 - Servo S5-S6 - Motor S7 - Servo New targets Holybro Kakute H7 Mini KAKUTEH7MINI Diatone Mamba F405_2022A MAMBAF405_2022A Diatone Mamba F722_2022A MAMBAF722_2022A Mateksys F411TE MATEKF411TE Mateksys F405TE MATEKF405TE and MATEKF405TE_SD Foxeer F745 AIO FOXEERF745AIO AOCODARCF7DUAL CLI Changed settings Name Values debug_modes New: LANDING servo_protocol Removed: SERVO_DRIVER New Settings Name Description ground_test_mode For developer ground test use. Disables motors, sets heading status = Trusted on FW. Default: FALSE gyro_zero_x Calculated gyro zero calibration of axis X Values: -32768 - 32767 Default: 0 gyro_zero_y Calculated gyro zero calibration of axis Y Values: -32768 - 32767 Default: 0 gyro_zero_z Calculated gyro zero calibration of axis Z Values: -32768 - 32767 Default: 0 init_gyro_cal If defined to 'OFF', it will ignore the gyroscope calibration done at each startup. Instead, the gyroscope last calibration from when you calibrated will be used. It also means you don't have to keep the UAV stationary during a startup. Default: TRUE ins_gravity_cmss Calculated 1G of Acc axis Z to use in INS Values: 0 - 2000 Default: 0.0 nav_fw_auto_disarm_delay Delay before plane disarms when nav_disarm_on_landing is set (ms) Values: 100 - 10000 Default: 2000 nav_wp_enforce_altitude Forces craft to achieve the set WP altitude as well as position before moving to next WP. Position is held and altitude adjusted as required before moving on. Default: FALSE osd_mah_used_precision Number of digits used to display mAh used. Values: 4 - 6 Default: 4 osd_switch_indicator_one_channnel RC Channel to use for OSD switch indicator 1. Default: 5 osd_switch_indicator_one_name Character to use for OSD switch incicator 1. Values: 0 - 5 Default: GEAR osd_switch_indicator_three_channnel RC Channel to use for OSD switch indicator 3. Default: 5 osd_switch_indicator_three_name Character to use for OSD switch incicator 3. Values: 0 - 5 Default: LIGT osd_switch_indicator_two_channnel RC Channel to use for OSD switch indicator 2. Default: 5 osd_switch_indicator_two_name Character to use for OSD switch incicator 2. Values: 0 - 5 Default: CAM osd_switch_indicator_zero_channnel RC Channel to use for OSD switch indicator 0. Default: 5 osd_switch_indicator_zero_name Character to use for OSD switch incicator 0. Values: 0 - 5 Default: FLAP osd_switch_indicators_align_left Align text to left of switch indicators Default: TRUE osd_system_msg_display_time System message display cycle time for multiple messages (milliseconds). Values: 500 - 5000 Default: 1000 output_mode Output function assignment mode. AUTO assigns outputs according to the default mapping, SERVOS assigns all outputs to servos, MOTORS assigns all outputs to motors Default: AUTO vtx_frequency_group VTx Frequency group to use. Frequency groups: FREQUENCYGROUP_5G8: 5.8GHz, FREQUENCYGROUP_2G4: 2.4GHz, FREQUENCYGROUP_1G3: 1.3GHz. Values: 0 - 2 Default: FREQUENCYGROUP_5G8 vtx_smartaudio_stopbits Set stopbit count for serial (TBS Sixty9 SmartAudio 2.1 require value of 1 bit) Values: 1 - 2 Default: 2 vtx_softserial_shortstop Enable the 3x shorter stopbit on softserial. Need for some IRC Tramp VTXes. Default: FALSE Removed Items Name Description align_acc Use align_board_yaw align_gyro Use align_board_yaw Changelist Add FOXEER F745 AIO Target by @giacomo892 in #7764 Update Battery.md by @MrD-RC in #7800 Added some comparative operations to Programming by @MrD-RC in #7803 [fc_core.c] Make use of macro US2S by @JulioCesarMatias in #7777 Fix compilation when USE_SECONDARY_IMU not defined by @mluessi in #7770 Change Power to Square by @JulioCesarMatias in #7727 Mode availability improvements by @breadoven in #7694 Battery cells in logic condition by @kernel-machine in #7814 Add macros to multicopter land detector by @JulioCesarMatias in #7768 [maths.h] Add Macro to convert Celsius to Kelvin by @JulioCesarMatias in #7767 Remove duplicate semicolon by @JulioCesarMatias in #7806 Release 4.1 by @DzikuVx in #7681 Reversible ESC's for rovers: Don't start motor with high throttle in the mid of the stick by @yajo10 in #7714 [cli.c] Fix external Flash Memory by @JulioCesarMatias in #7695 System message variable display time + setting option by @breadoven in #6850 [gyro.c] An option to not calibrate the gyro during boot by @JulioCesarMatias in #7624 WP mission waypoint enforce altitude option by @breadoven in #7644 SpeedyBeeF7 No led strip #7234 by @andreapede in #7753 Crsf power states redo by @OptimusTi in #7811 Docker build script shebang fix and extended usage notes by @krasiyan in #7793 Add ADC3 support on H7 by @dawr68 in #7824 Add support for Omron 2SMPB-02B barometer by @mluessi in #7755 Omnibus F7.md - mention OMNIBUSF7NXT by @MorrisR2 in #7751 [maths.c] Add 2D and 3D Pythagorean functions by @JulioCesarMatias in #7746 Dzikuvx depreciated MSP frames by @DzikuVx in #7854 Update AUTHORS by @MrD-RC in #7848 Add ability to adjust LED Strip color with RC channel by @jeffhendrix in #7618 Drop MSP_CF_SERIAL_CONFIG and MSP_SET_CF_SERIAL_CONFIG frames by @DzikuVx in #7852 Add macros to active box and reset boxes count by @DzikuVx in #7844 Fix ins_gravity_cmss out of range error by @DzikuVx in #7859 [navigation for multirotor] Sqrt Controller for Alt-Hold and improvements by @DzikuVx in #7845 BMI270: Fix acc alignment by @mluessi in #7769 update Cli.md for 4.1/5.0 usage by @stronnag in #7870 [navigation.c] Replace the position estimate check by @JulioCesarMatias in #7698 Nav launch abort improvements by @breadoven in #7642 Landing detection revamp by @breadoven in #7270 apply stricter payload size checks by @stronnag in #7891 Adjust CMS and statistics page layout for HD OSD by @geoffsim in #7871 Blackbox fields selection on GUI by @kernel-machine in #7896 Add support to BMI270 for IFLIGHT BLITZ F722 by @Guidus93 in #7890 Update to the Telemetry.md docs by @DzikuVx in #7903 Remove "USE_NAV" define by @breadoven in #7909 remove NAV_GPS_GLITCH_DETECTION by @stronnag in #7907 Add LANDING debug by @breadoven in #7904 update target hardware platforms for 4.1 by @stronnag in #7912 RTH sanity checking emergency landing fix by @breadoven in #7790 Replace Sqrt Initialization by @JulioCesarMatias in #7925 Add BMI270 to HGLRCF722 by @DzikuVx in #7939 Configurable outputs mode by @DzikuVx in #7928 document use of ninja as build manager by @stronnag in #7942 Update Blackbox.md by @Dope-johnny in #7943 serial: fix compile error when both GPS_UART and SMARTAUDIO_UART are defined by @snaewe in #7911 Hardware Debugging from VSCode and WSL manual by @erstec in #7945 Update Windows 11 - VS Code - WSL2 - Hardware Debugging.md by @erstec in #7946 Update of project files by @erstec in #7951 Ground test mode by @breadoven in #7921 RTH sanity checking safehome fix by @breadoven in #7917 Hardware Debugging in Visual Studio Code and WSL (Method 2) by @Scavanger in #7950 BLE Support by @Scavanger in #7931 Added missing notes by @MrD-RC in #7966 Enable MPU6500 on MambaF722_I2C by @DzikuVx in #7965 Re-fix for up/down arrows of the relative altitude (ESP32 radar) by @OlivierC-FR in #7914 MAMBAF722_2022A target by @DzikuVx in #7968 MAMBAF405_2022A target by @DzikuVx in #7970 Allow Flight Axis stabilization targets from Logic Conditions by @DzikuVx in #7964 Add switch position indicators to the OSD by @MrD-RC in #7734 Add MatekF411TE Target by @MATEKSYS in #7947 Add MatekF405TE and MatekF405TE_SD Targets by @MATEKSYS in #7924 Fixing the missing commands to ESC by @Odin263 in #7733 Add ICM42688p in MatekH743 by @MATEKSYS in #7974 update Telemetry.md by @stronnag in #7978 Update Programming Framework.md by @Jullibach in #7980 Fix for MambaH743 DMA assignment by @DzikuVx in #7989 Fix KakuteH7 DMA ADC/LED Conflict by @DzikuVx in #7990 TMOTORF7V2 BlackBox fix by @erstec in #7955 VTX SoftSerial StopBit Time by @erstec in #7969 Change fallback ESC protocol to Multishot when DSHOT is not available by @DzikuVx in #7977 Docs update by @DzikuVx in #7992 Failsafe RC adjustment bug fix by @breadoven in #7829 Target output mapping update by @DzikuVx in #7993 [DOC] update Development.md building / running unit tests by @stronnag in #7997 Add new target AOCODARCF7DUAL by @dlt2018 in #7994 Matek 1G3SE control via IRC Tramp by @MrD-RC in #7949 ESP32 Radar: Added support for missing OSD unit types by @MrD-RC in #7972 Enhance mAh Used OSD Element by @MrD-RC in #7868 New target JHEMCU GH743AIO / iFlight Beast H7 55A AIO by @dawr68 in #7889 iFlight Beast H7 V2 I2C2 on UART 3 by @ltwin8 in #7962 Dzikuvx add rangefinder to logic conditions by @DzikuVx in #7984 Docs update by @DzikuVx in #8013 Pitot Tube:Add, Move and Rename macros by @JulioCesarMatias in #8011 Drop gyro and acc alignment settings by @DzikuVx in #8016 TBS Sixty9 SA2.1 UART Configuration by @erstec in #7985 Increase Logic Conditions to 64 by @MrD-RC in #8022 Added Fixed Wing TPA Time Constant to in flight adjustments by @MrD-RC in #8023 Update dynamic_gyro_notch_min_hz range by @DzikuVx in #8021 Update VTx.md by @erstec in #8030 Drop PCA9685 support by @DzikuVx in #8032 Added FW level trim to in flight adjustments by @MrD-RC in #8028 Kakute H7 Mini target by @DzikuVx in #8033 Add Pos Control Jerk Limit Macro by @JulioCesarMatias in #8038 Update PG version for logic conditions by @MrD-RC in #8039 [DOC] minor updates to Blackbox.md by @stronnag in #8040 Add detail to airspeed sensor data by @MrD-RC in #8043 Fix RTH Climb First enum ambiguity by @breadoven in #8069 Refactor u-blox hardware version detection; Add support for u-blox 10 series #8058 short_stop bit misassignment fix by @erstec in #8091 Fix issue with MSP Baro (Box enum only) by @JulioCesarMatias in #8083 BMI270 Gyro added for target SKYSTARSF405HD by @erstec in #8087 SpeedyBee F4 output mapping change by @DzikuVx in #8100 Refactor ESC refresh rate by @DzikuVx in #8099 Add SKYSTARSF722HD target by @shellixyz in #8123 SKYSTARSF722HD: fix board identifier and product string by @shellixyz in #8127 Additionally constrain computed dynamic notch position by @DzikuVx in #8125 New Contributors @yajo10 made their first contribution in #7714 @andreapede made their first contribution in #7753 @krasiyan made their first contribution in #7793 @dawr68 made their first contribution in #7824 @Guidus93 made their first contribution in #7890 @Dope-johnny made their first contribution in #7943 @Odin263 made their first contribution in #7733 @Jullibach made their first contribution in #7980 @dlt2018 made their first contribution in #7994 @ltwin8 made their first contribution in #7962 The full list of changes is available here The full list of INAV Configurator changes is available here Lire la source

