INAV 2.5.2 (patch release)

Hello and welcome to INAV 2.5.2 Release!

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 Official on Telegram
	INAV Official on Facebook

Please continue to support developers, for free, by checking out from the following stores after having clicked on the following links:

Support us on Banggood

Your contribution from the past month has been very welcome! Thanks!

Tested and suggested hardware can be found here

Release Notes

This is a patch release with support for several new targets and a few bugfixes.

New boards

• Flywoo F411
• Flywoo Goku F7 Dual & Mini
• Foxeer F722 V2
• HGLRC Zeus F722
• SpeedyBee F7

Bug fixes

• Fix editing negative servo weights via CMS
• Fix an overflow in OSD code

INAV 2.5.1 (bugfix release)

Hello and welcome to INAV 2.5.1 Release!

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 Official on Telegram
	INAV Official on Facebook

Please continue to support developers, for free, by checking out from the following stores after having clicked on the following links:

Support us on Banggood

Your contribution from the past month has been very welcome! Thanks!

Tested and suggested hardware can be found here

Release Notes

This is a bug-fix release. Notable changes:

Allow override of max power capability for buggy VTXes

Since 2.5.1 TRAMP protocol detects max power that VTX is reporting and caps the max setting to that power. Some VTXes don't report that properly. A new CLI setting vtx_max_power_override allows to set the max power manually in such cases. Use caution!

ESC telemetry fix

Due to a regression bug in 2.5.0 DSHOT ESC telemetry was not working. This is now fixed.

Always process VTX driver updates, regardless of arming state

Legacy condition that limited VTX updates to unarmed state only is now removed. VTX settings changes in flight are now working reliably.

INAV 2.5.0

Hello and welcome to INAV 2.5.0 Release!

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 Official on Telegram
	INAV Official on Facebook

Please continue to support developers, for free, by checking out from the following stores after having clicked on the following links:

Support us on Banggood

Your contribution from the past month has been very welcome! Thanks!

Tested and suggested hardware can be found here

Important Notes

CLI aux mode migration

inav 2.5 moves the CLI aux mode value from a boxid that was not guaranteed to be stable between releases to a permmanentId that is guaranteed to be stable between releases. This is a "breaking" change for inav 2.5 that brings stability in the future.

In order to use a diff or dump from 2.4 or earlier in inav 2.5, the user must do one of the following:

• Remove aux settings from the diff / dump and recreate them in inav 2.5; or
• Use the box2perm tool to migrate the diff / dump automatically; or
• Manually edit the aux settings; a conversion table is provided as part of the box2perm documentation.
• Use https://box2perm.vercel.app web application

Removal of PWM RX

All traces of PWM RX have finally been removed. Please check that your receiver type is correctly assigned before raising bogus issues that your RX no longer works.

F3 Deprecation

STM32 F3 flight controllers like Omnibus F3 or SP Racing F3 are deprecated and soon they will reach the end of support in INAV. If you are still using F3 boards, please migrate to F4 or F7.

Upgrading from 2.4

0. Download and install the new configurator
1. Save to a file the current diff all from the CLI.
2. Modify the diff to update or remove the aux statements
3. Upgrade to INAV 2.5 using the Full Erase option in the configurator.
4. Upload your OSD font of choice from the OSD tab.
5. Go the CLI again and paste the contents on the file you previously create and write save , press ENTER and done!
6. You should be ready, explore new 2.5 features and enjoy!

Upgrading from 2.3 or older version

Please follow the instructions on this page.

New targets:

• AIRBOTF7
• OMMINBUSF7NANOV2
• ZEEZF7

CLI:

New commands

Command	Description
gf	Global Functions. For details refer to Global Functions.md in the docs folder.
logic	Defined Logic conditions activating Global Functions. For details refer to Logic Conditions.md in the docs folder.

New Settings

Setting	Description
dynamic_gyro_notch_enabled	Enable/disable dynamic gyro notch also known as Matrix Filter [ON / OFF]
dynamic_gyro_notch_range	Range for dynamic gyro notches. MEDIUM for 5", HIGH for 3" and MEDIUM or LOW for 7" and bigger propellers
dynamic_gyro_notch_q	Q factor for dynamic notches
dynamic_gyro_notch_min_hz	Minimum frequency for dynamic notches. Default value of 150 works best with 5" multirors. Should be lowered with increased size of propellers. Values around 100 work fine on 7" drones. 10" can go down to 60 - 70
motor_direction_inverted	Replaces yaw_motor_direction
nav_fw_control_smoothness	Controls smoothness of navigation control (0-9). 0 gives legacy behaviour, non-zero values give increasing smoothness.
nav_fw_pos_hdg_p	P gain of heading PID controller.
nav_fw_pos_hdg_i	I gain of heading PID controller.
nav_fw_pos_hdg_d	D gain of heading PID controller.
nav_fw_pos_hdg_pidsum_limit	Output limit for heading trajectory PID controller. (Fixedwing, rovers, boats)
nav_use_fw_yaw_control	Enables or Disables the use of the heading PID controller on fixed wing
nav_fw_yaw_deadband	Deadband for heading trajectory PID controller. When heading error is below the deadband, controller assumes that vehicle is on course
osd_esc_temp_alarm_max	Temperature under which the IMU temperature OSD element will start blinking (decidegrees centigrade)
osd_esc_temp_alarm_min	Temperature above which the IMU temperature OSD element will start blinking (decidegrees centigrade)
osd_hud_wp_disp	Controls display of the next waypoints in the HUD. See description below
osd_ahi_style	Sets OSD Artificial Horizon style "DEFAULT" or "LINE" for the FrSky Graphical OSD
telemetry_halfduplex	Replaces telemetry_uart_unidir
servo_protocol	Select which protocol is used to communicate with servos (PWM, servo driver or SBUS)

Removed settings

Setting	Description
dyn_notch_width_percent
dyn_notch_range
dyn_notch_q
dyn_notch_min_hz
rpm_dterm_filter_enabled
dterm_gyro_harmonic
rpm_dterm_min_hz
rpm_dterm_q
telemetry_uart_unidir	Replaced by telemetry_halfduplex
yaw_motor_direction	Replaced by motor_direction_inverted

New drivers and protocols

• BME280 Barometer ([@gereic])

Initial Rover and Boat support ([@DzikuVx])

Starting from version 2.5, INAV supports Rovers and Boats (more general: ground and water vehicles without altitude control with yaw steering only. Remark: tanks and vehicles with differential steering are also supported).

The Rover and Boat related features:

• Flight modes: PosHold, AltHold, Cruise, Launch, Loiter Direction Change, Angle, Horizon, FPV Angle Mix, Turn Assist, Airmode are not available on Rover and Boat platforms
• Feature 3D is renamed to Reversible Motors
• Reversible ESCs are now working correctly
• New Heading PID controller used for YAW control on rovers and boats
• Return To Home is working. Rover will disarm at the end of RTH procedure. Bear in mind, it will return in a straight line, no Smart RTH support yet.
• Waypoint Missions are operational. Rover will drive directly int the direction of the Waypoint. At the last Waypoint, it will stop motors instead of loitering.

