INAV 2.6.0

Hello and welcome to INAV 2.6.0 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

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

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

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.

INAV 2.6 will be the last release that supports F3-based boards. The supporting code will be retained for a few more releases, but will not be maintained and is not guarantee to build or work properly in future releases.

Programming

In INAV 2.6, Logic Conditions and Global Functions have merged. Due to this the Global Functions from INAV 2.5 and below will not be added through the diff upgrade path.

If you previously used Global Functions, we would recommend taking a screen grab of your Global Functions in 2.5 before updating. Then in 2.6, add the Global Functions after the Logic Conditions on this programming page.

Safehome replaces RTH offset distance and direction

A new feature safehome (see below) replaces nav_rth_home_offset_distance and nav_rth_home_offset_direction, offering a safer and much more flexible function. If you were using the nav_rth_home_offset_* settings, please migrate to safehomeas these settings are removed.

Upgrading from 2.5

0. Download and install the new configurator
1. Save to a file the current diff all from the CLI.
2. Upgrade to INAV 2.6 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 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.

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

Upgrading from 2.4 or older version

Please follow the instructions on this page.

New targets:

• IFLIGHTF4_SUCCEXD ([@digitalentity])
• FLYWOOF411, FLYWOOF7DUAL ([@digitalentity])
• KAKUTEF7MINIV3
• MATEKF722WPX
• FRSKYPILOT
• FRSKY_ROVERF7

CLI:

New commands

Command	Description
safehome	List of home locations, see Safehomes.md and summary
bind_rx	Initiate binding for RX_SPI or SRXL2 receivers

Changed Settings

Setting	Description
mag_hardware	New option added MSP
baro_hardware	New options added DPS310 and MSP
pitot_hardware	New options added MSP
serialrx_provider	New options added FPORT2 and SRXL2
gps_provider	New options added MSP
debug_mode	New options added CD, KALMAN_GAIN, PID_MEASUREMENT, SPM_CELLS, SPM_VS600, SPM_VARIO, PCF8574
airmode_type	New option added STICK_CENTER_ONCE
nav_overrides_motor_stop	Modified values OFF_ALWAYS, OFF, AUTO_ONLY, ALL_NAV. When set OFF_ALWAYS 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 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.
motor_pwm_protocol	The default is now ONESHOT125 (previously STANDARD).

