Welcome to INAV 9.1.0

Please carefully read all of this document for the best possible experience and safety.

Contact other pilots, share experiences, suggestions and ask for help on:

	INAV Discord Server
	INAV Official on Facebook

INAV 9.1 is primarily a maintenance release focused on reliability improvements, safety fixes, and GPS accuracy. Since 9.0.1: 46 fixes and 76 new features/enhancements, including 19 new hardware targets. It contains no incompatible settings changes — your 9.0.x diff all will load cleanly.

For full PR-by-PR detail, see the wiki release notes.

Upgrading from INAV 9.0.x

1. Download and install the new INAV 9.1 Configurator
2. Backup your configuration: CLI → diff all → save to file
3. Flash INAV 9.1.0 — Full Chip Erase is NOT required when upgrading from 9.0.x
4. Restore settings from CLI or use the Keep current settings option

Upgrading from INAV 8.x

1. Download and install the new INAV 9.1 Configurator
2. Backup configuration: CLI → diff all → save to file
3. Flash INAV 9.1.0 WITH Full Chip Erase enabled
4. Load your 8.x diff into the CLI; note any settings shown in RED
5. Use the INAV CLI Update Tool or manually update incompatible settings from the 9.0.0 release notes
6. See Upgrading from an older version for full instructions

⚠️ Important Notes for 9.1

FLYINGRCF4WINGMINI alignment change

If you have the FLYINGRCF4WINGMINI, you will need to re-do the accelerometer alignment, as the gyro rotation has been corrected.

GPS Default Settings Changed

Two GPS defaults have changed. These only affect you if you never explicitly set them in your configuration (i.e., they are not in your diff all):

• gps_ublox_nav_hz default changed from 10 → 8 Hz. Lower rate allows more satellite constellations to be tracked for better accuracy, especially on M8/M9 modules. If you want to keep 10 Hz, add set gps_ublox_nav_hz = 10 to your diff.
• gps_ublox_use_galileo and gps_ublox_use_beidou now default to ON. More constellations generally improves position accuracy.

Position Estimator — Altitude Controller Gains

Highlights

GNSS Constellation and Update Rate

INAV now provides an optimized GPS update rate based on your hardware type (M8, M9, M10) and the number of active constellations. PR #11262

Multicopter Magless Heading

Pilots flying without a compass can now point the front of their multicopter or VTOL toward a known North heading before takeoff. PR #11529

Position Estimator Improvements

Several changes improve multicopter position hold accuracy when GPS signal is poor or fluctuating. #11270, #11322, #11387

OSD Improvements

Post-disarm stats, Multifunction mode expansion, toilet-bowl compass deviation warning, and Surface mode/Geozone message improvements. #11506, #11308, #10854

New Hardware Support

New Sensors: ICM-45686 IMU, MS5525DSO airspeed sensor, SSD1315 OLED display, LSM6DSV16X/LSM6DSK320X accgyro

New Flash Storage: XT25F128F, MX35LF2G

19 New Targets: AIKONF4V2, AXISFLYINGH743PRO, BLADE_F4, BLUEBERRYH743, BLUEBERRYF405, Brahma H7, DAKEFPVH743_SLIM, FlyDragon Pro, FLYWOOF405HD, FLYWOOF405PRO, FRSKYF405, HAKRCH743, NEXUS (Original), PAURCF405V2, SDMODELH7V2, SimplyFly H7, SOLOGOODF722, TBS_LUCID_H7_OEM, TBS_LUCID_H7_V3

Changes Since 9.1.0-RC1

• Fixed SDIO blocking delays and state management issues on problematic SD cards (#11674)
• Fixed WP JUMP and cross-track tracking issues in fixed-wing nav (#11640, #11648)
• Fixed a NULL-serial-port crash risk when the GPS provider is changed without reboot (#11634)
• Fixed ICM-42688P/42686P AAF frequency overflow (#11682)
• Added 3 new targets: DAKEFPVH743_SLIM, SOLOGOODF722, AXISFLYINGH743PRO
• Added LSM6DSV16X/LSM6DSK320X accgyro driver support (#11694)
• Allow UART pin swap on H7 targets (#11687)
• Several target-specific DMA/UART/telemetry fixes (AEDROXH7, JHEMCUF435, DAKEFPVH743PRO, DAKEFPVF405)

Full list: wiki release notes (see "Since 9.1.0-RC1" section)

Full Changelog: 9.0.1...9.1.0
Wiki Release Notes: https://github.com/iNavFlight/inav/wiki/9.1.0-Release-Notes

Welcome to INAV 9.1.0-RC1

Please carefully read all of this document for the best possible experience and safety.

Contact other pilots, share experiences, suggestions and ask for help on:

	INAV Discord Server
	INAV Official on Facebook

This is a Release Candidate. RC builds are for testing purposes. If you find issues, please report them on GitHub Issues.

INAV 9.1 is primarily a maintenance release focused on reliability improvements, safety fixes, and GPS accuracy. It contains no incompatible settings changes — your 9.0.x diff all will load cleanly.

Manually Upgrading from INAV 9.0.x

1. Download and install the new INAV 9.1 Configurator
2. Backup your configuration: CLI → diff all → save to file
3. Flash INAV 9.1.0 — Full Chip Erase is NOT required when upgrading from 9.0.x
4. Restore settings from CLI or use the Keep current settings option

Manually Upgrading from INAV 8.x

1. Download and install the new INAV 9.1 Configurator
2. Backup configuration: CLI → diff all → save to file
3. Flash INAV 9.1.0 WITH Full Chip Erase enabled
4. Load your 8.x diff into the CLI; note any settings shown in RED
5. Use the INAV CLI Update Tool or manually update incompatible settings from the 9.0.0 release notes
6. See Upgrading from an older version for full instructions

⚠️ Important Notes for 9.1

GPS Default Settings Changed

Two GPS defaults have changed. These only affect you if you never explicitly set them in your configuration (i.e., they are not in your diff all):

• gps_ublox_nav_hz default changed from 10 → 8 Hz. Lower rate allows more satellite constellations to be tracked for better accuracy, especially on M8/M9 modules. If you want to keep 10 Hz, add set gps_ublox_nav_hz = 10 to your diff.
• gps_ublox_use_galileo and gps_ublox_use_beidou now default to ON. More constellations generally improves position accuracy.

