INAV 8.0 RC1

Hello and welcome to INAV 8.0.0 "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

Place holder for release notes*

Important Notes

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.

Known Issues in 8.0 RC1

• Configurator: When adding a Circular Geozone and Zoom or Pan the map with the mouse curser inside the Circle, Connection to Flight controller is lost
• Configurator: Failsafe Indicator in status bar is not working
• Configurator: Auto Channel selection in Modes Tab is not working
• Configurator: Sensor status is not always updated after a Disconnect and Reconnect

Highlights

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 with the CLI parameter set frsky_use_legacy_gps_mode_sensor_ids = on. However, it is recommended to only use this only as long as necessary. This parameter will also be removed in INAV10.0.0.

Other important changes:

• Multirotor inverted crash detection #10099
• Waypoint tracking improvements #10278

Upgrading from a previous release

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. Select Keep current settings from the defaults pop-up
5. Go to CLI and restore your 7.x diff
6. Done

Diff breaking changes

Profile consolidation

The profile CLI command has been renamed to control_profile. When updating from an older version of INAV. You will need to edit your diff with this change. For example:

# profile
profile 1

set fw_p_pitch = 14
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 137
...

Will become

# profile
control_profile 1

set fw_p_pitch = 14
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 137
...

OSD Custom Elements

If you have previously used OSD Custom Elements. You will need to update the diff for these, so that they continue to work in the same way. The system has been expanded to allow the use of logic condition results and have more numerical variations. To keep your OSD Custom Elements working, you will need to change the element type IDs, if they are 4, 5, 6, or 7. The table below shows the old and new IDs.

| Numeric format | Old name | Old ID | New name ...

INAV 7.1.2

Hello and welcome to INAV 7.1.2 "Ferocious Falcon"

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

7.1.2 fixes an altitude bug that was in 7.1.1.

INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards.

The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays

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.

PosHold, Navigation and RTH without compass PSA

Attention all drone pilots and enthusiasts,

Are you ready to take your flights to new heights with INAV 7.1? We've got some important information to share with you.

INAV 7.1 brings an exciting update to navigation capabilities. Now, you can soar through the skies, navigate waypoints, and even return to home without relying on a compass. Yes, you heard that right! But before you launch into the air, there's something crucial to consider.

While INAV 7.1 may not require a compass for basic navigation functions, we strongly advise you to install one for optimal flight performance. Here's why:

🛰️ Better Flight Precision: A compass provides essential data for accurate navigation, ensuring smoother and more precise flight paths.

🌐 Enhanced Reliability: With a compass onboard, your drone can maintain stability even in challenging environments, low speeds and strong wind.

🚀 Minimize Risks: Although INAV 7.1 can get you where you need to go without a compass, flying without one may result in a bumpier ride and increased risk of drift or inaccurate positioning.

Remember, safety and efficiency are paramount when operating drones. By installing a compass, you're not just enhancing your flight experience, but also prioritizing safety for yourself and those around you.

So, before you take off on your next adventure, make sure to equip your drone with a compass. It's the smart choice for smoother flights and better navigation.

Fly safe, fly smart with INAV 7.1 and a compass by your side!

Currently, if you wish to fly a multirotor without a compass. You will need to enable a compass (fake is ok) to change navigational modes in Configurator. You should disable the compass after making the changes. This has been fixed for a future release.

Upgrading from a previous release

Upgrading from INAV 7.0 and 7.1

1. Backup configuration with CLI diff all command
2. Download and install the new INAV Configurator 7.1
3. Flash INAV 7.1 WITH Full Chip Erase option enabled
4. Select Keep current settings from the defaults pop-up
5. Go to CLI and restore your 7.0 diff
6. Done

Upgrading from INAV 6 and 6.1

1. Download and install the new INAV Configurator 7
2. Save to a file the current diff all from the CLI.
3. Upgrade to INAV 7 using the Full Erase option in the configurator.
4. In case of Analog FPV, upload your OSD font of choice from the OSD tab.
5. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
6. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration.
7. You should be ready, explore new 7.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Change from 7.1.1

Fixes an altitude holding bug by turning inav_use_gps_no_baro OFF by default.

Major changes from 7.0

• No longer require MAGNETOMETER to allow setting GPS related flight modes on Multirotors - bear in mind, mag is still advised as it greatly increases PosHold/RTH performance
• No longer require BARO to allow setting AltHold and GPS related modes on Multirotors - bear in mind, baro is still advised as it greatly increases PosHold/RTH performance

Full Changelog: 7.1.1...7.1.2

What's Changed

• Add auto enabled flight modes to blackbox by @breadoven in #9950
• Cherry pick AOCODARCF4V3 target commit from master into 7.1.1 branch by @mmosca in #9954
• Cherry pick TAKERF722SE target from master by @mmosca in #9955
• Enable baro-less navigation by default by @DzikuVx in #9966

Full Changelog: 7.1.0...7.1.2

7.1.1

Hello and welcome to INAV 7.1.1 "Ferocious Falcon"

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

Important Notes

After updating to INAV 7.1.1, please go into the CLI and change the following setting by copy and paste the these lines. This setting was set to ON by default in this update to allow baro-less navigation for Quads but it got unnoticed that there is a bug in this option, that completely disables the barometer functionality. If you have a quad with no barometer on it, you can leave the option untouched to ON to be able to use navigation modes.

set inav_use_gps_no_baro = OFF
save

INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards.

The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays

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.

PosHold, Navigation and RTH without compass PSA

Attention all drone pilots and enthusiasts,

Are you ready to take your flights to new heights with INAV 7.1? We've got some important information to share with you.

INAV 7.1 brings an exciting update to navigation capabilities. Now, you can soar through the skies, navigate waypoints, and even return to home without relying on a compass. Yes, you heard that right! But before you launch into the air, there's something crucial to consider.

While INAV 7.1 may not require a compass for basic navigation functions, we strongly advise you to install one for optimal flight performance. Here's why:

🛰️ Better Flight Precision: A compass provides essential data for accurate navigation, ensuring smoother and more precise flight paths.

🌐 Enhanced Reliability: With a compass onboard, your drone can maintain stability even in challenging environments, low speeds and strong wind.

🚀 Minimize Risks: Although INAV 7.1 can get you where you need to go without a compass, flying without one may result in a bumpier ride and increased risk of drift or inaccurate positioning.