Comprendre et parler à son GPS NEO-M8 Introduction Cet article vous aidera (ou pas, car il reste un peu technique) à comprendre ce qu'est cette puce GPS que vous avez acquise et comment réussir à lui parler afin de recevoir ce qu'elle est censée faire. De trop nombreuses questions reviennent en boucle et trop de tuto contiennent des tâtonnements qui induisent souvent à l'erreur. Il traite uniquement des puces ublox M8 équipant les BN-220, BN-880 (et d'autres encore). N'achetant que les chinoiseries ci-dessous, je vous joins le lien pour vous faire une idée: Beitian BN-180 (à oublier) Beitian BN-220 https://www.banggood.com/custlink/DDvYILDKEw Beitian BN-880 https://www.banggood.com/custlink/vmmESLmGr3 Table des matières Le matériel (hardware) Connectique et communication Interconnexion Installation du logiciel Connexion au GPS Sauvegarde de la config / Backup Configuration du GPS et navigation dans la config Restauration d'une config Réinitialisation usine du GPS Vitesse et Optimisation de l'UART Les constellations de satellites Définition du modèle dynamique Fréquence de rafraichissement (rate) Les protocoles NMEA, UBX, RTCM et filtrage Les messages NMEA et UBX Checklist configuration GPS Configuration Betaflight/Emuflight Commandes CLI serialpassthrough et gpspassthrough Conclusion 1 - Le matériel (hardware) Ces modules GPS contient principalement: ⦁ une puce u-blox M8030-CT : C'est un microcontrôleur intégrant un system de réception satellite. Un microcontrolleur, cela veut dire qu'il embarque de la mémoire flash pour stocker son programme, un microprocesseur, la mémoire vive (RAM), et des ports d'entrée/sortie pour communiquer avec l'extérieur. J'ai lu le datasheet pour vous. Si cela vous intéresse, vous pouvez le consulter à cette adresse : https://www.u-blox.com/sites/default/files/products/documents/u-blox8-M8_ReceiverDescrProtSpec_UBX-13003221.pdf ⦁ Une antenne GPS : C'est cette antenne qui va capter les signaux des GPS et les acheminer vers le microcontrôleur. Il est important que cette antenne pointe vers le ciel, ne soit pas recouverte (même de plastique, scotch, ...) et soit éloignée de toute source de perturbation/parasite afin de capter quelque chose (ESC, moteur, Antenne VTX, métaux, ...). Elle est sensible aux ondes. (optionel - BN220/BN880) une pile pour la sauvegarde des paramètres (BBR - Battery Backed RAM). Si votre GPS perd sa config, c'est qu'il n'a pas de batterie (BN-180) ou que celle-ci est morte... (optionel - BN880) Boussole électronique Sur le BN-220, il y a deux LEDs: 1 bleue clignotante : Elle indique l'utilisation de l'UART. Si elle est éteinte, c'est que le GPS n'envoie pas de données sur l'UART, cela peut être un comportement normal. Si elle clignote vite, c'est que le GPS envoie plein de messages 1 rouge clignotante : Elle indique que le GPS a un fix 2D ou 3D et que votre drone est prêt à voler 2 - Connectique et communication Pour commencer, ce module nécessite une alimentation en 5V (ne pas mettre plus, il grille facilement). Donc vous retrouverez logiquement un + (VCC) et un - (GND). Ensuite, une interface de communication série. J'entends au loin : C'est quoi une interface série ? C'est une manière de communiquer (ancestrale, date des années 1970) qui permet d'envoyer les messages caractère après caractère, bit après bit sur un et un seul fil (cela peut être long et lent). C'est une communication unidirectionnelle (dans un seul sens), si les deux parties veulent se parler, il faudra prévoir 2 fils, un pour chacun : un fil sur lequel il écoute (RX) et un fil sur lequel il parle (TX), toujours un caractère après l'autre ... On définit les caractéristiques d'un port série par plusieurs paramètres (ex 9600,8,N,1): ⦁ la vitesse en Baud (bits par secondes). Par exemple : 9600, 57600, 115200... ⦁ le nombre de bits pour former un caractère : en général 8 bits (un octet) pour former un caractère ASCII ⦁ la parité (vérification de l'intégrité): Aucune dans notre cas (N) ⦁ le nombre de bits stop (indique la fin du mot): 1 dans notre cas L'interface (le port) du microcontrôleur gérant un port série s'appelle une UART (tient, ça vous dit quelque chose ?). Donc une UART parle à une autre UART à une certaine vitesse. Si vous n'avez pas la même configuration de chaque côté, vous ne comprendrez pas le message, comme si vous parlez deux langues différentes... 3 - Interconnexion Bon maintenant qu'on a fait le tour du propriétaire, passons aux choses sérieuses. Pour la configuration initiale, je recommande l'utilisation d'un adaptateur USB vers série. Il en existe de nombreuses versions, mais je recommande les FTDI qui ne sont pas chers et très efficaces. Le principal intérêt est l'auto-détection de la vitesse du port. Pour les bidouilleurs, vous le réutiliserez à de très nombreuses occasions (jailbreak, Hack, ...) Voici le mien : https://www.banggood.com/custlink/vmvE8aK3Yc Vous pouvez utiliser un arduino, perso, je vois pas l'utilité car vous vous complexifiez grave la tache. Je dis ça, mais je configurais mes ESC BLHeli avec l'arduino au début... Pour la suite, vous pourrez directement utiliser le contrôleur de vol de votre drone, mais pour simplifier la configuration initiale, l'utilisation d'un adaptateur est recommandée. Donc, une UART possède un TX (fil pour la transmission) et un RX (fil pour la réception). Évidemment, pour que deux UART se comprennent, il faut qu'un TX soit connecté à un RX et vice-versa. On parle avec la bouche -TX - à une oreille -RX-. Cela fait un branchement tel que celui-ci : Le câble du GPS est fourni en règle générale avec le connecteur pour l'adaptateur série, pas de soudure à prévoir, propre et simple. Ne pas oublier de positionner le jumper sur 5V (en jaune), bien qu'en regardant le datasheet, il se peut que cela fonctionne en 3,3V ... 