Reversible ESCs support ([@DzikuVx])

Description

New Matrix Filters for Multirotors ([@DzikuVx])

The new Matrix Notch filter comes enabled by default on INAV. It's a dynamic notch filter that detects noise frequencies on each individual axis (X, Y and Z) and apply the filters to each axis, resulting in a much better noise handling.

Check out this video to see a detailed explanation of how the Matrix Filter works.

JUMP, HOLD and LAND Waypoint types ([@giacomo892], [@Jacky2k], [@stronnag])

INAV 2.5 supports additional waypoint types, allowing more complex missions to be performed.

• JUMP: Defines a 'jump' to another waypoint, allowing mission loops (backward jump) and forward jumps. The number of jump iterations is also user defined.
• POSHOLD_TIME: Defines the amount of time for which the aircraft will loiter at the waypoint position before proceeding to the next waypoint.
• LAND: Defines a location for landing. This allows INAV to perform one-way missions.

The navigation messages wiki page provides more information and annotated examples.

HUD POI Waypoints markers ([@OlivierC-FR])

Shows the next waypoints in the hud. To enable this feature, enter the count of next waypoints in the CLI command:

set osd_hud_wp_disp = 0 to 3

Or on the CMS menu: OSD > HUD > Displayed items > Next waypoints: (from 0 to 3, 0 means disabled)

Then start a WP mission, the next WPs will appear as soon as the mission is loaded in FC memory AND that the aircraft has a valid GPS heading, so it must move if it's not fitted with a magnetometer.

Servo S.BUS output ([@digitalentity])

It's now possible to connect S.BUS servos to INAV. You can configure INAV to output servo commands as S.BUS stream on one of the serial ports. Important note - F4 boards generally don't support inversion on serial ports, for those boards a hardware inverter might be required.

VTX/CMS Unification ([@digitalentity])

Now CMS has one unified page for configuring VTX settings. No need to remember which protocol your VTX is talking (Tramp, S.Audio or other).

ESC Sensor listen-only mode ([@digitalentity])

ESC sensor can now be put to listen-only mode, allowing ESC sensor functionality to be used when an ESC is connected with a PWM-based protocol and configured to sent telemetry automatically. This will be useful on airplanes to provide RPM feedback without the need to use DSHOT.

##...

INAV 2.5.0-RC2

Hello and welcome to INAV 2.5.0 Release!

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 Official on Telegram
	INAV Official on Facebook

Please continue to support developers, for free, by checking out from the following stores after having clicked on the following links:

Support us on Banggood

Your contribution from the past month has been very welcome! Thanks!

Tested and suggested hardware can be found here

Important Notes

CLI aux mode migration

inav 2.5 moves the CLI aux mode value from a boxid that was not guaranteed to be stable between releases to a permmanentId that is guaranteed to be stable between releases. This is a "breaking" change for inav 2.5 that brings stability in the future.

In order to use a diff or dump from 2.4 or earlier in INAV 2.5, the user must do one of the following:

• Remove aux settings from the diff / dump and recreate them in INAV 2.5; or
• Use the box2perm tool to migrate the diff / dump automatically; or
• Visit https://box2perm.vercel.app and convert your diff for INAV 2.5
• Manually edit the aux settings; a conversion table is provided as part of the box2perm documentation.

Removal of PWM RX

All traces of PWM RX have finally been removed. Please check that your receiver type is correctly assigned before raising bogus issues that your RX no longer works.

F3 Deprecation

STM32 F3 flight controllers like Omnibus F3 or SP Racing F3 are deprecated and soon they will reach the end of support in INAV. If you are still using F3 boards, please migrate to F4 or F7.

Upgrading from 2.4

0. Download and install the new configurator
1. Save to a file the current diff all from the CLI.
2. Modify the diff to update or remove the aux statements
3. Upgrade to INAV 2.5 using the Full Erase option in the configurator.
4. Upload your OSD font of choice from the OSD tab.
5. Go the CLI again and paste the contents on the file you previously create and write save , press ENTER and done!
6. You should be ready, explore new 2.5 features and enjoy!

Upgrading from 2.3 or older version

Please follow the instructions on this page.

New targets:

• AIRBOTF7
• OMMINBUSF7NANOV2

CLI:

New commands

Command	Description
gf	Global Functions. For details refer to Global Functions.md in the docs folder.
logic	Defined Logic conditions activating Global Functions. For details refer to Logic Conditions.md in the docs folder.

New Settings

Setting	Description
dynamic_gyro_notch_enabled	Enable/disable dynamic gyro notch also known as Matrix Filter [ON / OFF]
dynamic_gyro_notch_range	Range for dynamic gyro notches. MEDIUM for 5", HIGH for 3" and MEDIUM or LOW for 7" and bigger propellers
dynamic_gyro_notch_q	Q factor for dynamic notches
dynamic_gyro_notch_min_hz	Minimum frequency for dynamic notches. Default value of 150 works best with 5" multirors. Should be lowered with increased size of propellers. Values around 100 work fine on 7" drones. 10" can go down to 60 - 70
motor_direction_inverted	Replaces yaw_motor_direction
nav_fw_control_smoothness	Controls smoothness of navigation control (0-9). 0 gives legacy behaviour, non-zero values give increasing smoothness.
nav_fw_pos_hdg_p	P gain of heading PID controller.
nav_fw_pos_hdg_i	I gain of heading PID controller.
nav_fw_pos_hdg_d	D gain of heading PID controller.
nav_fw_pos_hdg_pidsum_limit	Output limit for heading trajectory PID controller. (Fixedwing, rovers, boats)
nav_use_fw_yaw_control	Enables or Disables the use of the heading PID controller on fixed wing
nav_fw_yaw_deadband	Deadband for heading trajectory PID controller. When heading error is below the deadband, controller assumes that vehicle is on course
osd_esc_temp_alarm_max	Temperature under which the IMU temperature OSD element will start blinking (decidegrees centigrade)
osd_esc_temp_alarm_min	Temperature above which the IMU temperature OSD element will start blinking (decidegrees centigrade)
osd_hud_wp_disp	Controls display of the next waypoints in the HUD. See description below
osd_ahi_style	Sets OSD Artificial Horizon style "DEFAULT" or "LINE" for the FrSky Graphical OSD
telemetry_halfduplex	Replaces telemetry_uart_unidir
servo_protocol	Select which protocol is used to communicate with servos (PWM, servo driver or SBUS)

Removed settings

Setting	Description
dyn_notch_width_percent
dyn_notch_range
dyn_notch_q
dyn_notch_min_hz
rpm_dterm_filter_enabled
dterm_gyro_harmonic
rpm_dterm_min_hz
rpm_dterm_q
telemetry_uart_unidir	Replaced by telemetry_halfduplex
yaw_motor_direction	Replaced by motor_direction_inverted

New drivers and protocols

• BME280 Barometer ([@gereic])

Initial Rover and Boat support ([@DzikuVx])

Starting from version 2.5, INAV supports Rovers and Boats (more general: ground and water vehicles without altitude control with yaw steering only. Remark: tanks and vehicles with differential steering are also supported).

