INAV 1.9.0-RC1

Please read the release notes carefully and upgrade INAV Configurator application.

INAV is and will remain open-source and free, but you are more than welcome to support the development.

This release was supported by our awesome sponsors CarbonBird.com, Airbot, ADPM Drones and a number of supporters on Patreon.

WARNINGS

• todo

Known bugs

• todo

Increased VBAT resolution

The battery voltage resolution has been increased from 100mV to 10mV. In consequence the vbat_scale, vbat_max_cell_voltage, vbat_warning_cell_voltage and vbat_min_cell_voltage settings resolution has also been increased 10 fold allowing more precise battery voltage calibration and battery voltage thresholds. To restore old configuration settings users need to multiply their old setting values by 10.

New defaults for these settings:

• vbat_scale: 1100 (was 110)
• vbat_max_cell_voltage: 430 (was 43) or 4.3V/cell
• vbat_warning_cell_voltage: 350 (was 35) or 3.5V/cell
• vbat_min_cell_voltage: 330 (was 33) or 3.3V/cell

CLI parameter renaming / new parameters

New parameters have been introduced. Some CLI parameters were renamed to support new features or to better reflect their meaning:

Name	Description
rangefinder_median_filter	Default is OFF
baro_median_filter	Default is ON
failsafe_lights	Enable or disable the lights when the FAILSAFE flight mode is enabled. The target needs to be compiled with USE_LIGHTS [ON/OFF]. Default is ON
failsafe_lights_flash_period	Time in milliseconds between two flashes when failsafe_lights is ON and FAILSAFE flight mode is enabled [40-65535]. Default is 1000ms.
failsafe_lights_flash_on_time	Flash lights ON time in milliseconds when failsafe_lights is ON and FAILSAFE flight mode is enabled. [20-65535]. Default is 100ms.
battery_capacity	Set the battery capacity in mAh or mWh (see battery_capacity_unit). Used to calculate the remaining battery capacity. Default is 0
battery_capacity_warning	If the remaining battery capacity goes below this threshold the beeper will emit short beeps and the relevant OSD items will blink. Default is 0
battery_capacity_critical	If the remaining battery capacity goes below this threshold the battery is considered empty and the beeper will emit long beeps. Default is 0
battery_capacity_unit	Unit used for battery_capacity, battery_capacity_warning and battery_capacity_critical [MAH/MWH] (milliAmpere hour / milliWatt hour). Default is MAH
manual_rc_expo	Exposition value used for the PITCH/ROLL axes by the MANUAL flight mode [0-100]. Default is 70
manual_rc_yaw_expo	Exposition value used for the YAW axis by the MANUAL flight mode. Default is 20
manual_pitch_rate	Servo travel multiplier for the PITCH axis in MANUAL flight mode [0-100]%. Default is 100%
manual_roll_rate	Servo travel multiplier for the ROLL axis in MANUAL flight mode [0-100]%. Default is 100%
manual_yaw_rate	Servo travel multiplier for the YAW axis in MANUAL flight mode [0-100]%. Default is 100%
gps_ublox_use_galileo	Enable use of Galileo satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires M8N and Ublox firmware 3.x (or later) [OFF/ON]. Default is OFF
smartport_fuel_unit	Unit of the value sent with the FUEL ID through the S.Port telemetry. Replaces the smartport_fuel_percent setting [PERCENT/MAH/MWH]. Default is PERCENT
osd_stats_energy_unit	Unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt hour). Default is MAH
osd_main_voltage_decimals	Number of decimals for the battery voltages displayed in the OSD [1-2]. Default is 1
osd_wh_drawn_pos
osd_bat_remaining_capacity_pos
osd_bat_remaining_percent_pos
osd_efficiency_mah_pos
osd_efficiency_wh_pos
display_force_sw_blink
mag_to_use	Allow to chose between built-in and external compass sensor if they are connected to separate buses. Currently only for REVO target
nav_fw_launch_min_time	Allow launch mode to execute at least this time (ms) and ignore stick movements [0-60000]. Default is 0
nav_fw_launch_max_altitude	Altitude (centimeters) at which LAUNCH mode will be turned off and regular flight mode will take over [0-60000]. Default is 0

New boards

• Betaflight F3
• Betaflight F4
• FuriousFPV F35 Lightning (former FuriousFPV WingF4)
• Matek F722
• Matek F405-CTR
• Holybro KAKUTE F4
• Holybro KAKUTE F4 V2
• Fortini F4