4 - Installation du logiciel Rendez-vous à cette adresse pour télécharger u-center pour windows : https://www.u-blox.com/en/product/u-center Pour l'installation, à vous de jouer ... 5 - Connexion au GPS Après démarrage, on arrive sur une fenêtre assez austère sur laquelle, on va commencer à sélectionner le port COM (l'UART) du PC et sa configuration actuelle: Dans "receiver"on commence par sélectionner l'option "Autobauding" qui va nous éviter de tester les valeurs de vitesse et faire la recherche pour nous (attention, cela n'est garanti que dans le cas de l'utilisation de l'interface FTDI ). Puis on sélectionne le port (COM5 dans mon cas), ce qui va connecter automatiquement le PC au GPS. Si vous ne vous êtes pas trompé sur le port, le logiciel va automatiquement chercher la vitesse du port et se connecter. Vous pouvez visualiser cela en bas, dans la barre d'état avec la référence de la puce GPS, le port série et sa vitesse, le protocole NMEA ou UBX : 6 - Sauvegarde de la config / Backup Maintenant que l'on a établi la connexion, on va commencer par faire une sauvegarde de la configuration actuelle, puis réinitialiser la config, ce qui va nous permettre de vérifier qu'on a un GPS fonctionnel à l'autre bout : Puis, on sélectionne un dossier et un nom de fichier pour votre fichier de sauvegarde (1), puis on lance la sauvegarde en appuyant sur le bouton "Transfer" (2) Une fenêtre va s'ouvrir avec la progression du dump de la mémoire du GPS : Oubliez les erreurs (message rejected), le soft est fait pour un tas de puces GPS bien plus sophistiquées que le M8 et le dump ne fait pas dans la dentelle... 7 - Configuration du GPS et navigation dans la config Après la sauvegarde, nous allons commencer par remettre en configuration usine le GPS. Accédons à la configuration: View - > Configuration View qui va ouvrir la fenêtre de configuration. Mais avant, apprenons à naviguer dans la fenêtre de configuration : La zone à gauche (1) permet de sélectionner la famille de paramètres. La zone à droite (2) les différents paramètres et leur valeurs (que vous pouvez visualiser ou modifier). Le bouton "send" (3) permet de sauvegarder. Attention : le bouton "send"applique les valeurs, les rend fonctionnelles sans les enregistrer de manière permanente dans la mémoire non volatile (NVRAM). Si vous redémarrez votre GPS, toutes les valeurs modifiées seront effacées. Cela vous permet de tester une modification sans risquer de briquer votre GPS. Vous revenez aux valeurs précédentes par redémarrage du GPS. Exception : dans la Zone 1, entrée "CFG (Configuration)", l'entrée sur la gauche "Save current configuraion" suivi d'une validation par "Send" rendra définitves toutes les modifications apportées à la config. Il est important de comprendre cette notion de "running config"(configuration en cours d'exécution sur le GPS) et de "startup config" (NVRAM - configuration appliquée à chaque redémarrage). Et aussi de ne pas oublier de copier la running-config dans la startup-config si l'on est satisfait du résultat, sinon tout est perdu au prochain démarrage ... À propos : en bas de toutes les fenêtres se trouve un cadenas. Ce cadenas vous indique si la page est protégée ou pas. Si le cadenas est fermé, la visualisation va s'arrêter de défiler ou l'appui sur un bouton n'aura aucune action. Pour ouvrir le cadenas, il suffit soit de cliquer sur le cadenas, soit d'appuyer sur un bouton - "Send" par exemple - pour libérer la page. 8 - Restauration d'une config Ok, je vous ai montré comment sauvegarder votre config initiale, au cas où... mais à tout moment, lorsque vous êtes satisfait de votre config, vous pouvez la sauvegarder, l'archiver sur votre PC, la dupliquer sur vos autres GPS, la partager avec vos copains... ce que vous voulez. Fini les fastidieuses reconfigurations de GPS, il suffit de réinjecter un fichier de config, on sauvegarde et fini ! Demandez à vos copains une config fonctionnelle et optimisée, injectez dans le vôtre et partez voler direct sans même avoir à comprendre le pourquoi du comment... personne ne vous l'avait dit celle-là ? Un fichier de config de GPS est de la sorte : MON-VER - 0A 04 A0 00 52 4F 4D 20 43 4F 52 45 20 33 2E 30 31 20 28 31 30 37 38 38 38 29 00 00 00 00 00 00 00 00 30 30 30 38 30 30 30 30 00 00 46 57 56 45 52 3D 53 50 47 20 33 2E 30 31 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 50 52 4F 54 56 45 52 3D 31 38 2E 30 30 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 47 50 53 3B 47 4C 4F 3B 47 41 4C 3B 42 44 53 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 53 42 41 53 3B 49 4D 45 53 3B 51 5A 53 53 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 CFG-ANT - 06 13 04 00 1B 00 F0 B9 CFG-DAT - 06 06 02 00 00 00 CFG-GNSS - 06 3E 3C 00 00 20 20 07 00 08 10 00 01 00 01 01 01 01 03 00 01 00 01 01 02 04 08 00 01 00 01 01 03 08 10 00 00 00 01 01 04 00 08 00 00 00 01 03 05 00 03 00 00 00 01 05 06 08 0E 00 01 00 01 01 CFG-INF - 06 02 0A 00 00 00 00 00 07 07 00 07 07 00 CFG-INF - 06 02 0A 00 01 00 00 00 07 07 00 07 07 00 CFG-ITFM - 06 39 08 00 F3 AC 62 2D 1E 03 00 00 CFG-LOGFILTER - 06 47 0C 00 01 00 00 00 00 00 00 00 00 00 00 00 CFG-MSG - 06 01 08 00 0B 30 00 00 00 00 00 00 CFG-MSG - 06 01 08 00 0B 33 00 00 00 00 00 00 CFG-MSG - 06 01 08 00 0B 31 00 00 00 00 00 00 CFG-MSG - 06 01 08 00 0B 01 00 00 00 00 00 00 CFG-MSG - 06 01 08 00 21 08 00 00 00 00 00 00 Au début de la ligne, on a la section suivit des valeurs. On ne va pas aller plus loin, mais si comme moi, vous apprenez à lire directement, vous identifiez très vite les problèmes. Ce fichier peut être réinjecté