Remember, safety and efficiency are paramount when operating drones. By installing a compass, you're not just enhancing your flight experience, but also prioritizing safety for yourself and those around you.

So, before you take off on your next adventure, make sure to equip your drone with a compass. It's the smart choice for smoother flights and better navigation.

Fly safe, fly smart with INAV 7.1 and a compass by your side!

Currently, if you wish to fly a multirotor without a compass. You will need to enable a compass (fake is ok) to change navigational modes in Configurator. You should disable the compass after making the changes. This has been fixed for a future release.

Upgrading from a previous release

Upgrading from INAV 7.0 and 7.1

1. Backup configuration with CLI diff all command
2. Download and install the new INAV Configurator 7.1
3. Flash INAV 7.1 WITH Full Chip Erase option enabled
4. Select Keep current settings from the defaults pop-up
5. Go to CLI and restore your 7.0 diff
6. Done

Upgrading from INAV 6 and 6.1

1. Download and install the new INAV Configurator 7
2. Save to a file the current diff all from the CLI.
3. Upgrade to INAV 7 using the Full Erase option in the configurator.
4. In case of Analog FPV, upload your OSD font of choice from the OSD tab.
5. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
6. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration.
7. You should be ready, explore new 7.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Major changes

• No longer require MAGNETOMETER to allow setting GPS related flight modes on Multirotors - bear in mind, mag is still advised as it greatly increases PosHold/RTH performance
• No longer require BARO to allow setting AltHold and GPS related modes on Multirotors - bear in mind, baro is still advised as it greatly increases PosHold/RTH performance

Changelist

The full list of changes is available here
The full list of INAV Configurator changes is available here

What's Changed from INAV 7.1

• Add auto enabled flight modes to blackbox by @breadoven in #9950
• Cherry pick AOCODARCF4V3 target commit from master into 7.1.1 branch by @mmosca in #9954
• Cherry pick TAKERF722SE target from master by @mmosca in #9955
• Enable baro-less navigation by default by @DzikuVx in #9966
• Minor Nav code improvements by @breadoven in #9947
• FW Nav Auto Landing fixes by @breadoven in #9940
• Prevent high throttle auto cancelling OSD stats screen on disarm by @breadoven in #9951
• Fix macos builds in release_7.1.1 to fix builds by @mmosca in #9993
• Cherry pick flywoof745 fixes from master by @mmosca in #9991
• Revert Nav hold changes by @breadoven in #9999
• WP mode altitude enforce hold fix by @breadoven in #10002

Full Changelog: 7.1.0...7.1.1

INAV 7.1.0

Hello and welcome to INAV 7.1 "Ferocious Falcon"

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

Important Notes

INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards.

The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays

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.

PosHold, Navigation and RTH without compass PSA

Attention all drone pilots and enthusiasts,

Are you ready to take your flights to new heights with INAV 7.1? We've got some important information to share with you.

INAV 7.1 brings an exciting update to navigation capabilities. Now, you can soar through the skies, navigate waypoints, and even return to home without relying on a compass. Yes, you heard that right! But before you launch into the air, there's something crucial to consider.

While INAV 7.1 may not require a compass for basic navigation functions, we strongly advise you to install one for optimal flight performance. Here's why:

🛰️ Better Flight Precision: A compass provides essential data for accurate navigation, ensuring smoother and more precise flight paths.

🌐 Enhanced Reliability: With a compass onboard, your drone can maintain stability even in challenging environments, low speeds and strong wind.

🚀 Minimize Risks: Although INAV 7.1 can get you where you need to go without a compass, flying without one may result in a bumpier ride and increased risk of drift or inaccurate positioning.

Remember, safety and efficiency are paramount when operating drones. By installing a compass, you're not just enhancing your flight experience, but also prioritizing safety for yourself and those around you.

So, before you take off on your next adventure, make sure to equip your drone with a compass. It's the smart choice for smoother flights and better navigation.

Fly safe, fly smart with INAV 7.1 and a compass by your side!

Currently, if you wish to fly a multirotor without a compass. You will need to enable a compass (fake is ok) to change navigational modes in Configurator. You should disable the compass after making the changes. This has been fixed for a future release.

Note: You must remove the compass (including FAKE) to enable MR compass-free navigation flight. This will remove the visualisation of the modes from the 7.1.0 Configurator. However, as long as the modes were saved, they available in the flight controller and can be verified in the CLI aux section.

Upgrading from a previous release

Upgrading from INAV 7.0

1. Backup configuration with CLI diff all command
2. Download and install the new INAV Configurator 7.1
3. Flash INAV 7.1 WITH Full Chip Erase option enabled
4. Select Keep current settings from the defaults pop-up
5. Go to CLI and restore your 7.0 diff
6. Done

Upgrading from INAV 6 and 6.1

1. Download and install the new INAV Configurator 7
2. Save to a file the current diff all from the CLI.
3. Upgrade to INAV 7 using the Full Erase option in the configurator.
4. In case of Analog FPV, upload your OSD font of choice from the OSD tab.
5. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
6. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration.
7. You should be ready, explore new 7.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Major changes

Fixed wing Autoland with landing pattern

INAV supports advanced automatic landings for fixed wing aircraft from version 7.1. The procedure is based on landings for man-carrying aircraft, so that safe landings at a specific location are possible. Supported are landings at Safehome after "Return to Home" or at a defined LAND waypoint for missions.
See: Fixed Wing Landing.md

IMPORTANT: When updating from an older INAV version with a diff, please change the following settings before using Autoland for better performance.

Plane with no tail: set nav_wp_radius = 1000

Plane with tail: set nav_wp_radius = 800

Compass and Barometer changes

INAV now relies more heavily on GNSS data for navigation than before. This can provide more security if the Barometer fails, or if the multirotor is suffering from Compass interference. By still allowing it to navigate back to home.

From the release of INAV 7.1. The use of a compass is no longer mandatory for multirotor navigation as it once was. BUT it is still recommended for the best navigation performance, when it comes to maintaining a fixed position for an extended period of time, without heading drift. e.g. in Poshold. Or taking off and immediately starting a Waypoint mission.

If a user does decide to omit the use of a compass for a multirotor, be mindful that any navigation mode (RTH, Failsafe, Poshold, Cruise or a Waypoint mission) will not be operational UNTIL a GPS heading is first obtained, by flying in a straight line until both -

• The OSD Heading and Course over Ground indicators display a valid heading. Then keeping both headings closely aligned for a time.
• And the OSD Home arrow appears, showing a valid home direction.