New features

• [COMPASS] Allow to chose between internal and external compass on REVO target (@digitalentity, #2522)
• [SYSTEM] Migrate to busDevice abstraction layer for better device access abstraction (@digitalentity, #2290)
• [SYSTEM] Create dedicated F427 startup file (@digitalentity, #2559)
• [MOTOLAB] Allow MOTOLAB target to be used for airplanes (@shellixyz, #2502)
• [GPS] Enables use of Galileo satellites for NEO-M8N GPS units (@stronnag, #2583)
• [CALIBRATION] Add API for Calibration tab in Configurator
• [OSD] Allow OSD mode to disable OSD (@shellixyz, #2676)
• [OSD] Increase odometer accuracy (@digitalentity, #2757)
• [OSD] Add more battery-related indicators (including efficiency)
• [LIGHTS] Add LIGHTS flight mode to enable/disable GPIO-driven equipment (@shellixyz, #2675)
• [LAUNCH] Allow LAUNCH mode to ignore sticks for certain amount of time (@shellixyz, #2677)
• [LAUNCH] Allow LAUNCH mode to be permanently enabled as FW_LAUNCH feature (@giacomo892, #2731)
• [MSP] API to support smix/mmix configuration via Configurator (@DzikuVx, #2693)
• [MSP] Add no-reply flag to allow MSP messages that don't need a response (@digitalentity, #2762)
• [COMPASS] Enable QMC5883, MAG3110 and IST8310 on most of the targets (@digitalentity, #2699)
• [AIRPLANE] Replace PASSTHROUGH with MANUAL flight mode (@shellixyz, #2661)
• [BATTERY] Improve battery monitoring and resolution (@shellixyz, #2705)
• [SYSTEM] Remove SoftSPI implementation since it's not used (@DzikuVx, #2726)
• [SYSTEM] Allow in-flight adjustments of board alignment, cruise throttle and pitch2thr (@shellixyz, [#2768])
• [SYSTEM] Trace messages output for easier debugging (@digitalentity, #2691)

Bugfixes

• Fix flash overflow on F7 targets due to usage of flash_split (@digitalentity, #2535)
• Update BLHeli passthrough to support BLHeli_32
• Fix AK8963 compass support (@digitalentity, #2551)
• Fix timer clash between motors and servos on PIKOBLX (@shellixyz, #2513)
• Fix non-working UART7/8
• Fix non-booting OMNIBUSF4 (some variants with MPU6500-family gyro) (@shellixyz, #2575)
• Fix support for dataflash chips larger than 16MiB (@digitalentity, #2633)
• Fix VCP issues on F7 targets (@digitalentity, #2647)
• Fix potential buffer overflow in MSPv2 parsing (@digitalentity, #2689)
• Fix OSD statistics displaying issues on NTSC screens (@krzysztofmatula, #2721)
• Fix RCSplit not being detected (increase timeout) (@digitalentity, #2767)
• Fix OSD blinking on some flawed OSD hardware (allow software blinking) (@fiam, #2452)
• Fix P gains for Heading Hold not available in CLI (@DzikuVx, #2669)
• Fix arming with AUTOTRIM enabled (@giacomo892, #2756)
• Fix hardfault in ledstrip driver due to division by zero (@digitalentity, [#2790])

INAV 1.8

Please read the release notes carefully and upgrade INAV Configurator available at Chrome Store. You can also use Configurator built as a native MacOS or Windows application.

INAV is and will remain open-source and free, but you are more than welcome to support the development.

This release was supported by our awesome sponsors CarbonBird.com, Airbot, ADPM Drones and a number of supporters on Patreon.

WARNINGS

• We've changed the way you select the receiver. Please make sure to select correct receiver after upgrading!
• On OMNIBUS F4 targets LEDSTRIP is now moved to where it belongs - dedicated LEDSTRIP connector.

Known bugs

• OSD blinking not working in some cases

CLI parameter renaming / new parameters

New parameters have been introduced. Some CLI parameters were renamed to support new features or to better reflect their meaning:

Name	Description
feature RX_*	RX type definition as been moved from a FEATURE to a setting receiver_type, with values of NONE, PWM, PPM, SERIAL, MSP, SPI.
nav_rth_allow_landing	This now takes values of NEVER, ALWAYS (default), FS_ONLY. The latter is primarily for fixed wing, where an emergency landing is a better option than have the 'plane fall from altitude as the battery expires under failsafe.
-	totally_new_setting
tz_offset	Time zone offset from UTC, in minutes. This is applied to the GPS time for logging and time-stamping of Blackbox logs
failsafe_min_distance	If failsafe happens when craft is closer than this distance in centimetres from home, failsafe will not execute regular failsafe_procedure, but will execute procedure specified in failsafe_min_distance_procedure instead. 0 = Normal failsafe_procedure always taken.
failsafe_min_distance_procedure	The failsafe procedure to initiate in Stage 2 when craft is closer to home than failsafe_min_distance. with values of SET-THR, DROP, RTH, NONE. See the Failsafe documentation.
smartport_fuel_percent	Along with battery_capacity variable allows sending SmartPort telemetry Fuel as available battery percentage

New boards

• Omnibus F4 Pro Corner
• DYS F4 Pro
• Matek F405 OSD. This requires slightly different firmware to the (also supported) Matek F405 AIO. Please see the board documentation.
• CLRACINGF4 AIR board
• Omnibus F7 V2
• FuriousFPV WingF4

Discontinued boards

• CC3D
• NAZE (all revisions)

Receiver type changes

For 1.7.3 and below receiver was chosen as a feature which was not very user friendly. In 1.8 this have changed to a single setting (receiver_type). Bear in mind that restoring pre-1.8 dumps will reset receiver_type to NONE leaving this to you to fix manually.