d'un coup, vous évitant de parcourir toutes les sections pour modifier les valeurs. Comme pour le backup, on retourne dans "tools / Receiver configuration". On sélectionne le fichier que l'on veut réinjecter (1). Et on appuie sur "Transfer file -> GNSS" (2). Remarques : malgré le fait qu'il soit proposé (à gauche de la flèche 2) de sauvegarder tout en NVRAM (paramètres appliqués à chaque redémarrage). J'ai eu de nombreux cas ou cela ne marchait pas. Il est conseillé de doubler la sauvegarde permanente avec un enregistrement manuel dans la section configuration UBX-CFG comme cité un peu plus haut. il se peut pour que vous ayez à charger la configuration deux fois dans le cas ou la vitesse de communication du port série est modifiée durant le transfert. En effet, quand la vitesse est changée, le logiciel va rechercher automatiquement (autobauding) la nouvelle vitesse, et pendant ce temps-là quelques lignes de commandes seront oubliées et en erreur (timeout). Dans ce cas, il vous faut à nouveau recharger la config qui se terminera sans erreur cette fois-ci car il n'y aura pas de perte de transmission. Si vous ne voulez pas vous embettez, vous chargez deux fois la config tout le temps, il y aura 100% de réussite. 9 - Réinitialisation usine du GPS Les GPS reçut de chine où d'ailleurs sont parfois (voire souvent) déja configuré pour un usage qui n'est pas forcément le nôtre. Au lieu de galérer pendant des heures pour comprendre ce qui ne va pas, il est plus simple de repartir de 0. Alors, voici la manière de faire un retour à la config usine. D'abord, on retourne dans la configuration du GPS. "View" -> "Configuration View". On sélectionne la section "CFG" (1), puis "Revert to default configuration" et on valide avec "Send". Tous les paramètres usine seront restaurés, en incluant la vitesse du port (mais si vous êtes en Autobauding, le système va automatiquement basculer la vitesse, sinon le faire manuellement vers 9600 - visible en bas à droite dans la barre de status). Voilà, votre GPS est en configuration usine, seuls les messages NMEA sont envoyés vers la FC. Maintenant on va pouvoir optimiser ... 10 - Vitesse et Optimisation de l'UART Ok, la vitesse du port série définit la vitesse à laquelle transitent les informations échangées entre la FC et le GPS. Plus cette vitesse est élevée, plus le GPS va pouvoir envoyer de volume d'information. Pourquoi a-t-on besoin de changer la valeur par défaut ? Le GPS communique à la FC des messages sur le port série. Ces messages sont par exemple, la vélocité, l'altitude, l'heure, la position géographique, la précision, les infos sur les satellites... Ces messages sont répétés à une fréquence de rafraichissement. Par défaut, c'est 5Hz soit 5 fois par seconde. Un peu de maths : Typiquement, un GPS "tuné"envoie 200 caractères 5 fois par secondes plus les infos satellite (400 caractères toutes les secondes). soit un total de 1400 caractères toutes les secondes. Le port série consomme 10 bits pour chaque caractère (8 pour le caractère + 1 bit start + 1 bit stop). Les données à communiquer sont donc de 1400 caractères x 10 bits = 14000 bits toutes les secondes. Une interface série configurée a 9600 bauds (défaut) ne peut faire transiter (au maximum dans les meilleures conditions) 9600 bits en une seconde... ça passe clairement pas. Exemple reproduit pour vous: Je configure en 9600 (3), UART1 est à 100% d'utilisation (2), et 5509 octets restent sur le carreau (3). La théorie aurait voulu plutôt 4400 que 5500, mais il y a toujours des différences entre la théorie et la pratique... d'où l'utilité de booster encore plus. On passe à 115200 et voila le résultat. La première barre représente l'utilisation instantanée et celle du dessous le maximum. On a de la marge. Attention, il est important que les deux UART qui communiquent entre elles aient les mêmes capacités. La FC de nos drones supporte jusqu'à 115200 bauds. Il ne sert à rien de booster notre GPS au-dessus, il ne pourra pas communiquer avec la FC. 115200 ou 57600 sont de bonnes valeurs. Avec une valeur comme 115200, on n'est pas prêt de perdre des messages... Pour configurer la vitesse de l'UART du GPS, sélectionner "PRT (Ports)" dans la fenêtre de configuration et sélectionner le "Baurate" souhaité pour la target "1 - UART1". Valider avec "Send". Ci-dessous, la config recommandée dans les tutos. Comme d'habitude, n'oubliez pas de sauvegarder dans la NVRAM si besoin (voir chap 7). 11 - Les constellations de satellites Il existe plusieurs constellations de satellites. La puce M8 est capable de recevoir les grandes familles suivantes : GPS: Constellation de 32 satellites du département de la défense Americaine GLONASS: Constellation de 24 satellites du département de la defense Russe GALILEO: Constellation Europeene de 30 satellites BEIDOU: Constellation Chinoise de 37 satellites Parmi ces systèmes, nous ne pouvons en sélectionner que 3 simultanément. J'ai mis en vert ceux qu'il faut activer (par défaut nous avons GPS,GLONASS,QZSS). Pour configurer, sélectionner GNSS dans la fenêtre de configuration et cocher les checkboxs "Enable" pour les constellations que vous souhaitez (rajoutez Galileo - retirer BeiDou). Valider avec "Send". Ci-dessus, la config optimisée. Comme d'habitude, n'oubliez pas de sauvegarder dans la NVRAM (voir chap 7). Pour vérifier la config, c'est "View"dans le menu, puis "Messages View". Dans la fenêtre, sélectionner dans la partie gauche UBX->MON->GNSS On peut voir dans la ligne "Current enabled system" ceux activés avec un petit rappel que l'on peut en avoir que 3 ... 