INAV 2.1.0-RC2

Hello and welcome to INAV 2.1.0 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

Support developers for free by checking out from the following stores after having clicked on the following links:

Support us on Banggood

Important Notes

1. INAV 2.1 is the last release of INAV that fully supports F3 and especially Omnibus F3 boards. Due to the lack of flash and RAM, future versions of INAV will either remove functions on F3 or not support those boards at all. STM32F3 are strongly discouraged for new builds and existing builds should be upgraded to F7 boards
2. Feature AIRMODE is enabled by default on all targets! There is no need to change that on Fixed Wings at all. On Multirotors, if there a need to do so, users might disable it and enable AIRMODE as a flight mode on a switch like before. In the majority of the cases, AIRMODE can be enabled on Multirotors all the time. The two cases when a user might make it conditional are: usage of MOTOR_STOP or disabling for landing.
3. ASYNC processing is gone. Gyro/Acc updates now happens in sync with the control loop.
4. DSHOT is one of the new features of INAV 2.1. A digital protocol, like what DSHOT is, can substain a certain amount of noise with no performance degradation and allows a very smooth motor output. This comes at the cost of not offering a way in between a perfectly working setup or a not working one! (Think for instance to you Digital Television!).
   DSHOT requires a very clean setup and short ESC signal wires run. You might find your DSHOT setup perfectly working on the bench and failing when flying. If you are unsure about your setup just stick with analog protocols like ONESHOT or MULTISHOT. More on the topic can be found here

Upgrading from 2.0.0

1. Be sure to run the latest INAV 2.1 Configuration release. Download from here
2. Go to the CLI tab and copy and paste the diff output to a text file for later usage.
3. Flash INAV 2.1.0 enabling full chip erase . Now you FC should run INAV 2.1.0 Connect again and check the firmware version.
4. Go to CLI tab and paste all the contents you previously saved into a text file and press enter. Wait for it to finish. Type save and you should be good to go!
5. Enjoy INAV 2.1.0 and explore its new features!

Upgrading from 1.9.X

1. Be sure to run the latest INAV 2.1 Configuration release. Download from [here]
2. Go to the CLI tab and copy and paste the diff output to a text file for later usage.
3. Go to the OSD tab and take a screenshot of the current layout
4. Flash INAV 2.1.0 enabling full chip erase . Now you FC should run INAV 2.0. Connect again and check the firmware version.
5. Go to the Mixer tab and load and apply your desired mixer.
6. Go back to your configuration text file and delete all lines starting with: mixer acczero accgain magzero osd. Adjust values to be adjusted noted in the release notes.
7. Open the CLI tab in the configurator and paste your cleaned up configuration in the text box and type save and press enter. The flight controller will now reboot.
8. Calibrate the accelerometer following the steps in the dedicated tab. Only first two steps need to be made in the right order.
9. Calibration of the magnetometer should be done at the field. The magnetic field indoors can be distorted and led to a bad calibration.
10. Restore manually your OSD layout using the screenshot and upload the font you like using the dedicated button.
11. Carefully check all the configuration and check on the bench without installed propellers if everything looks good. In particular, check if the model preview behaves correctly when you are moving your model and check surfaces movements for an airplane.
12. Enjoy INAV 2.1.0 and explore its new features!

New targets:

• Omnibus F4 Nano v6
• Matek F722SE
• Matek F722-WING
• DYS F4Pro v2
• Kakute F7
• Matek F411 RSSI
• Matek F411 with second software serial
• Foxeer F405 AIO
• Foxeer F722 DUAL
• SP Racing F7 Dual
• Kiss FC

CLI:

New

Setting	Description
rc_filter_frequency	RC data biquad filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay. Practical values are 20-50. Set to zero to disable entirely and use unsmoothed RC stick values
fw_iterm_limit_stick_position	Iterm is not allowed to grow when stick position is above threshold. This solves the problem of bounceback or followthrough when full stick deflection is applied on poorely tuned fixed wings. In other words, stabilization is partialy disabled when pilot is actively controlling the aircraft and active when sticks are not touched. 0 mean stick is in center position, 1 means it is fully deflected to either side
nav_mc_braking_speed_threshold	min speed in cm/s above which braking can happen
nav_mc_braking_disengage_speed	braking is disabled when speed goes below this value
nav_mc_braking_timeout	timeout in ms for braking
nav_mc_braking_boost_factor	acceleration factor for BOOST phase
nav_mc_braking_boost_timeout	how long in ms BOOST phase can happen
nav_mc_braking_boost_speed_threshold	BOOST can be enabled when speed is above this value
nav_mc_braking_boost_disengage_speed	BOOST will be disabled when speed goes below this value
nav_mc_braking_bank_angle	max angle that MR is allowed to bank in BOOST mode
osd_artificial_horizon_max_pitch	Max pitch, in degrees, for OSD artificial horizon
osd_failsafe_switch_layout	If enabled the OSD automatically switches to the first layout during failsafe
fw_loiter_direction	Circle direction for FW loiter (LEFT, RIGHT), default RIGHT. My be changed in flight by the LOITER CHANGE switch.

Removed

Setting	Description
acc_task_frequency
attitude_task_frequency
async_mode
smix reverse	input reverse can be done on the mixer level

Main changes

DSHOT

INAV 2.1 supports DSHOT ESC protocol. It can be configured using motor_pwm_protocol CLI setting. The following versions of DSHOT are supported:

• DSHOT150
• DSHOT300
• DSHOT600
• DSHOT1200

There is no DSHOT telemetry or DSHOT commands support yet!

Be advised that DSHOT is not well tested on INAV and because of being digital protocol can totally fail on setups with high electrical noise without giving any sign of degradation or motor stuttering.

DSHOT is enabled on following targets:

• AIRBOTF4
• ASGARD32F4
• ASGARD32F7
• COLIBRI_RACE
• FIREWORKSV2
• FOXEERF405
• FOXEERF722DUAL
• MATEKF405 (CTR, STD, not WING)
• MATEKF722
• MATEKF722SE
• OMNIBUSF4
• OMNIBUSF7NXT
• REVO

Multirotor braking mode

Requirements and setup

1. Multirotor has to be capable of running 3D Position Hold: GPS, Compass, and Baro are required
2. MC BRAKING flight mode has to be enabled
3. UAV has to be put into User Control Mode CRUISE

Settings

• nav_mc_braking_speed_threshold - min speed in cm/s above which braking can happen
• nav_mc_braking_disengage_speed - braking is disabled when speed goes below this value
• nav_mc_braking_timeout - timeout in ms for braking
• nav_mc_braking_boost_factor - acceleration factor for BOOST phase
• nav_mc_braking_boost_timeout - how long in ms BOOST phase can happen
• nav_mc_braking_boost_speed_threshold - BOOST can be enabled when speed is above this value
• nav_mc_braking_boost_disengage_speed - BOOST will be disabled when speed goes below this value
• nav_mc_braking_bank_angle - max angle that MR is allowed to bank in BOOST mode

How it works:

1. There are two phases BRAKE and BOOST
2. BRAKE can be started then MC BRAKING mode is enabled, MR is in CRUISE mode, 3D PosHold is enabled, MR is traveling above nav_mc_braking_speed_threshold and pilot releases sticks
3. INAV will store new PosHold position only when copter will stop, not when stricks are released
4. On top of that, BOOST phase can be enabled if MR is traveling above nav_mc_braking_boost_speed_threshold
5. in BOOST phase, MR is allowed to use higher acceleration ...

