WaF Bot Posté(e) Décembre 18, 2021 Signaler Partager Posté(e) Décembre 18, 2021 Hello and welcome to INAV 4.0 "Red Kite" 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 Telegram INAV Official on Facebook Please continue to support developers, for free, by checking out from 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 PPM receivers are no longer supported If you use a PPM receiver, these are no longer supported by iNav. We recommend that you use serial based receivers. F411 and F722 feature reduction Due to the storage space on these flight controllers. Features have started to be dropped. See PR #7297 for details Font update required A font file update is required to use the new symbols and avoid an invalid font warning. Upload the updated font of your choosing from the OSD tab. INAV LUA Script If you are using the INAV LUA script and Crossfire, you should update to the latest INAV LUA script. Upgrading from a previous release Upgrading from INAV 3 Download and install the new configurator Save to a file the current diff all from the CLI. Upgrade to INAV 4.0 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 4.0 features, and enjoy! Upgrading from older versions Please follow the instructions on this page. Important changes Filtering changes With INAV 4.0 there are a couple of important changes in how gyro and D-term are filtered. They mostly affect Multirotor pilots. Kalman filter aka Unicorn Filter is enabled by default Unicorn Filter setup is simplified: you only tune Q factor. Window size and sharpness settings are removed Dynamic Notch aka Matrix Filter is enabled by default Matrix filter has been reworked and simplified. Now you only set minimum frequency and Q factor Matrix filter resolution is now 4 times higher than with INAV 3 Static gyro notch was removed First D-term LPF type changed to PT2 and second D-term LPF is disabled - this gives the same filtering as previously but with less settings to worry about The Alpha-Beta-Gamma filter removed The Smith Predictor is enabled by default by the new Configurator defaults H743 support INAV 4.0 comes with the full support of all H7 boards compatible with MATEKH743 target. This includes the SD Card and MSC mode support. Bear in mind, CAN and UAVCAN are still not supported by INAV and currently, there are no plans to implement them. Blackbox improvements Blackbox now always logs the Control Derivative and Feed Forward components, as well as rate target in degrees-per-seconds. The latest INAV Blackbox Explorer is required to fully use those features. New command blackbox allows setting which Blackbox fields are recorded to conserve space and bandwidth. Possible fields are: NAV_ACC - Navigation accelerometer readouts NAV_PID - Navigation PID debug NAV_POS - Current and target position and altitude MAG - Magnetometer raw values ACC - Accelerometer raw values ATTI - Attitude as computed by INAV position estimator RC_DATA - RC channels 1-4 as returned by the radio receiver RC_COMMAND - RC_DATA converted to [-500:500] scale with expo and headband MOTORS - motor output Usage blackbox currently enabled Blackbox fields blackbox list all available fields blackbox -MOTORS disable MOTORS logging blackbox MOTOR enable MOTORS logging Rate Dynamics INAV 4.0 adds a port of the EmuFlight Rate Dynamics system. It modifies stick input to change the flight feeling. To find out more refer to: https://www.youtube.com/watch?v=8WyJx2FcLzI https://github.com/emuflight/EmuFlight/wiki/Rate-Dynamics Below are some presets you might want to try Default set rate_dynamics_center_sensitivity = 100 set rate_dynamics_center_correction = 10 set rate_dynamics_center_weight = 0 set rate_dynamics_end_sensitivity = 100 set rate_dynamics_end_correction = 10 set rate_dynamics_end_weight = 0 Cinematic set rate_dynamics_center_sensitivity = 80 set rate_dynamics_center_correction = 20 set rate_dynamics_center_weight = 85 set rate_dynamics_end_sensitivity = 90 set rate_dynamics_end_correction = 10 set rate_dynamics_end_weight = 50 Freestyle set rate_dynamics_center_sensitivity = 80 set rate_dynamics_center_correction = 10 set rate_dynamics_center_weight = 35 set rate_dynamics_end_sensitivity = 130 set rate_dynamics_end_correction = 10 set rate_dynamics_end_weight = 35 Freestyle Less bounceback set rate_dynamics_center_sensitivity = 80 set rate_dynamics_center_correction = 10 set rate_dynamics_center_weight = 35 set rate_dynamics_end_sensitivity = 130 set rate_dynamics_end_correction = 30 set rate_dynamics_end_weight = 35 Racing set rate_dynamics_center_sensitivity = 130 set rate_dynamics_center_correction = 35 set rate_dynamics_center_weight = 30 set rate_dynamics_end_sensitivity = 115 set rate_dynamics_end_correction = 20 set rate_dynamics_end_weight = 10 WP Mission Enhancements Multi-Mission Multiple missions may be uploaded to the flight controller and a mission selected for execution by OSD, Stick Command or Mission Planner. Multi-Mission is supported by the inav Configurator and mwp mission planners. Number of Waypoints The maximum number of WPs is now 120. On the fly missions INAV 4.0 adds the capability to generate an "on the fly" mission while flying using aircraft positions. Fly By Home Waypoints INAV 4.0 adds Fly-by-home waypoints. This