Example Video

For more details see here

Tailsitter Support for VTOL

Tailsitter builds are now natively supported to allow proper Board Orientation switching during transition. Details

Other changes

Updated ICM426xx filtering

The filtering of the ICM426xx gyros has been updated based on changes made to both Ardupilot and BetaFlight and we expect better performance, when comparing to previous INAV versions.

OSD Changes

Users can now customize their own OSD messages, by way of the Programming Framework. Details

The Artificial Horizon will not properly track the real horizon in the correct way, when the craft is inverted. Details

New Fixedwing flight mode

The mode is called Angle Hold. For more details see here

New targets

• FLYCOLORF7V2

CLI

Changed settings

Name	Description
gps_dyn_model	Default: AIR_2G GPS navigation model: Pedestrian, Automotive, Air<1g, Air<2g, Air<4g. Default is AIR_2G. Use pedestrian/Automotive with caution, can cause flyaways with fast flying.

New Items

Name	Description
ahrs_gps_yaw_weight	Arhs gps yaw weight when mag is avaliable, 0 means no gps yaw, 100 means equal weight as compass Values: 0 - 500 Default: 100
nav_fw_land_approach_length	Length of the final approach Values: 100 - 100000 Default: 35000
nav_fw_land_final_approach_pitch2throttle_mod	Modifier for pitch to throttle ratio at final approach. In Percent. Values: 100 - 400 Default: 100
nav_fw_land_flare_alt	Initial altitude of the flare phase Values: 0 - 10000 Default: 150
nav_fw_land_flare_pitch	Pitch value for flare phase. In degrees Values: -15 - 45 Default: 8
nav_fw_land_glide_alt	Initial altitude of the glide phase Values: 100 - 5000 Default: 200
nav_fw_land_glide_pitch	Pitch value for glide phase. In degrees. Values: -15 - 45 Default: 0
nav_fw_land_max_tailwind	Max. tailwind (in cm/s) if no landing direction with downwind is available Values: 0 - 3000 Default: 140
nav_fw_launch_land_abort_deadband	Launch and landing abort stick deadband in [r/c points], applied after r/c deadband and expo. The Roll/Pitch stick needs to be deflected beyond this deadband to abort the launch or landing. Values: 2 - 250 Default: 100. Replaces nav_fw_launch_abort_deadband
nav_min_ground_speed	Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s. Values: 6 - 50 Default: 7
nav_rth_fs_landing_delay	If landing is active on Failsafe and this is above 0. The aircraft will hover or loiter for X seconds before performing the landing. If the battery enters the warning or critical levels, the land will proceed. Default = 0 [seconds] Values: 0 - 1800...

INAV 7.1 RC1

Hello and welcome to INAV 7.1 "Ferocious Falcon"

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

Important Notes

INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards.

The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays

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.

Upgrading from a previous release

Upgrading from INAV 7.0

1. Backup configuration with CLI diff all command
2. Download and install the new INAV Configurator 7.1
3. Flash INAV 7.1 WITH Full Chip Erase option enabled
4. Select Keep current settings from the defaults pop-up
5. Go to CLI and restore your 7.0 diff
6. Done

Upgrading from INAV 6 and 6.1

1. Download and install the new INAV Configurator 7
2. Save to a file the current diff all from the CLI.
3. Upgrade to INAV 7 using the Full Erase option in the configurator.
4. In case of Analog FPV, upload your OSD font of choice from the OSD tab.
5. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
6. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration.
7. You should be ready, explore new 7.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Major changes

Fixed wing Autoland with landing pattern

INAV supports advanced automatic landings for fixed wing aircraft from version 7.1. The procedure is based on landings for man-carrying aircraft, so that safe landings at a specific location are possible. Supported are landings at Safehome after "Return to Home" or at a defined LAND waypoint for missions.
See: Fixed Wing Landing.md

Altitude and Heading estimation changes

INAV now relies more heavily on GNSS data for navigation than before. This can provide more security if the Barometer fails, or if the multirotor is suffering from Compass interference. By still allowing it to navigate back to home.
For more details see here

Other changes

Updated ICM426xx filtering

The filtering of the ICM426xx gyros has been updated based on changes made to both Ardupilot and BetaFlight and we expect better performance, when comparing to previous INAV versions.

Custom OSD

Users can now customize their own OSD messages, by way of the Programming Framework. Details

New Fixedwing flight mode

The mode is called Angle Hold. For more details see here

New targets

• FLYCOLORF7V2

CLI

Changed settings

Name	Description
gps_dyn_model	Default: AIR_2G GPS navigation model: Pedestrian, Automotive, Air<1g, Air<2g, Air<4g. Default is AIR_2G. Use pedestrian/Automotive with caution, can cause flyaways with fast flying.

New Items

Name	Description
ahrs_gps_yaw_weight	Arhs gps yaw weight when mag is avaliable, 0 means no gps yaw, 100 means equal weight as compass Values: 0 - 500 Default: 100
nav_fw_land_approach_length	Length of the final approach Values: 100 - 100000 Default: 35000
nav_fw_land_final_approach_pitch2throttle_mod	Modifier for pitch to throttle ratio at final approach. In Percent. Values: 100 - 400 Default: 100
nav_fw_land_flare_alt	Initial altitude of the flare phase Values: 0 - 10000 Default: 150
nav_fw_land_flare_pitch	Pitch value for flare phase. In degrees Values: -15 - 45 Default: 8
nav_fw_land_glide_alt	Initial altitude of the glide phase Values: 100 - 5000 Default: 200
nav_fw_land_glide_pitch	Pitch value for glide phase. In degrees. Values: -15 - 45 Default: 0
nav_fw_land_max_tailwind	Max. tailwind (in cm/s) if no landing direction with downwind is available Values: 0 - 3000 Default: 140
nav_fw_launch_land_abort_deadband	Launch and landing abort stick deadband in [r/c points], applied after r/c deadband and expo. The Roll/Pitch stick needs to be deflected beyond this deadband to abort the launch or landing. Values: 2 - 250 Default: 100
nav_min_ground_speed	Minimum ground speed for navigation flight modes [m/s]. Default 7 m/s. Values: 6 - 50 Default: 7
nav_rth_fs_landing_delay	If landing is active on Failsafe and this is above 0. The aircraft will hover or loiter for X seconds before performing the landing. If the battery enters the warning or critical levels, the land will proceed. Default = 0 [seconds] Values: 0 - 1800 Default: 0
tailsitter_orientation_offset	Apply a 90 deg pitch offset in sensor aliment for tailsitter flying mode Default: FALSE