Position Estimator — Altitude Controller Gains

Highlights

GNSS Constellation and Update Rate

INAV now provides an optimized GPS update rate based on your hardware type (M8, M9, M10) and the number of active constellations. More constellations at lower update rates generally gives better position accuracy. Configure in the Configurator GPS Tab. PR #11262

Multicopter Magless Heading

Pilots flying without a compass can now point the front of their multicopter or VTOL toward a known North heading before takeoff, allowing navigation modes to activate without first flying a short distance to acquire a GPS course. PR #11529

Position Estimator Improvements

Several changes improve multicopter position hold accuracy when GPS signal is poor or fluctuating, with small benefits for fixed-wing navigation as well. #11270, #11322, #11387

OSD Improvements

• Post-disarm stats now correctly display CRSF RX data, Saving Setting, and Disarmed by advisories on HD displays. #11506
• Multifunction mode expanded with battery voltage/capacity warnings, pitot failure alerts, and compass calibration. #11308, #11543
• Toilet-bowl compass deviation warning in Poshold (multicopter). #10854
• Surface mode and Geozone system messages improved. #11425

Prominent Bug Fixes

• Reversed throttle servo safety fix — Fix servos outputting wrong position when disarmed with reversed throttle mix. #11318
• RTH Trackback lockup fix — Prevents flight controller locking up in some RTH Trackback scenarios. #11393
• 4-in-1 ESC random motor spin-up — Fixes motor 1 random spin-up after disarming with BLHeli_32 32.9 and earlier firmware. #11260
• Althold manual climb rate — Climb rate now correctly meets the target setpoint. #11359
• CRSF telemetry corruption — Fix airspeed, RPM, and temperature telemetry corrupting the data stream. #11189
• SD card lockup — Timeout guards for SD card SPI and SDIO drivers when using problematic SD cards. #11321
• USB VCP disconnect lockup — Fix USB serial port lockup on device disconnect. #11351
• MSP over telemetry — Fix multi-frame request assembly blocking and reduce congestion. #11478, #11481
• Blackbox overflow — Prevents overflow in blackbox acceleration and vibration fields. #11447
• Virtual pitot GPS failure — Better handling of virtual pitot when GPS hardware fails. #11441
• Surface mode landing detection — Inhibits landing detection in Surface mode unless AGL altitude is trusted and below 50 cm. #11425

New Hardware Support

New Sensors

• ICM-45686 IMU (#11418, #11455)
• MS5525DSO digital airspeed sensor (#11467)
• SSD1315 OLED display (#10959)

New Flash Storage

• XT25F128F (#11590)
• MX35LF2G (#11505)

New Targets

AIKONF4V2, BLADE_F4, BLUEBERRYH743, BLUEBERRYF405, Brahma H7, FlyDragon Pro, FLYWOOF405HD, FLYWOOF405PRO, FRSKYF405, HAKRCH743, NEXUS (Original), PAURCF405V2, SDMODELH7V2, SimplyFly H7, TBS_LUCID_H7_OEM, TBS_LUCID_H7_V3

Full Changelog: 9.0.1...9.1.0-RC1
Wiki Release Notes: https://github.com/iNavFlight/inav/wiki/9.1.0-Release-Notes

Hello and welcome to INAV 9.0.1

Please carefully read all of this document for the best possible experience and safety.

Contact other pilots, share experiences, suggestions and ask for help on:

	INAV Discord Server
	INAV Official on Facebook

This is a patch release with bug fixes and new target support. No settings have been renamed or removed, so your 9.0.0 configuration will work without changes.

Changes since 9.0.0

Bug Fixes

• CRSF frame length validation - Fix missing frame length verification when handling CRSF_FRAMETYPE_MSP_REQ/MSP_WRITE, preventing potential buffer issues (#11210, @VoodooChild99)
• Position estimator corrections - Fix position and velocity corrections for improved GPS hold and navigation accuracy. Addresses issues #10360, #10391, #10893, #11049 (#11270, @breadoven)
• Position estimator sanity limit - Relate correction sanity limit to loop rate for consistent behavior across different loop rates (#11270, @breadoven)
• STM32H7 DFU mode - Fix CLI dfu command on H743/H750 targets which would reboot as VCP instead of entering DFU mode (#11295, @sensei-hacker)
• DShot beeper arming loop - Fix feedback loop where DShot beeper confirmation prevents re-arming by resetting the guard timer on each attempt (#11306, @sensei-hacker)
• Surface mode Z velocity - Fix mathematical inconsistency where AGL velocity update used squared acceleration weight factor while altitude update used linear weight factor (#11255, @sensei-hacker)
• Terra Ranger Evo - Fix rangefinder driver for TeraRanger Evo sensors (#11311, @error414)

New Targets

• AIKONF4V3 - Aikon F405 V3 flight controller (#11284, @sensei-hacker)
• COREWINGF405WINGV2 - CoreWing F405 Wing V2 (#11291, @MakeSomeFakeNews)

Build & CI

• PG struct validation - Add build-time Parameter Group struct size validation to catch EEPROM-breaking changes before release (#11283, @sensei-hacker)

Upgrading from INAV 9.0.0

1. Download and install the new INAV Configurator 9.0.1
2. Backup configuration with CLI diff all command
3. Flash INAV 9.0.1 - Full Chip Erase is not required when upgrading from 9.0.0
4. Restore your settings from CLI or select Keep current settings from the defaults pop-up

⚠️ Important Upgrade Information (from INAV 8.x)

Flashing Notes

• Full chip erase REQUIRED when upgrading from 8.x
• Back up your configuration with diff all before flashing
• Review 9.0.0 Release Notes for breaking changes and incompatible settings

Upgrading from INAV 8.0

1. Download and install the new INAV Configurator 9.0.1
2. Backup configuration with CLI diff all command or use the Diff All and Save to file buttons.
3. Flash INAV 9.0.1 WITH Full Chip Erase option enabled
4. Load your 8.0 Diff settings in to the CLI. Then take a note or write down the incompatible settings changes marked in RED.
5. Then copy your 8.0 Diff file and rename it 9.0. And edit the old incompatible settings.
6. Go to CLI and load your edited INAV 9.0 Diff
7. Done

Diff update tool

Rather than steps 4 and 5 above. You can try this diff update tool. This is a work in progress. Currently it will try to update version 7 or later diffs to version 8 or later. Just paste your full diff all (not dump) in to the tool. Select the INAV version you're upgrading to. Then press the button. It will create a new diff for you and give you warnings about anything you should check.

INAV CLI Update Tool

Upgrading from older versions

Please follow the instructions on this page.