OSD related featured and fixes

OSD includes numerous updates, fixes as well as improvements and has received quite significant work for this update, so we're dedicating a whole section in the release notes to it.

Users must to update the OSD font from the configurator after upgrading to 1.8. Failing to do so will result in incorrectly displayed indicators, since a lot of new symbols have been added (a clear symptom will be blank spaces in the OSD where a decimal separator should appear).

General improvements and fixes

• Improved refresh rate.
• Significantly reduced memory and CPU usage by the OSD subsystem.
• Made all OSD numeric fields fixed width.
• Make all OSD indicator previews look exactly the same in the configurator and in the actual OSD. This allows easily configuring all OSD indicators in a way they don't overlap.
• Added support for hardware based blinking. Makes all elements blink in sync.
• Screen is correctly cleared after exiting CMS and after hiding the stats shown after disarming.
• Enabling GPS will draw the GPS indicators even if the GPS hardware hasn't been detected. This allows configuring GPS related fields in the OSD even if the GPS module is not powered on.
• Improve artificial horizon drawing performance and fix flashing home direction arrow in its default position due to overlapping with the area cleared (but not actually used) by the indicator.
• Flight modes which can be combined with ANGLE, HORIZON and ACRO are now displayed in a separate indicator. This includes ALTHOLD in multirotors (in fixed wing ALTHOLD implies ANGLE) and HEADFREE modes.
• OSD now shows RTH (Return To Home) rather than RTL (Return To Launch) when RTH mode is active.

New OSD indicators

• Combined "On time" / "Fly time" indicator shows "On time" while the aircraft is unarmed and "Fly time" while it's armed. This indicator is now on by default and the old separated indicators are disabled (can still be enabled in the configurator in the OSD tab).

• System messages indicator. Shows messages from several topics, including: additional flight mode information (AUTOTUNE and AUTOTRIM modes) reasons for not being able to arm, failsafe status when failsafe mode is active and navigation stages when the navigation system is controlling the aircraft.

• Average cell voltage shows the average voltage of each cell rather than the voltage of the whole battery.

• Time of the day indicator shows the current time. Use the new tz_config CLI variable to set your current timezone. It will show UTC time otherwise.

• Throttle / Automatic Throttle indicator shows the stick throttle position when the user is directly controlling the throttle while showing the actual throttle value sent to the motors while the navigation system is controlling the throttle output.

• Heading graph indicator shows the heading using a moving graph with the cardinal points rather than heading degrees.

• VTX channel displays the VTX current band and channel. Requires a VTX with SmartAudio or Tramp support.

• Efficiency indicator displays the current map drawn per travelled km. Requires a current sensor.

• Artificial horizon roll direction can now be reversed. This is an experimental feature not available in the configurator and must be enabled using the osd_artificial_horizon_reverse_roll CLI variable. Feedback regarding this feature is highly appreciated.

• Artificial horizon crosshairs now has two different styles: the default crosshair or an aircraft symbol. This is an experimental feature not available in the configurator and must be configured using the osd_crosshairs_style CLI variable. Feedback regarding this feature is highly appreciated.

• Artificial horizon sidebars now support scrolling. Each bar can be made to scroll depending on variations on either ground speed, altitude or distance to home. Also, optional arrows can be enabled on top/bottom of the sidebar while it's scrolling. This is an experimental feature not available in the configurator and must be enabled using the osd_left_sidebar_scroll, osd_right_sidebar_scroll and osd_sidebar_scroll_arrows CLI variables. Feedback regarding this feature is highly appreciated.

Alarms

• Added home distance alarm. Makes the home distance indicator blink over a certain distance.
• Negative altitude alarm. Makes the altitude indicator blink when negative altitude becomes greater than a certain value. Useful when taking off from elevated places (like the top of a mountain).

New statistics

• Show current time and GPS home position in the armed screen (if available). Allows easily organising DVR recordings and matching them with BlackBox logs.
• Total fly time added to stats screen.
• Reason for disarming added to the stats screen. Can help diagnose hardware failures or other problems that might cause the aircraft to disarm automatically during a flight.

Other new features

• [SYSTEM] SmartAudio and Tramp VTX support. Band, channel and transmitter power can be changed from CMS
• [SYSTEM] Software emulated I2C made available for MATEK405 OSD board
• [GPS] GPS time is handled by the FC, with the option of a user-defined time-zone correction (either statically from configuration, or dynamically applied via MSP from ground station software)
• [RC] RC channels naming simplification. AUX 1 renamed to CH 5, AUX 2 to CH 6 and so on. This means that restoring old map settings from the CLI will not work, for example TAER1234 is now TAER5678. The Configurator handles this transparently.
• [TELEMETRY] Multiple SmartPort improvements including MSP over SmartPort to allow configuration from TX (requires support from LUA scrips)
• [NAVIGATION] Automated navigation modes (RTH and WP) now override MOTOR_STOP. Regardless of user throttle stick position motors will remain running in automated modes. This is intended to prevent disarm during failsafe RTH.
• [RSSI] Change RSSI scale to be applicable to all RSSI sources
• [BATTERY] Allowed setting current_meter_offset to negative values
• [FAILSAFE] Add a minimum failsafe distance behavior that applies when the craft is close to home (distance configurable)
• [BLACKBOX] Log raw rcData to blackbox
• [BLACKBOX] Blackbox logs are automatically stamped with creation time from GPS data where available
• [OMNIBUS F4] Moved LED_STRIP to a dedicated connector available on these boards.