The Rover and Boat related features:

• Flight modes: PosHold, AltHold, Cruise, Launch, Loiter Direction Change, Angle, Horizon, FPV Angle Mix, Turn Assist, Airmode are not available on Rover and Boat platforms
• Feature 3D is renamed to Reversible Motors
• Reversible ESCs are now working correctly
• New Heading PID controller used for YAW control on rovers and boats
• Return To Home is working. Rover will disarm at the end of RTH procedure. Bear in mind, it will return in a straight line, no Smart RTH support yet.
• Waypoint Missions are operational. Rover will drive directly int the direction of the Waypoint. At the last Waypoint, it will stop motors instead of loitering.

Reversible ESCs support ([@DzikuVx])

Description

New Matrix Filters for Multirotors ([@DzikuVx])

The new Matrix Notch filter comes enabled by default on INAV. It's a dynamic notch filter that detects noise frequencies on each individual axis (X, Y and Z) and apply the filters to each axis, resulting in a much better noise handling.

Check out this video to see a detailed explanation of how the Matrix Filter works.

JUMP, HOLD and LAND Waypoint types ([@giacomo892], [@Jacky2k], [@stronnag])

INAV 2.5 supports additional waypoint types, allowing more complex missions to be performed.

• JUMP: Defines a 'jump' to another waypoint, allowing mission loops (backward jump) and forward jumps. The number of jump iterations is also user defined.
• POSHOLD_TIME: Defines the amount of time for which the aircraft will loiter at the waypoint position before proceeding to the next waypoint.
• LAND: Defines a location for landing. This allows INAV to perform one-way missions.

The navigation messages wiki page provides more information and annotated examples.

HUD POI Waypoints markers ([@OlivierC-FR])

Shows the next waypoints in the hud. To enable this feature, enter the count of next waypoints in the CLI command:

set osd_hud_wp_disp = 0 to 3

Or on the CMS menu: OSD > HUD > Displayed items > Next waypoints: (from 0 to 3, 0 means disabled)

Then start a WP mission, the next WPs will appear as soon as the mission is loaded in FC memory AND that the aircraft has a valid GPS heading, so it must move if it's not fitted with a magnetometer.

Servo S.BUS output ([@digitalentity])

It's now possible to connect S.BUS servos to INAV. You can configure INAV to output servo commands as S.BUS stream on one of the serial ports. Important note - F4 boards generally don't support inversion on serial ports, for those boards a hardware inverter might be required.

VTX/CMS Unification ([@digitalentity])

Now CMS has one unified page for configuring VTX settings. No need to remember which protocol your VTX is talking (Tramp, S.Audio or other).

ESC Sensor listen-only mode ([@digitalentity])

ESC sensor can now be put to listen-only mode, allowing ESC sensor functionality to be used when an ESC is connected with a PWM-based protocol and configured to sent telemetry automatically. This will be useful on airplanes to provide RPM feedback without the need to ...

INAV 2.5.0-RC1

Hello and welcome to INAV 2.5.0 RC1!

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 Official on Telegram
	INAV Official on Facebook

Please continue to support developers, for free, by checking out from the following stores after having clicked on the following links:

Support us on Banggood

Your contribution from the past month has been very welcome! Thanks!

Tested and suggested hardware can be found here

Important Notes

CLI aux mode migration

inav 2.5 moves the CLI aux mode value from a boxid that was not guaranteed to be stable between releases to a permmanentId that is guaranteed to be stable between releases. This is a "breaking" change for inav 2.5 that brings stability in the future.

In order to use a diff or dump from 2.4 or earlier in inav 2.5, the user must do one of the following:

• Remove aux settings from the diff / dump and recreate them in inav 2.5; or
• Use the box2perm tool to migrate the diff / dump automatically; or
• Manually edit the aux settings; a conversion table is provided as part of the box2perm documentation.

F3 Deprecation

STM32 F3 flight controllers like Omnibus F3 or SP Racing F3 are deprecated and soon they will reach the end of support in INAV. If you are still using F3 boards, please migrate to F4 or F7.

Upgrading from 2.4

0. Download and install the new configurator
1. Save to a file the current diff all from the CLI.
2. Modify the diff to update or remove the aux statements
3. Upgrade to INAV 2.5 using the Full Erase option in the configurator.
4. Upload your OSD font of choice from the OSD tab.
5. Go the CLI again and paste the contents on the file you previously create and write save , press ENTER and done!
6. You should be ready, explore new 2.5 features and enjoy!

Upgrading from 2.3 or older version

Please follow the instructions on this page.

New targets:

• AIRBOTF7
• OMMINBUSF7NANOV2

CLI:

New commands

Command	Description
gf	Global Functions. For details refer to Global Functions.md in the docs folder.
logic	Defined Logic conditions activating Global Functions. For details refer to Logic Conditions.md in the docs folder.

New Settings

Setting	Description
dynamic_gyro_notch_enabled	Enable/disable dynamic gyro notch also known as Matrix Filter [ON / OFF]
dynamic_gyro_notch_range	Range for dynamic gyro notches. MEDIUM for 5", HIGH for 3" and MEDIUM or LOW for 7" and bigger propellers
dynamic_gyro_notch_q	Q factor for dynamic notches
dynamic_gyro_notch_min_hz	Minimum frequency for dynamic notches. Default value of 150 works best with 5" multirors. Should be lowered with increased size of propellers. Values around 100 work fine on 7" drones. 10" can go down to 60 - 70
motor_direction_inverted	Cli.md UPDATE Boolean ON / OFF, replaces yaw_motor_direction
nav_fw_pos_hdg_p	Cli.md MISSING
nav_fw_pos_hdg_i	Cli.md MISSING
nav_fw_pos_hdg_d	Cli.md MISSING
nav_fw_pos_hdg_pidsum_limit	Cli.md MISSING
nav_use_fw_yaw_control	Cli.md MISSING
nav_fw_yaw_deadband	Cli.md MISSING
osd_esc_temp_alarm_max	Temperature under which the IMU temperature OSD element will start blinking (decidegrees centigrade)
osd_esc_temp_alarm_min	Temperature above which the IMU temperature OSD element will start blinking (decidegrees centigrade)
osd_hud_wp_disp	Cli.md MISSING Controls display of the next waypoints in the HUD. See description below
osd_ahi_style	Cli.md MISSING Sets OSD Artificial Horizon style "DEFAULT" or "LINE"
telemetry_halfduplex	Cli.md UPDATE Replaces telemetry_uart_unidir
servo_protocol	Select which protocol is used to communicate with servos (PWM, servo driver or SBUS)

Removed settings

Setting	Description
dyn_notch_width_percent
dyn_notch_range
dyn_notch_q
dyn_notch_min_hz
rpm_dterm_filter_enabled
dterm_gyro_harmonic
rpm_dterm_min_hz
rpm_dterm_q
telemetry_uart_unidir	Cli.md UPDATE Replaced by telemetry_halfduplex
yaw_motor_direction	Cli.md UPDATE Replaced by motor_direction_inverted

New drivers and protocols

• BME280 Barometer (@gereic)

Initial Rover and Boat support (@DzikuVx)

Starting from version 2.5, INAV supports Rovers and Boats (more general: ground and water vehicles without altitude control with yaw steering only. Remark: tanks and vehicles with differential steering are also supported).