• Check the 9.0.0 Release Notes Wiki for further information

Major Changes in INAV 9.x Since 8.0.1

JavaScript Logic Conditions

Navigation & Flight Control

• Improved fixed-wing altitude control with two selectable methods
• Enhanced position estimator Z velocity accuracy
• Position estimator corrections fix for improved GPS hold accuracy
• Temperature compensation for accelerometers and barometers
• Improved VTOL tilt-rotor support with servo speed filtering
• Enhanced magless multicopter yaw estimation
• Improved fixed-wing flight detection for auto-disarm
• Airspeed based PID Attenuation (APA)
• GPS-based pitot sensor validation with automatic fallback to virtual airspeed on sensor failure

OSD & Telemetry

• Rebranded "Vario" as Vertical Speed Indicator
• Enhanced ADSB aircraft warnings with extended OSD glyphs
• New vertical digital throttle gauge display
• Barometer altitude integrated into CRSF telemetry
• New OSD elements: VERTICAL_SPEED_INDICATOR, ADSB_WARNING, ADSB_INFO, THROTTLE_GAUGE, NAV_MIN_GROUND_SPEED
• Increased flexibility for fixedwing minimum ground speed settings
• SmartPort telemetry: Configure sensors for OpenTX widgets and ETHOS dashboards

Maps & Mission Planning

• Bing Maps replaced with Esri World Imagery (no API key needed)
• Better imagery quality and reliability

Programming & Logic

• Programming Framework enables dynamic minimum ground speed adjustment
• Extended MSP override capability to 32-bit channels
• Add MSP2_INAV_SET_GVAR command for global variable manipulation
• Add MSP2_INAV_LOGIC_CONDITIONS_CONFIGURED command for optimized loading

Hardware Support

• New Targets (34+ additional flight controller targets including):
  • AIKONF4V3: Aikon F405 V3
  • COREWINGF405WINGV2: CoreWing F405 Wing V2
  • VANTAC_RF007: FrSky/Rotorflight Vantac RF007 with magnetometer support
  • OMNIBUSF4V3_ICM: New target variant
  • BLUEBERRYF435WING target added
  • RADIOLINKF722: Add W25Q128 flash chip support
• New Sensors:
  • QMC5883P magnetometer driver
  • Puya PY25Q128HA flash chip support (16MB SPI NOR)

Bug Fixes

• USB MSC (Mass Storage): Fix H743 USB MSC regression, add timeout protection and retry logic for SD card access
• Power Limiting: Fix power limiting treating 0 (disabled) as less than continuous current
• CRSF Telemetry: Fix buffer overflow and dashboard sizeof bug
• CRSF MSP: Fix missing frame length verification for CRSF MSP requests
• Logic Conditions: Guard against increasing max conditions beyond 64
• Critical Bugs: Fix integer overflow and buffer overrun issues (cppcheck)
• Blackbox: Fix MOTORS condition mismatch causing null byte padding in logs
• STM32H7 DFU: Fix CLI dfu command on H743/H750 targets
• DShot Beeper: Fix arming feedback loop caused by DShot beeper guard timer
• AGL Velocity Estimation: Fix squared acceleration weight factor inconsistency in AGL velocity update
• Terra Ranger Evo: Fix rangefinder driver for TeraRanger Evo sensors
• Mission control waypoint landing functionality fixes
• Servo mixer overflow issues fixed
• Fixedwing level pitch trim accuracy improvements

Performance & Improvements

• Flight counter addition to statistics tracking
• Airspeed TPA: Add pitch angle aware TPA with airspeed support
• Raise pitot_lpf_milli_hz default for better pitot performance
• MSP_REBOOT DFU mode parameter for entering bootloader via MSP

Localization

• Ukrainian language now available
• Expanded language support across configurator

Build/CI & Development

• Include cygwin1.dll in Windows SITL artifact (fixes Windows SITL)
• Build-time Parameter Group struct size validation
• Add maintenance-9.x to nightly build workflow
• MSP Protocol: Deprecate MSP command 8226, add enum parsing improvements
• Add maintenance branch workflow documentation
• Add release creation guide

Documentation

• Add Power and Current Limiting documentation
• Update JavaScript Programming documentation for namespaced syntax
• Improve DEBUG mode documentation
• Add prominent configurator download links to README
• Update OSD element documentation
• Fix Settings.md documentation to match settings.yaml definitions
• Update LedStrip.md documentation

Full Changelog (since 9.0.0): 9.0.0...9.0.1
Full Changelog (since 8.0.1): 8.0.1...9.0.1
Wiki Release Notes: https://github.com/iNavFlight/inav/wiki/9.0.0-Release-Notes

Hello and welcome to INAV 9.0.0

Stable Release

This is the stable 9.0.0 release. For a complete list of changes since 8.0.1, please see the 9.0.0 Release Notes Wiki.

⚠️ Important Upgrade Information

Flashing Notes

• Full chip erase REQUIRED when upgrading from 8.x
• Back up your configuration with diff all before flashing
• Review 9.0.0 Release Notes for breaking changes and incompatible settings

Upgrading from INAV 8.0

1. Download and install the new INAV Configurator 9.0
2. Backup configuration with CLI diff all command or use the Diff All and Save to file buttons.
3. Flash INAV 9.0 WITH Full Chip Erase option enabled
4. Load your 8.0 Diff settings in to the CLI. Then take a note or write down the incompatible settings changes marked in RED.
5. Then copy your 8.0 Diff file and rename it 9.0. And edit the old incompatible settings.
6. Go to CLI and load your edited INAV 9.0 Diff
7. Done

Diff update tool

Rather than steps 4 and 5 above. You can try this diff update tool. This is a work in progress. Currently it will try to update version 7 or later diffs to version 8 or later. Just paste your full diff all (not dump) in to the tool. Select the INAV version you're upgrading to. Then press the button. It will create a new diff for you and give you warnings about anything you should check.

INAV CLI Update Tool

Upgrading from older versions

Please follow the instructions on this page.

• Check the 9.0.0 Release Notes Wiki for further information

Changes in 9.0.0 (since RC4)

New Features

• Pitot Sensor Validation: GPS-based pitot sensor validation with automatic fallback to virtual airspeed on sensor failure (#11222)
  • Adds defensive airspeed clamping to prevent division issues
  • Improves safety for fixed-wing aircraft with pitot sensors
• MSP_REBOOT DFU Mode: Add optional DFU mode parameter to MSP_REBOOT command for entering bootloader (#11238)
  • Adds payload size validation for command safety

Bug Fixes

• Blackbox: Fix MOTORS condition mismatch causing null byte padding in logs (#11220)
• APA (Airspeed Pitch Assist): Improve safety by reducing I-term scaling and maximum gain limits
• Airspeed TPA: Adjust TPA parameters for better fixed-wing aircraft performance
• Documentation: Fix Settings.md documentation to match settings.yaml definitions

Target Changes

• VANTAC_RF007: Add new FrSky/Rotorflight Vantac RF007 target with magnetometer support (#11082)
• RADIOLINKF722: Add W25Q128 flash chip support (#11232)

Documentation

• Blackbox DEBUG: Improve DEBUG mode documentation (#11239)
• README: Add prominent configurator download links (#11221)
• OSD Elements: Update OSD element documentation

Build/CI

• Nightly Builds: Add maintenance-9.x to nightly build workflow (#11204)
• MSP Protocol: Deprecate MSP command 8226, add enum parsing improvements (#11185)