INAV 2.1.0-RC1

Hello and welcome to INAV 2.1.0 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

Important Notes

1. INAV 2.1 is the last release of INAV that fully supports F3 and especially Omnibus F3 boards. Due to the lack of flash and RAM, future versions of INAV will either remove functions on F3 or not support those boards at all. STM32F3 are strongly discouraged for new builds and existing builds should be upgraded to F7 boards
2. Feature AIRMODE is enabled by default on all targets! There is no need to change that on Fixed Wings at all. On Multirotors, if there a need to do so, users might disable it and enable AIRMODE as a flight mode on a switch like before. In the majority of the cases, AIRMODE can be enabled on Multirotors all the time. The two cases when a user might make it conditional are: usage of MOTOR_STOP or disabling for landing.
3. ASYNC processing is gone. Gyro/Acc updates now happens in sync with the control loop.
4. DSHOT is one of the new features of INAV 2.1. A digital protocol, like what DSHOT is, can substain a certain amount of noise with no performance degradation and allows a very smooth motor output. This comes at the cost of not offering a way in between a perfectly working setup or a not working one! (Think for instance to you Digital Television!).
   DSHOT requires a very clean setup and short ESC signal wires run. You might find your DSHOT setup perfectly working on the bench and failing when flying. If you are unsure about your setup just stick with analog protocols like ONESHOT or MULTISHOT. More on the topic can be found here

Upgrading from 2.0.0

1. Be sure to run the latest INAV 2.1 Configuration release. Download from here
2. Go to the CLI tab and copy and paste the diff output to a text file for later usage.
3. Flash INAV 2.1.0 enabling full chip erase . Now you FC should run INAV 2.1.0 Connect again and check the firmware version.
4. Go to CLI tab and paste all the contents you previously saved into a text file and press enter. Wait for it to finish. Type save and you should be good to go!
5. Enjoy INAV 2.1.0 and explore its new features!

Upgrading from 1.9.X

1. Be sure to run the latest INAV 2.1 Configuration release. Download from [here]
2. Go to the CLI tab and copy and paste the diff output to a text file for later usage.
3. Go to the OSD tab and take a screenshot of the current layout
4. Flash INAV 2.1.0 enabling full chip erase . Now you FC should run INAV 2.0. Connect again and check the firmware version.
5. Go to the Mixer tab and load and apply your desired mixer.
6. Go back to your configuration text file and delete all lines starting with: mixer acczero accgain magzero osd. Adjust values to be adjusted noted in the release notes.
7. Open the CLI tab in the configurator and paste your cleaned up configuration in the text box and type save and press enter. The flight controller will now reboot.
8. Calibrate the accelerometer following the steps in the dedicated tab. Only first two steps need to be made in the right order.
9. Calibration of the magnetometer should be done at the field. The magnetic field indoors can be distorted and led to a bad calibration.
10. Restore manually your OSD layout using the screenshot and upload the font you like using the dedicated button.
11. Carefully check all the configuration and check on the bench without installed propellers if everything looks good. In particular, check if the model preview behaves correctly when you are moving your model and check surfaces movements for an airplane.
12. Enjoy INAV 2.1.0 and explore its new features!

New targets:

• Omnibus F4 Nano v6
• Matek F722SE
• Matek F722-WING
• DYS F4Pro v2
• Kakute F7
• Matek F411 RSSI
• Matek F411 with second software serial
• Foxeer F405 AIO
• Foxeer F722 DUAL
• SP Racing F7 Dual
• Kiss FC

CLI:

New

Setting	Description
rc_filter_frequency	RC data biquad filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay. Practical values are 20-50. Set to zero to disable entirely and use unsmoothed RC stick values
fw_iterm_limit_stick_position	Iterm is not allowed to grow when stick position is above threshold. This solves the problem of bounceback or followthrough when full stick deflection is applied on poorely tuned fixed wings. In other words, stabilization is partialy disabled when pilot is actively controlling the aircraft and active when sticks are not touched. 0 mean stick is in center position, 1 means it is fully deflected to either side
nav_mc_braking_speed_threshold	min speed in cm/s above which braking can happen
nav_mc_braking_disengage_speed	braking is disabled when speed goes below this value
nav_mc_braking_timeout	timeout in ms for braking
nav_mc_braking_boost_factor	acceleration factor for BOOST phase
nav_mc_braking_boost_timeout	how long in ms BOOST phase can happen
nav_mc_braking_boost_speed_threshold	BOOST can be enabled when speed is above this value
nav_mc_braking_boost_disengage_speed	BOOST will be disabled when speed goes below this value
nav_mc_braking_bank_angle	max angle that MR is allowed to bank in BOOST mode
osd_artificial_horizon_max_pitch	Max pitch, in degrees, for OSD artificial horizon
osd_failsafe_switch_layout	If enabled the OSD automatically switches to the first layout during failsafe

Removed

Setting	Description
acc_task_frequency
attitude_task_frequency
async_mode
smix reverse	input reverse can be done on the mixer level

Main changes

DSHOT

INAV 2.1 supports DSHOT ESC protocol. It can be configured using motor_pwm_protocol CLI setting. The following versions of DSHOT are supported:

• DSHOT150
• DSHOT300
• DSHOT600
• DSHOT1200

There is no DSHOT telemetry or DSHOT commands support yet!

Be advised that DSHOT is not well tested on INAV and because of being digital protocol can totally fail on setups with high electrical noise without giving any sign of degradation or motor stuttering.

RC1 DSHOT targets

• ASGARD32F4
• ASGARD32F7
• COLIBRI_RACE
• FIREWORKSV2
• FOXEERF405
• FOXEERF722DUAL
• MATEKF405
• MATEKF722
• MATEKF722SE
• OMNIBUSF4
• OMNIBUSF7NXT
• REVO

Multirotor braking mode

Requirements and setup

1. Multirotor has to be capable of running 3D Position Hold: GPS, Compass, and Baro are required
2. MC BRAKING flight mode has to be enabled
3. UAV has to be put into User Control Mode CRUISE

Settings

• nav_mc_braking_speed_threshold - min speed in cm/s above which braking can happen
• nav_mc_braking_disengage_speed - braking is disabled when speed goes below this value
• nav_mc_braking_timeout - timeout in ms for braking
• nav_mc_braking_boost_factor - acceleration factor for BOOST phase
• nav_mc_braking_boost_timeout - how long in ms BOOST phase can happen
• nav_mc_braking_boost_speed_threshold - BOOST can be enabled when speed is above this value
• nav_mc_braking_boost_disengage_speed - BOOST will be disabled when speed goes below this value
• nav_mc_braking_bank_angle - max angle that MR is allowed to bank in BOOST mode

How it works:

1. There are two phases BRAKE and BOOST
2. BRAKE can be started then MC BRAKING mode is enabled, MR is in CRUISE mode, 3D PosHold is enabled, MR is traveling above nav_mc_braking_speed_threshold and pilot releases sticks
3. INAV will store new PosHold position only when copter will stop, not when stricks are released
4. On top of that, BOOST phase can be enabled if MR is traveling above nav_mc_braking_boost_speed_threshold
5. in BOOST phase, MR is allowed to use higher acceleration and banking angle than normal.
6. Because BOOSTS is limited in time, banking angle much higher than default should be fine

Tuning

Default values should be pretty safe to use. My 6" machine using following values:

set nav_mc_braking_speed_threshold = 100
set nav_mc_braking_disengage_speed = 50
set nav_mc_braking_timeout = 2000
set nav_mc_braking_boost_factor = 150
set nav_mc_braking_boost_timeout = 1000
set nav_mc_braking_boost_speed_threshold = 120
set nav_mc_braking_boost_disengage_speed = 75
set nav_mc_braking_bank_angle = 40

All changes:

• [Support ...

INAV 2.0.1

Hello and welcome to INAV 2.0.1 Release!