New Settings

Setting	Description
gyro_notch_hz	Replaces gyro_notch1_hz and gyro_notch2_hz
gyro_notch_cutoff	Replaces gyro_notch1_cutoff and gyro_notch2_cutoff
maggain_x, maggain_y, maggain_z	Calibrated values replacing fixed values. Compass re-calibration is required.
srxl2_unit_id	Values 0 - 15, default 1
srxl2_baud_fast	Values OFF, ON, default ON
mc_cd_pitch	Multicopter Control Derivative gain for PITCH, values 0 - 200, default 60
mc_cd_roll	Multicopter Control Derivative gain for ROLL, values 0 - 200, default 60
mc_cd_yaw	Multicopter Control Derivative gain for YAW, values 0 - 200, default 60
fw_turn_assist_pitch_gain	Gain required to keep constant pitch angle during coordinated turns (in TURN_ASSIST mode). Value significantly different from 1.0 indicates a problem with the airspeed calibration (if present) or value of fw_reference_airspeed parameter. Values 0 - 2, default 1
nav_mc_vel_xy_dterm_attenuation	Maximum D-term attenution percentage for horizontal velocity PID controller (Multirotor). It allows to smooth the PosHold CRUISE, WP and RTH when Multirotor is traveling at full speed. Dterm is not attenuated at low speeds, breaking and accelerating. Values 0 - 100, default 90
nav_mc_vel_xy_dterm_attenuation_start	A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation begins. Values 0 - 100, default 10
nav_mc_vel_xy_dterm_attenuation_end	A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation reaches maximum. Values 0-100, default 60
mc_cd_lpf_hz	Cutoff frequency for Control Derivative. Lower value smoother reaction on fast stick movements. With higher values, response will be more aggressive and jerky. Values 0 - 200, default 30
setpoint_kalman_enabled	Enable Kalman filter on the PID controller setpoint. Values OFF, ON, default OFF
setpoint_kalman_q	Quality factor of the setpoint Kalman filter. Higher values means less filtering and lower phase delay. On 3-7 inch multirotors can be usually increased to 200-300 or even higher on clean builds. Values 1 - 16000, default 100
setpoint_kalman_w	Window size for the setpoint Kalman filter. Wider the window, more samples are used to compute variance. In general, wider window results in smoother filter response. Values 1 - 40, default 4
setpoint_kalman_sharpness	Dynamic factor for the setpoint Kalman filter. In general, the higher the value, the more dynamic Kalman filter gets. Values 1 - 16000, default 100
inav_use_gps_no_baro	Values OFF, ON, default OFF
nav_fw_pitch2thr_smoothing	How smoothly the autopilot makes pitch to throttle correction inside a deadband defined by nav_fw_pitch2thr_threshold. Values 0 - 9, default 0
nav_fw_pitch2thr_threshold	Threshold from average pitch where momentary pitch_to_throttle correction kicks in. [decidegrees]. Values 0 - 900, default 0
nav_fw_launch_end_time	Time for the transition of throttle and pitch angle, between the launch state and the subsequent flight mode [ms]. Values 0 - 5000, default 2000
mavlink_extra3_rate	Values 0 - 255, default 1
osd_snr_alarm	Value below which Crossfire SNR Alarm pops-up. (dB). Values -12 - 8, default 4
osd_link_quality_alarm	LQ % indicator blinks below this value. For Crossfire use 70%, for Tracer use 50%". Values 0 - 100, default 70
osd_crsf_lq_format	OSD display format for CRSF LQ. Values TYPE1 or TYPE2
osd_force_grid	Force OSD to work in grid mode even if the OSD device supports pixel level access (mainly used for development). Default OFF
osd_ahi_bordered	Shows a border/corners around the AHI region (pixel OSD only). Default OFF
osd_ahi_width	A...

INAV 2.6.0 RC3

Hello and welcome to INAV 2.6.0 Release Candidate 3!

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

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

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.

INAV 2.6 will be the last release that supports F3-based boards. The supporting code will be retained for a few more releases, but will not be maintained and is not guarantee to build or work properly in future releases.

Safehome replaces RTH offset distance and direction

A new feature safehome (see below) replaces nav_rth_home_offset_distance and nav_rth_home_offset_direction, offering a safer and much more flexible function. If you were using the nav_rth_home_offset_* settings, please migrate to safehomeas these settings are removed.

Upgrading from 2.5

0. Download and install the new configurator
1. Save to a file the current diff all from the CLI.
2. Upgrade to INAV 2.5 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 2.6 features and enjoy!

Upgrading from 2.4 or older version

Please follow the instructions on this page.

New targets:

• IFLIGHTF4_SUCCEXD ([@digitalentity])
• FLYWOOF411, FLYWOOF7DUAL ([@digitalentity])
• KAKUTEF7MINIV3
• MATEKF722WPX
• FRSKYPILOT
• FRSKY_ROVERF7

CLI:

New commands

Command	Description
safehome	List of home locations, see Safehomes.md and summary
bind_rx	Initiate binding for RX_SPI or SRXL2 receivers

Changed Settings

Setting	Description
mag_hardware	New option added MSP
baro_hardware	New options added DPS310 and MSP
pitot_hardware	New options added MSP
serialrx_provider	New options added FPORT2 and SRXL2
gps_provider	New options added MSP
debug_mode	New options added CD, KALMAN_GAIN, PID_MEASUREMENT, SPM_CELLS, SPM_VS600, SPM_VARIO, PCF8574
airmode_type	New option added STICK_CENTER_ONCE
nav_overrides_motor_stop	Modified values OFF, AUTO_ONLY, ALL_NAV. When set OFF the navigation system will not take over the control of the motor if the throttle is low (motor will stop). 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 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.