12 - Définition du modèle dynamique C'est quoi le modèle dynamique ? Le GPS possède plusieurs algorithmes de calcul de la position optimisés en fonction du comportement sélectionné (stationnaire, piéton, vélo, automobile, avion ...). Le calcul est plus rapide et plus précis s'il correspond au mode. Il existe 10 modes. D'après ce que j'ai lu dans le datasheet, celui qui correspond le mieux à l'utilisation de nos drones est le mode "0-Portable". Mais les dev de Betaflight considèrent d'autres valeurs ansi que les divers tutos sur le net. Je vous laisse libre de tester. Pour info, voici la liste des modes : Pedestrian est un peu léger (108km/h à l'horizontal et 72km/h en vertical). Airbone, la précision est moins bonne. Portable semble effectivement un bon compromis ... Pour configurer, dans la fenêtre de configuration, on se déplace à la section "NAV5" et on sélectionne ce que vous souhaitez. Valider avec "Send". Comme d'habitude, n'oubliez pas de sauvegarder dans la NVRAM si besoin (voir chap 7). 13 - Fréquence de rafraichissement (rate) On peut modifier la fréquence à laquelle le GPS récupère les données des satellites et calcule ses mesures. Chaque calcul génèrera en retour des messages transmis à la FC au travers de l'UART. Chaque calcul solicitera le CPU et ses ressources. Plus la fréquence est élevée, plus le GPS consomme électriquement et génèrera un grand volume de messages. Dans le datasheet, il est préconisé 1Hz/1000ms (un calcul par seconde - le paramètre par défaut). C'est, d'après eux, suffisant pour tous les usages. La plupart des tuto sur le net recommandent 5Hz, Betaflight initialise aussi à cette valeur ... pourquoi pas ? Etre trop gourmand va résulter en un calcul de la position impossible ou trop de données envoyées sur l'UART. Pour configurer les "rates" du GPS, sélectionner "RATE (Rates)" dans la fenêtre de configuration et modifier "Mesurement Period" avec la valeur souhaitée... Valider avec "Send". Ci-dessus, la config optimisée avec la recommendation. Comme d'habitude, n'oubliez pas de sauvegarder dans la NVRAM (voir chap 7). Pour vérifier, ouvrir la console affichant les trames de packets envoyé et reçus : On retrouve bien 5 blos de messages dans la même seconde. 14 - Les protocoles NMEA, UBX, RTCM et filtrage NMEA qui veut dire "National Marine Electronics Association", édité par l'association du même nom, elle a pour but de définir un standard d'interface pour l'industrie électronique. Le standard NMEA autorise l'addition de messages propriétaires spécifiques. La seule obligation est que ces messages doivent être tous préfixés par une mnémonique identifiant le constructeur. Et devinez quoi ? u-blox, le fabriquant de la puce NEO-M8N, a choisi le préfix UBX. Puisque le standard l'autorise, son protocole peut se substituer totalement à NMEA. C'est pour cela que vous avez le choix dans Betaflight/Emuflight/INav entre le protocole NMEA ou UBX. À non ... les développeurs ont confondu le nom de la société et le nom du protocole... vous trouverez UBLOX dans le choix du protocole à la place de UBX ... personne ne peut être parfait. Faudrait peut-être que j'ouvre un ticket ... Pour être complet, il y a aussi un autre protocole, RTCM (Radio Technical Commission for Maritime Services), utilisé pour améliorer la précision du GPS en lui fournissant des informations de correction de position... dans tous les tutos, on nous demande d'ajouter ce protocole en entrée, perso, il n'y aucune référence à un message RTCM dans le code de Betaflight. Comme moi, vous pouvez le retirer, cela ne changera rien, et mettez "0+1 - UBX+NMEA" en "Protocol in". Alors, maintenant que les présentations sont faites, il va falloir indiquer au GPS les protocoles que l'on va supporter dans les échanges GPS vers FC et vice-versa. Pour cela on retourne dans "PRT (Ports)" dans la fenêtre de configuration et sélectionner le "Protocol in" et "Protocol out". Valider avec "Send". "Protocol in" : C'est ce que la FC va envoyer au GPS. Donc messages de configuration du GPS. "Protocol out" : C'est ce que le GPS va envoyer à la FC. Ci-dessus, je laisse les 2 protocoles, comme ça, le choix vous appartient de sélectionner l'un ou l'autre dans votre FC ... mais moi, le choisis "0 - UBX" car je n'utilise par NMEA. Il est à bien noter que cette configuration n'active pas les protocoles. C'est un filtre que l'on met sur l'UART dans le sens TX (Protocol out) et RX (protocol in). Si vous n'autorisez pas les protocoles, les messages correspondants seront automatiquement mis à la poubelle, d'où l'importance de définir correctement ces champs. Comme d'habitude, n'oubliez pas de sauvegarder dans la NVRAM si besoin (voir chap 7). 