is a waypoint whose location is set to the home position at arm time. Fixed-wing changes Soaring mode The soaring mode comes to iNav 4.0. The addition is great for people who fly gliders. The soaring mode adds a modifier that you can use to change how Course Hold, Cruise, or Position Hold (loiter) behave. When enabled, it disables altitude control and allows Angle mode to free float in pitch, allowing the plane to soar freely. Two-stage climb first for RTH This change allows the climb phase of a climb first RTH to have two separate parts. This is useful for pilots who want to climb first, to clear potential obstacles. But, don't want to be wasting energy flying away from home. This allows you to set a first climb stage altitude. Once it meets or exceeds that altitude, the plane will turn to home and continue climbing to the RTH altitude. See the iNav Wiki for more information. Autotune no longer tunes P and I There were often autotunes in iNav 3.0 which resulted in too high P and I. Also, D was not tuned at all. New default PIDs, that will work reasonably on all sizes of planes (#1390) have been added. This should give good results with an autotune, which can then be fine tuned to your plane. OSD Units If you previously used the UK units in your OSD. You will now find that your units are set to Metric + MPH. This is the new name for the old UK units. There is also a new UK units set, that better represents transportation units used in the UK. Full details can be found in the pull release. There is also a new units set aimed at General Aviation pilots. This set uses Knots, Feet, Nautical Miles, 100 Feet per Minute, and Celsius for their respective values. Changelist H7: usb msc support for sdio #7572 - This enables SD card support on H7 boards Improve leading space handing in craft name in CLI #6056 Ability to store multiple missions and select before arming #6765 Unicorn Filter improvements #6819 #7132 #7523 Rate dynamics #6823 Mission restart option #6938 Other Missions improvements #6920 On the fly WP Mission Planner #6967 OSD Improvements #6979 #6993 #6995 #7068 #7104 #7126 #7427 #7371 #7367 #7355 #7515 #7518 #7519 #7441 SmartSudio on SoftwareSerial fixed #6986 DJI FPV OSD improvements - craft name hack no longer necessary #7098 #7138 Autotune improvements #7180 Don't change P, I and D during FW autotune #7461 PT2 and PT3 Low Pass Filters for D-term #7165 #7310 Dboost 2 - dynamic Dterm management #7149 Fix name clashes in FAT filesystem #7155 Add proper % RSSI for CRSF [0..99%] #7173 Two Stage Climb First RTH #7323 Rangefinder cleanup #7318 #7316 #7312 VCM5883 magnetometer driver #7301 Remove motor rate limiting #7296 Cleanup not used ESC protocols #7295 Multirotor Auto Speed Change #7293 Add support for TOF10120 i2c rangefinder #7291 Enable MPU6000 on kakute F4 v2 #7258 Added General aviation OSD units - includes a fair amount of work and fixes on the OSD & Fonts #7255 Fixed wing soaring mode #7250 Fix i2c errors after 72 min of FC launch #7226 Added PID Profiles to Programming framework #7432 Add average speed to OSD stats #7428 Emergency Landing Fix #7421 Add 50mW CRSF tx power level #7397 Drop PPM receivers #7393 Decrease acc and mag P-gains in AHRS #7392 Control Derivative improvements #7391 Blackbox improvements #7390 #7378 #7440 Failsafe Emergency Landing change #7376 Add support for Bosch Sensortec BMI270 Accelerometer / Gyro #7356 Fixed wing emergency landing vertical rate control addition #7364 Nav Emergency landing code fixes and refactor #7339 IMU2 BNO055 improvements #7335 Set manual rc expo to 35% #7491 BMI270: support for reading IMU temperature #7501 Dynamic Notch aka Matrix Filter Improvements #7521 #7522 #7544 Drop ABG filtering #7524 Fix buffer is accessed out of bounds #7545 Drop the last static gyro notch #7560 Fix MSC on windows with F7 and H7 #7573 Added PINIO and USER1 mode to FLYWOOF745 and FLYWOOF745 #7574 Remove old and unused IMU #7453 Fix emergency landing during failsafe #7460 Add min and max airspeed alarms #7467 Fixed issue #7194, The DSHOT direction command not working in STM32F405 #7477 fix array overflow with 11S-14S battery in Mavlink #7478 Adding loiter radius to programming #7480 WP mission RTH failsafe fix #7487 Enable FW motors and servos on ZEEZF7V2 #7490 The full list of changes is available here Recommended hardware Flight controllers Matek H743-SLIM Speedybee F7 V2 Matek F722-SE Matek F765-WSE Matek F722-MiniSE Airplane models AR Wing Pro AtomRC Dolphin SonicModell Binary Volantex Ranger 2000 Mini AR Wing Radios Radiomaster TX16S FrSky Q X7 FlySky FS-i6X Long range radio systems Radiomaster TX16S + TBS Crossfire Starter Set ImmersionsRC Ghost FrSky R9M 2019 + R9MX GPS & Sensors Beitian BN180 GPS Beitian BN880Q GPS+COMPASS Beitian BN880 GPS+COMPASS Matek M8Q-5883 Matek Lidar+OpFlow board Matek Digital Airspeed Sensor Benewake TFmini Lidar FPV DJI FPV Goggles Caddx Air Unit Caddx Vista HD Foxeer T-Rex FPV camera RunCam Eagle 3 FPV camera Eachine Cobra X FPV goggles Skyzone SKY04X FPV goggles Other ViFly ShortSaver 2 ViFly Finer buzzer You can get more suggestions following this link too.Lire la source Lien vers le commentaire Partager sur d’autres sites More sharing options...
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