Removed Items

Name	Description
inav_w_xyz_acc_p
nav_fw_launch_abort_deadband

TL;DR

The list of most important changes is also available in a video form: https://youtu.be/8Q8t_KwlSAQ

Changelist

The full list of changes is available here
The full list of INAV Configurator changes is available here

What's Changed from INAV 7.0

• Update from master by @MrD-RC in #9427
• Fixed wing attitude stabilisation mode by @breadoven in #9294
• F411 PSA by @DzikuVx in #9459
• updates docs, removed vtx_freq artefacts by @RomanLut in #9506
• GEPRCF405 add IIC2 and change the barometer to IIC2 by @YI-BOYANG in #9510
• Enable dshot for unofficial BETAFPVF435 by @mmosca in #9532
• Add VTX power info for MAMBAH743_2022B target by @mmosca in #9539
• Release 7.0.0 by @DzikuVx in #9432
• Additional Description for Control Derivative by @MrD-RC in #9521
• Make min ground speed setable a parameter by @MrD-RC in #9428
• update f4 vcp in line with BF by @stronnag in #9544
• Add a parameter to delay landing in the event of a Failsafe by @MrD-RC in #9502
• Add ICM42688P to KAKUTEH7 by @DzikuVx in #9546
• Yaw/Altitude estimation sensor fusion by @shota3527 in #9387
• Navpid back calculation anti-windup can only shrink integrator by @shota3527 in #9224
• Add active waypoint number to blackbox by @breadoven in #9507
• SITL: OSD CMS menu does not work by @RomanLut in #9344
• add some icons for O3 with integra for ESP32 Radar instead of ? by @druckgott in #9499
• WP mission mode RTH and Manual mode lockout improvements 7.1.0 by @breadoven in #9558
• tail sitter vtol support by @shota3527 in #9347
• USB MSC: Fix SCIS mode sense write protection bit by @mluessi in #9572
• [Multirotor] Fix Sqrt Controller Position Z limits by @JulioCesarMatias in #9575
• Fix #9562 bmi166 acc readout by @mmosca in #9563
• Add support crsf baro altitude combined vario sensor by @r1000ru in #9438
• rebase and re-pr Fix at32 targets by @shanggl in #9618
• Allow S9 on SpeedyBee F405 V3 by @DzikuVx in #9614
• Enable Camera Control modes for MSP DisplayPort by @mmosca in #9626
• Add option to use display_force_sw_blink in msp displayport by @mmosca in #9627
• Fix ahi pitch when inverted by @MrD-RC in https://git...

INAV 7.0.0

Hello and welcome to INAV 7 "Ferocious Falcon"

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

Important Notes

INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards.

The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays

The FrSky D-series telemetry support has been removed. This applies to legacy D4R receivers and some 3rd party whoop boards

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.

Upgrading from a previous release

Upgrading from INAV 6 and 6.1

1. Download and install the new INAV Configurator 7
2. Save to a file the current diff all from the CLI.
3. Upgrade to INAV 7 using the Full Erase option in the configurator.
4. In case of Analog FPV, upload your OSD font of choice from the OSD tab.
5. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
6. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration.
7. You should be ready, explore new 7.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Major changes

Flexible motor and servo output allocation

INAV now was a function that allows to flexibly assign functions to PWM outputs directly from INAV Configurator.
Specific function AUTO, MOTORS or SERVOS can be assigned to each Timer Group. Then, all outputs from this group will perform this function.
Thanks to this, it's possible to use servos and motors in ways that previously required building a custom targets.

Bear in mind:

• In some rare cases, output assignment might be different than in INAV 6. This makes it even more important to remove your props and double check your outputs before you power your flight controller with batteries for the first time after applying your old settings or enabling outputs.
• It is not possible to assign function to individual outputs. It's a hardware, not software limitation.

Mixer profiles and VTOL support

This has been a frequent request since PNP VTOL models started becoming more common.

Read more in Mixer Profile INAV docs and VTOL INAV docs

Ez Tune

The Ez Tune is a simplified tuning framework similar to Betalight's Simplified Slider Tuning. Instead of setting each PID controller gain, rate, and filter setting separately, Pilot is presented with 8 sliders for:

• Axis ratio
• Main filter frequency
• Response
• Damping
• Stability
• Aggressiveness
• Rate
• Expo

Ez Tune settings are not compatible with Betaflight Slider Tuning setting and cannot be migrated directly.

Read the description in Configurator's Ez Tune tab on what each setting does and how it should be used.

More on the topic of Ez Tune can be found here

In-flight Emergency Rearm

With INAV 7.0 came the ability to Emergency Rearm. This allows you to rearm in flight when you accidentally disarm. You need to do this within 5 seconds of disarming. Which sounds short, but is actually a pretty long time. Emergency Rearm can be used after a launch and while the aircraft still believes it's flying. It bypasses safety checks (including the throttle position) and doesn't trigger auto launch. Multirotors will also briefly switch to Angle to stabilise and level the flight. You can read all about it at https://github.com/iNavFlight/inav/pull/9254

Timer DMA Burst

INAV 7 adds the DMA Burst mode to selected target as ultimately fixes the problem of DSHOT protocol not working on some boards. Pilots do not have to take any actions, DSHOT is just available on previously affected flight controllers. This applies to:

• Matek F405 TE
• SpeedyBee F405 V3

JETI EXBUS fixed

The JETI EXBUS protocol should now not hang the flight controller during operation. The issue was originally fixed in betaflight/betaflight#13130 . Thank you @SteveCEvans and @klutvott123

Multirotor Cruise Mode

The Cruise Mode for Multirotors allows pilots to let go the radio sticks while UAV flies on a predefined course with predefined speed. Just like with regular PosHold, Throttle stick sets the altitude and course, while the pitch stick is used to set the horizontal speed. When released INAV will hold set speed, altitude, and course. More information available in here https://youtu.be/4pgDxexuSnU

NMEA Protocol no longer available

As mentioned in the Important Notes section, INAV 7 no longer supports the GPS NMEA protocol. All modern GPS module support one of the UBLOX protocols and as a result pilots must switch to either UBLOX or UBLOX7 protocol.