15 - Les messages NMEA et UBX Là, on rentre dans le vif du sujet. Comment on configure le GPS, comment la FC reçoit le fix, les coordonnées géographiques, la vitesse, la distance ? Tout échange de données entre la FC et le GPS est basé sur une notion de message. Exemple : Pour effectuer un reset de la position Home, la FC envoie au GPS un message CFG-RST avec le protocole UBX (UBX->CFG-RST) En fait, chaque fois que, dans l'interface, vous sélectionnez une section, et appuyez un "Send", vous envoyez un message au protocole UBX sur l'UART... Même chose pour le sens retour, le GPS vous envoie des messages. Exemple : un message UBX - NAV - POSLH envoyé à la FC avec la position géographique, la hauteur et l'estimation de la précision. Les protocoles UBX et NMEA définissent des centaines de messages différents. Activer tous les messages saturerait sans aucun problème le lien entre les UARTs résultant en la perte de beaucoup d'information. Par contre, ne pas transmettre les messages attendus par Betaflight résulterait en un lock impossible, pas d'info sur la vitesse ou la position géographique. L'optimisation va nous permettre de définir seulement les messages que Betaflight/Emuflight et Inav attendent et filtrer les autres, donc optimiser le CPU, l'utilisation des UARTs et garantir 100% des fonctionnalités. Pour cela il faut d'abord lister dans le code de Betaflight les messages utilisés pour la navigation. Le fichier qui contient le code est celui-ci : https://github.com/betaflight/betaflight/blob/master/src/main/io/gps.c Nous allons retrouver 3 définitions de messages de navigation pour NMEA et 5 pour UBX : #define FRAME_GGA 1 /* Global Positioning System Fix Data */ #define FRAME_RMC 2 /* Recommended Minimium Data */ #define FRAME_GSV 3 /* GNSS Sattelites in View */ enum { PREAMBLE1 = 0xb5, PREAMBLE2 = 0x62, CLASS_NAV = 0x01, CLASS_ACK = 0x05, CLASS_CFG = 0x06, MSG_ACK_NACK = 0x00, MSG_ACK_ACK = 0x01, MSG_POSLLH = 0x2, /* Geodetic position solution */ MSG_STATUS = 0x3, /* Receiver navigation status */ MSG_SOL = 0x6, /* Navigation solution information */ MSG_VELNED = 0x12, /* Velocity solution in NED frame */ MSG_SVINFO = 0x30, /* Space vehicle information */ MSG_CFG_PRT = 0x00, MSG_CFG_RATE = 0x08, MSG_CFG_SET_RATE = 0x01, MSG_CFG_NAV_SETTINGS = 0x24 } ubx_protocol_bytes; Si vous voulez connaitre le contenu de chacun des messages, vous trouverez la définition dans le datasheet fourni au début de l'article. Nous allons donc restreindre l'envoi de messages dans le GPS à ces messages seuls. Il est à noter que si, dans le futur, les développeurs de Betaflight rajoutent des fonctionnalités basées sur d'autre messages, il faudra venir les rajouter ... de plus je laisse les messages NMEA dans l'étude, mais, perso, je les retire car je n'utilise que UBX comme protocole. Pour cela on retourne dans Configure - > MSG (Messages). Vous allez devoir sélectionner en premier le message souhaité, puis sélectionner l'interface sur lequel le message sera envoyé (nous c'est l'UART1). Il est inutile de sélectionner les autres interfaces, les laisser consommerait des ressources inutiles. A côté se trouve le coefficient diviseur : si vous laissez 1, cela veut dire que le message sera envoyé à tous les cycles du rate (paragraphe 13) que vous avez défini. Si vous mettez 2, c'est une fois tous les deux cycles et ainsi de suite. Cela vous permet de limiter la fréquence de certains messages. Nous allons l'utiliser pour limiter l'envoi des données sur les satellites qui a une importance relative comparée aux coordonnées géographiques ou la vélocité ... Voici ce que je recommande: Commencer par retirer la totalité des messages envoyés. Comme ça, c'est clair. Si vous réussissez, la diode bleue s'arrête totalement de clignoter, plus aucun message n'est envoyé. Puis ajouter ces messages : 01-06 NAV-SOL, Interface UART1, Diviseur 1 01-03 NAV-STATUS, Interface UART1, Diviseur 1 01-30 NAV SVINFO, Interface UART1, Diviseur 5 01-12 NAV-VELNED, Interface UART1, Diviseur 1 01-02 NAV-POSLLH, Interface UART1, Diviseur 1 F0-00 NMEA GxGGA, Interface UART1, Diviseur 1 (optionel) F0-03 NMEA GxGSV, Interface UART1, Diviseur 1 (optionel) F0-04 NMEA GxRMC, Interface UART1, Diviseur 1 (optionel) Terminer par "Send". La diode bleue doit recommencer à clignoter signifiant l'envoi de données par le GPS. 14 - Checklist configuration GPS Une petite pause pour rappeler les étapes de la configuration du GPS. On fait un backup de la config On effectue une remise a zéro de la configuration du GPS (UBX-CFG-CFG) On configure le port UART (UBX-CFG-PRT) : vitesse (115200 bauds) et le filtrage des messages non NMEA/UBX sur le TX et le RX On configure les rates à 200ms (5Hz) dans UBX-CFG-RATE On rajoute Galileo et on retire BeiDou dans UBX-CFG-GNSS On configure le profile de navigation Portable dans UBX-CFG-NAV5 On retire tout les messages sur toutes les interfaces UBX-CFG-MSG On rajoute la liste de messages NMEA/UBX du paragraphe 15 dans UBX-CFG-MSG On sauvegarde la config en mémoire non volatile dans UBX-CFG-CFG On refait un backup de la config dans un nouveau fichier texte sur le PC que l'on archive bien On est prêt à configurer le drone maintenant. 15 - Configuration Betaflight/Emuflight Connexion physique sur la FC : On sélectionne une UART libre sur la FC composé d'un TX et un RX. On relie un TX à un RX et vice-versa. On commence par l'onglet "Ports" : Pour l'UART choisie, aller dans la colonne capteur et selectionner "GPS" puis sélectionner la vitesse. Là vous aurez deux choix. Soit vous laissez la FC chercher la vitesse et vous mettez sur AUTO (*). Soit vous fixez directement la vitesse (choix préféré). (*) Dans le code source de Betaflight, la FC teste les vitesses suivantes: 9600, 19200, 38400, 57600, 115200. Si dans le GPS vous définissez une vitesse non supportée, le mode AUTO ne fonctionnera pas. On passe à l'onglet "Configuration" : Dans le cadre "GPS", on commence activer le GPS, on choisit le protocole, de préférence UBLOX - UBX en vrai). Ensuite, vous pouvez activer la recherche automatique de la vitesse de l'UART "Baud Auto" ou pas. Même chose que dans l'onglet "Ports". Vous pouvez sélectionner "Config Auto" ou pas. Un petit paragraphe est nécessaire pour ce paramètre. En premier, il n'a d'effet que