Major Changes in 9.0 Since 8.0.1

JavaScript Logic Conditions

Navigation & Flight Control

• Improved fixed-wing altitude control with two selectable methods
• Enhanced position estimator Z velocity accuracy
• Temperature compensation for accelerometers and barometers
• Improved VTOL tilt-rotor support with servo speed filtering
• Enhanced magless multicopter yaw estimation
• Improved fixed-wing flight detection for auto-disarm
• Airspeed based PID Attenuation (APA)

OSD & Telemetry

• Rebranded "Vario" as Vertical Speed Indicator
• Enhanced ADSB aircraft warnings with extended OSD glyphs
• New vertical digital throttle gauge display
• Barometer altitude integrated into CRSF telemetry
• New OSD elements: VERTICAL_SPEED_INDICATOR, ADSB_WARNING, ADSB_INFO, THROTTLE_GAUGE, NAV_MIN_GROUND_SPEED
• Increased flexibility for fixedwing minimum ground speed settings
• SmartPort telemetry: Configure sensors for OpenTX widgets and ETHOS dashboards

Maps & Mission Planning

• Bing Maps replaced with Esri World Imagery (no API key needed)
• Better imagery quality and reliability

Programming & Logic

• Programming Framework enables dynamic minimum ground speed adjustment
• Extended MSP override capability to 32-bit channels
• Add MSP2_INAV_SET_GVAR command for global variable manipulation
• Add MSP2_INAV_LOGIC_CONDITIONS_CONFIGURED command for optimized loading

Hardware Support

• New Targets (32+ additional flight controller targets including):
  • VANTAC_RF007: New FrSky/Rotorflight Vantac RF007 target with magnetometer support
  • OMNIBUSF4V3_ICM: New target variant
  • BLUEBERRYF435WING target added
  • RADIOLINKF722: Add W25Q128 flash chip support
• New Sensors:
  • QMC5883P magnetometer driver
  • Puya PY25Q128HA flash chip support (16MB SPI NOR)

Bug Fixes

• USB MSC (Mass Storage): Fix H743 USB MSC regression, add timeout protection and retry logic for SD card access
• Power Limiting: Fix power limiting treating 0 (disabled) as less than continuous current
• CRSF Telemetry: Fix buffer overflow and dashboard sizeof bug
• Logic Conditions: Guard against increasing max conditions beyond 64
• Critical Bugs: Fix integer overflow and buffer overrun issues (cppcheck)
• Blackbox: Fix MOTORS condition mismatch causing null byte padding in logs
• Mission control waypoint landing functionality fixes
• Servo mixer overflow issues fixed
• Fixedwing level pitch trim accuracy improvements

Performance & Improvements

• Flight counter addition to statistics tracking
• Airspeed TPA: Add pitch angle aware TPA with airspeed support
• Raise pitot_lpf_milli_hz default for better pitot performance

Localization

• Ukrainian language now available
• Expanded language support across configurator

Build/CI & Development

• Include cygwin1.dll in Windows SITL artifact (fixes Windows SITL)
• Add maintenance-9.x to nightly build workflow
• MSP Protocol: Deprecate MSP command 8226, add enum parsing improvements
• Add maintenance branch workflow documentation
• Add release creation guide

Documentation

• Add Power and Current Limiting documentation
• Update JavaScript Programming documentation for namespaced syntax
• Improve DEBUG mode documentation
• Add prominent configurator download links to README
• Update OSD element documentation
• Fix Settings.md documentation to match settings.yaml definitions
• Update LedStrip.md documentation

Full Changelog: 8.0.1...9.0.0

Wiki Release Notes: https://github.com/iNavFlight/inav/wiki/9.0.0-Release-Notes

Hello and welcome to INAV 9.0.0

INAV 9.0.0-RC4 Firmware Release Notes

Release Candidate 4 for Testing
This is a pre-release for testing purposes. Please report issues on GitHub.

Please carefully read all of this document for the best possible experience and safety.

Contact other pilots, share experiences, suggestions and ask for help on:

	INAV Discord Server
	INAV Official on Facebook

Known Issues in 9.0

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

Upgrading from a previous release

Upgrading from INAV 8.0

1. Download and install the new INAV Configurator 9.0
2. Backup configuration with CLI diff all command or use the Diff All and Save to file buttons.
3. Flash INAV 9.0 WITH Full Chip Erase option enabled
4. Load your 8.0 Diff settings in to the CLI. Then take a note or write down the incompatible settings changes marked in RED.
5. Then copy your 8.0 Diff file and rename it 9.0. And edit the old incompatible settings.
6. Go to CLI and load your edited INAV 9.0 Diff
7. Done

Diff update tool

Rather than steps 4 and 5 above. You can try this diff update tool. This is a work in progress. Currently it will try to update version 7 or later diffs to version 8 or later. Just paste your full diff all (not dump) in to the tool. Select the INAV version you're upgrading to. Then press the button. It will create a new diff for you and give you warnings about anything you should check.

INAV CLI Update Tool

Upgrading from older versions

Please follow the instructions on this page.

Changes in RC4 (since RC3)

Bug Fixes

• USB MSC (Mass Storage): Fix H743 USB MSC regression, add timeout protection and retry logic for SD card access
• Power Limiting: Fix power limiting treating 0 (disabled) as less than continuous current
• CRSF Telemetry: Fix buffer overflow and dashboard sizeof bug
• Airspeed TPA: Fix floating-point division in throttle adjustment calculation
• Logic Conditions: Guard against increasing max conditions beyond 64
• Critical Bugs: Fix integer overflow and buffer overrun issues (cppcheck)

New Features

• Puya Flash Support: Add support for Puya PY25Q128HA flash chip (16MB SPI NOR)
• Airspeed TPA: Add pitch angle aware TPA with airspeed support
• MSP Protocol: Add MSP2_INAV_LOGIC_CONDITIONS_CONFIGURED command for optimized loading
• Pitot: Raise pitot_lpf_milli_hz default

Target Changes

• BLUEBERRYF435WING: Disable dynamic notch filter by default
• OMNIBUSF4V3_ICM: New target variant

Documentation

• Add Power and Current Limiting documentation
• Update JavaScript Programming documentation for namespaced syntax
• Add maintenance branch workflow documentation

Build/CI

• Include cygwin1.dll in Windows SITL artifact (fixes Windows SITL)

Testing Focus for RC4

Please test and report issues with:

1. USB Mass Storage on H7 boards
2. Power limiting functionality
3. Airspeed TPA if using pitot
4. Puya PY25Q128HA flash chip detection
5. Windows SITL functionality

Highlights of the INAV 9 series:

Fixedwing airspeed APA/TPA support

Fixeding aircraft can now use a Pitot sensor or virtual airspeed to dynamically adjust the PIDFF gains inflight. This adds the advantage of a tighter stabilization response across the whole flight speed envelope.
Full details of setup and tuning can be found here. Under the topics APA and TPA and Pitch angle. Do not tune your PIFF too tight!