GPS Improvements

A number of improvements have been made to GPS support in INAV 7.

It is now possible to select multiple GPS constellations, and not only Galileo. If your GPS modules does not support a particular combination, it will fallback to no extra constellations.

M10 GPS units will now default to 10Hz, like M8 units and a new cli setting has been added to allow overriding the update rate of your UBLOX7 GPS (gps_ublox_nav_hz). This should allow you to fall back to 5Hz or bump it up to the limits of what is supported by your GPS module.

MSP VTX support

INAV now support MSP VTX when using MSP DisplayPort OSD.

Now it is possible to change VTX power levels and channels via INAV's OSD menu or ELRS backpack without connecting the SmartAudio wire on HD-Zero VTXs.

If you MSP DisplayPort OSD is working, no extra configuration is needed.

Linear Descent RTH mode changed

AT_LEAST_LINEAR_DESCENT is no longer a method for RTH. It has been replaced with a more flexible linear descent option that will work with any RTH method. If previously using AT_LEAST_LINEAR_DESCENT, you should now just use AT_LEAST as the RTH type. Linear Descent is now a separate option that can be used with any other RTH method. To make this possible, the target altitude of the descent is now the nav_rth_home_altitude. In some cases, if flying below the home position, this will work as a linear ascent.

You can also decide when the linear descent will start. Set the nav_rth_linear_descent_start_distance parameter to the distance (metres) from the home point, where you want to start descending. Set to 0, the default setting; the descent will start immediately, as with the pre-7.0 implementation.

These options are available in Configurator.

See the Navigation Mode: Return to Home wiki for more details.

Pilot Logos

You can now have custom pilot logos on your OSD and arming screen (HD Only). You will need to create a custom font with your logos to show them on screen. The OSD logo is a 3x1 character symbol. This can be used with both analogue and HD. The arming screen logo is a 10x4 character image, and only works with HD systems.

More details are available in the OSD Document.

Other changes

• The AUTOLEVEL mode is renamed to AUTO LEVEL TRIM. The functionality remains the same.
• The osd_mah_used_precision parameter has been renamed osd_mah_precision.
• 24 channels available for Jeti systems (not available with F411 or F722 flight controllers).
• Virtual pitot is enabled by default.

Other removed functions

• FrSky D-series telemetry
• output_mode setting that allows to reassign all PWM outputs to either MOTORS or SERVOS

New targets

• SDmodel H7V1
• Matek H743HD
• SpeedyBee F405 V4
• SpeedeBee F405 Mini
• SpeedyBee F7 Mini V2
• GEPRCF405
• GEPRCF722
• NEUTRONRC F435 Mini AIO
• DAKEFPV F405
• DAKEFPV F722
• AtomRC F405 NAVI Delux
• JHEMCUF722
• JHEMCUF405

CLI

Changed settings

Name	Description
gps_provider	Removed: NMEA
gps_sbas_mode	New: SPAN
nav_rth_alt_mode	Removed: AT_LEAST_LINEAR_DESCENT
pito...

INAV 7.0.0 RC3

Hello and welcome to INAV 7 "Ferocious Falcon"

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

Important Notes

INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards.

The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays

The FrSky D-series telemetry support has been removed. This applies to legacy D4R receivers and some 3rd party whoop boards

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.

Upgrading from a previous release

Upgrading from INAV 6 and 6.1

1. Download and install the new INAV Configurator 7
2. Save to a file the current diff all from the CLI.
3. Upgrade to INAV 7 using the Full Erase option in the configurator.
4. In case of Analog FPV, upload your OSD font of choice from the OSD tab.
5. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
6. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration.
7. You should be ready, explore new 7.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Major changes

Flexible motor and servo output allocation

INAV now was a function that allows to flexibly assign functions to PWM outputs directly from INAV Configurator.
Specific function AUTO, MOTORS or SERVOS can be assigned to each Timer Group. Then, all outputs from this group will perform this function.
Thanks to this, it's possible to use servos and motors in ways that previously required building a custom targets.

Bear in mind:

• In some rare cases, output assignment might be different than in INAV 6. This makes it even more important to remove your props and double check your outputs before you power your flight controller with batteries for the first time after applying your old settings or enabling outputs.
• It is not possible to assign function to individual outputs. It's a hardware, not software limitation.

Mixer profiles and VTOL support

This has been a frequent request since PNP VTOL models started becoming more common.

Read more in Mixer Profile INAV docs and VTOL INAV docs

Ez Tune

The Ez Tune is a simplified tuning framework similar to Betalight's Simplified Slider Tuning. Instead of setting each PID controller gain, rate, and filter setting separately, Pilot is presented with 8 sliders for:

• Axis ratio
• Main filter frequency
• Response
• Damping
• Stability
• Aggressiveness
• Rate
• Expo

Ez Tune settings are not compatible with Betaflight Slider Tuning setting and cannot be migrated directly.

Read the description in Configurator's Ez Tune tab on what each setting does and how it should be used.

More on the topic of Ez Tune can be found here

Timer DMA Burst

INAV 7 adds the DMA Burst mode to selected target as ultimately fixes the problem of DSHOT protocol not working on some boards. Pilots do not have to take any actions, DSHOT is just available on previously affected flight controllers. This applies to:

• Matek F405 TE
• SpeedyBee F405 V3

JETI EXBUS fixed

The JETI EXBUS protocol should now not hang the flight controller during operation. The issue was originally fixed in betaflight/betaflight#13130 . Thank you @SteveCEvans and @klutvott123

Multirotor Cruise Mode

The Cruise Mode for Multirotors allows pilots to let go the radio sticks while UAV flies on a predefined course with predefined speed. Just like with regular PosHold, Throttle stick sets the altitude and course, while the pitch stick is used to set the horizontal speed. When released INAV will hold set speed, altitude, and course. More information available in here https://youtu.be/4pgDxexuSnU

NMEA Protocol no longer available

As mentioned in the Important Notes section, INAV 7 no longer supports the GPS NMEA protocol. All modern GPS module support one of the UBLOX protocols and as a result pilots must switch to either UBLOX or UBLOX7 protocol.

GPS Improvements

A number of improvements have been made to GPS support in INAV 7.

