WaF Bot Posté(e) Février 17 Signaler Posté(e) Février 17 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
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