inav INAV 7.1 RC1

[WaF Bot]

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

1. Backup configuration with CLI diff all command
2. Download and install the new INAV Configurator 7.1
3. Flash INAV 7.1 WITHOUT Full Chip Erase option
4. Done

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

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

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