The Rover and Boat related features:

• Flight modes: PosHold, AltHold, Cruise, Launch, Loiter Direction Change, Angle, Horizon, FPV Angle Mix, Turn Assist, Airmode are not available on Rover and Boat platforms
• Feature 3D is renamed to Reversible Motors
• Reversible ESCs are now working correctly
• New Heading PID controller used for YAW control on rovers and boats
• Return To Home is working. Rover will disarm at the end of RTH procedure. Bear in mind, it will return in a straight line, no Smart RTH support yet.
• Waypoint Missions are operational. Rover will drive directly int the direction of the Waypoint. At the last Waypoint, it will stop motors instead of loitering.

Reversible ESCs support (@DzikuVx)

Description

New Matrix Filters for Multirotors (@DzikuVx)

The new Matrix Notch filter comes enabled by default on INAV. It's a dynamic notch filter that detects noise frequencies on each individual axis (X, Y and Z) and apply the filters to each axis, resulting in a much better noise handling.

Check out this video to see a detailed explanation of how the Matrix Filter works.

JUMP, HOLD and LAND Waypoint types (@giacomo892, @Jacky2k, @stronnag)

INAV 2.5 supports additional waypoint types, allowing more complex missions to be performed.

• JUMP: Defines a 'jump' to another waypoint, allowing mission loops (backward jump) and forward jumps. The number of jump iterations is also user defined.
• POSHOLD_TIME: Defines the amount of time for which the aircraft will loiter at the waypoint position before proceeding to the next waypoint.
• LAND: Defines a location for landing. This allows INAV to perform one-way missions.

The navigation messages wiki page provides more information and annotated examples.

HUD POI Waypoints markers (@OlivierC-FR)

Shows the next waypoints in the hud. To enable this feature, enter the count of next waypoints in the CLI command:

set osd_hud_wp_disp = 0 to 3

Or on the CMS menu: OSD > HUD > Displayed items > Next waypoints: (from 0 to 3, 0 means disabled)

Then start a WP mission, the next WPs will appear as soon as the mission is loaded in FC memory AND that the aircraft has a valid GPS heading, so it must move if it's not fitted with a magnetometer.

Servo S.BUS output (@digitalentity)

It's now possible to connect S.BUS servos to INAV. You can configure INAV to output servo commands as S.BUS stream on one of the serial ports. Important note - F4 boards generally don't support inversion on serial ports, for those boards a hardware inverter might be required.

VTX/CMS Unification (@digitalentity)

Now CMS has one unified page for configuring VTX settings. No need to remember which protocol your VTX is talking (Tramp, S.Audio or other).

ESC Sensor listen-only mode (@digitalentity)

ESC sensor can now be put to listen-only mode, allowing ESC sensor functionality to be used when an ESC is connected with a PWM-based protocol and configured to sent telemetry automatically. This will be useful on airplanes to provide RPM feedback without the need to use DSHOT.

Legacy Targets

Due to flash / memory restrictions the following functions have been disabled on F3 targets:

• Pitot
• Multirotor braking

INAV 2.4.0

Hello and welcome to INAV 2.4.0 Release!

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 Official on Telegram
	INAV Official on Facebook

Please continue to support developers, for free, by checking out from the following stores after having clicked on the following links:

Support us on Banggood

Your contribution from the past month has been very welcome! Thanks!

Tested and suggested hardware can be found here

Important Notes

Upgrading from 2.3.0 or 2.2.0

0. Download and install the new configurator
1. Save to a file the current diff all from the CLI.
2. Upgrade to INAV 2.4 using the Full Erase option in the configurator.
3. Upload your OSD font of choice from the OSD tab.
4. Find on your diff all result the min_throttle line, and replace it by throttle_idle, setting the percentage of the idle throttle. The default is 15.
5. Go the CLI again and paste the contents on the file you previously create and write save , press ENTER and done!
6. You should be ready, explore new 2.4 features and enjoy!

Upgrading from 2.1.0 or older version

Please follow the instructions on this page.

New targets:

• Matek F722-PX
• Holybro Kakute F7 HDV
• Mamba F405US Stack
• Mamba F722S Stack
• F4BY (@Jingxian-Xiao)

CLI:

New commands

Command	Description
msc	Enter USB Mass storage mode. See docs/USB_Mass_Storage_(MSC)_mode.md for usage information.

Setting	Description
throttle_idle	Previously min_throttle - Set the idle throttle percent. The percentage of the throttle range (max_throttle - min_command) above min_command used for minimum / idle throttle. Note that the default of 15% will most likely be too high for modern *shot ESCs.
nav_rth_home_offset_distance	Distance offset from GPS established home to "safe" position used for RTH (cm, 0 disables)
nav_rth_home_offset_direction	Direction offset from GPS established home to "safe" position used for RTH (degrees, 0=N, 90=E, 180=S, 270=W, requires non-zero offset distance)
gyro_stage2_lowpass_type	Defines the type of stage 2 gyro LPF filter. Possible values: PT1, BIQUAD. PT1 offers faster filter response while BIQUAD better attenuation. Default value: BIQUAD
rpm_gyro_filter_enabled	Enables gyro RPM filter. Turned OFF by default. Set to ON only when ESC telemetry is working and rotation speed of the motors is correctly reported to INAV
rpm_dterm_filter_enabled	RPM filter for D-term. Experimental, probably will be removed in the next release
rpm_gyro_harmonics	Number of harmonic frequencies to be covered by gyro RPM filter. Default value of 1 usually works just fine
rpm_gyro_min_hz	The lowest frequency for gyro RPM filter. Default 150 is fine for 5" mini-quads. On 7-inch drones you can lower even down to 60-70
rpm_gyro_q	Q factor for gyro RPM filter. Lower values give softer, wider attenuation. Usually there is no need to change this setting
dterm_gyro_harmonics	Number of harmonic frequencies to be covered by D-term RPM filter. Default value of 1 usually works just fine
rpm_dterm_min_hz	-
rpm_dterm_q	-
dterm_lpf_type	Defines the type of stage 1 D-term LPF filter. Possible values: PT1, BIQUAD. PT1 offers faster filter response while BIQUAD better attenuation. Default value: BIQUAD
dterm_lpf2_hz	Cutoff frequency for stage 2 D-term filter. Disabled by default 0
dterm_lpf2_type	Defines the type of stage 1 D-term LPF filter. Possible values: PT1, BIQUAD. PT1 offers faster filter response while BIQUAD better attenuation. Default value: BIQUAD
pidsum_limit_yaw	Replaces yaw_jump_prevention_limit and yaw_p_limit
pid_type	Allows to set type of PID controller used in control loop. Possible values: NONE, PID, PIFF, AUTO. Change only in case of experimental platforms like VTOL, tailsitters, rovers, boats, etc. Airplanes should always use PIFF and multirotors PID