Minimum ground speed flexibility

Via the Programming Framework. It allows the user to have more flexibility when flying in higher wind conditions. To ensure the airplane makes headway.
In addition, you can program it to dynamically adjust the minimum ground speed according to the Wind direction and Wind speed.
More information can be found in this link.

OSD throttle gauge

Allows the pilot to see the throttle as a vertical digital gauge.
Functional information can be found here in the PR link

Fixed wing altitude controller

Changes have been made to improve its operation on a broader range of airframes. One of two methods can be selected to better suited different climb rate conditions.

• Altitude Velocity controller nav_fw_alt_use_position = OFF (default)
• Altitude Position controller nav_fw_alt_use_position = ON

See here for more information. And the required PID tune settings for either control method.

Position estimator improvements

Changes to the position estimator are mainly intended to improve issues with Z velocity accuracy but also includes code clean-ups and fixes.
There has also been setting changes added with the code alterations. Depending on the sensor data quality. It may be beneficial in some cases to revert your settings back to the old ones, or somewhere in between the two.

More information directly related to the changes can be found here.

Sensor addition

QMC5883P magnetometer driver

Other changes:

• Barometer altitude added to CRSF telemetry.
• Better Fixed wing flight detection to handle auto disarm on landing. PR link
• Lulu filter fixes and improvements. PR Link
• Accelerometer and Barometer temperature compensation for better altitude control - Calibration method and PR link.
• Add flights counter to stats PR link
• Servo speed filter for tilt-rotor VTOL. PR link
• Enhance VTOL tilt-rotor support. To assist transition smoothness PR link
• Better air cushion compensation for multicopters and rangefinder fix. PR link
• Improved yaw estimation for magless multicopter operation. PR link - The default ahrs_acc_ignore_rate setting has also been lowered from 20 to 15.
• Mavlink clean-ups and fixes - 11060 11061 11062
• MSP changes - 11146 11171 11093 11032 10571 11099
• JavaScript support tab for INAV programming framework. PR link Docs update

OSD/CMS changes

Font changes

The Minimum Ground Speed and Throttle Gauge additions to the OSD require new font symbols. The analogue fonts are up-to-date. However, there may be time needed for this to propagate to the digital systems. For HDZero and Walksnail A...

INAV 9.0.0-RC3 Release Notes

Hello and welcome to INAV 9.0.0 RC3

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

Please carefully read all of this document for the best possible experience and safety.

Contact other pilots, share experiences, suggestions and ask for help on:

	INAV Discord Server
	INAV Official on Facebook

Known Issues in 9.0

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

Upgrading from a previous release

Upgrading from INAV 8.0

1. Download and install the new INAV Configurator 9.0
2. Backup configuration with CLI diff all command or use the Diff All and Save to file buttons.
3. Flash INAV 9.0 WITH Full Chip Erase option enabled
4. Load your 8.0 Diff settings in to the CLI. Then take a note or write down the incompatible settings changes marked in RED.
5. Then copy your 8.0 Diff file and rename it 9.0. And edit the old incompatible settings.
6. Go to CLI and load your edited INAV 9.0 Diff
7. Done

Diff update tool

Rather than steps 4 and 5 above. You can try this diff update tool. This is a work in progress. Currently it will try to update version 7 or later diffs to version 8 or later. Just paste your full diff (not dump) in to the tool. Select the INAV version you're upgrading to. Then press the button. It will create a new diff for you and give you warnings about anything you should check.

INAV CLI Update Tool

Upgrading from older versions

Please follow the instructions on this page.

Changes in 9.0.0-RC3 (from RC2)

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

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

Overview

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

Key Highlights

Minimum Ground Speed Flexibility

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

OSD Throttle Gauge

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

Fixed Wing Altitude Control

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

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

Position Estimator Improvements

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

Sensor Additions

New QMC5883P magnetometer driver support expands hardware compatibility.

Other Notable Changes

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

CLI Updates

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

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

OSD/CMS Changes

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

Upgrade Instructions

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

Critical Renaming: PID Profile → Control Profile

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

Renamed Settings

Removed Settings

Hello and welcome to INAV 9.0.0 RC2

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

Please carefully read all of this document for the best possible experience and safety.

Contact other pilots, share experiences, suggestions and ask for help on:

	INAV Discord Server
	INAV Official on Facebook

Known Issues in 9.0

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

Upgrading from a previous release

Upgrading from INAV 8.0

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

Upgrading from older versions

Please follow the instructions on this page.

Highlights

Minimum ground speed flexibility

Via the Programming Framework. It allows the user to have more flexibility when flying in higher wind conditions. To ensure the airplane makes headway.
In addition, you can program it to dynamically adjust the minimum ground speed according to the Wind direction and Wind speed.
More information can be found in this link.

OSD throttle gauge

Allows the pilot to see the throttle as a vertical digital gauge.
Functional information can be found here in the PR link

Fixed wing altitude controller

Changes have been made to improve its operation on a broader range of airframes. One of two methods can be selected to better suited different climb rate conditions.

• Altitude Velocity controller nav_fw_alt_use_position = OFF (default)
• Altitude Position controller nav_fw_alt_use_position = ON

See here for more information. And the required PID tune settings for either control method.

Position estimator improvements

Changes to the position estimator are mainly intended to improve issues with Z velocity accuracy but also includes code clean-ups and fixes.
There has also been setting changes added with the code alterations. Depending on the sensor data quality. It may be beneficial in some cases to revert your settings back to the old ones, or somewhere in between the two.

More information directly related to the changes can be found here.

Sensor addition

QMC5883P magnetometer driver

Other changes:

• Barometer altitude added to CRSF telemetry.
• Better Fixed wing flight detection to handle auto disarm on landing. PR link
• Lulu filter fixes and improvements. PR Link
• Accelerometer and Barometer temperature compensation for better altitude control - Calibration method and PR link.
• Add flights counter to stats PR link
• Servo speed filter for tilt-rotor VTOL. PR link
• Enhance VTOL tilt-rotor support. To assist transition smoothness PR link
• Better air cushion compensation for multicopters and rangefinder fix. PR link
• Improved yaw estimation for magless multicopter operation. PR link - The default ahrs_acc_ignore_rate setting has also been lowered from 20 to 15.
• Mavlink clean-ups and fixes - 11060 11061 11062

OSD/CMS changes

Functions

CLI

New Settings

Hello and welcome to INAV 8.0.1 "Gallant Goshawk"

Please carefully read all of this document for the best possible experience and safety.

Contact other pilots, share experiences, suggestions and ask for help on:

	INAV Discord Server
	INAV Official on Facebook

INAV 8 no longer includes F411 targets as part of the official release.

GPS: UBLOX7 and UBLOX have been merged into a single UBLOX option, and units with older firmware are now deprecated. Only M8 and newer will be supported in the future.

Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default.

This is a minor release and If nothing serious is found, this will be released as 8.0.1 final.

