25 Jan 13:27

DzikuVx

ebf5b0e

INAV 4.1.0 Release Candidate 1 Pre-release

Pre-release

Hello and welcome to INAV 4.1 "Red Kite"

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 Discord Server
	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

This release is fully supported only with INAV Configurator 4.1. When an older version of Configurator is used, the OSD tab will not work!

Upgrading from a previous release

Upgrading from INAV 4.0

Use INAV Configurator 4.0 CLI to make a diff of the current configuration
Store the diff output
Download INAV Configurator 4.1 and flash INAV 4.1 firmware with FULL CHIP ERASE
Connect with INAV Configurator and restore the diff with the CLI tab

Upgrading from older versions

Please follow the instructions on this page.

Important changes

HDzero OSD canvas mode support
SD card support on Kakute H7 flight controllers
Improved Matrix filter tracks now 3 gyro noise peaks instead of only 1
Lowered Airmode threshold to improve Airmode handling on powerful multirotors
Fixed RTH Sanity Checking

What's Changed

The full list of changes is available here

New Contributors

@jimsynz made their first contribution in #6981
@jeffhendrix made their first contribution in #7587
@serg-2 made their first contribution in #7655
@geoffsim made their first contribution in #7668

Contributors

jimsynz, jeffhendrix, and 2 other contributors

Assets 112

18 Dec 18:16

DzikuVx

4.0.0

5a94015

INAV 4 "Red Kite"

Hello and welcome to INAV 4.0 "Red Kite"

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 Discord Server
	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

PPM receivers are no longer supported

If you use a PPM receiver, these are no longer supported by iNav. We recommend that you use serial based receivers.

F411 and F722 feature reduction

Due to the storage space on these flight controllers. Features have started to be dropped. See PR #7297 for details

Font update required

A font file update is required to use the new symbols and avoid an invalid font warning. Upload the updated font of your choosing from the OSD tab.

INAV LUA Script

If you are using the INAV LUA script and Crossfire, you should update to the latest INAV LUA script.

Upgrading from a previous release

Upgrading from INAV 3

Download and install the new configurator
Save to a file the current diff all from the CLI.
Upgrade to INAV 4.0 using the Full Erase option in the configurator.
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 a large number of 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 4.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Important changes

Filtering changes

With INAV 4.0 there are a couple of important changes in how gyro and D-term are filtered. They mostly affect Multirotor pilots.

Kalman filter aka Unicorn Filter is enabled by default
Unicorn Filter setup is simplified: you only tune Q factor. Window size and sharpness settings are removed
Dynamic Notch aka Matrix Filter is enabled by default
Matrix filter has been reworked and simplified. Now you only set minimum frequency and Q factor
Matrix filter resolution is now 4 times higher than with INAV 3
Static gyro notch was removed
First D-term LPF type changed to PT2 and second D-term LPF is disabled - this gives the same filtering as previously but with less settings to worry about
The Alpha-Beta-Gamma filter removed
The Smith Predictor is enabled by default by the new Configurator defaults

H743 support

INAV 4.0 comes with the full support of all H7 boards compatible with MATEKH743 target. This includes the SD Card and MSC mode support. Bear in mind, CAN and UAVCAN are still not supported by INAV and currently, there are no plans to implement them.

Blackbox improvements

Blackbox now always logs the Control Derivative and Feed Forward components, as well as rate target in degrees-per-seconds.
The latest INAV Blackbox Explorer is required to fully use those features.

New command blackbox allows setting which Blackbox fields are recorded to conserve space and bandwidth. Possible fields are:

NAV_ACC - Navigation accelerometer readouts
NAV_PID - Navigation PID debug
NAV_POS - Current and target position and altitude
MAG - Magnetometer raw values
ACC - Accelerometer raw values
ATTI - Attitude as computed by INAV position estimator
RC_DATA - RC channels 1-4 as returned by the radio receiver
RC_COMMAND - RC_DATA converted to [-500:500] scale with expo and headband
MOTORS - motor output

Usage

blackbox currently enabled Blackbox fields
blackbox list all available fields
blackbox -MOTORS disable MOTORS logging
blackbox MOTOR enable MOTORS logging

Rate Dynamics

INAV 4.0 adds a port of the EmuFlight Rate Dynamics system. It modifies stick input to change the flight feeling. To find out more refer to:

Below are some presets you might want to try

Default

set rate_dynamics_center_sensitivity = 100
set rate_dynamics_center_correction = 10
set rate_dynamics_center_weight = 0
set rate_dynamics_end_sensitivity = 100
set rate_dynamics_end_correction = 10
set rate_dynamics_end_weight = 0

Cinematic

set rate_dynamics_center_sensitivity = 80
set rate_dynamics_center_correction = 20
set rate_dynamics_center_weight = 85
set rate_dynamics_end_sensitivity = 90
set rate_dynamics_end_correction = 10
set rate_dynamics_end_weight = 50

Freestyle

set rate_dynamics_center_sensitivity = 80
set rate_dynamics_center_correction = 10
set rate_dynamics_center_weight = 35
set rate_dynamics_end_sensitivity = 130
set rate_dynamics_end_correction = 10 
set rate_dynamics_end_weight = 35

Freestyle Less bounceback

set rate_dynamics_center_sensitivity = 80
set rate_dynamics_center_correction = 10
set rate_dynamics_center_weight = 35
set rate_dynamics_end_sensitivity = 130
set rate_dynamics_end_correction = 30 
set rate_dynamics_end_weight = 35

Racing

set rate_dynamics_center_sensitivity = 130
set rate_dynamics_center_correction = 35
set rate_dynamics_center_weight = 30
set rate_dynamics_end_sensitivity = 115
set rate_dynamics_end_correction = 20
set rate_dynamics_end_weight = 10

WP Mission Enhancements

Multi-Mission

Multiple missions may be uploaded to the flight controller and a mission selected for execution by OSD, Stick Command or Mission Planner. Multi-Mission is supported by the inav Configurator and mwp mission planners.

Number of Waypoints

The maximum number of WPs is now 120.

On the fly missions

INAV 4.0 adds the capability to generate an "on the fly" mission while flying using aircraft positions.

Fly By Home Waypoints

INAV 4.0 adds Fly-by-home waypoints. This is a waypoint whose location is set to the home position at arm time.