Removed settings

Setting	Description
min_throttle	Replaced by throttle_idle
yaw_jump_prevention_limit	Replaced by pidsum_limit_yaw
yaw_p_limit	Replaced by pidsum_limit_yaw

New drivers and protocols

• BMP388 barometer (@shellixyz, @hydra)
• ICM20601 IMU (@shellixyz)
• SBUS Fast (@digitalentity)

RPM Filters (@DzikuVx)

INAV can now take determine where to place notch filters based on the rotation speed of the motors to attenuate noise being fed into PID.
You need to connect BlHeli telemetry on a serial port and then enable RPM Filters.

USB Mass Storage (@fiam, @stronnag)

USB MSC (mass storage device class) SD card and internal flash access is enabled for F4 and F7 targets with suitable hardware. This means you can mount the FC (SD card / internal flash) as a host computer file system via USB to read BB logs (and delete them from an SD card). See docs/USB_Mass_Storage_(MSC)_mode.md for usage information.

RTH Home Offset (@stronnag)

Allows INAV RTH and failsafe RTH to not return the launch point but in a nearby area allowing not to violate a protected space which might be active in some flying fields. It's configurable via nav_rth_home_offset_distance which sets the distance offset from GPS established home to "safe" position used for RTH and nav_rth_home_offset_direction which configure the direction offset from GPS established home to "safe" position used for RTH (degrees, 0=N, 90=E, 180=S, 270=W, requires non-zero offset distance)

Linear Climb and Dive on Waypoint Missions (@hali9)

When flying a mission with different altitude waypoints, the old behaviour was INAV trying to reach the next waypoint altitude as soon as it can, constrained only by nav_auto_climb_rate, nav_fw_climb_angle and nav_fw_dive_angle CLI variables. Aircraft would use a lot of energy to reach the waypoint altitude, and then will keep that altitude for the rest of the way to the waypoint.

Now, INAV will try to climb or dive to the next waypoint altitude in a linearly manner, so it'll reach the next waypoint altitude only when it's almost reaching the waypoint itself. This way aircraft will consume less energy to climb since it'll be a less steep climb or will save energy by trading altitude for speed for more time when diving.

It works for all airframe types, fixed wing or multirotor.

OSD improvements (@fiam, @shellixyz, @DzikuVx)

Motors RPM can now displayed as a new item. There are minor bug fixes in the FrSky OSD driver.
Furthermore when you navigate the CMS (OSD menu) servos on your airplane will not move anymore.

Support for DJI HD FPV (@digitalentity)

INAV is now ready to embrace HD FPV with support for the DJI HD FPV system. Just connect the DJI HD VTX to a spare UART, set that UART to have a DJI FPV function in the Configurator Ports tab and you're good to go.

If you want to use DJI remote controller as well, you can connect the S.Bus wire from DJI VTX to your FC as well and select "SBUS Fast" protocol (earlier known as DJI HDL). INAV fully supports this protocol and will allow you to get 7ms contol latency (as advertised by DJI).

INAV 2.4.0-RC2

Hello and welcome to INAV 2.4.0 Release!

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 Official on Telegram
	INAV Official on Facebook

Please continue to support developers, for free, by checking out from the following stores after having clicked on the following links:

Support us on Banggood

Your contribution from the past month has been very welcome! Thanks!

Tested and suggested hardware can be found here

Important Notes

Upgrading from 2.3.0

0. Download and install the new configurator
1. Save to a file the current diff all from the CLI.
2. Upgrade to INAV 2.4 using the Full Erase option in the configurator.
3. Upload your OSD font of choice from the OSD tab.
4. Find on your diff all result the min_throttle line, and replace it by throttle_idle, setting the percentage of the idle throttle. The default is 15.
5. Go the CLI again and paste the contents on the file you previously create and write save , press ENTER and done!
6. You should be ready, explore new 2.4 features and enjoy!

Upgrading from 2.2.0 or older version

0. Please follow the upgrade guide to 2.3.0 from 2.2.0 here and then step to the previous section.

New targets:

• Matek F722-PX
• Holybro Kakute F7 HDV

CLI:

New commands

Command	Description
msc	Enter USB Mass storage mode. See docs/USB_Mass_Storage_(MSC)_mode.md for usage information.

Setting	Description
throttle_idle	Previously min_throttle - Set the idle throttle percent. The percentage of the throttle range (max_throttle - min_command) above min_command used for minimum / idle throttle. Note that the default of 15% will most likely be too high for modern *shot ESCs.
nav_rth_home_offset_distance	Distance offset from GPS established home to "safe" position used for RTH (cm, 0 disables)
nav_rth_home_offset_direction	Direction offset from GPS established home to "safe" position used for RTH (degrees, 0=N, 90=E, 180=S, 270=W, requires non-zero offset distance)
gyro_stage2_lowpass_type	Defines the type of stage 2 gyro LPF filter. Possible values: PT1, BIQUAD. PT1 offers faster filter response while BIQUAD better attenuation. Default value: BIQUAD
rpm_gyro_filter_enabled	Enables gyro RPM filter. Turned OFF by default. Set to ON only when ESC telemetry is working and rotation speed of the motors is correctly reported to INAV
rpm_dterm_filter_enabled	RPM filter for D-term. Experimental, probably will be removed in the next release
rpm_gyro_harmonics	Number of harmonic frequencies to be covered by gyro RPM filter. Default value of 1 usually works just fine
rpm_gyro_min_hz	The lowest frequency for gyro RPM filter. Default 150 is fine for 5" mini-quads. On 7-inch drones you can lower even down to 60-70
rpm_gyro_q	Q factor for gyro RPM filter. Lower values give softer, wider attenuation. Usually there is no need to change this setting
dterm_gyro_harmonics	Number of harmonic frequencies to be covered by D-term RPM filter. Default value of 1 usually works just fine
rpm_dterm_min_hz	-
rpm_dterm_q	-
dterm_lpf_type	Defines the type of stage 1 D-term LPF filter. Possible values: PT1, BIQUAD. PT1 offers faster filter response while BIQUAD better attenuation. Default value: BIQUAD
dterm_lpf2_hz	Cutoff frequency for stage 2 D-term filter. Disabled by default 0
dterm_lpf2_type	Defines the type of stage 1 D-term LPF filter. Possible values: PT1, BIQUAD. PT1 offers faster filter response while BIQUAD better attenuation. Default value: BIQUAD
pidsum_limit_yaw	Replaces yaw_jump_prevention_limit and yaw_p_limit
pid_type	Allows to set type of PID controller used in control loop. Possible values: NONE, PID, PIFF, AUTO. Change only in case of experimental platforms like VTOL, tailsitters, rovers, boats, etc. Airplanes should always use PIFF and multirotors PID