Fixed issues in 8.0.1

• #10646 Jeti receivers may lock up while using telemetry. (Thanks to https://elefun.no/ for helping us get in touch with JETI and arranging delivery of a DS-12 + REX3 rx on loan to debug the issue)

Known Issues in 8.0.1

• Fixedwing Altitude Velocity controller tuning. Requiring a more precise Autotune to be conducted. Read below
• Not an issue. But the Jeti update can benefit from more testing.

Upgrading from a previous release

Upgrading from INAV 8.0.0

1. Backup configuration with CLI diff all command
2. Download and install the new INAV Configurator 8.0
3. Flash INAV 8.0 WITH Full Chip Erase option enabled
4. Select Keep current settings from the defaults pop-up
5. Go to CLI and restore your inav diff

Upgrading from INAV 7.0 and 7.1

1. Backup configuration with CLI diff all command
2. Download and install the new INAV Configurator 8.0
3. Flash INAV 8.0 WITH Full Chip Erase option enabled
4. Edit the 7.x diff and apply Diff breaking changes described bellow, and save it as your new inav 8 diff. See Diff breaking changes section below.
5. Select Keep current settings from the defaults pop-up
6. Go to CLI and restore your edited inav diff
7. Done

This tool can help migrate your INAV 7.x diff over to INAV 8.0.0. It will take care of the major changes that have been highlighted in these release notes.

Upgrading from older versions

Please follow the instructions on this page.

Highlights

DJI O4 support (updated in 8.0.1)

DJI has released new firmware for O4, DJI Goggles 2, 3, N3 and integra that will add INAV font support on those goggles and fix the armed detection in O4.

With configurator 8.0.1 you should be able to select DJI_NATIVE as the video system, but if you don't want to upgrade, the AVATAR option should also give you the correct INAV font and canvas size, but don't forget to select INAV as the OSD type in your updated goggles.

The O4 arming workaround will be remove in INAV 9.

Geozones

The Geozone feature allows pilots to define one or multiple areas on the map in Mission Control, to prevent accidental flying outside of allowed zones (Flight-Zones, FZ) or to avoid certain areas they are not allowed or not willing to fly in (No-Flight-Zone, NFZ). This type of feature might be known to many pilots as a "Geofence" and despite providing the same core functionality, INAV Geozones are significantly more versatile and provide more safety and features. Read the Documentation for more info
IMPORTANT: Geozones will not be available for STM32F722 based Flight Controllers due to insufficient flash storage.

GPS Fix estimation (dead reckoning, RTH without GPS fix) for Airplanes

This new feature allows INAV to return to its launch location, in case of a failed GPS due to hardware failure or interference. INAV will use the remaining sensors and the already calculated wind speed and direction, to blindly return towards the home location. For this feature, no extra sensors are strictly necessary, aside from the standard Accelerometer, Gyroscope and Barometer, but its highly recommended to have a compass and for best precision, to also have an Airspeed sensor. The feature will not be able to precisely return to the pilot, but it allows the Aircraft to either get out of an area with interferences, or to give the pilot time and a chance to regain control for a manual return, when the aircraft is closer. Details here

MSP-Linkstats

A new MSP Message that allows RC links that communicate with the Flight controller via MSP, to provide Link Information to INAV like LQ, RSSI, Power Level, SNR and more. The first RC Link to support this is the mLRS Project with more possibly coming in the future. Details here

MSP-VTX

MSP-VTX has been updated by @geoffsim to increase compatibility with HDZero vtxs.

Mavlink Advancement for MavlinkRC

The previously simple Mavlink Telemetry was extended to be compatible with flow control capable links (Thanks @MUSTARDTIGERFPV). This now allows RC Control via Mavlink and Telemetry at the same time over a Single UART. It is tested successfully with ELRS Mavlink-RC and mLRS Mavlink. Additionally it allows the Use of Mission Planner, QGroundControl and potentially other GCS Applications to be used for Flight Monitoring with INAV.
Note: To receive RSSI and LQ for ELRS Mavlink-RC you need to set mavlink_radio_type=ELRS in the CLI. Details here

Walksnail Serial Gimbal and Headtracker support

INAV now also supports the Caddx / Walksnail GM Series Gimbals. These can now be controlled via a dedicated uart UART or via MSP and don't need up to 3 PWM Outputs anymore. This enables the direct Gimbal Control via Head Tracking from Walksnail goggles, without additional wiring. Details Here

OSD Updates

• Users can change the precision (amount of decimal places) for Altitude and Distance #10431
• Enhancements for Custom OSD Elements #10282
• Update arming screen for better space utilisation #10300
• OSD system message improvements #10090
• Better organisation of the post flight stats screen with more stats available #9617

ADSB Receiver Support

It is now possible to connect an ADSB receiver to your flight controller and get OSD Warnings if any ADSB enabled Aircraft, is close by. INAV Configurator can show these Aircraft on the map for additional safety of UAV flights. ADSB is supported for generally available receivers like uAvionix pingRX (not tested) and Aerobit TT-SC1 (tested) and should also work with the upcoming PicoADSB Details here

I-Term Lock for Fixed Wing

The Fixed Wing PIDFF Controller was reworked. The PIDs are now attenuated based in the amount of Setpoint (Stick deflection in Acro Mode) for a more "Manual" flight feel during aggressive inputs while keeping the locked in feel of a PID-Assisted flight. This allows the Pilot to have a PID tune with very high P and I values for a locked in flight feel, while keeping a good manual feeling of the plane's flight characteristics, especially when flying slow. Additionally the Attenuation fixes the Bounce-Back caused by the Integral of the PID controller, after sharp roll or pitch inputs. Details Here

U-Blox AssistNow Support in INAV Configurator

AssistNow is a Service that provides GPS Satellite information data for offline-applications, to dramatically increase the time to fix for GPS Devices. By Providing your own AssistNow Token, INAV Configurator can automatically download the latest data set and transfer it to any connected INAV UAV. With this, a GPS fix after cold start should merely take seconds instead of minutes. This is especially helpful for people who go fly with a big fleet of aircraft. Details here

Sensor ID change for SmartPort telemetry

The sensor IDs for the Modes and GNSS data have changed in SmartPort telemetry. The default settings in INAV are to now use the new sensor IDs. The INAV OpenTX-Telemetry-Widget has been updated to use these new IDs. So you will not see any issues when using the latest version of this widget. However, if you use another widget or app that uses the SmartPort telemetry. It is r...

Hello and welcome to INAV 8.0.1 RC2 "Gallant Goshawk"

Please carefully read all of this document for the best possible experience and safety.

Contact other pilots, share experiences, suggestions and ask for help on:

	INAV Discord Server
	INAV Official on Facebook

INAV 8 no longer includes F411 targets as part of the official release.