It is now possible to select multiple GPS constellations, and not only Galileo. If your GPS modules does not support a particular combination, it will fallback to no extra constellations.

M10 GPS units will now default to 10Hz, like M8 units and a new cli setting has been added to allow overriding the update rate of your UBLOX7 GPS (gps_ublox_nav_hz). This should allow you to fall back to 5Hz or bump it up to the limits of what is supported by your GPS module.

MSP VTX support

INAV now support MSP VTX when using MSP DisplayPort OSD.

Now it is possible to change VTX power levels and channels via INAV's OSD menu or ELRS backpack without connecting the SmartAudio wire on HD-Zero VTXs.

If you MSP DisplayPort OSD is working, no extra configuration is needed.

Linear Descent RTH mode changed

AT_LEAST_LINEAR_DESCENT is no longer a method for RTH. It has been replaced with a more flexible linear descent option that will work with any RTH method. If previously using AT_LEAST_LINEAR_DESCENT, you should now just use AT_LEAST as the RTH type. Linear Descent is now a separate option that can be used with any other RTH method. To make this possible, the target altitude of the descent is now the nav_rth_home_altitude. In some cases, if flying below the home position, this will work as a linear ascent.

You can also decide when the linear descent will start. Set the nav_rth_linear_descent_start_distance parameter to the distance (metres) from the home point, where you want to start descending. Set to 0, the default setting; the descent will start immediately, as with the pre-7.0 implementation.

These options are available in Configurator.

See the Navigation Mode: Return to Home wiki for more details.

Pilot Logos

You can now have custom pilot logos on your OSD and arming screen (HD Only). You will need to create a custom font with your logos to show them on screen. The OSD logo is a 3x1 character symbol. This can be used with both analogue and HD. The arming screen logo is a 10x4 character image, and only works with HD systems.

More details are available in the OSD Document.

Other changes

• The AUTOLEVEL mode is renamed to AUTO LEVEL TRIM. The functionality remains the same.
• The osd_mah_used_precision parameter has been renamed osd_mah_precision.
• 24 channels available for Jeti systems (not available with F411 or F722 flight controllers).
• Virtual pitot is enabled by default.

Other removed functions

• FrSky D-series telemetry
• output_mode setting that allows to reassign all PWM outputs to either MOTORS or SERVOS

New targets

• SDmodel H7V1
• Matek H743HD
• SpeedyBee F405 V4
• SpeedeBee F405 Mini
• SpeedyBee F7 Mini V2
• GEPRCF405
• GEPRCF722
• NEUTRONRC F435 Mini AIO

CLI

Changed settings

Name	Description
gps_provider	Removed: NMEA
gps_sbas_mode	New: SPAN
nav_rth_alt_mode	Removed: AT_LEAST_LINEAR_DESCENT
pitot_hardware	New: DLVR-L10D

New Items

Name	Description
ez_aggressiveness	EzTune aggressiveness Values: 0 - 200 Default: 100
ez_axis_ratio	EzTune axis ratio Values: 25 - 175 Default: 110
ez_damping	EzTune damping Values: 0 - 200 Default: 100
ez_enabled	Enables EzTune feature Default: FALSE
ez_expo	EzTune expo Values: 0 - 200 Default: 100
ez_filter_hz	EzTune filter cutoff frequency Values: 10 - 300 Default: 110
ez_rate	EzTune rate Values: 0 - 200 Default: 100
ez_response	EzTune response Values: 0 - 200 Default: 100
ez_stability	EzTune stability Values: 0 - 200 Default: 100
gps_auto_baud_max_supported	Max baudrate supported by GPS unit. This is used during autobaud. M8 supports up to 460400, M10...

INAV 7.0.0 RC2

Hello and welcome to INAV 7 "Ferocious Falcon"

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

Important Notes

INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards.

The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays

The FrSky D-series telemetry support has been removed. This applies to legacy D4R receivers and some 3rd party whoop boards

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.

Upgrading from a previous release

Upgrading from INAV 6 and 6.1

1. Download and install the new INAV Configurator 7
2. Save to a file the current diff all from the CLI.
3. Upgrade to INAV 7 using the Full Erase option in the configurator.
4. In case of Analog FPV, upload your OSD font of choice from the OSD tab.
5. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
6. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration.
7. You should be ready, explore new 7.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Major changes

Flexible motor and servo output allocation

INAV now was a function that allows to flexibly assign functions to PWM outputs directly from INAV Configurator.
Specific function AUTO, MOTORS or SERVOS can be assigned to each Timer Group. Then, all outputs from this group will perform this function.
Thanks to this, it's possible to use servos and motors in ways that previously required building a custom targets.

Bear in mind:

• In some rare cases, output assignment might be different than in INAV 6. This makes it even more important to remove your props and double check your outputs before you power your flight controller with batteries for the first time after applying your old settings or enabling outputs.
• It is not possible to assign function to individual outputs. It's a hardware, not software limitation.

Mixer profiles and VTOL support

This has been a frequent request since PNP VTOL models started becoming more common.

Read more in Mixer Profile INAV docs and VTOL INAV docs

Ez Tune

The Ez Tune is a simplified tuning framework similar to Betalight's Simplified Slider Tuning. Instead of setting each PID controller gain, rate, and filter setting separately, Pilot is presented with 8 sliders for:

• Axis ratio
• Main filter frequency
• Response
• Damping
• Stability
• Aggressiveness
• Rate
• Expo

Ez Tune settings are not compatible with Betaflight Slider Tuning setting and cannot be migrated directly.

Read the description in Configurator's Ez Tune tab on what each setting does and how it should be used.

More on the topic of Ez Tune can be found here

Timer DMA Burst

INAV 7 adds the DMA Burst mode to selected target as ultimately fixes the problem of DSHOT protocol not working on some boards. Pilots do not have to take any actions, DSHOT is just available on previously affected flight controllers. This applies to:

• Matek F405 TE
• SpeedyBee F405 V3

JETI EXBUS fixed

The JETI EXBUS protocol should now not hang the flight controller during operation. The issue was originally fixed in betaflight/betaflight#13130 . Thank you @SteveCEvans and @klutvott123

Multirotor Cruise Mode

The Cruise Mode for Multirotors allows pilots to let go the radio sticks while UAV flies on a predefined course with predefined speed. Just like with regular PosHold, Throttle stick sets the altitude and course, while the pitch stick is used to set the horizontal speed. When released INAV will hold set speed, altitude, and course. More information available in here https://youtu.be/4pgDxexuSnU

NMEA Protocol no longer available

As mentioned in the Important Notes section, INAV 7 no longer supports the GPS NMEA protocol. All modern GPS module support one of the UBLOX protocols and as a result pilots must switch to either UBLOX or UBLOX7 protocol.