Fixed-wing changes

Soaring mode

The soaring mode comes to iNav 4.0. The addition is great for people who fly gliders. The soaring mode adds a modifier that you can use to change how Course Hold, Cruise, or Position Hold (loiter) behave. When enabled, it disables altitude control and allows Angle mode to free float in pitch, allowing the plane to soar freely.

Two-stage climb first for RTH

This change allows the climb phase of a climb first RTH to have two separate parts. This is useful for pilots who want to climb first, to clear potential obstacles. But, don't want to be wasting energy flying away from home. This allows you to set a first climb stage altitude. Once it meets or exceeds that altitude, the plane will turn to home and continue climbing to the RTH altitude. See the iNav Wiki for more information.

Autotune no longer tunes P and I

There were often autotunes in iNav 3.0 which resulted in too high P and I. Also, D was not tuned at all. New default PIDs, that will work reasonably on all sizes of planes (#1390) have been added. This should give good results with an autotune, which can then be fine tuned to your plane.

OSD Units

If you previously used the UK units in your OSD. You will now find that your units are set to Metric + MPH. This is the new name for the old UK units. There is also a new UK units set, that better represents transportation units used in the UK. Full details can be found in the pull release.

There is also a new units set aimed at General Aviation pilots. This set uses Knots, Feet, Nautical Miles, 100 Feet per Minute, and Celsius for their respective values.

Changelist

H7: usb msc support for sdio #...

Assets 112

27 Nov 08:57

DzikuVx

4.0.0-RC2

f996170

INAV 4.0.0 Release Candidate 2 Pre-release

Pre-release

Hello and welcome to INAV 4.0.0 Release Candidate 2!

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 Discord Server
	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

PPM receivers are no longer supported

If you use a PPM receiver, these are no longer supported by iNav. We recommend that you use serial based receivers.

F411 and F722 feature reduction

Due to the storage space on these flight controllers. Features have started to be dropped. See PR #7297 for details

Font update required

A font file update is required to use the new symbols and avoid an invalid font warning. Upload the updated font of your choosing from the OSD tab.

Upgrading from a previous release

Upgrading from INAV 3

Download and install the new configurator
Save to a file the current diff all from the CLI.
Upgrade to INAV 3.0 using the Full Erase option in the configurator.
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 a large number of 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 4.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Important changes

Filtering changes

With INAV 4.0 there are a couple of important changes in how gyro and D-term are filtered. They mostly affect Multirotor pilots.

Kalman filter aka Unicorn Filter is enabled by default
Unicorn Filter setup is simplified: you only tune Q factor. Window size and sharpness settings are removed
Dynamic Notch aka Matrix Filter is enabled by default
Matrix filter has been reworked and simplified. Now you only set minimum frequency and Q factor
Matrix filter resolution is now 4 times higher than with INAV 3
Static gyro notch was removed
First D-term LPF type changed to PT2 and second D-term LPF is disabled - this gives the same filtering as previously but with less settings to worry about
The Alpha-Beta-Gamma filter removed
The Smith Predictor is enabled by default by the new Configurator defaults

H743 support

Blackbox improvements

New command blackbox allows setting which Blackbox fields are recorded to conserve space and bandwidth. Possible fields are:

NAV_ACC - Navigation accelerometer readouts
NAV_PID - Navigation PID debug
NAV_POS - Current and target position and altitude
MAG - Magnetometer raw values
ACC - Accelerometer raw values
ATTI - Attitude as computed by INAV position estimator
RC_DATA - RC channels 1-4 as returned by the radio receiver
RC_COMMAND - RC_DATA converted to [-500:500] scale with expo and headband
MOTORS - motor output

Usage

blackbox currently enabled Blackbox fields
blackbox list all available fields
blackbox -MOTORS disable MOTORS logging
blackbox MOTOR enable MOTORS logging

Rate Dynamics

INAV 4.0 adds a port of the EmuFlight Rate Dynamics system. It modifies stick input to change the flight feeling. To find out more refer to:

Below are some presets you might want to try

Default

set rate_dynamics_center_sensitivity = 100
set rate_dynamics_center_correction = 10
set rate_dynamics_center_weight = 0
set rate_dynamics_end_sensitivity = 100
set rate_dynamics_end_correction = 10
set rate_dynamics_end_weight = 0

Cinematic

set rate_dynamics_center_sensitivity = 80
set rate_dynamics_center_correction = 20
set rate_dynamics_center_weight = 85
set rate_dynamics_end_sensitivity = 90
set rate_dynamics_end_correction = 10
set rate_dynamics_end_weight = 50

Freestyle

set rate_dynamics_center_sensitivity = 80
set rate_dynamics_center_correction = 10
set rate_dynamics_center_weight = 35
set rate_dynamics_end_sensitivity = 130
set rate_dynamics_end_correction = 10 
set rate_dynamics_end_weight = 35

Freestyle Less bounceback

set rate_dynamics_center_sensitivity = 80
set rate_dynamics_center_correction = 10
set rate_dynamics_center_weight = 35
set rate_dynamics_end_sensitivity = 130
set rate_dynamics_end_correction = 30 
set rate_dynamics_end_weight = 35

Racing

set rate_dynamics_center_sensitivity = 130
set rate_dynamics_center_correction = 35
set rate_dynamics_center_weight = 30
set rate_dynamics_end_sensitivity = 115
set rate_dynamics_end_correction = 20
set rate_dynamics_end_weight = 10

WP Mission Enhancements

Multi-Mission

Number of Waypoints

The maximum number of WPs is now 120.

On the fly missions

Inav 4.0 adds the capability to generate an "on the fly" mission while flying using aircraft positions.

Fly By Home Waypoints

Inav 4.0 adds Fly-by-home waypoints. This is a way point whose location is set to the home position at arm time.

Fixed wing changes

Soaring mode

Soaring mode comes to iNav 4.0. The addition is great for people who fly gliders. Soaring mode adds a modifier that you can use to change how Course Hold, Cruise, or Position Hold (loiter) behave. When enabled, it disables altitude control and allows Angle mode to free float in pitch, allows the plane to soar freely.

Two-stage climb first for RTH

Autotune no longer tunes P and I

OSD Units

There is also a new units set aimed at General Aviation pilots. This set uses Knots, Feet, Nautical Miles, 100 Feet per Minute, and Celsius for their respective values.