Removed settings

Setting	Description
min_throttle	Replaced by throttle_idle
yaw_jump_prevention_limit	Replaced by pidsum_limit_yaw
yaw_p_limit	Replaced by pidsum_limit_yaw

New drivers and protocols

• BMP388 barometer
• ICM20601 IMU
• SBUS Fast

RPM Filters

INAV can now take determine where to place notch filters based on the rotation speed of the motors to attenuate noise being fed into PID.
You need to connect BlHeli telemetry on a serial port and then enable RPM Filters.

USB Mass Storage

USB MSC (mass storage device class) SD card and internal flash access is enabled for F4 and F7 targets with suitable hardware. This means you can mount the FC (SD card / internal flash) as a host computer file system via USB to read BB logs (and delete them from an SD card). See docs/USB_Mass_Storage_(MSC)_mode.md for usage information.

RTH Home Offset

Allows INAV RTH and failsafe RTH to not return the launch point but in a nearby area allowing not to violate a protected space which might be active in some flying fields. It's configurable via nav_rth_home_offset_distance which sets the distance offset from GPS established home to "safe" position used for RTH and nav_rth_home_offset_direction which configure the direction offset from GPS established home to "safe" position used for RTH (degrees, 0=N, 90=E, 180=S, 270=W, requires non-zero offset distance)

Linear Climb and Dive on Waypoint Missions

When flying a mission with different altitude waypoints, the old behaviour was INAV trying to reach the next waypoint altitude as soon as it can, constrained only by nav_auto_climb_rate, nav_fw_climb_angle and nav_fw_dive_angle CLI variables. Aircraft would use a lot of energy to reach the waypoint altitude, and then will keep that altitude for the rest of the way to the waypoint.

Now, INAV will try to climb or dive to the next waypoint altitude in a linearly manner, so it'll reach the next waypoint altitude only when it's almost reaching the waypoint itself. This way aircraft will consume less energy to climb since it'll be a less steep climb or will save energy by trading altitude for speed for more time when diving.

It works for all airframe types, fixed wing or multirotor.

OSD improvements

Motors RPM can now displayed as a new item. There are minor bug fixes in the FrSky OSD driver.
Furthermore when you navigate the CMS (OSD menu) servos on your airplane will not move anymore.

Support for DJI HD FPV

INAV is now ready to embrace HD FPV with support for the DJI HD FPV system. Just connect the DJI HD VTX to a spare UART, set that UART to have a DJI FPV function in the Configurator Ports tab and you're good to go.

If you want to use DJI remote controller as well, you can connect the S.Bus wire from DJI VTX to your FC as well and select "SBUS Fast" protocol (earlier known as DJI HDL). INAV fully supports this protocol and will allow you to get 7ms contol latency (as advertised by DJI).

INAV 2.4.0-RC1

Hello and welcome to INAV 2.4.0 Release!

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 Official on Telegram
	INAV Official on Facebook

Please continue to support developers, for free, by checking out from the following stores after having clicked on the following links:

Support us on Banggood

Your contribution from the past month has been very welcome! Thanks!

Tested and suggested hardware can be found here

Important Notes

Upgrading from 2.3.0

0. Download and install the new configurator
1. Save to a file the current diff all from the CLI.
2. Upgrade to INAV 2.4 using the Full Erase option in the configurator.
3. Upload your OSD font of choice from the OSD tab.
4. Find on your diff all result the min_throttle line, and replace it by throttle_idle, setting the percentage of the idle throttle. The default is 15.
5. Go the CLI again and paste the contents on the file you previously create and write save , press ENTER and done!
6. You should be ready, explore new 2.4 features and enjoy!

Upgrading from 2.2.0 or older version

0. Please follow the upgrade guide to 2.3.0 from 2.2.0 here and then step to the previous section.

New targets:

• Matek F722-PX
• Holybro Kakute F7 HDV

CLI:

New commands

Command	Description
msc	Enter USB Mass storage mode. See docs/USB_Mass_Storage_(MSC)_mode.md for usage information.

Setting	Description
throttle_idle	Previously min_throttle - Set the idle throttle percent. The percentage of the throttle range (max_throttle - min_command) above min_command used for minimum / idle throttle. Note that the default of 15% will most likely be too high for modern *shot ESCs.
nav_rth_home_offset_distance	Distance offset from GPS established home to "safe" position used for RTH (cm, 0 disables)
nav_rth_home_offset_direction	Direction offset from GPS established home to "safe" position used for RTH (degrees, 0=N, 90=E, 180=S, 270=W, requires non-zero offset distance)
gyro_stage2_lowpass_type	Defines the type of stage 2 gyro LPF filter. Possible values: PT1, BIQUAD. PT1 offers faster filter response while BIQUAD better attenuation. Defauilt value: BIQUAD
rpm_gyro_filter_enabled	Enables gyro RPM filtere. Turned OFF by default. Set to ON only when ESC telemetry is working and rotation speed of the motors is correctly reported to INAV
rpm_dterm_filter_enabled	RPM filter for D-term. Experimental, probably will be removed in the next release
rpm_gyro_harmonics	Number of harmonic frequences to be covered by gyro RPM filter. Default value of 1 usually works just fine
rpm_gyro_min_hz	The lowest frequency for gyro RPM filtere. Default 150 is fine for 5" mini-quads. On 7-inch drones you can lower even down to 60-70
rpm_gyro_q	Q factor for gyro RPM filter. Lower values give softer, wider attenuation. Usually there is no need to change this setting
dterm_gyro_harmonics	Number of harmonic frequences to be covered by D-term RPM filter. Default value of 1 usually works just fine
rpm_dterm_min_hz	-
rpm_dterm_q	-
dterm_lpf_type	Defines the type of stage 1 D-term LPF filter. Possible values: PT1, BIQUAD. PT1 offers faster filter response while BIQUAD better attenuation. Defauilt value: BIQUAD
dterm_lpf2_hz	Cutoff frequency for stage 2 D-term filter. Disabled by default 0
dterm_lpf2_type	Defines the type of stage 1 D-term LPF filter. Possible values: PT1, BIQUAD. PT1 offers faster filter response while BIQUAD better attenuation. Defauilt value: BIQUAD
pidsum_limit_yaw	Replaces yaw_jump_prevention_limit and yaw_p_limit
pid_type	Allows to set type of PID controller used in control loop. Possible values: NONE, PID, PIFF, AUTO. Change only in case of experimental platforms like VTOL, tailsitters, rovers, boats, etc. Airplanes should always use PIFF and multirotors PID

