INAV 1.2

At last we have final INAV-1.2 release.

INAV Configurator is available from Chrome Webstore.

Hardware compatibility and feature map.

This release features experimental F4 target support. Use caution as F4 targets are not well tested and aparrently are not bug-free.

Bugs fixes:

• Fix a bug with FEATURE_SERVO_TILT and FEATURE_CHANNEL_FORWARDING not working as they should.
• Reset altitude hold target when transitioning from RTH/WP.
• Fix for turning North when activating RTH close to home
• Don't allow AIRMODE to override MOTOR_STOP
• Fix for boards sometimes hanging on boot
• Configurable limitation of max climb/descent rate - fixed extreme climb/descent on WP mission
• Reset POSHOLD target when GCS modifier is reset
• Change GPS SBAS default to NONE - fixes poor GPS performance in some cases
• Disable PID attenuation at zero throttle and some mixer improvements
• Fixed CC3D PPM glitch when using OneShot125
• Fix slow RTH when home is reset
• Fixed connection issues for INAV Configurator
• SPRacingF3 EVO servo fix
• MAVLink bitmask incompatibility with Configurator
• FrSky telemetry climb rate fix
• SDCard not working fixes
• GPS being initialised too early fix
• Fixed MS5611 misdetection
• Fixed no accelerometer detected on MPU9250 gyro
• Fixed compass issues on MPU9250 gyro

New features and improvements:

• Boot-time event logging for easier troubleshooting
• Blackbox log now includes acceleration in EF for easier debugging
• F4 target support (initial drafts)
• FP-PID rescaled to match LuxFloat and MWRewrite PID controllers
• LTM telemetry improvements - more data reported
• MAVLink telemetry
• Rates are now in degrees/sec (much more user-friendly)
• Use full stick in ANGLE/HORIZON
• More precise expo curve
• Support for NRF24L01 receiver (including INAV-specific protocol and telemetry - provisional)
• Support for Jeti receiver
• Improved landing detector for RTH
• Replace RTH pre-landing delay with waiting for correct heading
• Allow all 6 input and all 6 outputs on CC3D when using PWM RX and PWM output
• Flaperon flight mode
• Support for RTH+LAND waypoint
• Configuration is logged to blackbox for easier analysis
• Use GPS for vertical velocity estimation on multirotors
• Increased max waypoint number
• Turn assistant - turn on parallel to ground plane (tested on multirotors only)
• Angular acceleration limit on PID rate target for better control on larger drones
• Require "off-on" switch cycle to activate WP mission
• Some mixers are now disabled for targets with low memory
• Improved (smoother) MAG HOLD controller

Other:

• Converted the whole driver infrastructure to new IO framework
• Lots of minor code cleanups and improvements
• Improved default settings
• More supported targets
• Betaflight catchups
• Some features removed from NAZE & CC3D targets to fit INAV into them.

Warning:
Some targets are not tested

Big thanks to @martinbudden, @DzikuVx, @theArchLadder, @stronnag, @sambas and all the contrubuters, testers and donators whom I forgot to mention. You guys make this project tick! 😄

INAV 1.1

Ok, looks like we are finally ready to 1.1 release. Everything is merged and somewhat tested.

WARNINGS:

• Config will be erased.
• Re-tuning your aricraft PIDs is a STRICT requirement

Fixes:

• Changed biquad to pt1 filter for PID D-term (lower phase shift, better tunability)
• Ublox GPS code changed to improve SBAS handling
• GPS nav_model replaced with dyn_model (possible values PEDESTRIAN, AIR_1G, AIR_4G)
• Fix sensor saturation issue
• Fixed position estimation and mode switching issues on mag-less airplanes
• Default banking angle 30 deg for airplanes
• New default settings for navigation PIDs
• Disallow looptimes < 2000 on F1 targets to prevent overload
• Better handling of GPS loss on RTH/PH/WP
• MSP mode ordering fixed
• Throttle tilt compensation fixes
• Remove limitation of groundspeed for airplane navigation
• Removed excessive BARO filtering
• Fixed GPS glitch detection (still not used for navigation)
• Mute failsafe beeper if machine wasn't armed at least once
• Air cushion effect detector for smoother takeoffs in AltHold mode
• Fixed a bug with accelerometer calibration performance
• Twitching when RTH passes North on airplanes fixed
• Prevent arming if any of PH/RTH/WP modes are activated
• Some minor changes to the mixer and PID controller to improve stability on takeoff and landing
• Smoother RTH descent

New:

• New 4-way BLHeli passthough interface (not all targets)
• Removed Rewrite and Lux PID controllers, replaced by a new one (required re-tuning)
• Smoother self-leveling control (Level I defined LPF frequency on self-leveling responce)
• New "HEADING LOCK" mode for tighter yaw holding (without MAG)
• New "HOME RESET" mode for manually resetting home (RTH) position
• New "GCS NAV" mode for follow-me and other functionality driven by groundstation
• Scheduler optimisations by Martin Budden
• Serial buffering by Michael Hope
• Remove GPS SV data (report GPS HDOP instead), better GPS fix reporting
• Beeper CLI command to selectively enable beep warnings (also adds ON_USB option)
• Supported telemetries are now defined per-target. NAZE by default doesn't support anything but LTM
• OLED display now shows all relevant data on one page. New "armed" picture for OLED display on some targets
• More config options for throttle control at AltHold
• Initial surface tracking support (not always working)
• Removed some pre-defined mixers (fallback to QuadX if they are requested by Configurator)
• LED_STRIP is back on NAZE targets
• Better sonar-assisted landing detection
• FlySky I-BUS receivers now support 10ch

iNav 1.0.1

New minor release. Most notable change - new BiQuad filter.

WARNING: Config will be erased.

Fixes:

• Mode selection bug fixed
• New GPS defaults to LOW_G model and don't use VELNED for navigation (less precise but safer)
• Sonar-assisted landing bug fixed
• Fixed wrong units for GPS EPH/EPV
• Fixed issue with skipped Ublox GPS frames
• Emergency landing now uses failsafe_throttle when landing without baro sensor

New:

• Full filter rework. FIR for accel and gyro is now replaced by BiQuad filter with adjustable cutoff frequency. Thanks to Boris B for providing the code.
• Added support for all baro chips to SPRacingF3 target

iNav 1.0

1.0 final release.

Fixes:

• Accelerometer FIR filtering fixes
• Minor change to althold controller - smoother descend and landing
• Resolved issue with target position not always being logged to blackbox
• Issue with failsafe RTH dropping out of the sky if no GPS is available at the moment

New:

• New scheduling method. New cli command "tasks" will show all running tasks and their processing times.
• CLI "status" command will show overall system load
• Massive GPS code refactoring - completely new GPS driver model and lots of new code
• DJI NAZA GPS support (including compass on the NAZA GPS module)
• Fixed GPS-only heading for fast airplanes.
• Complete GPS-only airplane navigation (Althold, Poshold, RTH)
• UBLOX: option to select gps nav model (LowG - Pedestrian, HighG - Airborne>4G)
• INAV: option to opt-out of using GPS VelNED for position estimation (Ublox modules in Pedestrian mode delay this information beyond any usable limits)
• GPS: receiving and logging position accurace (EPH/EPV)
• Enabled NAV for SPARKY target
• Sonar guard for landing - if iNav will detect the ground it will slow down and touchdown gently regardless of baro altitude
• Optimised MIN/MAX functions - saves a few bytes of code