Bugs fixed

• Fixed blinking in OSD indicators.
• Fixed ghosting of OSD indicators when moving them around in the configurator. The video was showing at the same time the new element at the new position while not erasing it from its...

INAV 1.8-RC2

Please read the release notes carefully and upgrade INAV Configurator available at Chrome Store. You can also use Configurator built as a native MacOS or Windows application.

INAV is and will remain open-source and free, but you are more than welcome to support the development.

This release was supported by our awesome sponsors CarbonBird.com, Airbot, ADPM Drones and a number of supporters on Patreon.

WARNINGS

• We've changed the way you select the receiver. Please make sure to select correct receiver after upgrading!
• On OMNIBUS F4 targets LEDSTRIP is now moved to where it belongs - dedicated LEDSTRIP connector.

Known bugs

CLI parameter renaming / new parameters

New parameters have been introduced. Some CLI parameters were renamed to support new features or to better reflect their meaning:

Name	Description
feature RX_*	RX type definition as been moved from a FEATURE to a setting receiver_type, with values of NONE, PWM, PPM, SERIAL, MSP, SPI.
nav_rth_allow_landing	This now takes values of NEVER, ALWAYS (default), FS_ONLY. The latter is primarily for fixed wing, where an emergency landing is a better option than have the 'plane fall from altitude as the battery expires under failsafe.
-	totally_new_setting
tz_offset	Time zone offset from UTC, in minutes. This is applied to the GPS time for logging and time-stamping of Blackbox logs
failsafe_min_distance	If failsafe happens when craft is closer than this distance in centimetres from home, failsafe will not execute regular failsafe_procedure, but will execute procedure specified in failsafe_min_distance_procedure instead. 0 = Normal failsafe_procedure always taken.
failsafe_min_distance_procedure	The failsafe procedure to initiate in Stage 2 when craft is closer to home than failsafe_min_distance. with values of SET-THR, DROP, RTH, NONE. See the Failsafe documentation.
smartport_fuel_percent	Along with battery_capacity variable allows sending SmartPort telemetry Fuel as available battery percentage

New boards

• Omnibus F4 Pro Corner
• DYS F4 Pro
• Matek F405 OSD. This requires slightly different firmware to the (also supported) Matek F405 AIO. Please see the board documentation.
• CLRACINGF4 AIR board
• Omnibus F7 V2
• FuriousFPV WingF4

Discontinued boards

• CC3D
• NAZE (all revisions)

Receiver type changes

For 1.7.3 and below receiver was chosen as a feature which was not very user friendly. In 1.8 this have changed to a single setting (receiver_type). Bear in mind that restoring pre-1.8 dumps will reset receiver_type to NONE leaving this to you to fix manually.

OSD related featured and fixes

OSD includes numerous updates, fixes as well as improvements and has received quite significant work for this update, so we're dedicating a whole section in the release notes to it.

Users must to update the OSD font from the configurator after upgrading to 1.8. Failing to do so will result in incorrectly displayed indicators, since a lot of new symbols have been added (a clear symptom will be blank spaces in the OSD where a decimal separator should appear).

General improvements and fixes

• Improved refresh rate.
• Significantly reduced memory and CPU usage by the OSD subsystem.
• Made all OSD numeric fields fixed width.
• Fix all OSD indicator previews look exactly the same in the configurator and in the actual OSD. This allows easily configuring all OSD indicators in a way they don't overlap.
• Added support for hardware based blinking. Makes all elements blink in sync.
• Screen is correctly cleared after exiting CMS and after hiding the stats shown after disarming.
• Enabling GPS will draw the GPS indicators even if the GPS hardware hasn't been detected. This allows configuring GPS related fields in the OSD even if the GPS module is not powered on.
• Improve artificial horizon drawing performance and fix flashing home direction arrow in its default position due to overlapping with the area cleared (but not actually used) by the indicator.
• Change RSSI scale to be applicable to all RSSI sources

New OSD indicators

• Combined "On time" / "Fly time" indicator shows "On time" while the aircraft is unarmed and "Fly time" while it's armed. This indicator is now on by default and the old separated indicators are disabled (can still be enabled in the configurator in the OSD tab).

• System messages indicator. Shows messages from several topics, including: additional flight mode information (AUTOTUNE and AUTORIM modes) reasons for not being able to arm, failsafe status when failsafe mode is active and navigation stages when the navigation system is controlling the aircraft.

• Average cell voltage shows the average voltage of each cell rather than the voltage of the whole battery.

• Time of the day indicator shows the current time. Use the new tz_config CLI variable to set your current timezone. It will show UTC time otherwise.

• Throttle / Automatic Throttle indicator shows the stick throttle position when the user is directly controlling the throttle while showing the actual throttle value sent to the motors while the navigation system is controlling the throttle output.