Changelist

Comparing to INAV 4.0.0 Release Candidate 1

add SPL06 in Matek targets #7628
Add IFLIGHT_BLITZ_F722 target #7610
Fix HardFault with Power Limit active #7606
Multirotor modes removed from Planes #7605
...

Assets 108

13 Nov 19:19

DzikuVx

4.0.0-RC1

a6c7d81

INAV 4.0.0 Release Candidate 1 Pre-release

Pre-release

Hello and welcome to INAV 4.0.0 Release Candidate 1!

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 Discord Server
	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

PPM receivers are no longer supported

If you use a PPM receiver, these are no longer supported by iNav. We recommend that you use serial based receivers.

F411 and F722 feature reduction

Due to the storage space on these flight controllers. Features have started to be dropped. See PR #7297 for details

Font update required

A font file update is required to use the new symbols and avoid an invalid font warning. Upload the updated font of your choosing from the OSD tab.

Upgrading from a previous release

Upgrading from INAV 3

Download and install the new configurator
Save to a file the current diff all from the CLI.
Upgrade to INAV 3.0 using the Full Erase option in the configurator.
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 a large number of 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 4.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Important changes

Filtering changes

With INAV 4.0 there are a couple of important changes in how gyro and D-term are filtered. They mostly affect Multirotor pilots.

Kalman filter aka Unicorn Filter is enabled by default
Unicorn Filter setup is simplified: you only tune Q factor. Window size and sharpness settings are removed
Dynamic Notch aka Matrix Filter is enabled by default
Matrix filter has been reworked and simplified. Now you only set minimum frequency and Q factor
Matrix filter resolution is now 4 times higher than with INAV 3
Static gyro notch was removed
First D-term LPF type changed to PT2 and second D-term LPF is disabled - this gives the same filtering as previously but with less settings to worry about
The Alpha-Beta-Gamma filter removed
The Smith Predictor is enabled by default by the new Configurator defaults

H743 support

Blackbox improvements

New command blackbox allows setting which Blackbox fields are recorded to conserve space and bandwidth. Possible fields are:

NAV_ACC - Navigation accelerometer readouts
NAV_PID - Navigation PID debug
NAV_POS - Current and target position and altitude
MAG - Magnetometer raw values
ACC - Accelerometer raw values
ATTI - Attitude as computed by INAV position estimator
RC_DATA - RC channels 1-4 as returned by the radio receiver
RC_COMMAND - RC_DATA converted to [-500:500] scale with expo and headband
MOTORS - motor output

Usage

blackbox currently enabled Blackbox fields
blackbox list all available fields
blackbox -MOTORS disable MOTORS logging
blackbox MOTOR enable MOTORS logging

Rate Dynamics

INAV 4.0 adds a port of the EmuFlight Rate Dynamics system. It modifies stick input to change the flight feeling. To find out more refer to:

Below are some presets you might want to try

Default

set rate_dynamics_center_sensitivity = 100
set rate_dynamics_center_correction = 10
set rate_dynamics_center_weight = 0
set rate_dynamics_end_sensitivity = 100
set rate_dynamics_end_correction = 10
set rate_dynamics_end_weight = 0

Cinematic

set rate_dynamics_center_sensitivity = 80
set rate_dynamics_center_correction = 20
set rate_dynamics_center_weight = 85
set rate_dynamics_end_sensitivity = 90
set rate_dynamics_end_correction = 10
set rate_dynamics_end_weight = 50

Freestyle

set rate_dynamics_center_sensitivity = 80
set rate_dynamics_center_correction = 10
set rate_dynamics_center_weight = 35
set rate_dynamics_end_sensitivity = 130
set rate_dynamics_end_correction = 10 
set rate_dynamics_end_weight = 35

Freestyle Less bounceback

set rate_dynamics_center_sensitivity = 80
set rate_dynamics_center_correction = 10
set rate_dynamics_center_weight = 35
set rate_dynamics_end_sensitivity = 130
set rate_dynamics_end_correction = 30 
set rate_dynamics_end_weight = 35

Racing

set rate_dynamics_center_sensitivity = 130
set rate_dynamics_center_correction = 35
set rate_dynamics_center_weight = 30
set rate_dynamics_end_sensitivity = 115
set rate_dynamics_end_correction = 20
set rate_dynamics_end_weight = 10

WP Mission Enhancements

Multi-Mission

Number of Waypoints

The maximum number of WPs is now 120.

On the fly missions

Inav 4.0 adds the capability to generate an "on the fly" mission while flying using aircraft positions.

Fly By Home Waypoints

Inav 4.0 adds Fly-by-home waypoints. This is a way point whose location is set to the home position at arm time.

Fixed wing changes

Soaring mode

Two-stage climb first for RTH

Autotune no longer tunes P and I

OSD Units

There is also a new units set aimed at General Aviation pilots. This set uses Knots, Feet, Nautical Miles, 100 Feet per Minute, and Celsius for their respective values.

Changelist

H7: usb msc support for sdio #7572 - This enables SD card support on H7 boards
Improve leading space handing in craft name in CLI #6056
Ability to store multiple missions and select before arming #6765
Unico...

Assets 107

15 Sep 10:17

DzikuVx

3.0.2

6601118

INAV 3.0.2

Hello and welcome to INAV 3.0.2 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

Setup tutorials

INAV 3 from flash to flight for multirotor drones

Important Notes

Font update required

The OSD fonts have been improved (@Jettrel) and there are several new symbols. A font file update is required to use the new symbols and avoid an invalid font warning. Upload the updated font of your choosing from the OSD tab.

Upgrading from 3.0.0

Backup configuration with CLI dump command
Flash INAV 3.0.2 with Full Chip Erase
Restore configuration by pasting configuration from step 1

Alternatively, flash 3.0.2 without Full Chip Erase - Not recommended

Changes from 3.0.2

Fix FOXEERF722V2 motor outputs
JETI Telemetry
New Target MATEKF765SE
New Target SPEEDYBEEF7V2
New Target BETAFPVF722
Add FF component to Blackbox logs
Always apply Control Derivative, also in Angle mode

Recommended hardware

Flight controllers

Airplane models

Radios

Long range radio systems

GPS & Sensors

FPV

Other

You can get more suggestions following this link too.