New Settings

Setting	Description
gyro_notch_hz	Replaces gyro_notch1_hz and gyro_notch2_hz
gyro_notch_cutoff	Replaces gyro_notch1_cutoff and gyro_notch2_cutoff
maggain_x, maggain_y, maggain_z	Calibrated values replacing fixed values. Compass re-calibration is required.
srxl2_unit_id	Values 0 - 15, default 1
srxl2_baud_fast	Values OFF, ON, default ON
mc_cd_pitch	Multicopter Control Derivative gain for PITCH, values 0 - 200, default 60
mc_cd_roll	Multicopter Control Derivative gain for ROLL, values 0 - 200, default 60
mc_cd_yaw	Multicopter Control Derivative gain for YAW, values 0 - 200, default 60
fw_turn_assist_pitch_gain	Gain required to keep constant pitch angle during coordinated turns (in TURN_ASSIST mode). Value significantly different from 1.0 indicates a problem with the airspeed calibration (if present) or value of fw_reference_airspeed parameter. Values 0 - 2, default 1
nav_mc_vel_xy_dterm_attenuation	Maximum D-term attenution percentage for horizontal velocity PID controller (Multirotor). It allows to smooth the PosHold CRUISE, WP and RTH when Multirotor is traveling at full speed. Dterm is not attenuated at low speeds, breaking and accelerating. Values 0 - 100, default 90
nav_mc_vel_xy_dterm_attenuation_start	A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation begins. Values 0 - 100, default 10
nav_mc_vel_xy_dterm_attenuation_end	A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation reaches maximum. Values 0-100, default 60
mc_cd_lpf_hz	Cutoff frequency for Control Derivative. Lower value smoother reaction on fast stick movements. With higher values, response will be more aggressive and jerky. Values 0 - 200, default 30
setpoint_kalman_enabled	Enable Kalman filter on the PID controller setpoint. Values OFF, ON, default OFF
setpoint_kalman_q	Quality factor of the setpoint Kalman filter. Higher values means less filtering and lower phase delay. On 3-7 inch multirotors can be usually increased to 200-300 or even higher on clean builds. Values 1 - 16000, default 100
setpoint_kalman_w	Window size for the setpoint Kalman filter. Wider the window, more samples are used to compute variance. In general, wider window results in smoother filter response. Values 1 - 40, default 4
setpoint_kalman_sharpness	Dynamic factor for the setpoint Kalman filter. In general, the higher the value, the more dynamic Kalman filter gets. Values 1 - 16000, default 100
inav_use_gps_no_baro	Values OFF, ON, default OFF
nav_fw_pitch2thr_smoothing	How smoothly the autopilot makes pitch to throttle correction inside a deadband defined by nav_fw_pitch2thr_threshold. Values 0 - 9, default 0
nav_fw_pitch2thr_threshold	Threshold from average pitch where momentary pitch_to_throttle correction kicks in. [decidegrees]. Values 0 - 900, default 0
nav_fw_launch_end_time	Time for the transition of throttle and pitch angle, between the launch state and the subsequent flight mode [ms]. Values 0 - 5000, default 2000
mavlink_extra3_rate	Values 0 - 255, default 1
osd_snr_alarm	Value below which Crossfire SNR Alarm pops-up. (dB). Values -12 - 8, default 4
osd_link_quality_alarm	LQ % indicator blinks below this value. For Crossfire use 70%, for Tracer use 50%". Values 0 - 100, default 70
osd_crsf_lq_format	OSD display format for CRSF LQ. Values TYPE1 or TYPE2
osd_force_grid	Force OSD to work in grid mode even if the OSD device supports pixel level access (mainly used for development). Default OFF
osd_ahi_bordered	Shows a border/corners around the AHI region (pixel OSD only). Default OFF
osd_ahi_width	AHI width in pixels (pixel OSD only). Values 0 - 255, default 132
osd_ahi_height	AHI width in pixels (pixel OSD only). Values 0 - 255, default 162
osd_ahi_vertical_offset	AHI vertical offset from center (pixel OSD only). Values -128 - 127, default 0
osd_sidebar_horizontal_offset	Sidebar horizontal offset from default position. Positive values move the sidebars closer to the edges. Values -128 - 127, default 0
osd_left_sidebar_scroll_step	How many units each sidebar step represents. 0 means the default value for the scroll type. Values 0 - 255, default 0
osd_right_sidebar_scroll_step	How many units each sidebar step represents. 0 means the default value for the scroll type. Values 0 - 255, default 0
smartport_master_halfduplex	Values OFF, ON, default ON
smartport_master_inverted	Values OFF, ON, default OFF
dji_esc_temp_source	Re-purpose the ESC temperature field for IMU/BARO temperature. Values ESC, `...