• Heading graph indicator shows the heading using a moving graph with the cardinal points rather than heading degrees.

• VTX channel displays the VTX current band and channel. Requires a VTX with SmartAudio or Tramp support.

• Efficiency indicator displays the current map drawn per travelled km. Requires a current sensor.

• Artificial horizon roll direction can now be reversed. This is an experimental feature not available in the configurator and must be enabled using the osd_artificial_horizon_reverse_roll CLI variable. Feedback regarding this feature is highly appreciated.

• Artificial horizon crosshairs now has two different styles: the default crosshair or an aircraft symbol. This is an experimental feature not available in the configurator and must be configured using the osd_crosshairs_style CLI variable. Feedback regarding this feature is highly appreciated.

• Artificial horizon sidebars now support scrolling. Each bar can be made to scroll depending on variations on either ground speed, altitude or distance to home. Also, optional arrows can be enabled on top/bottom of the sidebar while it's scrolling. This is an experimental feature not available in the configurator and must be enabled using the osd_left_sidebar_scroll, osd_right_sidebar_scroll and osd_sidebar_scroll_arrows CLI variables. Feedback regarding this feature is highly appreciated.

Alarms

• Added home distance alarm. Makes the home distance indicator blink over a certain distance.
• Negative altitude alarm. Makes the altitude indicator blink when negative altitude becomes greater than a certain value. Useful when taking off from elevated places (like the top of a mountain).

New statistics

• Show current time and GPS home position in the armed screen (if available). Allows easily organising DVR recordings and matching them with BlackBox logs.
• Total fly time added to stats screen.
• Reason for disarming added to the stats screen. Can help diagnose hardware failures or other problems that might cause the aircraft to disarm automatically during a flight.

Other new features

• [SYSTEM] SmartAudio and Trump VTX support. Band, channel and transmitter power can be changed from CMS
• [SYSTEM] Software emulated I2C made available for MATEK405 OSD board
• [GPS] GPS time is handled by the FC, with the option of a user-defined time-zone correction (either statically from configuration, or dynamically applied via MSP from ground station software)
• [RC] RC channels naming simplification. AUX 1 renamed to CH 5, AUX 2 to CH 6 and so on. This means that restoring old map settings from the CLI will not work, for example TAER1234 is now TAER5678. The Configurator handles this transparently.
• [TELEMETRY] Multiple SmartPort improvements including MSP over SmartPort to allow configuration from TX (requires support from LUA scrips)
• [NAVIGATION] Automated navigation modes (RTH and WP) now override MOTOR_STOP. Regardless of user throttle stick position motors will remain running in automated modes. This is intended to prevent disarm during failsafe RTH.
• [RSSI] Change RSSI scale to be applicable to all RSSI sources
• [BATTERY] Allowed setting current_meter_offset to negative values
• [FAILSAFE] Add a minimum failsafe distance behavior that applies when the craft is close to home (distance configurable)
• [BLACKBOX] Log raw rcData to blackbox
• [BLACKBOX] Blackbox logs are automatically stamped with creation time from GPS data where available
• [OMNIBUS F4] Moved LED_STRIP to a dedicated connector available on these boards.

Bugs fixed

• Fixed blinking in OSD indicators.
• Fixed ghosting of OSD indicators when moving them around in the configurator. The video was showing at the same time the new element at the new position while not erasing it from its old position.
• Fix bug with incorrect SPI bus speed causing suboptimal hardware performance
• Non-working AIRPLANE/TRICOPTER/GIMBAL on SPRacingF4 EVO board
• Fix drop out of the sky if RTH was initiated with throttle stick at zero (see new features)
• Fix bug with CRSF telemetry...

INAV 1.8-RC1

Please read the release notes carefully and upgrade INAV Configurator available at Chrome Store. You can also use Configurator built as a native MacOS or Windows application.

INAV is and will remain open-source and free, but you are more than welcome to support the development.

This release was supported by our awesome sponsors CarbonBird.com, Airbot, ADPM Drones and a number of supporters on Patreon.

Known bugs

CLI parameter renaming / new parameters

New parameters have been introduced. Some CLI parameters were renamed to support new features or to better reflect their meaning:

Name	Description
feature RX_*	RX type definition as been moved from a FEATURE to a setting receiver_type, with values of NONE, PWM, PPM, SERIAL, MSP, SPI.
nav_rth_allow_landing	This now takes values of NEVER, ALWAYS (default), FS_ONLY. The latter is primarily for fixed wing, where an emergency landing is a better option than have the 'plane fall from altitude as the battery expires under failsafe.
-	totally_new_setting
tz_offset	Time zone offset from UTC, in minutes. This is applied to the GPS time for logging and time-stamping of Blackbox logs
failsafe_min_distance	If failsafe happens when craft is closer than this distance in centimetres from home, failsafe will not execute regular failsafe_procedure, but will execute procedure specified in failsafe_min_distance_procedure instead. 0 = Normal failsafe_procedure always taken.
failsafe_min_distance_procedure	The failsafe procedure to initiate in Stage 2 when craft is closer to home than failsafe_min_distance. with values of SET-THR, DROP, RTH, NONE. See the Failsafe documentation.
smartport_fuel_percent	Along with battery_capacity variable allows sending SmartPort telemetry Fuel as available battery percentage

New boards

• Omnibus F4 Pro Corner
• DYS F4 Pro
• Matek F405 OSD. This requires slightly different firmware to the (also supported) Matek F405 AIO. Please see the board documentation.
• CLRACINGF4 AIR board
• Omnibus F7 V2

Discontinued boards

• CC3D
• NAZE (all revisions)

Receiver type changes

For 1.7.3 and below receiver was chosen as a feature which was not very user friendly. In 1.8 this have changed to a single setting (receiver_type). Bear in mind that restoring pre-1.8 dumps will reset receiver_type to NONE leaving this to you to fix manually.