Assets 105

04 Jul 18:14

DzikuVx

3.0.1

cb6726e

INAV 3.0.1

Hello and welcome to INAV 3.0.1 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

Setup tutorials

INAV 3 from flash to flight for multirotor drones

Important Notes

Font update required

Upgrading from 3.0.0

Backup configuration with CLI dump command
Flash INAV 3.0.1 with Full Chip Erase
Restore configuration by pasting configuration from step 1

Alternatively, flash 3.0.1 without Full Chip Erase - Not recommended

Changes from 3.0.0

Add sane limit to P and I in Autotune #7209
Basic support for MATEKH743 target
Fixed mission loading with stick commands #7204
Fixed BARO calibration fail resulting in wrong altitude computation before arming #7183
Display efficiency in metric when using UK units #7172
Fix bug that doesn't allow arming with ALLOW_BYPASS #7162
Enable OSD for all targets #7118

MATEKH743 support

This release supports Matek H743-WING, H743-Slim, and H743-Mini flight controllers. Targets are fully flyable, but not all features are yet working:

No SD card support and no MSC mode
CAN bus is not supported

INAV Configurator 3.0.1 is required to flash H743 targets with Full Chip Erase.

Upgrading from previous releases

We suggest NOT to do a full diff or dump upgrade. To get the best performance set up your aircraft from scratch. You can copy osd, aux, serial, and mixer settings, as well as accelerometer and magnetometer calibration values from INAV 2.6, but other settings should be tuned again.

Upgrading from 2.6, 2.6.1

Download and install the new configurator
Save to a file the current diff all from the CLI.
Upgrade to INAV 3.0 using the Full Erase option in the configurator.
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 a large number of 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 3.0 features, and enjoy!

Upgrading from 2.5 or older version

Please follow the instructions on this page.

New targets:

Diatone MambaF405US_I2C
FLYWOOF411_V2
Mamba F722_I2C
FLYWOOF745
FLYWOOF745NANO
MATEKH743

CLI:

New commands

Setting	Description
imu2	Display the current status of the Secondary IMU
imu2 fetch	Get calibration data from the Secondary IMU
pid	Configure general purpose PID controllers. Refer to docs

Changed Settings

Setting	Description
blackbox_device	Default: target
log_level	Default: ERROR
nav_overrides_motor_stop	When set to OFF the navigation system will not take over the control of the motor if the throttle is low (motor will stop). When set to OFF_ALWAYS the navigation system will not take over the control of the motor if the throttle was low even when failsafe is triggered. When set to AUTO_ONLY the navigation system will only take over the control of the throttle in autonomous navigation modes (NAV WP and NAV RTH). When set to ALL_NAV (default) the navigation system will take over the control of the motor completely and never allow the motor to stop even when the throttle is low. This setting only has an effect on NAV modes which take control of the throttle when combined with MOTOR_STOP and is likely to cause a stall if fw_min_throttle_down_pitch isn't set correctly or the pitch estimation is wrong for fixed wing models when not set to ALL_NAV
nav_rth_climb_first	New: `ON_FW_SPIRAL`
platform_type	Default: MULTIROTOR
receiver_type	Default: target
rssi_source	Default: AUTO

New Settings

Setting	Description
dji_speed_source	Sets the speed type displayed by the DJI OSD: GROUND, 3D, AIR Default: GROUND
dshot_beeper_enabled	Whether using DShot motors as beepers is enabled Default: TRUE
dshot_beeper_tone	Sets the DShot beeper tone Values: 1 - 5 Default: 1
fw_d_pitch	Fixed wing rate stabilisation D-gain for PITCH Default: 0
fw_d_roll	Fixed wing rate stabilisation D-gain for ROLL Default: 0
fw_d_yaw	Fixed wing rate stabilisation D-gain for YAW Default: 0
fw_level_pitch_trim	Pitch trim for self-leveling flight modes. In degrees. +5 means airplane nose should be raised 5 deg from level Values: -10 - 10 Default: 0
fw_yaw_iterm_freeze_bank_angle	Yaw Iterm is frozen when bank angle is above this threshold [degrees]. This solves the problem of the rudder counteracting turns by partially disabling yaw stabilization when making banked turns. Setting to 0 (the default) disables this feature. Only applies when autopilot is not active and TURN ASSIST is disabled. Values: 0 - 90 Default: 0
gyro_abg_alpha	Alpha factor for Gyro Alpha-Beta-Gamma filter Values: 0 - 1 Default: 0
gyro_abg_boost	Boost factor for Gyro Alpha-Beta-Gamma filter Values: 0 - 2 Default: 0.35
gyro_abg_half_life	Sample half-life for Gyro Alpha-Beta-Gamma filter Values: 0 - 10 Default: 0.5
gyro_anti_aliasing_lpf_hz	Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz Values: 0 - 255 Default: 250
gyro_anti_aliasing_lpf_type	Specifies the type of the software LPF of the gyro signals. Default: PT1
gyro_dyn_lpf_curve_expo	Expo value for the throttle-to-frequency mapping for Dynamic LPF Values: 1 - 10 Default: 5
gyro_dyn_lpf_max_hz	Maximum frequency of the gyro Dynamic LPF Values: 40 - 1000 Default: 500
gyro_dyn_lpf_min_hz	Minimum frequency of the gyro Dynamic LPF Values: 40 - 400 Default: 200
gyro_main_lpf_hz	Software based gyro main lowpass filter. Value is cutoff frequency (Hz) Values: 0 - 500 Default: 60
gyro_main_lpf_type	Defines the type of the main gyro LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation. Default: BIQUAD
gyro_use_dyn_lpf	Use Dynamic LPF instead of static gyro stage1 LPF. Dynamic Gyro LPF updates gyro LPF based on the throttle position. Default: FALSE
imu2_align_pitch	Pitch alignment for Secondary IMU. 1/10 of a degree Values: -1800 - 3600 Default: 0
imu2_align_roll	Roll alignment for Secondary IMU. 1/10 of a degree Values: -1800 - 3600 Default: 0
imu2_align_yaw	Yaw alignment for Secondary IMU. 1/10 of a degree Values: -1800 - 3600 Default: 0
imu2_gain_acc_x	Secondary IMU ACC calibration data Values: -32768 - 32767 Default: 0
imu2_gain_acc_y	Secondary IMU ACC calibration data Values: -32768 - 32767 Default: 0
imu2_gain_acc_z	Secondary IMU ACC calibration data Values: -32768 - 32767 Default: 0
imu2_gain_mag_x	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_gain_mag_y	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_gain_mag_z	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_hardware	Selection of a Secondary IMU hardware type. NONE disables this functionality Default: NONE, values `NONE`, `BNO055`, `BNO055_SERIAL`
imu2_radius_acc	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_radius_mag	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_use_for_osd_ahi	If set to ON, Secondary IMU data will be used for Analog OSD Artificial Horizon Default: FALSE
imu2_use_for_osd_heading	If set to ON, Secondary IMU data will be used for Analog OSD heading Default: FALSE
imu2_use_for_stabilized	If set to ON, Secondary IMU data will be used for Angle, Horizon and all other modes that control attitude (PosHold, WP, RTH) Default: FALSE
mavlink_version	Version of MAVLink to use Values:...

