inav INAV 9.0.0-RC3 release candidate for testing

[WaF Bot]

INAV 9.0.0-RC3 Release Notes

Hello and welcome to INAV 9.0.0 RC3

This release candidate is for testing the new features and changes that will be part of the INAV 9.0.0 release soon

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

Note

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.

Known Issues in 9.0

• Please read INAV Github issue reports for outstanding problems that were not resolved in time for the release.

Upgrading from a previous release

Upgrading from INAV 8.0

1. Backup configuration with CLI diff all command or use the Diff All and Save to file buttons.
2. Download and install the new INAV Configurator 9.0
3. Flash INAV 9.0 WITH Full Chip Erase option enabled
4. Load your 8.0 Diff settings in to the CLI. Then take a note or write down the incompatible settings changes marked in RED.
5. Then copy your 8.0 Diff file and rename it 9.0. And edit the old incompatible settings.
6. Now go to the Status Tab and press the Reset Setting button.
7. Select Keep current settings from the defaults pop-up.
8. Go to CLI and load your edited INAV 9.0 Diff
9. Done

Tip

Concerning step 8.
It can be a safer option to load your Diff All settings in two parts if you are using multiple Profiles. e.g. Control, Mixer or Battery.
This can be done by copying and loading the Diff All text setting from the top, down to the bottom of the # master settings category. Then load that into the CLI and press enter. Once it has written, press the Save Settings button.
Wait until it reboots and go back to the CLI tab again, then copy and load the rest of the Diff All text file. Starting from the # Control_profile 1 settings category, down to the bottom. Press enter. Once written, it will save by itself.

Upgrading from older versions

Please follow the instructions on this page.

Changes in 9.0.0-RC3 (from RC2)

• MSP2_INAV_SET_GVAR by @xznhj8129 in #11146
• Add release creation guide by @sensei-hacker in #11152
• Update LedStrip.md by @Barnabasek in #11159
• Fix missing magnetometer support on NEXUSX target by @sensei-hacker in #11157

Full Changelog: 9.0.0-RC2...9.0.0-RC3

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Overview

This release candidate introduces new features and improvements for testing before the official INAV 9.0.0 release. Users are advised to remove props and verify motor/servo outputs before first battery power-up, as flexible motor and servo allocation may alter default output configurations.

Key Highlights

Minimum Ground Speed Flexibility

The Programming Framework now enables dynamic adjustment of minimum ground speed based on wind conditions, allowing aircraft to maintain headway in challenging flight environments.

OSD Throttle Gauge

A new vertical digital throttle gauge display option provides pilots with real-time throttle visualization on-screen.

Fixed Wing Altitude Control

Two selectable altitude control methods accommodate different airframe types and climb rate requirements:

• Altitude Velocity controller (default)
• Altitude Position controller (alternative)

Position Estimator Improvements

Enhanced Z velocity accuracy through algorithm refinements and new default weighting parameters for barometric and GPS measurements.

Sensor Additions

New QMC5883P magnetometer driver support expands hardware compatibility.

Other Notable Changes

• Barometer altitude integrated into CRSF telemetry
• Improved fixed-wing flight detection for auto-disarm functionality
• Temperature compensation for accelerometers and barometers
• Flight counter addition to statistics tracking
• Enhanced VTOL tilt-rotor support with servo speed filtering
• Improved magless multicopter yaw estimation
• Extended MSP override capability to 32-bit channels

CLI Updates

New Settings include blackbox arm control extension, temperature correction factors, ADSB warning styles, and VTOL transition PID multipliers.

New Flight Controller Targets: 32 additional targets now supported, including variants from Blueberry, DakeFPV, TBS, and others.

OSD/CMS Changes

New elements: OSD_VERTICAL_SPEED_INDICATOR, OSD_ADSB_WARNING, OSD_ADSB_INFO, OSD_THROTTLE_GAUGE, and OSD_NAV_MIN_GROUND_SPEED.

Upgrade Instructions

From INAV 8.0, users must perform full chip erase during flashing and reload configuration via CLI diff commands. Phased loading of multi-profile settings is recommended for safety.

Critical Renaming: PID Profile → Control Profile

The term "PID Profile" has been renamed to "Control Profile" throughout INAV 9.0 to better reflect that these profiles control more than just PID settings.

Renamed Settings

Old Name (8.0.x)	New Name (9.0.0)	Notes
controlrate_profile	use_control_profile	Selects which control profile to use
mixer_pid_profile_linking	mixer_control_profile_linking	Links mixer profile to control profile
osd_pan_servo_pwm2centideg	osd_pan_servo_range_decadegrees	Pan servo range renamed for clarity

Removed Settings

Setting Name	Reason	Replacement
reboot_character	Legacy MSP reboot method removed	Use standard MSP reboot command

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