INAV 2.6.0 RC2

Hello and welcome to INAV 2.6.0 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 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

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

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.

INAV 2.6 will be the last release that supports F3-based boards. The supporting code will be retained for a few more releases, but will not be maintained and is not guarantee to build or work properly in future releases.

Safehome replaces RTH offset distance and direction

A new feature safehome (see below) replaces nav_rth_home_offset_distance and nav_rth_home_offset_direction, offering a safer and much more flexible function. If you were using the nav_rth_home_offset_* settings, please migrate to safehomeas these settings are removed.

Upgrading from 2.5

0. Download and install the new configurator
1. Save to a file the current diff all from the CLI.
2. Upgrade to INAV 2.6 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 2.6 features and enjoy!

Upgrading from 2.4 or older version

Please follow the instructions on this page.

New targets:

• IFLIGHTF4_SUCCEXD ([@digitalentity])
• FLYWOOF411, FLYWOOF7DUAL ([@digitalentity])
• KAKUTEF7MINIV3
• MATEKF722WPX

CLI:

New commands

Command	Description
safehome	List of home locations, see Safehomes.md and summary
bind_rx	Initiate binding for RX_SPI or SRXL2 receivers

Changed Settings

Setting	Description
mag_hardware	New option added MSP
baro_hardware	New options added DPS310 and MSP
pitot_hardware	New options added MSP
serialrx_provider	New options added FPORT2 and SRXL2
gps_provider	New options added MSP
debug_mode	New options added CD, KALMAN_GAIN, PID_MEASUREMENT, SPM_CELLS, SPM_VS600, SPM_VARIO, PCF8574
airmode_type	New option added STICK_CENTER_ONCE
nav_overrides_motor_stop	Modified values OFF, AUTO_ONLY, ALL_NAV. When set OFF the navigation system will not take over the control of the motor if the throttle is low (motor will stop). 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 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.