Assets 103

12 Jun 17:07

DzikuVx

3.0.0-final

3c7b1b7

INAV 3.0.0

Hello and welcome to INAV 3.0.0 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

F3 Removal

STM32 F3 flight controllers like Omnibus F3 or SP Racing F3 are no longer supported in INAV. If you are still using F3 boards, please migrate to F4 or F7.

The supporting code will be retained for a few more releases, but will not be maintained and is not guaranteed to build or work properly in the future.

Adjustments

There are now separate adjustments for D and CD/FF gains. This breaks compatibility with diffs from previous releases. Check the adjustments tab in the configurator after restoring a diff to makes sure they are set up correctly.

Font update required

Upgrading from previous releases

Upgrading from 2.6, 2.6.1

Download and install the new configurator
Save to a file the current diff all from the CLI.
Upgrade to INAV 3.0 using the Full Erase option in the configurator.
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 a large number of 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 3.0 features, and enjoy!

Upgrading from 2.5 or older version

Please follow the instructions on this page.

New targets:

Diatone MambaF405US_I2C
FLYWOOF411_V2
Mamba F722_I2C
FLYWOOF745
FLYWOOF745NANO

CLI:

New commands

Setting	Description
imu2	Display the current status of the Secondary IMU
imu2 fetch	Get calibration data from the Secondary IMU
pid	Configure general purpose PID controllers. Refer to docs

Changed Settings

Setting	Description
blackbox_device	Default: target
log_level	Default: ERROR
nav_overrides_motor_stop	When set to OFF the navigation system will not take over the control of the motor if the throttle is low (motor will stop). When set to OFF_ALWAYS the navigation system will not take over the control of the motor if the throttle was low even when failsafe is triggered. When set to AUTO_ONLY the navigation system will only take over the control of the throttle in autonomous navigation modes (NAV WP and NAV RTH). When set to ALL_NAV (default) the navigation system will take over the control of the motor completely and never allow the motor to stop even when the throttle is low. This setting only has an effect on NAV modes which take control of the throttle when combined with MOTOR_STOP and is likely to cause a stall if fw_min_throttle_down_pitch isn't set correctly or the pitch estimation is wrong for fixed wing models when not set to ALL_NAV
nav_rth_climb_first	New: `ON_FW_SPIRAL`
platform_type	Default: MULTIROTOR
receiver_type	Default: target
rssi_source	Default: AUTO

New Settings

Setting	Description
dji_speed_source	Sets the speed type displayed by the DJI OSD: GROUND, 3D, AIR Default: GROUND
dshot_beeper_enabled	Whether using DShot motors as beepers is enabled Default: TRUE
dshot_beeper_tone	Sets the DShot beeper tone Values: 1 - 5 Default: 1
fw_d_pitch	Fixed wing rate stabilisation D-gain for PITCH Default: 0
fw_d_roll	Fixed wing rate stabilisation D-gain for ROLL Default: 0
fw_d_yaw	Fixed wing rate stabilisation D-gain for YAW Default: 0
fw_level_pitch_trim	Pitch trim for self-leveling flight modes. In degrees. +5 means airplane nose should be raised 5 deg from level Values: -10 - 10 Default: 0
fw_yaw_iterm_freeze_bank_angle	Yaw Iterm is frozen when bank angle is above this threshold [degrees]. This solves the problem of the rudder counteracting turns by partially disabling yaw stabilization when making banked turns. Setting to 0 (the default) disables this feature. Only applies when autopilot is not active and TURN ASSIST is disabled. Values: 0 - 90 Default: 0
gyro_abg_alpha	Alpha factor for Gyro Alpha-Beta-Gamma filter Values: 0 - 1 Default: 0
gyro_abg_boost	Boost factor for Gyro Alpha-Beta-Gamma filter Values: 0 - 2 Default: 0.35
gyro_abg_half_life	Sample half-life for Gyro Alpha-Beta-Gamma filter Values: 0 - 10 Default: 0.5
gyro_anti_aliasing_lpf_hz	Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz Values: 0 - 255 Default: 250
gyro_anti_aliasing_lpf_type	Specifies the type of the software LPF of the gyro signals. Default: PT1
gyro_dyn_lpf_curve_expo	Expo value for the throttle-to-frequency mapping for Dynamic LPF Values: 1 - 10 Default: 5
gyro_dyn_lpf_max_hz	Maximum frequency of the gyro Dynamic LPF Values: 40 - 1000 Default: 500
gyro_dyn_lpf_min_hz	Minimum frequency of the gyro Dynamic LPF Values: 40 - 400 Default: 200
gyro_main_lpf_hz	Software based gyro main lowpass filter. Value is cutoff frequency (Hz) Values: 0 - 500 Default: 60
gyro_main_lpf_type	Defines the type of the main gyro LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation. Default: BIQUAD
gyro_use_dyn_lpf	Use Dynamic LPF instead of static gyro stage1 LPF. Dynamic Gyro LPF updates gyro LPF based on the throttle position. Default: FALSE
imu2_align_pitch	Pitch alignment for Secondary IMU. 1/10 of a degree Values: -1800 - 3600 Default: 0
imu2_align_roll	Roll alignment for Secondary IMU. 1/10 of a degree Values: -1800 - 3600 Default: 0
imu2_align_yaw	Yaw alignment for Secondary IMU. 1/10 of a degree Values: -1800 - 3600 Default: 0
imu2_gain_acc_x	Secondary IMU ACC calibration data Values: -32768 - 32767 Default: 0
imu2_gain_acc_y	Secondary IMU ACC calibration data Values: -32768 - 32767 Default: 0
imu2_gain_acc_z	Secondary IMU ACC calibration data Values: -32768 - 32767 Default: 0
imu2_gain_mag_x	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_gain_mag_y	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_gain_mag_z	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_hardware	Selection of a Secondary IMU hardware type. NONE disables this functionality Default: NONE, values `NONE`, `BNO055`, `BNO055_SERIAL`
imu2_radius_acc	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_radius_mag	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_use_for_osd_ahi	If set to ON, Secondary IMU data will be used for Analog OSD Artificial Horizon Default: FALSE
imu2_use_for_osd_heading	If set to ON, Secondary IMU data will be used for Analog OSD heading Default: FALSE
imu2_use_for_stabilized	If set to ON, Secondary IMU data will be used for Angle, Horizon and all other modes that control attitude (PosHold, WP, RTH) Default: FALSE
mavlink_version	Version of MAVLink to use Values: 1 - 2 Default: 2
nav_land_maxalt_vspd	Vertical descent velocity above nav_land_slowdown_maxalt during the RTH landing phase. [cm/s] Values: 100 - 2000 Default: 200
nav_land_minalt_vspd	Vertical descent velocity under nav_land_slowdown_minalt during the RTH landing phase. [cm/s] Values: 50 - 500 Default: 50
nav_max_altitude	Max allowed altitude (above Home Point) that applies to all NAV modes (including Altitude Hold). 0 means limit is disabled Values: 0 - 65000 Default: 0
nav_mc_wp_slowdown	When ON, NAV engine will slow down when switching to t...