Please carefully read all of this document for the best possibile 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

Maintenance release

This release is a maintenance release. We've found and fixed a bug so big and important that we decided to backport it from development versions to 2.0.0 code base and make a separate release.

This bug is known as a "GPS Lag" which has been reported by some pilots but it's cause has beed unknown until recently. On a quad the bug manifests itself as violent toilet bowling that can't be explained with compass interference/calibration. On a plane this bug causes the plane to fly in circles or other weird-shaped paths during RTH or Cruise modes.

If you have not encountered the issue you are still advised to upgrade to avoid issues with RTH/Cruise/Poshold.

WARNING

After this update your GPS module may cease to work with INAV. This is usually an indication of miswiring. If after upgrate INAV doesn't detect your module, please check the wiring and make sure both TX and RX lines of GPS module are connected to corresponding pins of your FC.

Sponsors and supporters

Ongoing development would be impossible without ongoing cooperation with manufacturers and support from the following businesses:

• CarbonBird Robotics http://www.carbonbird.com/
• Airbot https://store.myairbot.com/
• ADPM Drones http://www.adpmdrones.com/
• Matek Systems http://www.mateksys.com
• AKK https://www.akktek.com
• FuriousFPV http://furiousfpv.com/

INAV 2.0.0

Hello and welcome to INAV 2.0.0 Release!

Please carefully read all of this document for the best possibile 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
	INAV Official on Slack

Sponsors and supporters

Ongoing development would be impossible without ongoing cooperation with manufacturers and support from the following businesses:

• CarbonBird Robotics http://www.carbonbird.com/
• Airbot https://store.myairbot.com/
• ADPM Drones http://www.adpmdrones.com/
• Matek Systems http://www.mateksys.com
• AKK https://www.akktek.com
• FuriousFPV http://furiousfpv.com/

Important Notes

• DO NOT RESTORE ACCELEROMETER CALIBRATION VALUES FROM AN OLDER RELEASE (<2.0) Doing that will led to poor attitude estimation performance and may cause troubles.

• When upgrading a full chip erase (when flashing) / defaults from CLI is advised. Be sure to backup your configuration and restore it wisely.

• OSD layout configuration from releases < 2.0 is not compatible with the current one. Take a screenshot of your current OSD layout before upgrading and restore it manually from the configurator.

• current_meter_offset setting changed scale. Need to be multiplied by 10 if it's value is coming from < INAV 2.0.0

• Position Hold 2D (only keeping horizontal position with GPS aid) has been dropped. Now Position Hold is only 3D and it will hold position and altitude.

• STM32F1 boards support has been dropped. NAZE/CC3D targets are no longer supported. Please upgrade to F4/F7 board. F3 boards are not recommended since their flash space is almost full and they are likely to not receive all features on the next release.

• AIRMODE now excludes feature MOTOR_STOP in multicopters This means that if you have AIRMODE enabled on a multi-rotor, the motors will most likely spin on arming, even with feature MOTOR_STOP (or the configurator "Don't spin the motors when armed") set.

Upgrading from 1.9.X

1. Be sure to run the latest INAV 2.0 Configuration release. Download from [here]
2. Go to the CLI tab and copy and paste the diff output to a text file for later usage.
3. Go to the OSD tab and take a screenshot of the current layout
4. Flash INAV 2.0 enabling full chip erase . Now you FC should run INAV 2.0. Connect again and check firmware version.
5. Go to the Mixer tab and load and apply your desidered mixer.
6. Go back to your configuration text file and delete all lines starting with: mixer acczero accgain magzero osd. Adjust values to be adjusted noted in the release notes.
7. Open the CLI tab in the configurator and paste your cleaned up configuration in the text box and type save and press enter. The flight controller will now reboot.
8. Calibrate the accelerometer following the steps in the dedicated tab. Only first two steps needs to be made in the right order.
9. Calibration of the magnetometer should be done at the field. The magnetic field indoors can be distorted and led to a bad calibration.
10. Restore manually your OSD layout using the screenshot and upload the font you like using the dedicated button.
11. Carefully check all the configuration and check on the bench without installed propellers if everything looks good. In particular check if the model preview behave correctly when you are moving your model and check surfaces movements for an airplane.
12. Enjoy INAV 2.0.0 and explore its new features!

