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INAV 7.0.0 RC3

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INAV 7 Ferocious Falcon

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:

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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

  1. Download and install the new INAV Configurator 7
  2. Save to a file the current diff all from the CLI.
  3. Upgrade to INAV 7 using the Full Erase option in the configurator.
  4. In case of Analog FPV, upload your OSD font of choice from the OSD tab.
  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 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.
  7. 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.

INAV output assignment

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

INAV Ez Tune

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


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

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.

INAV GPS Improvements

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


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


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

New Contributors

Full Changelog: 6.1.1...7.0.0-RC3
Changelog: 7.0.0-RC2...7.0.0-RC3

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