OSD related featured and fixes

OSD includes numerous updates, fixes as well as improvements and has received quite significant work for this update, so we're dedicating a whole section in the release notes to it.

Users must to update the OSD font from the configurator after upgrading to 1.8. Failing to do so will result in incorrectly displayed indicators, since a lot of new symbols have been added (a clear symptom will be blank spaces in the OSD where a decimal separator should appear).

General improvements and fixes

• Improved refresh rate.
• Significantly reduced memory and CPU usage by the OSD subsystem.
• Made all OSD numeric fields fixed width.
• Fix all OSD indicator previews look exactly the same in the configurator and in the actual OSD. This allows easily configuring all OSD indicators in a way they don't overlap.
• Added support for hardware based blinking. Makes all elements blink in sync.
• Screen is correctly cleared after exiting CMS and after hiding the stats shown after disarming.
• Enabling GPS will draw the GPS indicators even if the GPS hardware hasn't been detected. This allows configuring GPS related fields in the OSD even if the GPS module is not powered on.
• Improve artificial horizon drawing performance and fix flashing home direction arrow in its default position due to overlapping with the area cleared (but not actually used) by the indicator.
• Change RSSI scale to be applicable to all RSSI sources

New OSD indicators

• Combined "On time" / "Fly time" indicator shows "On time" while the aircraft is unarmed and "Fly time" while it's armed. This indicator is now on by default and the old separated indicators are disabled (can still be enabled in the configurator in the OSD tab).

• System messages indicator. Shows messages from several topics, including: additional flight mode information (AUTOTUNE and AUTORIM modes) reasons for not being able to arm, failsafe status when failsafe mode is active and navigation stages when the navigation system is controlling the aircraft.

• Average cell voltage shows the average voltage of each cell rather than the voltage of the whole battery.

• Time of the day indicator shows the current time. Use the new tz_config CLI variable to set your current timezone. It will show UTC time otherwise.

• Throttle / Automatic Throttle indicator shows the stick throttle position when the user is directly controlling the throttle while showing the actual throttle value sent to the motors while the navigation system is controlling the throttle output.

• Heading graph indicator shows the heading using a moving graph with the cardinal points rather than heading degrees.

• VTX channel displays the VTX current band and channel. Requires a VTX with SmartAudio or Tramp support.

• Efficiency indicator displays the current map drawn per travelled km. Requires a current sensor.

• Artificial horizon roll direction can now be reversed. This is an experimental feature not available in the configurator and must be enabled using the osd_artificial_horizon_reverse_roll CLI variable. Feedback regarding this feature is highly appreciated.

• Artificial horizon crosshairs now has two different styles: the default crosshair or an aircraft symbol. This is an experimental feature not available in the configurator and must be configured using the osd_crosshairs_style CLI variable. Feedback regarding this feature is highly appreciated.

• Artificial horizon sidebars now support scrolling. Each bar can be made to scroll depending on variations on either ground speed, altitude or distance to home. Also, optional arrows can be enabled on top/bottom of the sidebar while it's scrolling. This is an experimental feature not available in the configurator and must be enabled using the osd_left_sidebar_scroll, osd_right_sidebar_scroll and osd_sidebar_scroll_arrows CLI variables. Feedback regarding this feature is highly appreciated.

Alarms

• Added home distance alarm. Makes the home distance indicator blink over a certain distance.
• Negative altitude alarm. Makes the altitude indicator blink when negative altitude becomes greater than a certain value. Useful when taking off from elevated places (like the top of a mountain).

New statistics

• Show current time and GPS home position in the armed screen (if available). Allows easily organising DVR recordings and matching them with BlackBox logs.
• Total fly time added to stats screen.
• Reason for disarming added to the stats screen. Can help diagnose hardware failures or other problems that might cause the aircraft to disarm automatically during a flight.