Assets 101

29 May 17:37

DzikuVx

3.0.0-RC2

2df4544

INAV 3.0.0 RC2 Pre-release

Pre-release

Hello and welcome to INAV 3.0.0 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

F3 Removal

STM32 F3 flight controllers like Omnibus F3 or SP Racing F3 are no longer supported in INAV. If you are still using F3 boards, please migrate to F4 or F7.

The supporting code will be retained for a few more releases, but will not be maintained and is not guaranteed to build or work properly in the future.

Adjustments

Font update required

Upgrading from previous releases

Upgrading from 2.6, 2.6.1

Download and install the new configurator
Save to a file the current diff all from the CLI.
Upgrade to INAV 3.0 using the Full Erase option in the configurator.
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 a large number of 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 3.0 features, and enjoy!

Upgrading from 2.5 or older version

Please follow the instructions on this page.

New targets:

Diatone MambaF405US_I2C
FLYWOOF411_V2
Mamba F722_I2C
FLYWOOF745
FLYWOOF745NANO

CLI:

New commands

Setting	Description
imu2	Display the current status of the Secondary IMU
imu2 fetch	Get calibration data from the Secondary IMU
pid	Configure general purpose PID controllers. Refer to docs

Changed Settings

Setting	Description
blackbox_device	Default: target
log_level	Default: ERROR
nav_overrides_motor_stop	When set to OFF the navigation system will not take over the control of the motor if the throttle is low (motor will stop). When set to OFF_ALWAYS the navigation system will not take over the control of the motor if the throttle was low even when failsafe is triggered. When set to AUTO_ONLY the navigation system will only take over the control of the throttle in autonomous navigation modes (NAV WP and NAV RTH). When set to ALL_NAV (default) the navigation system will take over the control of the motor completely and never allow the motor to stop even when the throttle is low. This setting only has an effect on NAV modes which take control of the throttle when combined with MOTOR_STOP and is likely to cause a stall if fw_min_throttle_down_pitch isn't set correctly or the pitch estimation is wrong for fixed wing models when not set to ALL_NAV
nav_rth_climb_first	New: `ON_FW_SPIRAL`
platform_type	Default: MULTIROTOR
receiver_type	Default: target
rssi_source	Default: AUTO