Walk through if TL;DR

https://www.youtube.com/watch?v=sHvItS2qKfk

Known bugs

• RadioLink R9DS (an possibly all RadioLink receivers) SBUS output cannot be used . They are not complying with standards and this results in them sending invalid SBUS packets to the FC ([#3563])
• If INAV Configurator starts minimized, you have to manually remove content of C:\Users%Your_UserNname%\AppData\Local\inav-configurator https://www.youtube.com/watch?v=XMoULyiFDp4
• When running async (GYRO or ALL), gyro update will stick to PID loop frequency even if the configurator reports an higher frequency. You can check this via tasks command in CLI. It's strongly recommended not to run async and synchronize looptime to gyroscope. ([#3628])

New mixer and mixer GUI

Starting from INAV 2.0.0, there are no predefined mixers on the firmware side: CLI command mixer QUADX will just not work. Mixer has to be configured using INAV Configurator 2.0 with Mixer tab.

Restoring from previous releases via CLI will not work correctly. Please use Configurator 2.0 mixer tab to configure it from scratch.

See https://www.youtube.com/watch?v=0cLFu-5syi0

It is no longer necessary to use smix reverse to reverse a tricopter tail servo; this can be done in the 2.0 Configurator or with the CLI smix 0 5 2 -100 0.

Added NAV CRUISE flight mode (fixed wing)

This release introduces the new NAV CRUISE flight mode. When enabled the machine will try to maintain the current heading and compensate for any external disturbances (2D CRUISE). User can adjust the flight direction directly with ROLL stick or with the YAW stick ( nav_fw_cruise_yaw_rate set the yawing rate at full stick deflection ). The latter will offer a smoother way to adjust the flight direction. If the mode is enabled in conjunction with NAV ALTHOLD also the current altitude will be maintained (3D CRUISE). Altitude can be adjusted, as usual, via the pitch stick. In both modes ANGLE mode is active and the plane will stay leveled.

OSD improvements

OSD functionally got overhauled and improved. Now it is possible to have three OSD layouts and switch between them via an RC channel. Furthermore new two modes have been added: map and radar.

• map mode draws the home centered, while the craft moves around. There are two available maps: one with the North pointing up and another one with the takeoff direction pointing up.
• radar mode draws the craft in the center and the home moving around.

Those modes will enable the display of other aircraft flying in the vicinity in a future releases.

It is now possible to display a lot of new data on the OSD:

• All the values adjustable in flight via RC. When a value is selected for adjustment it starts blinking. This means it is possible to select a lot of adjustments with a pot for example and know easily which one is being adjusted.
• Wind estimation
• Numeric attitude angles
• Cruise mode heading info
• Numeric heading to home
• New battery related data: estimated remaining time and distance before having to head home, sag compensated battery voltage, estimated battery impedance
• Outputs of the PID controllers

Added full VTX control via Smart Audio / TRAMP

User can now select VTX settings from the configurator or via the OSD CMS. Furthermore vtx_low_power_disarm setting has been added. Setting it to ON will set the power to its minimum value on startup (usually 25mW) and increase it to vtx_power when arming and change it back to its lowest setting after disarming. Note that this setting can jeopardize the ability to find a lost quad using a strong signal coming from the VTX but on the other way it can prevent the VTX to overheat if you do quick flight cycles on the same battery.
UNTIL_FIRST_ARM will set the VTX to its minimum power, but once the craft is armed it will increase the output power to vtx_power and it will never decrease until the craft is power cycled. OFF will make the power output always to be set to the vtx_power setting.