si vous avez sélectionné le protocole UBX (pardon UBLOX dans le configurateur). Donc, si vous êtes en UBX et que "Config auto" est selectionné, à la mise sous tension du drone, Betaflight va envoyer la liste de messages de configuration suivants aux GPS (encore un peu de reverse-engineering dans le code source): Reset factory sans sauvegarde en NVRAM (startup config) Passage de la vitesse de l'UART à 19200 Passage en mode piéton ou airbone Retrait des messages NMEA VGS, GSV, GLL, GGA, GSA, RMC Activation les messages UBX POSLLH, STATUS, SOL, SVINFO (tous les 5 cycles), VELNED Configuration des rates à 5Hz - 200ms Configuration du service d'augmentation de la précision (SBAS) en fonction de ce que vous choisissez dans le champ "Type d'assistance au sol"... A noter : A la mise sous tension du drone, Betafligh exécute en premier un reset usine du GPS, c'est à dire que toutes les modifications que vous avez apportées par vous même dans le GPS ne sont plus prises en compte !!! Betaflight ne sauvegarde pas dans la NVRAM à la fin. Donc, à la fin de la Lipo, après extinction du drone, les modifs Betaflight seront perdues. Donc, pour résumer, si vous sélectionnez "Config auto", oubliez toute la config du GPS, Betaflight retirera tout à chaque démarrage du drone et appliquera ses paramêtres qui sont globalement les mêmes que dans tous les tutos (même la constellation "Galileo"). Si vous souhaitez utiliser votre configuration de GPS, mettez "Config auto" a OFF. Onglet "CLI" : des commandes ne sont pas disponibles dans l'interface graphique, mais seulement en CLI. Celle de la prise en compte de la constellation Galileo : set gps_ublox_use_galileo = on (ou off) Celle de la modification du mode dynamique : set gps_ublox_mode = AIRBORNE (ou PEDESTRIAN) Utilisées seulement dans le cas de "Config Auto" sélectionné, sinon, cette commande n'a aucun effet. Vérification du bon fonctionnement du GPS dans l'onglet "GPS". exemple ci-dessous. Ça parle tout seul. 18 - Commandes CLI serialpassthrough et gpspassthrough L'utilisation d'un adaptateur USB/série (FTDI par exemple), n'est pas obligatoire (conseillé quand même). Une fois que tout fonctionne, il n'est plus simple d'utiliser le drone monté et configuré pour piloter le GPS sans aucune modification matérielle. Vous pouvez utiliser u-center au travers du contrôlleur de vol. Pour cela, il faudra veiller à connaitre votre configuration sur le PC (port série utilisé, celui utilisé pour connecter Betaflight) Exemple (COM1 ici) : Avec nos FC, avec une version récente de Beta/Emu/Inav on peut trouver deux fonctions intéressantes en CLI (Command Line Interface) : serialpassthrough et gpspasstrough. Ces commandes permettent de transformer temporairement une FC en adaptateur USB/série. Veuillez toutefois posséder une version de Beta/Emu/Inav pas trop vieille. 1) La commande "serialpassthrough" permet de transférer toute la communication du port USB vers l'UART de la FC. Il faut fournir en paramètres l'index interne du port UART (égal au numéro d'UART -1 ) ainsi que la vitesse du port UART. Syntaxe : serialpassthrough <num UART -1> <vitesse> Ex: serialpassthrough 5 115200 ---> (UART 6, 115200 bauds) A partir du moment la commande est soumise, l'intégralité du port USB est redirigé: On perd la communication avec la FC (MSP) jusqu'au prochain reboot. 2) La commande "gpspassthrough" récupère directement dans la configuration beta/emu/inav les paramètres de port configurés pour le GPS (UART et vitesse) et invoque serialpassthrough en passant les valeurs. Elle ne nécessite aucun argument. Syntaxe : gpspassthrough Comme pour l'autre commande, à partir du moment la commande est soumise, l'intégralité du port USB est redirigé: On perd la communication avec la FC (MSP) jusqu'au prochain reboot. La procédure est plus compliquée, mais ne nécessite rien de plus que votre câble USB connecté au PC et à votre drone. Attention toutefois, le GPS doit être sous tension : Ce qui implique dans la plupart des cas le branchement de la LiPo. La procédure: Connecter la FC au PC Connecter une LiPo pour alimenter le GPS Ouvrir Beta/Emu/Inav Configurator Connecter le configurateur au drone Aller dans l'onglet CLI (le dernier en bas à gauche) passer la commande "serialpassthrough" ou "gpspassthrough" Fermer le configurateur avec la croix en haut à droite pour libérer le port COM du PC (sinon u-center n'arrivera pas a connecter le port) Demarrer u-center Connecter dans u-center le port COM associé. Pour que la FC revienne en mode de fonctionnement normal, n'oubliez pas de déconnecter la LiPo ainsi que le port USB. Conclusion Je pense avoir couvert la plupart des sujets. Faites-moi vos remarques, je modifierai ou compléterai l'article sur demande. Désolé s'il y a des erreurs, personne n'est infaillible, tout est basé sur mon expérience personnelle, la lecture des datasheets d'UBLOX et du reverse engineering dans le code des developpeurs... Maintenant, à vous de jouer, de tester, de reporter vos trouvailles et de partager vos fichiers de configuration. Voici le mien. BN220-CC06.txt

Hello, Je suis en train de monter une S800 en INAV sur mon FC F411WSE. Sur l'onglet mixer, je charge donc le preset aile volante. Sur le schéma : J'ai donc 1/2 pour le moteur (ok je ne laisse que le 1). Pour les servo : gauche 4 et droite 5. Dans l'onglet ouput j'ai S3 et S4 ??? Je n'aurai pas du avoir 4 et 5 ? Je peux conclure que je branche le servo gauche (donc 4 au schéma) sur la S3 de ma FC ? Et le droit sur la S4 de ma FC ? Merci.