New Settings

Setting	Description
dji_speed_source	Sets the speed type displayed by the DJI OSD: GROUND, 3D, AIR Default: GROUND
dshot_beeper_enabled	Whether using DShot motors as beepers is enabled Default: TRUE
dshot_beeper_tone	Sets the DShot beeper tone Values: 1 - 5 Default: 1
fw_d_pitch	Fixed wing rate stabilisation D-gain for PITCH Default: 0
fw_d_roll	Fixed wing rate stabilisation D-gain for ROLL Default: 0
fw_d_yaw	Fixed wing rate stabilisation D-gain for YAW Default: 0
fw_level_pitch_trim	Pitch trim for self-leveling flight modes. In degrees. +5 means airplane nose should be raised 5 deg from level Values: -10 - 10 Default: 0
fw_yaw_iterm_freeze_bank_angle	Yaw Iterm is frozen when bank angle is above this threshold [degrees]. This solves the problem of the rudder counteracting turns by partially disabling yaw stabilization when making banked turns. Setting to 0 (the default) disables this feature. Only applies when autopilot is not active and TURN ASSIST is disabled. Values: 0 - 90 Default: 0
gyro_abg_alpha	Alpha factor for Gyro Alpha-Beta-Gamma filter Values: 0 - 1 Default: 0
gyro_abg_boost	Boost factor for Gyro Alpha-Beta-Gamma filter Values: 0 - 2 Default: 0.35
gyro_abg_half_life	Sample half-life for Gyro Alpha-Beta-Gamma filter Values: 0 - 10 Default: 0.5
gyro_anti_aliasing_lpf_hz	Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz Values: 0 - 255 Default: 250
gyro_anti_aliasing_lpf_type	Specifies the type of the software LPF of the gyro signals. Default: PT1
gyro_dyn_lpf_curve_expo	Expo value for the throttle-to-frequency mapping for Dynamic LPF Values: 1 - 10 Default: 5
gyro_dyn_lpf_max_hz	Maximum frequency of the gyro Dynamic LPF Values: 40 - 1000 Default: 500
gyro_dyn_lpf_min_hz	Minimum frequency of the gyro Dynamic LPF Values: 40 - 400 Default: 200
gyro_main_lpf_hz	Software based gyro main lowpass filter. Value is cutoff frequency (Hz) Values: 0 - 500 Default: 60
gyro_main_lpf_type	Defines the type of the main gyro LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation. Default: BIQUAD
gyro_use_dyn_lpf	Use Dynamic LPF instead of static gyro stage1 LPF. Dynamic Gyro LPF updates gyro LPF based on the throttle position. Default: FALSE
imu2_align_pitch	Pitch alignment for Secondary IMU. 1/10 of a degree Values: -1800 - 3600 Default: 0
imu2_align_roll	Roll alignment for Secondary IMU. 1/10 of a degree Values: -1800 - 3600 Default: 0
imu2_align_yaw	Yaw alignment for Secondary IMU. 1/10 of a degree Values: -1800 - 3600 Default: 0
imu2_gain_acc_x	Secondary IMU ACC calibration data Values: -32768 - 32767 Default: 0
imu2_gain_acc_y	Secondary IMU ACC calibration data Values: -32768 - 32767 Default: 0
imu2_gain_acc_z	Secondary IMU ACC calibration data Values: -32768 - 32767 Default: 0
imu2_gain_mag_x	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_gain_mag_y	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_gain_mag_z	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_hardware	Selection of a Secondary IMU hardware type. NONE disables this functionality Default: NONE, values `NONE`, `BNO055`, `BNO055_SERIAL`
imu2_radius_acc	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_radius_mag	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_use_for_osd_ahi	If set to ON, Secondary IMU data will be used for Analog OSD Artificial Horizon Default: FALSE
imu2_use_for_osd_heading	If set to ON, Secondary IMU data will be used for Analog OSD heading Default: FALSE
imu2_use_for_stabilized	If set to ON, Secondary IMU data will be used for Angle, Horizon and all other modes that control attitude (PosHold, WP, RTH) Default: FALSE
mavlink_version	Version of MAVLink to use Values: 1 - 2 Default: 2
nav_land_maxalt_vspd	Vertical descent velocity above nav_land_slowdown_maxalt during the RTH landing phase. [cm/s] Values: 100 - 2000 Default: 200
nav_land_minalt_vspd	Vertical descent velocity under nav_land_slowdown_minalt during the RTH landing phase. [cm/s] Values: 50 - 500 Default: 50
nav_max_altitude	Max allowed altitude (above Home Point) that applies to all NAV modes (including Altitude Hold). 0 means limit is disabled Values: 0 - 65000 Default: 0
nav_mc_wp_slowdown	When ON, NAV engin...

Assets 101

0 Join discussion

15 May 17:36

DzikuVx

3.0.0

7b6a37a

INAV 3.0.0 Pre-release

Pre-release

Hello and welcome to INAV 3.0.0 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

F3 Removal

STM32 F3 flight controllers like Omnibus F3 or SP Racing F3 are no longer supported in INAV. If you are still using F3 boards, please migrate to F4 or F7.

The supporting code will be retained for a few more releases, but will not be maintained and is not guaranteed to build or work properly in the future.

Adjustments

Font update required

Upgrading from previous releases

Upgrading from 2.6, 2.6.1

Download and install the new configurator
Save to a file the current diff all from the CLI.
Upgrade to INAV 3.0 using the Full Erase option in the configurator.
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 a large number of new, changed and removed settings. Check carefully that the settings are correct and fix any unrecognised or out-of-range items from the saved configuration.
You should be ready, explore new 3.0 features and enjoy!

Upgrading from 2.5 or older version

Please follow the instructions on this page.

New targets:

Diatone MambaF405US_I2C
FLYWOOF411_V2
Mamba F722_I2C

CLI:

New commands

Setting	Description
imu2	Display current status of the Secondary IMU
imu2 fetch	Get calibration data from the Secondary IMU
pid	Configure general purpose PID controllers. Refer to docs

Changed Settings

Setting	Description
blackbox_device	Default: target
log_level	Default: ERROR
nav_overrides_motor_stop	When set to OFF the navigation system will not take over the control of the motor if the throttle is low (motor will stop). When set to OFF_ALWAYS the navigation system will not take over the control of the motor if the throttle was low even when failsafe is triggered. When set to AUTO_ONLY the navigation system will only take over the control of the throttle in autonomous navigation modes (NAV WP and NAV RTH). When set to ALL_NAV (default) the navigation system will take over the control of the motor completely and never allow the motor to stop even when the throttle is low. This setting only has an effect on NAV modes which take control of the throttle when combined with MOTOR_STOP and is likely to cause a stall if fw_min_throttle_down_pitch isn't set correctly or the pitch estimation is wrong for fixed wing models when not set to ALL_NAV
nav_rth_climb_first	New: `ON_FW_SPIRAL`
platform_type	Default: MULTIROTOR
receiver_type	Default: target
rssi_source	Default: AUTO