GPS: UBLOX7 and UBLOX have been merged into a single UBLOX option, and units with older firmware are now deprecated. Only M8 and newer will be supported in the future.

Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default.

This is a minor release and If nothing serious is found, this will be released as 8.0.1 final.

Fixed issues in 8.0.1

• #10646 Jeti receivers may lock up while using telemetry. (Thanks to https://elefun.no/ for helping us get in touch with JETI and arranging delivery of a DS-12 + REX3 rx on loan to debug the issue)

Known Issues in 8.0.1

• None, but the Jeti issue can benefit from more testing.

Upgrading from a previous release

Upgrading from INAV 8.0.0

1. Backup configuration with CLI diff all command
2. Download and install the new INAV Configurator 8.0
3. Flash INAV 8.0 WITH Full Chip Erase option enabled
4. Select Keep current settings from the defaults pop-up
5. Go to CLI and restore your inav diff

Upgrading from INAV 7.0 and 7.1

1. Backup configuration with CLI diff all command
2. Download and install the new INAV Configurator 8.0
3. Flash INAV 8.0 WITH Full Chip Erase option enabled
4. Edit the 7.x diff and apply Diff breaking changes described bellow, and save it as your new inav 8 diff. See Diff breaking changes section below.
5. Select Keep current settings from the defaults pop-up
6. Go to CLI and restore your edited inav diff
7. Done

This tool can help migrate your INAV 7.x diff over to INAV 8.0.0. It will take care of the major changes that have been highlighted in these release notes.

Upgrading from older versions

Please follow the instructions on this page.

Highlights

DJI O4 support (updated in 8.0.1)

DJI has released new firmware for O4, DJI Goggles 2, 3, N3 and integra that will add INAV font support on those goggles and fix the armed detection in O4.

With configurator 8.0.1 you should be able to select DJI_NATIVE as the video system, but if you don't want to upgrade, the AVATAR option should also give you the correct INAV font and canvas size, but don't forget to select INAV as the OSD type in your updated goggles.

The O4 arming workaround will be remove in INAV 9.

Geozones

The Geozone feature allows pilots to define one or multiple areas on the map in Mission Control, to prevent accidental flying outside of allowed zones (Flight-Zones, FZ) or to avoid certain areas they are not allowed or not willing to fly in (No-Flight-Zone, NFZ). This type of feature might be known to many pilots as a "Geofence" and despite providing the same core functionality, INAV Geozones are significantly more versatile and provide more safety and features. Read the Documentation for more info
IMPORTANT: Geozones will not be available for STM32F722 based Flight Controllers due to insufficient flash storage.

GPS Fix estimation (dead reckoning, RTH without GPS fix) for Airplanes

This new feature allows INAV to return to its launch location, in case of a failed GPS due to hardware failure or interference. INAV will use the remaining sensors and the already calculated wind speed and direction, to blindly return towards the home location. For this feature, no extra sensors are strictly necessary, aside from the standard Accelerometer, Gyroscope and Barometer, but its highly recommended to have a compass and for best precision, to also have an Airspeed sensor. The feature will not be able to precisely return to the pilot, but it allows the Aircraft to either get out of an area with interferences, or to give the pilot time and a chance to regain control for a manual return, when the aircraft is closer. Details here

MSP-Linkstats

A new MSP Message that allows RC links that communicate with the Flight controller via MSP, to provide Link Information to INAV like LQ, RSSI, Power Level, SNR and more. The first RC Link to support this is the mLRS Project with more possibly coming in the future. Details here

MSP-VTX

MSP-VTX has been updated by @geoffsim to increase compatibility with HDZero vtxs.

Mavlink Advancement for MavlinkRC

The previously simple Mavlink Telemetry was extended to be compatible with flow control capable links (Thanks @MUSTARDTIGERFPV). This now allows RC Control via Mavlink and Telemetry at the same time over a Single UART. It is tested successfully with ELRS Mavlink-RC and mLRS Mavlink. Additionally it allows the Use of Mission Planner, QGroundControl and potentially other GCS Applications to be used for Flight Monitoring with INAV.
Note: To receive RSSI and LQ for ELRS Mavlink-RC you need to set mavlink_radio_type=ELRS in the CLI. Details here

Walksnail Serial Gimbal and Headtracker support

INAV now also supports the Caddx / Walksnail GM Series Gimbals. These can now be controlled via a dedicated uart UART or via MSP and don't need up to 3 PWM Outputs anymore. This enables the direct Gimbal Control via Head Tracking from Walksnail goggles, without additional wiring. Details Here

OSD Updates

• Users can change the precision (amount of decimal places) for Altitude and Distance #10431
• Enhancements for Custom OSD Elements #10282
• Update arming screen for better space utilisation #10300
• OSD system message improvements #10090
• Better organisation of the post flight stats screen with more stats available #9617

ADSB Receiver Support

It is now possible to connect an ADSB receiver to your flight controller and get OSD Warnings if any ADSB enabled Aircraft, is close by. INAV Configurator can show these Aircraft on the map for additional safety of UAV flights. ADSB is supported for generally available receivers like uAvionix pingRX (not tested) and Aerobit TT-SC1 (tested) and should also work with the upcoming PicoADSB Details here

I-Term Lock for Fixed Wing

The Fixed Wing PIDFF Controller was reworked. The PIDs are now attenuated based in the amount of Setpoint (Stick deflection in Acro Mode) for a more "Manual" flight feel during aggressive inputs while keeping the locked in feel of a PID-Assisted flight. This allows the Pilot to have a PID tune with very high P and I values for a locked in flight feel, while keeping a good manual feeling of the plane's flight characteristics, especially when flying slow. Additionally the Attenuation fixes the Bounce-Back caused by the Integral of the PID controller, after sharp roll or pitch inputs. Details Here

U-Blox AssistNow Support in INAV Configurator

AssistNow is a Service that provides GPS Satellite information data for offline-applications, to dramatically increase the time to fix for GPS Devices. By Providing your own AssistNow Token, INAV Configurator can automatically download the latest data set and transfer it to any connected INAV UAV. With this, a GPS fix after cold start should merely take seconds instead of minutes. This is especially helpful for people who go fly with a big fleet of aircraft. Details here

Sensor ID change for SmartPort telemetry

The sensor IDs for the Modes and GNSS data have changed in SmartPort telemetry. The default settings in INAV are to now use the new sensor IDs. The INAV OpenTX-Telemetry-Widget has been updated to use these new IDs. So you will not see any issues when using the latest version of this widget. However, if you use another widget or app that uses the SmartPort telemetry. It is recommended to inform the creator of the app/widget, as the old sensor IDs will be removed in INAV 10.0.0. Details here

You can change INAV to use the old sensor IDs ...

Hello and welcome to INAV 8.0.1 RC1 "Gallant Goshawk"

Please carefully read all of this document for the best possible experience and safety.