Wind Estimation for Fixed Wing

It is possible to show estimated wind speed and direction on the OSD. In particular both lateral and vertical indicators are present. This is an experimental feature, you are encouraged to use it and report any anomalies in the estimated wind speed.

Battery management related features

These features have been added for helping with the battery management:

• Battery profile with optional automatic switching
• Sag compensated battery voltage and battery impedance calculation
• Estimation of the remaining flight time and distance before having to head home
• Automatic compensation of throttle command based on battery voltage to help maintain constant thrust regardless of the battery voltage
• The current sensor can be calibrated more accurately (increased offset voltage resolution: 0.1mV instead of 1mV). If you'd like to keep your current_meter_offset value from an old config you need to multiply it by 10).

You can read more about these feature in the battery documentation

CLI parameter renaming / new parameters

Name	Description
nav_fw_cruise_yaw_rate	Max YAW rate when NAV CRUISE mode is enabled (0=disable control via yaw stick) [dps]
gyro_stage2_lowpass_hz	Software based seco...

INAV 2.0.0 RC6

Changes since RC5:

• Fix issue with not being able to disarm after ~70 min flight
• Fix missing vtx settings from CLI
• Telemetry improvements for LuaTelemetry

Full list: 2.0.0-RC5...2.0.0-RC6

Please, see the full release notes at https://github.com/iNavFlight/inav/wiki/2.0.0-Release-Notes

INAV 2.0.0 RC5

Changes since RC4:

• Add SOFTSERIAL support on TX2 for MATEKF405
• New setting for disabling motor_stop in NAV modes
• Ignore RC receiver data if receiver is in failsafe
• Fix default compass direction for SPRACINGF3EVO
• Add workaround for AKK VTX with S.Audio bug
• Replace rssi_scale and rssi_invert with rssi_min and rssi_max
• Check settings for respecting min/max values at boot time

Full list: 2.0.0-RC4...2.0.0-RC5

Please, see the full release notes at https://github.com/iNavFlight/inav/wiki/2.0.0-Release-Notes

INAV 2.0.0 RC4

Changes since RC3:

• Fixed bug which caused some ESCs to lose their calibration data (introduced in RC3).
• Show a message in the ARMED screen when GPS is configured but no home position has been recorded.
• Make the home arrow point up (when disarmed) or show a - (when armed) if the direction to home is not actually known (due to either sensor failure or no home position recorded).
• Fixed display of coordinates in the (-1, 0) range in the latitude and longitude indicators.
• Fixed RC adjustments being applied too fast when multiple adjustments where active at the same time.
• Ensure micros() doesn't return an incorrect value under some special circumstances.
• Added new parameter for changing the SBUS frame sync interval, for receivers not implementing SBUS properly.

Full list: 2.0.0-RC3...2.0.0-RC4

Please, see the full release notes at https://github.com/iNavFlight/inav/wiki/2.0.0-Release-Notes

INAV 2.0.0 RC3

Known issues:

• Due to the changes made to eliminate servo twitching, some ESC might lose their calibration data. Please, make sure yours are not affected. A fix has been already merged and will be present in RC4.

Changes since RC2: 2.0.0-RC2...2.0.0-RC3

Please, see the full release notes at https://github.com/iNavFlight/inav/wiki/2.0.0-Release-Notes

INAV 2.0.0 RC2

Changes since RC1:

• Fixed display of battery and PID values in OSD
• Hide name from diff output when it has its default value
• Fixed transition from CRUISE and CRUISE 3D modes to POSHOLD
• Fixed incorrect remaining flight distance OSD element
• Fixed incorrect amperage/used current display in several places (OSD, configurator, etc...)

See the full release notes at https://github.com/iNavFlight/inav/wiki/2.0.0-Release-Notes

INAV 2.0.0 RC1

Merge pull request #3239 from bnn1044/CLRACINGF4AIRV3

Add CLRACINGF4AIRV3 to CLRACINGF4AIR target