New Settings

Setting	Description
dji_speed_source	Sets the speed type displayed by the DJI OSD: GROUND, 3D, AIR Default: GROUND
dshot_beeper_enabled	Whether using DShot motors as beepers is enabled Default: TRUE
dshot_beeper_tone	Sets the DShot beeper tone Values: 1 - 5 Default: 1
fw_d_pitch	Fixed wing rate stabilisation D-gain for PITCH Default: 0
fw_d_roll	Fixed wing rate stabilisation D-gain for ROLL Default: 0
fw_d_yaw	Fixed wing rate stabilisation D-gain for YAW Default: 0
fw_level_pitch_trim	Pitch trim for self-leveling flight modes. In degrees. +5 means airplane nose should be raised 5 deg from level Values: -10 - 10 Default: 0
fw_yaw_iterm_freeze_bank_angle	Yaw Iterm is frozen when bank angle is above this threshold [degrees]. This solves the problem of the rudder counteracting turns by partially disabling yaw stabilization when making banked turns. Setting to 0 (the default) disables this feature. Only applies when autopilot is not active and TURN ASSIST is disabled. Values: 0 - 90 Default: 0
gyro_abg_alpha	Alpha factor for Gyro Alpha-Beta-Gamma filter Values: 0 - 1 Default: 0
gyro_abg_boost	Boost factor for Gyro Alpha-Beta-Gamma filter Values: 0 - 2 Default: 0.35
gyro_abg_half_life	Sample half-life for Gyro Alpha-Beta-Gamma filter Values: 0 - 10 Default: 0.5
gyro_anti_aliasing_lpf_hz	Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz Values: 0 - 255 Default: 250
gyro_anti_aliasing_lpf_type	Specifies the type of the software LPF of the gyro signals. Default: PT1
gyro_dyn_lpf_curve_expo	Expo value for the throttle-to-frequency mapping for Dynamic LPF Values: 1 - 10 Default: 5
gyro_dyn_lpf_max_hz	Maximum frequency of the gyro Dynamic LPF Values: 40 - 1000 Default: 500
gyro_dyn_lpf_min_hz	Minimum frequency of the gyro Dynamic LPF Values: 40 - 400 Default: 200
gyro_main_lpf_hz	Software based gyro main lowpass filter. Value is cutoff frequency (Hz) Values: 0 - 500 Default: 60
gyro_main_lpf_type	Defines the type of the main gyro LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation. Default: BIQUAD
gyro_use_dyn_lpf	Use Dynamic LPF instead of static gyro stage1 LPF. Dynamic Gyro LPF updates gyro LPF based on the throttle position. Default: FALSE
imu2_align_pitch	Pitch alignment for Secondary IMU. 1/10 of a degree Values: -1800 - 3600 Default: 0
imu2_align_roll	Roll alignment for Secondary IMU. 1/10 of a degree Values: -1800 - 3600 Default: 0
imu2_align_yaw	Yaw alignment for Secondary IMU. 1/10 of a degree Values: -1800 - 3600 Default: 0
imu2_gain_acc_x	Secondary IMU ACC calibration data Values: -32768 - 32767 Default: 0
imu2_gain_acc_y	Secondary IMU ACC calibration data Values: -32768 - 32767 Default: 0
imu2_gain_acc_z	Secondary IMU ACC calibration data Values: -32768 - 32767 Default: 0
imu2_gain_mag_x	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_gain_mag_y	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_gain_mag_z	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_hardware	Selection of a Secondary IMU hardware type. NONE disables this functionality Default: NONE, values `NONE`, `BNO055`, `BNO055_SERIAL`
imu2_radius_acc	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_radius_mag	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_use_for_osd_ahi	If set to ON, Secondary IMU data will be used for Analog OSD Artificial Horizon Default: FALSE
imu2_use_for_osd_heading	If set to ON, Secondary IMU data will be used for Analog OSD heading Default: FALSE
imu2_use_for_stabilized	If set to ON, Secondary IMU data will be used for Angle, Horizon and all other modes that control attitude (PosHold, WP, RTH) Default: FALSE
mavlink_version	Version of MAVLink to use Values: 1 - 2 Default: 2
nav_land_maxalt_vspd	Vertical descent velocity above nav_land_slowdown_maxalt during the RTH landing phase. [cm/s] Values: 100 - 2000 Default: 200
nav_land_minalt_vspd	Vertical descent velocity under nav_land_slowdown_minalt during the RTH landing phase. [cm/s] Values: 50 - 500 Default: 50
nav_max_altitude	Max allowed altitude (above Home Point) that applies to all NAV modes (including Altitude Hold). 0 means limit is disabled Values: 0 - 65000 Default: 0
nav_mc_wp_slowdown	When ON, NAV engine will slow down when switching to the...

Assets 99

0 Join discussion

23 Feb 16:40

DzikuVx

2.6.1

5510259

INAV 2.6.1

Hello and welcome to INAV 2.6.1 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

Important Notes

Compass has to be recalibrated. Do not import from previous INAV releases, even from 2.6.0

Do not migrate Multirotor PID and filter settings from previous releases of INAV. Use Multirotor default preset (3"-7") instead and make required changes on top of that

Upgrading from 2.5 or 2.6.0

Download and install the new configurator
Save to a file the current diff all from the CLI.
Upgrade to INAV 2.6 using the Full Erase option in the configurator.
Upload your OSD font of choice from the OSD tab.
Go the CLI again and selectively paste the contents on the file you previously create and write save , press ENTER and done!

Do not copy Multirotor PIDs and filters; re-tuning from defaults is recommended.
Do not copy mag calibration; it is necessary to re-calibrate
Review all "Changed Settings" listed below
Delete any "Removed Settings" listed below
If in doubt, use the defaults and replace old settings in the configurator.

You should be ready, explore new 2.6 features and enjoy!

CLI:

Changed Settings

Setting	Description
`serial_rx`	New option added `GHST`
`baro_median_filter`	Default set back to `ON`

New Settings

Setting	Description
`osd_home_position_arm_screen`	Show GPS position on Arming Screen. Default `ON`

Releases: iNavFlight/inav

INAV 4.1.0 Release Candidate 1

Hello and welcome to INAV 4.1 "Red Kite"

Important notes

Upgrading from a previous release

Upgrading from INAV 4.0

Upgrading from older versions

Important changes

What's Changed

New Contributors

Contributors

INAV 4 "Red Kite"

Hello and welcome to INAV 4.0 "Red Kite"

Important Notes

PPM receivers are no longer supported

F411 and F722 feature reduction

Font update required

INAV LUA Script

Upgrading from a previous release

Upgrading from INAV 3

Upgrading from older versions

Important changes

Filtering changes

H743 support

Blackbox improvements

Rate Dynamics

Default

Cinematic

Freestyle

Freestyle Less bounceback

Racing

WP Mission Enhancements

Multi-Mission

Number of Waypoints

On the fly missions

Fly By Home Waypoints

Fixed-wing changes

OSD Units

Changelist

INAV 4.0.0 Release Candidate 2

Important Notes

PPM receivers are no longer supported

F411 and F722 feature reduction

Font update required

Upgrading from a previous release

Upgrading from INAV 3

Upgrading from older versions

Important changes

Filtering changes

H743 support

Blackbox improvements

Rate Dynamics

Default

Cinematic

Freestyle

Freestyle Less bounceback

Racing

WP Mission Enhancements

Multi-Mission

Number of Waypoints

On the fly missions

Fly By Home Waypoints

Fixed wing changes

OSD Units

Changelist

Comparing to INAV 4.0.0 Release Candidate 1

INAV 4.0.0 Release Candidate 1

Important Notes

PPM receivers are no longer supported

F411 and F722 feature reduction

Font update required

Upgrading from a previous release

Upgrading from INAV 3

Upgrading from older versions

Important changes

Filtering changes

H743 support

Blackbox improvements

Rate Dynamics

Default