Removed settings

Setting	Description
min_throttle	Replaced by throttle_idle
yaw_jump_prevention_limit	Replaced by pidsum_limit_yaw
yaw_p_limit	Replaced by pidsum_limit_yaw

New drivers and protocols

• BMP388 barometer
• ICM20601 IMU
• SBUS Fast

RPM Filters

INAV can now take determine where to place notch filters based on the rotation speed of the motors to attenuate noise being fed into PID.
You need to connect BlHeli telemetry on a serial port and then enable RPM Filters.

USB Mass Storage

USB MSC (mass storage device class) SD card and internal flash access is enabled for F4 and F7 targets with suitable hardware. This means you can mount the FC (SD card / internal flash) as a host computer file system via USB to read BB logs (and delete them from an SD card). See docs/USB_Mass_Storage_(MSC)_mode.md for usage information.

RTH Home Offset

Allows INAV RTH and failsafe RTH to not return the launch point but in a nearby area allowing not to violate a protected space which might be active in some flying fields. It's configurable via nav_rth_home_offset_distance which sets the distance offset from GPS established home to "safe" position used for RTH and nav_rth_home_offset_direction which configure the direction offset from GPS established home to "safe" position used for RTH (degrees, 0=N, 90=E, 180=S, 270=W, requires non-zero offset distance)

Linear Climb and Dive on Waypoint Missions

When flying a mission with different altitude waypoints, the old behaviour was INAV trying to reach the next waypoint altitude as soon as it can, constrained only by nav_auto_climb_rate, nav_fw_climb_angle and nav_fw_dive_angle CLI variables. Aircraft would use a lot of energy to reach the waypoint altitude, and then will keep that altitude for the rest of the way to the waypoint.

Now, INAV will try to climb or dive to the next waypoint altitude in a linearly manner, so it'll reach the next waypoint altitude only when it's almost reaching the waypoint itself. This way aircraft will consume less energy to climb since it'll be a less steep climb or will save energy by trading altitude for speed for more time when diving.

It works for all airframe types, fixed wing or multirotor.

OSD improvements

Motors RPM can now displayed as a new item. There are minor bug fixes in the FrSky OSD driver.
Furthermore when you navigate the CMS (OSD menu) servos on your airplane will not move anymore.

Support for DJI HD FPV

INAV is now ready to embrace HD FPV with support for the DJI HD FPV system. Just connect the DJI HD VTX to a spare UART, set that UART to have a DJI FPV function in the Configurator Ports tab and you're good to go.

If you want to use DJI remote controller as well, you can connect the S.Bus wire from DJI VTX to your FC as well and select "SBUS Fast" protocol (earlier known as DJI HDL). INAV fully supports this protocol and will allow you to get 7ms contol latency (as advertised by DJI).

INAV 2.3.0

Hello and welcome to INAV 2.3.0 Release!

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 Official on Telegram
	INAV Official on Facebook

Please continue to support developers, for free, by checking out from the following stores after having clicked on the following links:

Support us on Banggood

Your contribution from the past month has been very welcome! Thanks!

Tested and suggested hardware can be found here

Important Notes

Upgrading from 2.2.0

0. Download and install the new configurator
1. Save to a file the current diff all from the CLI.
2. Upgrade to INAV 2.3 using the Full Erase option in the configurator.
3. Upload your OSD font of choice from the OSD tab.
4. Go the CLI again and paste the contents on the file you previously create and write save , press ENTER and done!
5. You should be ready, explore new 2.3 features and enjoy!

Upgrading from 2.1.0

0. Please follow the upgrade guide to 2.2.0 and then step to the previous section.

New targets:

• Aikon F4
• iFlight F4 TwinG
• Matek F411 WING SE aka F411 WSE
• Matek F765 WING

CLI:

New

Setting	Description
dyn_notch_width_percent	Distance in % of the attenuated frequency for double dynamic filter notched. When set to 0 single dynamic notch filter is used
dyn_notch_range	Dynamic gyro filter range. Possible values LOW MEDIUM HIGH. MEDIUM should work best for 5-6" multirotors. LOW should work best with 7" and bigger. HIGH should work with everything below 4"
dyn_notch_q	Q factor for dynamic notches
dyn_notch_min_hz	Minimum frequency for dynamic notches. Default value of 150 works best with 5" multirors. Should be lowered with increased size of propellers. Values around 100 work fine on 7" drones. 10" can go down to 60 - 70
throttle_scale	Throttle scaling factor. 1 means no throttle scaling. 0.5 means throttle scaled down by 50%
vbat_meter_type	Vbat voltage source. Possible values: NONE, ADC, ESC. ESC required ESC telemetry enabled and running
antigravity_gain	Max Antigravity gain. 1 means Antigravity is disabled, 2 means Iterm is allowed to double during rapid throttle movements
antigravity_accelerator
antigravity_cutoff_lpf_hz	Antigravity cutoff frequenct for Throtte filter. Antigravity is based on the difference between actual and filtered throttle input. The bigger is the difference, the bigger Antigravity gain
sim_pin	PIN for GSM card module

ESC Telemetry

ESC Telemetry is a feature of DSHOT ESCs to send some data back to the flight controller - voltage, current, temperature, motor RPM. It required additional wire from an ESC to the flight controller. To configure you need DSHOT as a motor protocol and "ESC output/telemetry" function enabled for the serial port where ESC telemetry wires are connected.

INAV ESC Telemetry with BlHeli_32 - The Complete Guide

Dynamic Filters

Dynamic Filters is a port of Betaflight dynamic filtering. It uses FFT analysis of gyro traces to locate noise peaks and double notch filters to attenuate them. By default, there are 6 notches, 2 per each axis: roll, pitch and yaw.

To enable Dynamic Filters, go to CLI and type
feature DYNAMIC_FILTERS

The default values are suited for 5" mini quads. Depending on the size of multirotor propellers, some adjustments might be required.

Propeller size	dyn_notch_range	dyn_notch_min_hz
Below 5"	HIGH	200 or more
5"	HIGH or MEDIUM	150 or more
7"	LOW	100 or less

INAV Dynamic Filters, one of INAV 2.3 goodies - how-to guide

Global Functions

Global Functions (abbr. GF) are a mechanism allowing to override certain flight parameters (during flight). Global Functions are activated by Logic Conditions.