GPS Improvements

A number of improvements have been made to GPS support in INAV 7.

It is now possible to select multiple GPS constellations, and not only Galileo. If your GPS modules does not support a particular combination, it will fallback to no extra constellations.

M10 GPS units will now default to 10Hz, like M8 units and a new cli setting has been added to allow overriding the update rate of your UBLOX7 GPS (gps_ublox_nav_hz). This should allow you to fall back to 5Hz or bump it up to the limits of what is supported by your GPS module.

MSP VTX support

INAV now support MSP VTX when using MSP DisplayPort OSD.

Now it is possible to change VTX power levels and channels via INAV's OSD menu or ELRS backpack without connecting the SmartAudio wire on HD-Zero VTXs.

If you MSP DisplayPort OSD is working, no extra configuration is needed.

Linear Descent RTH mode changed

AT_LEAST_LINEAR_DESCENT is no longer a method for RTH. It has been replaced with a more flexible linear descent option that will work with any RTH method. If previously using AT_LEAST_LINEAR_DESCENT, you should now just use AT_LEAST as the RTH type. Linear Descent is now a separate option that can be used with any other RTH method. To make this possible, the target altitude of the descent is now the nav_rth_home_altitude. In some cases, if flying below the home position, this will work as a linear ascent.

You can also decide when the linear descent will start. Set the nav_rth_linear_descent_start_distance parameter to the distance (metres) from the home point, where you want to start descending. Set to 0, the default setting; the descent will start immediately, as with the pre-7.0 implementation.

These options are available in Configurator.

See the Navigation Mode: Return to Home wiki for more details.

Pilot Logos

You can now have custom pilot logos on your OSD and arming screen (HD Only). You will need to create a custom font with your logos to show them on screen. The OSD logo is a 3x1 character symbol. This can be used with both analogue and HD. The arming screen logo is a 10x4 character image, and only works with HD systems.

More details are available in the OSD Document.

Other changes

• The AUTOLEVEL mode is renamed to AUTO LEVEL TRIM. The functionality remains the same.
• The osd_mah_used_precision parameter has been renamed osd_mah_precision.
• 24 channels available for Jeti systems (not available with F411 or F722 flight controllers).
• Virtual pitot is enabled by default.

Other removed functions

• FrSky D-series telemetry
• output_mode setting that allows to reassign all PWM outputs to either MOTORS or SERVOS

New targets

• SDmodel H7V1
• Matek H743HD
• SpeedyBee F405 V4
• SpeedeBee F405 Mini
• SpeedyBee F7 Mini V2
• GEPRCF405
• GEPRCF722
• NEUTRONRC F435 Mini AIO

CLI

Changed settings

Name	Description
gps_provider	Removed: NMEA
gps_sbas_mode	New: SPAN
nav_rth_alt_mode	Removed: AT_LEAST_LINEAR_DESCENT
pitot_hardware	New: DLVR-L10D

New Items

Name	Description
ez_aggressiveness	EzTune aggressiveness Values: 0 - 200 Default: 100
ez_axis_ratio	EzTune axis ratio Values: 25 - 175 Default: 110
ez_damping	EzTune damping Values: 0 - 200 Default: 100
ez_enabled	Enables EzTune feature Default: FALSE
ez_expo	EzTune expo Values: 0 - 200 Default: 100
ez_filter_hz	EzTune filter cutoff frequency Values: 10 - 300 Default: 110
ez_rate	EzTune rate Values: 0 - 200 Default: 100
ez_response	EzTune response Values: 0 - 200 Default: 100
ez_stability	EzTune stability Values: 0 - 200 Default: 100
gps_auto_baud_max_supported	Max baudrate supported by GPS unit. This is used during autobaud. M8 supports up to 460400, M10...

INAV 7.0.0 RC1

Hello and welcome to INAV 7 "Ferocious Falcon"

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

Important Notes

The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays

The FrSky D-series telemetry support has been removed. This applies to legacy D4R receivers and some 3rd party whoop boards

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.

Upgrading from a previous release

Upgrading from INAV 6 and 6.1

1. Download and install the new INAV Configurator 7
2. Save to a file the current diff all from the CLI.
3. Upgrade to INAV 7 using the Full Erase option in the configurator.
4. In case of Analog FPV, upload your OSD font of choice from the OSD tab.
5. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
6. There are many new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration.
7. You should be ready, explore new 7.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Major changes

Flexible motor and servo output allocation

INAV now was a function that allows to flexibly assign functions to PWM outputs directly from INAV Configurator.
Specific function AUTO, MOTORS or SERVOS can be assigned to each Timer Group. Then, all outputs from this group will perform this function.
Thanks to this, it's possible to use servos and motors in ways that previously required building a custom targets.

Bear in mind:

• In some rare cases, output assignment might be different than in INAV 6. This makes it even more important to remove your props and double check your outputs before you power your flight controller with batteries for the first time after applying your old settings or enabling outputs.
• It is not possible to assign function to individual outputs. It's a hardware, not software limitation.

Mixer profiles and VTOL support

This has been a frequent request since PNP VTOL models started becoming more common.

Read more in Mixer Profile INAV docs and VTOL INAV docs

Ez Tune

The Ez Tune is a simplified tuning framework similar to Betalight's Simplified Slider Tuning. Instead of setting each PID controller gain, rate, and filter setting separately, Pilot is presented with 8 sliders for:

• Axis ratio
• Main filter frequency
• Response
• Damping
• Stability
• Aggressiveness
• Rate
• Expo

Ez Tune settings are not compatible with Betaflight Slider Tuning setting and cannot be migrated directly.

Read the description in Configurator's Ez Tune tab on what each setting does and how it should be used.