New Settings

Setting	Description
gyro_notch_hz	Replaces gyro_notch1_hz and gyro_notch2_hz
gyro_notch_cutoff	Replaces gyro_notch1_cutoff and gyro_notch2_cutoff
maggain_x, maggain_y, maggain_z	Calibrated values replacing fixed values. Compass re-calibration is required.
srxl2_unit_id	Values 0 - 15, default 1
srxl2_baud_fast	Values OFF, ON, default ON
mc_cd_pitch	Multicopter Control Derivative gain for PITCH, values 0 - 200, default 60
mc_cd_roll	Multicopter Control Derivative gain for ROLL, values 0 - 200, default 60
mc_cd_yaw	Multicopter Control Derivative gain for YAW, values 0 - 200, default 60
fw_turn_assist_pitch_gain	Gain required to keep constant pitch angle during coordinated turns (in TURN_ASSIST mode). Value significantly different from 1.0 indicates a problem with the airspeed calibration (if present) or value of fw_reference_airspeed parameter. Values 0 - 2, default 1
nav_mc_vel_xy_dterm_attenuation	Maximum D-term attenution percentage for horizontal velocity PID controller (Multirotor). It allows to smooth the PosHold CRUISE, WP and RTH when Multirotor is traveling at full speed. Dterm is not attenuated at low speeds, breaking and accelerating. Values 0 - 100, default 90
nav_mc_vel_xy_dterm_attenuation_start	A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation begins. Values 0 - 100, default 10
nav_mc_vel_xy_dterm_attenuation_end	A point (in percent of both target and current horizontal velocity) where nav_mc_vel_xy_dterm_attenuation reaches maximum. Values 0-100, default 60
mc_cd_lpf_hz	Cutoff frequency for Control Derivative. Lower value smoother reaction on fast stick movements. With higher values, response will be more aggressive and jerky. Values 0 - 200, default 30
setpoint_kalman_enabled	Enable Kalman filter on the PID controller setpoint. Values OFF, ON, default OFF
setpoint_kalman_q	Quality factor of the setpoint Kalman filter. Higher values means less filtering and lower phase delay. On 3-7 inch multirotors can be usually increased to 200-300 or even higher on clean builds. Values 1 - 16000, default 100
setpoint_kalman_w	Window size for the setpoint Kalman filter. Wider the window, more samples are used to compute variance. In general, wider window results in smoother filter response. Values 1 - 40, default 4
setpoint_kalman_sharpness	Dynamic factor for the setpoint Kalman filter. In general, the higher the value, the more dynamic Kalman filter gets. Values 1 - 16000, default 100
inav_use_gps_no_baro	Values OFF, ON, default OFF
nav_fw_pitch2thr_smoothing	How smoothly the autopilot makes pitch to throttle correction inside a deadband defined by nav_fw_pitch2thr_threshold. Values 0 - 9, default 0
nav_fw_pitch2thr_threshold	Threshold from average pitch where momentary pitch_to_throttle correction kicks in. [decidegrees]. Values 0 - 900, default 0
nav_fw_launch_end_time	Time for the transition of throttle and pitch angle, between the launch state and the subsequent flight mode [ms]. Values 0 - 5000, default 2000
mavlink_extra3_rate	Values 0 - 255, default 1
osd_snr_alarm	Value below which Crossfire SNR Alarm pops-up. (dB). Values -12 - 8, default 4
osd_link_quality_alarm	LQ % indicator blinks below this value. For Crossfire use 70%, for Tracer use 50%". Values 0 - 100, default 70
osd_crsf_lq_format	OSD display format for CRSF LQ. Values TYPE1 or TYPE2
osd_force_grid	Force OSD to work in grid mode even if the OSD device supports pixel level access (mainly used for development). Default OFF
osd_ahi_bordered	Shows a border/corners around the AHI region (pixel OSD only). Default OFF
osd_ahi_width	AHI width in pixels (pixel OSD only). Values 0 - 255, default 132
osd_ahi_height	AHI width in pixels (pixel OSD only). Values 0 - 255, default 162
osd_ahi_vertical_offset	AHI vertical offset from center (pixel OSD only). Values -128 - 127, default 0
osd_sidebar_horizontal_offset	Sidebar horizontal offset from default position. Positive values move the sidebars closer to the edges. Values -128 - 127, default 0
osd_left_sidebar_scroll_step	How many units each sidebar step represents. 0 means the default value for the scroll type. Values 0 - 255, default 0
osd_right_sidebar_scroll_step	How many units each sidebar step represents. 0 means the default value for the scroll type. Values 0 - 255, default 0
smartport_master_halfduplex	Values OFF, ON, default ON
smartport_master_inverted	Values OFF, ON, default OFF
dji_esc_temp_source	Re-purpose the ESC temperature field for IMU/BARO temperature. Values ESC, IMU, BARO, default ESC
`dj...

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).