Other new features

• SmartAudio and Trump VTX support. Band, channel and transmitter power can be changed from CMS
• RC channels naming simplification. AUX 1 renamed to CH 5, AUX 2 to CH 6 and so on. This means that restoring old map settings from the CLI will not work, for example TAER1234 is now TAER5678. The Configurator handles this transparently.
• Automated navigation modes (RTH and WP) now override MOTOR_STOP. Regardless of user throttle stick position motors will remain running in automated modes. This is intended to prevent disarm during failsafe RTH.
• GPS time is handled by the FC, with the option of a user-defined time-zone correction (either statically from configuration, or dynamically applied via MSP from ground station software)
• Blackbox logs are automatically stamped with creation time from GPS data where available
• Change RSSI scale to be applicable to all RSSI sources
• Software emulated I2C made available for MATEK405 OSD board
• Allowed setting current_meter_offset to negative values
• Add a minimum failsafe distance behavior that applies when the craft is close to home (distance configurable)
• Multiple SmartPort improvements including MSP over SmartPort to allow configuration from TX (requires support from LUA scrips)
• Log raw rcData to blackbox

Bugs fixed

• Fixed blinking in OSD indicators.
• Fixed ghosting of OSD indicators when moving them around in the configurator. The video was showing at the same time the new element at the new position while not erasing it from its old position.
• Fix bug with incorrect SPI bus speed causing suboptimal hardware performance
• Non-working AIRPLANE/TRICOPTER/GIMBAL on SPRacingF4 EVO board
• Fix drop out of the sky if RTH was initiated with throttle stick at zero (see new features)
• Fix bug with CRSF telemetry now showing consumed mAh
• Fix non-detected failsafe on KFC32 board with eLeReS receiver

Development Environment

• As introduced in 1.7.3, a ruby interpreter is required to build iNav
• On Cygwin, it is advisable not to have spaces in the compiler path
• The build environment is only tested on modern compilers (arm-none-eabi-gcc 6.3 and later). Use of older compilers such as 4.8 is not recommended, and may not even be pos...

INAV 1.7.3 (beta)

This is a BETA release - it didn't go through public release-candidate testing, but developers believe it's safe to use. Please test everything before taking off!

Please read the release notes carefully and upgrade INAV Configurator available at Chrome Store. You can also use Configurator built as a native MacOS or Windows application.

INAV is and will remain open-source and free, but you are more than welcome to support the development.

This release was supported by our awesome sponsors CarbonBird.com, Airbot and ADPM Drones.

Known bugs

• OSD blinking doesn't work [#2088]
• No I2C available on Matek F405-OSD [#2047]

EOL announcement

This release is the last release featuring F1-based boards (NAZE, CC3D, AirHero32). They don't have enough memory and CPU power to make use of new code. Support is not removed from source tree, DIY-ers are welcome to build their own setups.

Bugs that are related to limited memory and/or CPU power on those boards won't be fixed. Functionality issues will only be fixed if they would be reproducible on more powerful F3/F4/F7 targets.

CLI parameter renaming / new parameters

New parameters have been introduced. Some CLI parameters were renamed to support new features or to better reflect their meaning:

Old name	New name(s)
i2c_overclock	i2c_speed
-	cpu_underclock
-	smartport_fuel_percent

I2C bus speed selection

Some sensors (especially cloned barometer/compass sensors) are reported to work unreliably on default 400kHz speed. New i2c_speed setting allows to reduce I2C clock rate to 200kHz and 100kHz to allow these picky sensors to function properly. Overclocking to 800kHz is also possible but not recommended.

If on your board compass/baro sensor is not recognized or hangs (usually indicated by rapidly increasing I2C error count) please try setting i2c_speed to 200KHZ before reporting a bug.

Underclocking for F1/F3 targets

F1/F3 boards are working on 72MHz clock which may interfere with 433MHz long range RC control systems. A new CLI option (cpu_underclock) for F1 and F3-based targets allows user to select between 72MHz (default) and 48MHz CPU clock. Should theoretically reduce interference to 433MHz LRS systems.

Other clock speeds are not possible because native USB will only function with 72/48MHz system clock speed.

Use caution - lower CPU speed means that you'll probably have to slow down looptime as well to keep CPU usage within sane limits.

New boards

• Omnibus F7 - highly experimental
• SPRACINGF4EVO

New features

• Support for MTK GPS automatic configuration
• New experimental DIY sonar-to-I2C converter support (https://github.com/iNavFlight/INAV-Rangefinder-I2C-interface)
• MatekF405 boards now support common I2C baro/compass sensors. Note that MatekF405 OSD board doesn't have I2C outputs so only MatekF405 AIO board can benefit from the change
• Add airspeed indication to OSD
• Add analog pitot sensor support for all F3/F4 targets
• Support for VL53L0X laser rangefinder (short range)
• Add RunCam Split control via RC radio
• MSPv2 protocol
• AIRMODE now available as a feature to have it always enabled (recommended for airplanes)
• QMC5883 compass support (pin-to-pin compatible to HMC5883L sensor, used in some Chinese GPS modules)
• Multiple Smartport telemetry improvements
• Add support for UK mode units in the OSD (Show the speed in mp/h while using metric for other values)
• Speed up blackbox downloading. Now downloading full 8Mb dataflash takes mere minutes.

