inav INAV 6 Feature Preview 1

[WaF Bot]

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

0. Download and install the new configurator
1. Save to a file the current diff all from the CLI.
2. Upgrade to INAV 6 using the Full Erase option in the configurator.
3. Upload your OSD font of choice from the OSD tab.
4. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
5. 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.
6. 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)

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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.

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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

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