More on the topic of Ez Tune can be found here

Timer DMA Burst

INAV 7 adds the DMA Burst mode to selected target as ultimately fixes the problem of DSHOT protocol not working on some boards. Pilots do not have to take any actions, DSHOT is just available on previously affected flight controllers. This applies to:

• Matek F405 TE
• SpeedyBee F405 V3

JETI EXBUS fixed

The JETI EXBUS protocol should now not hang the flight controller during operation. The issue was originally fixed in betaflight/betaflight#13130 . Thank you @SteveCEvans and @klutvott123

Multirotor Cruise Mode

The Cruise Mode for Multirotors allows pilots to let go the radio sticks while UAV flies on a predefined course with predefined speed. Just like with regular PosHold, Throttle stick sets the altitude and course, while the pitch stick is used to set the horizontal speed. When released INAV will hold set speed, altitude, and course. More information available in here https://youtu.be/4pgDxexuSnU

NMEA Protocol no longer available

As mentioned in the Important Notes section, INAV 7 no longer supports the GPS NMEA protocol. All modern GPS module support one of the UBLOX protocols and as a result pilots must switch to either UBLOX or UBLOX7 protocol.

GPS Improvements

A number of improvements have been made to GPS support in INAV 7.

It is now possible to select multiple GPS constellations, and not only Galileo. If your GPS modules does not support a particular combination, it will fallback to no extra constellations.

M10 GPS units will now default to 10Hz, like M8 units and a new cli setting has been added to allow overriding the update rate of your UBLOX7 GPS (gps_ublox_nav_hz). This should allow you to fall back to 5Hz or bump it up to the limits of what is supported by your GPS module.

MSP VTX support

INAV now support MSP VTX when using MSP DisplayPort OSD.

Now it is possible to change VTX power levels and channels via INAV's OSD menu or ELRS backpack without connecting the SmartAudio wire on HD-Zero VTXs.

If you MSP DisplayPort OSD is working, no extra configuration is needed.

Linear Descent RTH mode changed

AT_LEAST_LINEAR_DESCENT is no longer a method for RTH. It has been replaced with a more flexible linear descent option that will work with any RTH method. If previously using AT_LEAST_LINEAR_DESCENT, you should now just use AT_LEAST as the RTH type. Linear Descent is now a separate option that can be used with any other RTH method. To make this possible, the target altitude of the descent is now the nav_rth_home_altitude. In some cases, if flying below the home position, this will work as a linear ascent.

You can also decide when the linear descent will start. Set the nav_rth_linear_descent_start_distance parameter to the distance (metres) from the home point, where you want to start descending. Set to 0, the default setting; the descent will start immediately, as with the pre-7.0 implementation.

These options are available in Configurator.

See the Navigation Mode: Return to Home wiki for more details.

Pilot Logos

You can now have custom pilot logos on your OSD and arming screen (HD Only). You will need to create a custom font with your logos to show them on screen. The OSD logo is a 3x1 character symbol. This can be used with both analogue and HD. The arming screen logo is a 10x4 character image, and only works with HD systems.

More details are available in the OSD Document.

Other changes

• The AUTOLEVEL mode is renamed to AUTO LEVEL TRIM. The functionality remains the same.
• The osd_mah_used_precision parameter has been renamed osd_mah_precision.
• 24 channels available for Jeti systems (not available with F411 or F722 flight controllers).
• Virtual pitot is enabled by default.

Other removed functions

• FrSky D-series telemetry
• output_mode setting that allows to reassign all PWM outputs to either MOTORS or SERVOS

New targets

• SDmodel H7V1
• Matek H743HD
• SpeedyBee F405 V4
• SpeedeBee F405 Mini
• SpeedyBee F7 Mini V2
• GEPRCF405
• GEPRCF722
• NEUTRONRC F435 Mini AIO

CLI

Changed settings

Name	Description
gps_provider	Removed: NMEA
gps_sbas_mode	New: SPAN
nav_rth_alt_mode	Removed: AT_LEAST_LINEAR_DESCENT
pitot_hardware	New: DLVR-L10D

New Items

Name	Description
ez_aggressiveness	EzTune aggressiveness Values: 0 - 200 Default: 100
ez_axis_ratio	EzTune axis ratio Values: 25 - 175 Default: 110
ez_damping	EzTune damping Values: 0 - 200 Default: 100
ez_enabled	Enables EzTune feature Default: FALSE
ez_expo	EzTune expo Values: 0 - 200 Default: 100
ez_filter_hz	EzTune filter cutoff frequency Values: 10 - 300 Default: 110
ez_rate	EzTune rate Values: 0 - 200 Default: 100
ez_response	EzTune response Values: 0 - 200 Default: 100
ez_stability	EzTune stability Values: 0 - 200 Default: 100
gps_auto_baud_max_supported	Max baudrate supported by GPS unit. This is used during autobaud. M8 supports up to 460400, M10 supports up to 921600 and 230400 is the value used before INAV 7.0 Default: 230400
gps_ublox_nav_hz	Navigation update rate for UBLOX7 receivers. Some...

INAV 6.1.1 "Horizon Hawk"

Hello and welcome to INAV 6.1.1 "Horizon Hawk"

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

Get in touch with other pilots, share experiences, suggestions and ask for help on:

	INAV Discord Server
	INAV Official on Facebook

Tested and suggested hardware can be found here

Upgrading from a previous release

Upgrading from INAV 6

0. Download and install the new configurator
1. Save to a file the current diff all from the CLI.
2. Upgrade to INAV 6 using the Full Erase option in the configurator.
3. Restore the configuration from the diff file

Upgrading from INAV 5 and 5.1

0. Download and install the new configurator
1. Save to a file the current diff all from the CLI.
2. Upgrade to INAV 6 using the Full Erase option in the configurator.
3. Upload your OSD font of choice from the OSD tab.
4. Run your INAV 5.x diff through this tool. It will update some of the changed CLI parameters (See these release notes). Please pay special attention to the ahrs_inertia_comp_method parameter, as this must be correct for your platform. See the release notes below.
5. Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
6. There are a large number of new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration.
7. You should be ready, explore new 6.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Important changes

"Dolphining" bug fix

This release fixes a "dolphining" bug that was affecting fixed wing airplanes in autonomous modes and causing airplanes not being able to precisely control altitude. INAV 6.1.1 addresses this issue and solved the problem.

New targets

• FLYWOOF405PRO

Changelist

What's Changed

• FLYWOOF405PRO target by @DzikuVx in #9115
• Proposed fix for "dolphining" bug in 6.1 by @M0j0Risin in #9111

Full Changelog: 6.1.0...6.1.1