Currently implemented Global Functions

Name	Notes
OVERRIDE_ARMING_SAFETY	Allows to arm on any angle even without GPS fix
OVERRIDE_THROTTLE_SCALE	Override throttle scale to the defined value
SWAP_ROLL_YAW	basically, when activated, yaw stick will control roll and roll stick will control yaw. Required for tail-sitters VTOL during vertical-horizonral transition when body frame changes
SET_VTX_POWER_LEVEL	Sets VTX power level. Allows to change VTX power level based on distance, switch or other values present in Logic Conditions
INVERT_ROLL	Inverts ROLL axis input for PID/PIFF controller
INVERT_PITCH	Inverts PITCH axis input for PID/PIFF controller
INVERT_YAW	Inverts YAW axis input for PID/PIFF controller
OVERRIDE_THROTTLE	Override throttle value that is fed to the motors by mixer. Allows for throttle hold

For details refer to Global Functions.md in docs folder.

Pixel based OSD

INAV now supports pixel based OSDs and includes a driver for FrSky's OSD. Some elements, like the artificial horizon, the home arrow or the heading graph include pixel based implementations.

To enable it go to the Ports tab in the configurator and select "FrSky OSD" from the peripherals column of the port that the OSD is connected to. Font uploading and OSD element configuration works in the same way, regardless of the OSD type.

Development Environment

The iNav Makefile will attempt to install a recommended compiler for your platform. Should you wish to override this, or your platform is not supported, please refer to the document docs/development/Generic_Linux_development.md which describes how to use an alternative compiler.

Due to third-party incompatibilities between Windows 64bit, Cygwin and the 32bit ARM cross-compiler, we do not recommend trying to build with Cygwin. The Cygwin build documentation has been withdrawn. Please use WSL or a Linux VM for building on Windows.

INAV 2.3.0-RC2

Hello and welcome to INAV 2.3.0 Release!

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 Official on Telegram
	INAV Official on Facebook

Please continue to support developers, for free, by checking out from the following stores after having clicked on the following links:

Support us on Banggood

Your contribution from the past month has been very welcome! Thanks!

Tested and suggested hardware can be found here

Important Notes

Upgrading from 2.2.0

0. Download and install the new configurator
1. Save to a file the current diff all from the CLI.
2. Upgrade to INAV 2.3 using the Full Erase option in the configurator.
3. Upload your OSD font of choice from the OSD tab.
4. Go the CLI again and paste the contents on the file you previously create and write save , press ENTER and done!
5. You should be ready, explore new 2.3 features and enjoy!

Upgrading from 2.1.0

0. Please follow the upgrade guide to 2.2.0 and then step to the previous section.

New targets:

• Aikon F4
• iFlight F4 TwinG
• Matek F411 WING SE aka F411 WSE
• Matek F765 WING

CLI:

New

Setting	Description
dyn_notch_width_percent	Distance in % of the attenuated frequency for double dynamic filter notched. When set to 0 single dynamic notch filter is used
dyn_notch_range	Dynamic gyro filter range. Possible values LOW MEDIUM HIGH. MEDIUM should work best for 5-6" multirotors. LOW should work best with 7" and bigger. HIGH should work with everything below 4"
dyn_notch_q	Q factor for dynamic notches
dyn_notch_min_hz	Minimum frequency for dynamic notches. Default value of 150 works best with 5" multirors. Should be lowered with increased size of propellers. Values around 100 work fine on 7" drones. 10" can go down to 60 - 70
throttle_scale	Throttle scaling factor. 1 means no throttle scaling. 0.5 means throttle scaled down by 50%
vbat_meter_type	Vbat voltage source. Possible values: NONE, ADC, ESC. ESC required ESC telemetry enabled and running
antigravity_gain	Max Antigravity gain. 1 means Antigravity is disabled, 2 means Iterm is allowed to double during rapid throttle movements
antigravity_accelerator
antigravity_cutoff_lpf_hz	Antigravity cutoff frequenct for Throtte filter. Antigravity is based on the difference between actual and filtered throttle input. The bigger is the difference, the bigger Antigravity gain
sim_pin	PIN for GSM card module

ESC Telemetry

ESC Telemetry is a feature of DSHOT ESCs to send some data back to the flight controller - voltage, current, temperature, motor RPM. It required additional wire from an ESC to the flight controller. To configure you need DSHOT as a motor protocol and "ESC output/telemetry" function enabled for the serial port where ESC telemetry wires are connected.

INAV ESC Telemetry with BlHeli_32 - The Complete Guide

Dynamic Filters

Dynamic Filters is a port of Betaflight dynamic filtering. It uses FFT analysis of gyro traces to locate noise peaks and double notch filters to attenuate them. By default, there are 6 notches, 2 per each axis: roll, pitch and yaw.

To enable Dynamic Filters, go to CLI and type
feature DYNAMIC_FILTERS

The default values are suited for 5" mini quads. Depending on the size of multirotor propellers, some adjustments might be required.

Propeller size	dyn_notch_range	dyn_notch_min_hz
Below 5"	HIGH	200 or more
5"	HIGH or MEDIUM	150 or more
7"	LOW	100 or less

INAV Dynamic Filters, one of INAV 2.3 goodies - how-to guide

Global Functions

Global Functions (abbr. GF) are a mechanism allowing to override certain flight parameters (during flight). Global Functions are activated by Logic Conditions.

Currently implemented Global Functions

Name	Notes
OVERRIDE_ARMING_SAFETY	Allows to arm on any angle even without GPS fix
OVERRIDE_THROTTLE_SCALE	Override throttle scale to the defined value
SWAP_ROLL_YAW	basically, when activated, yaw stick will control roll and roll stick will control yaw. Required for tail-sitters VTOL during vertical-horizonral transition when body frame changes
SET_VTX_POWER_LEVEL	Sets VTX power level. Allows to change VTX power level based on distance, switch or other values present in Logic Conditions
INVERT_ROLL	Inverts ROLL axis input for PID/PIFF controller
INVERT_PITCH	Inverts PITCH axis input for PID/PIFF controller
INVERT_YAW	Inverts YAW axis input for PID/PIFF controller
OVERRIDE_THROTTLE	Override throttle value that is fed to the motors by mixer. Allows for throttle hold

For details refer to Global Functions.md in docs folder.

Pixel based OSD

INAV now supports pixel based OSDs and includes a driver for FrSky's OSD. Some elements, like the artificial horizon, the home arrow or the heading graph include pixel based implementations.

To enable it go to the Ports tab in the configurator and select "FrSky OSD" from the peripherals column of the port that the OSD is connected to. Font uploading and OSD element configuration works in the same way, regardless of the OSD type.

Development Environment

The iNav Makefile will attempt to install a recommended compiler for your platform. Should you wish to override this, or your platform is not supported, please refer to the document docs/development/Generic_Linux_development.md which describes how to use an alternative compiler.