inav INAV 6.1 "Horizon Hawk"

[WaF Bot]

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

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. Restore the configuration from the diff file

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. 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.
5. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
6. 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.
7. 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

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