Contact other pilots, share experiences, suggestions and ask for help on:

	INAV Discord Server
	INAV Official on Facebook

INAV 8 no longer includes F411 targets as part of the official release.

GPS: UBLOX7 and UBLOX have been merged into a single UBLOX option, and units with older firmware are now deprecated. Only M8 and newer will be supported in the future.

Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default.

This is a minor release and If nothing serious is found, this will be released as 8.0.1 final.

Known Issues in 8.0.1

• #10646 Jeti receivers may lock up while using telemetry. We are waiting for a loaner tx/rx to investigate and fix this issue once and for all. This has been a recurring issue for a few versions now.

Upgrading from a previous release

Upgrading from INAV 8.0.0

1. Backup configuration with CLI diff all command
2. Download and install the new INAV Configurator 8.0
3. Flash INAV 8.0 WITH Full Chip Erase option enabled
4. Select Keep current settings from the defaults pop-up
5. Go to CLI and restore your inav diff

Upgrading from INAV 7.0 and 7.1

1. Backup configuration with CLI diff all command
2. Download and install the new INAV Configurator 8.0
3. Flash INAV 8.0 WITH Full Chip Erase option enabled
4. Edit the 7.x diff and apply Diff breaking changes described bellow, and save it as your new inav 8 diff. See Diff breaking changes section below.
5. Select Keep current settings from the defaults pop-up
6. Go to CLI and restore your edited inav diff
7. Done

This tool can help migrate your INAV 7.x diff over to INAV 8.0.0. It will take care of the major changes that have been highlighted in these release notes.

Upgrading from older versions

Please follow the instructions on this page.

Highlights

DJI O4 support (updated in 8.0.1)

DJI will soon soon release new firmware for O4, DJI Goggles 2, 3, N3 and integra that will add INAV font and fix the arm detection.

With configurator 8.0.1 you should be able to select DJI_NATIVE as the video system, but if you don't want to upgrade, the AVATAR option should also work.

For O4 firmware V1.00.0100 and earlier, the follwing still applies:

DJI released a new air unit, and while rumors suggested it would include full INAV font support, that is unfortunately not true with the released firmware. There is also a bug on DJI firmware that prevents it from detecting when the flight controller is armed and leaves the air unit stuck in low power mode.

There are two possible workaround for the arming issues:

1. Turn off low power mode This should work with older INAV versions as well
2. On INAV 8.0.0, you can type this on the cli: set enable_broken_o4_workaround = ON

With the added workarounds, setup in INAV should be the same as O3.

Geozones

The Geozone feature allows pilots to define one or multiple areas on the map in Mission Control, to prevent accidental flying outside of allowed zones (Flight-Zones, FZ) or to avoid certain areas they are not allowed or not willing to fly in (No-Flight-Zone, NFZ). This type of feature might be known to many pilots as a "Geofence" and despite providing the same core functionality, INAV Geozones are significantly more versatile and provide more safety and features. Read the Documentation for more info
IMPORTANT: Geozones will not be available for STM32F722 based Flight Controllers due to insufficient flash storage.

GPS Fix estimation (dead reckoning, RTH without GPS fix) for Airplanes

This new feature allows INAV to return to its launch location, in case of a failed GPS due to hardware failure or interference. INAV will use the remaining sensors and the already calculated wind speed and direction, to blindly return towards the home location. For this feature, no extra sensors are strictly necessary, aside from the standard Accelerometer, Gyroscope and Barometer, but its highly recommended to have a compass and for best precision, to also have an Airspeed sensor. The feature will not be able to precisely return to the pilot, but it allows the Aircraft to either get out of an area with interferences, or to give the pilot time and a chance to regain control for a manual return, when the aircraft is closer. Details here

MSP-Linkstats

A new MSP Message that allows RC links that communicate with the Flight controller via MSP, to provide Link Information to INAV like LQ, RSSI, Power Level, SNR and more. The first RC Link to support this is the mLRS Project with more possibly coming in the future. Details here

MSP-VTX

MSP-VTX has been updated by @geoffsim to increase compatibility with HDZero vtxs.

Mavlink Advancement for MavlinkRC

The previously simple Mavlink Telemetry was extended to be compatible with flow control capable links (Thanks @MUSTARDTIGERFPV). This now allows RC Control via Mavlink and Telemetry at the same time over a Single UART. It is tested successfully with ELRS Mavlink-RC and mLRS Mavlink. Additionally it allows the Use of Mission Planner, QGroundControl and potentially other GCS Applications to be used for Flight Monitoring with INAV.
Note: To receive RSSI and LQ for ELRS Mavlink-RC you need to set mavlink_radio_type=ELRS in the CLI. Details here

Walksnail Serial Gimbal and Headtracker support

INAV now also supports the Caddx / Walksnail GM Series Gimbals. These can now be controlled via a dedicated uart UART or via MSP and don't need up to 3 PWM Outputs anymore. This enables the direct Gimbal Control via Head Tracking from Walksnail goggles, without additional wiring. Details Here

OSD Updates

• Users can change the precision (amount of decimal places) for Altitude and Distance #10431
• Enhancements for Custom OSD Elements #10282
• Update arming screen for better space utilisation #10300
• OSD system message improvements #10090
• Better organisation of the post flight stats screen with more stats available #9617

ADSB Receiver Support

It is now possible to connect an ADSB receiver to your flight controller and get OSD Warnings if any ADSB enabled Aircraft, is close by. INAV Configurator can show these Aircraft on the map for additional safety of UAV flights. ADSB is supported for generally available receivers like uAvionix pingRX (not tested) and Aerobit TT-SC1 (tested) and should also work with the upcoming PicoADSB Details here

I-Term Lock for Fixed Wing

The Fixed Wing PIDFF Controller was reworked. The PIDs are now attenuated based in the amount of Setpoint (Stick deflection in Acro Mode) for a more "Manual" flight feel during aggressive inputs while keeping the locked in feel of a PID-Assisted flight. This allows the Pilot to have a PID tune with very high P and I values for a locked in flight feel, while keeping a good manual feeling of the plane's flight characteristics, especially when flying slow. Additionally the Attenuation fixes the Bounce-Back caused by the Integral of the PID controller, after sharp roll or pitch inputs. Details Here

U-Blox AssistNow Support in INAV Configurator

AssistNow is a Service that provides GPS Satellite information data for offline-applications, to dramatically increase the time to fix for GPS Devices. By Providing your own AssistNow Token, INAV Configurator can automatically download the latest data set and transfer it to any connected INAV UAV. With this, a GPS fix after cold start should merely take seconds instead of minutes. This is especially helpful for people who go fly with a big fleet of aircraft. Details here

Sensor ID change for SmartPort telemetry

The sensor IDs for the Modes and GNSS data have changed in SmartPort telemetry. The default settings in INAV are to now use the new sensor IDs. The INAV OpenTX-Telemetry-Widget has been ...