Bugs fixed

• MatekF405 board made functional
• Fix ledstrip on Omnibus target
• Fix HEX6X mixer
• Fix OSD crosshair blinking
• Fix OSD ghost AHI
• Fix feature bits being reset when exiting CMS
• Fix bug with UK units in OSD
• Fix horizon drift bug on some boards with OSD
• Fix altitude control not working under 5m altitude on airplanes
• Fix swapped values for frsky_unit in CLI. Dumps from previous versions should be modified to change IMPERIAL to METRIC and viceversa before restoring them on INAV >= 1.7.3.
• Fix auto re-arm after landing issue when using switch-arming and landing with zero throttle in RTH & auto-disarm
• Fix BlueJayF4 gyro not detected

Development environment

If you build your own firmware, the development infrastructure requirements have changed. A ruby interpreter is required. See the iNav development documentation for your platform.

Kudos

@martinbudden, @stronnag, @fiam, @DzikuVx, @oleost, @Schalonsus, @adtinnis, @sambas, @teckel12

INAV 1.7.2

Please read the release notes carefully and upgrade INAV Configurator available at Chrome Store.

INAV is and will remain open-source and free, but you are more than welcome to support the development.

This release was supported by our awesome sponsors CarbonBird.com, Airbot and ADPM Drones.

Known bugs

• CRITICAL: Motors don't work on MatekF405 target, not usable yet (binary removed)
• HEX6X mixer not available

CLI parameter renaming / new parameters

New parameters have been introduced. Some CLI parameters were renamed to support new features or to better reflect their meaning:

Old name	New name(s)
inav_max_sonar_altitude	inav_max_surface_altitude
inav_w_z_sonar_p	inav_w_z_surface_p
inav_w_z_sonar_v	inav_w_z_surface_v
-	vbat_adc_channel
-	rssi_adc_channel
-	current_adc_channel
-	airspeed_adc_channel
-	acc_notch_hz
-	acc_notch_cutoff
-	nav_fw_land_dive_angle
-	eleres_freq
-	eleres_telemetry_en
-	eleres_telemetry_power
-	eleres_loc_en
-	eleres_loc_power
-	eleres_loc_delay
-	eleres_signature
-	stats
-	stats_total_time
-	stats_total_dist

Changed servo mixer output scaling

Servo speed now works as expected (defined in pwm_us per second). Servo mixer now does actual scaling between min/max values which allows asymmetric servo travel (useful on airplanes).

WARNING: Previous PID tuning may be irrelevant now on some airplane setups (especially flying wings). Use caution and verify that tuning is good.

CLI smix command new syntax

New syntax for smix command is:

smix n SERVO_ID SIGNAL_SOURCE RATE SPEED

MIN and MAX were removed as they were indeed ignored.

If you are using custom mixer you will need to change it to fit new synax

ADC channel assignment

Most modern boards have several analog inputs - usually used for VBAT sensing, Current sensing and RSSI. Until now these pins assigned their functions by board designer and firmware developer - if ADC pin was designated as "RSSI input" it was impossible to use it for something else.

This release changes the rules - now ADC inputs are called "channels" and their functionality is defined by a set of CLI variables vbat_adc_channel, rssi_adc_channel, current_adc_channel, airspeed_adc_channel. It's now up to user how analog inputs are used.

ADC airspeed sensor support

This release finaly adds support for an inexpensive analog airspeed sensor based on MPXV7002DP chips. This sensor is widely available as an "APM Airspeed Sensor". Using one of available analog inputs as airspeed sensor input (by assigning a channel to airspeed_adc_channel variable) it's possible to use this sensor in INAV. While airspeed isn't currently used for anything but logging, future releases will change that.

New boards

• MATEKF405 board
• SPRACINGF3 NEO board - not well tested, use caution
• BEEROTORF4 target - not well tested, use cation
• OMNIBUSF4V3 target - suited for both v3 and v4 hardware revisions
• Alienflight F7 board

New features

• Improved landing procedure for airplanes. Still acts more like a controlled crash, but does the touchdown in a much more gentle way now.
• eLeReS support for KFC board
• Enable GPS on LUX target
• Flight statistics (odometer) - a feature to accumulate total flight hours and distance
• Added support for baro-less ANYFC F7 board
• Add servo support for LUX and COLIBRI_RACE targets
• User-definable ADC channel mapping to ADC functions
• Improved airspeed calculations to be usable for PID correction (changed to IAS instead of CAS/TAS)
• Adds sdcard_detect_inverted setting to make detection configurable
• Servo mixer rework to allow real output scaling
• Accelerometer notch filter (disabled by default)
• Add compass calibration start beep
• Support for analog airspeed sensor, enabled on more targets now
• Added craft name to CLI dump

Bugs fixed

• Fixed altitude icon on OSD
• Bug with bounce-back when doing slow yaw corrections with HEADING_HOLD enabled
• More eavenly spread the CPU load of OSD update to make horizon drift issue less evident
• Fix timer mapping for OMNIBUSF4PRO target - now usable on airplane
• Fix PPM input on ANYFC F7
• Better default configuration for FALCORE drone
• Fix a bug with PPM IN incompatible with OS125 and above
• Fix CC3D motor pwm rate bound to 400hz

INAV 1.7.1

Please read the release notes carefully and upgrade INAV Configurator available at Chrome Store.

INAV is and will remain open-source and free, but you are more than welcome to support the development.

This release was supported by our awesome sponsors CarbonBird.com, Airbot and ADPM Drones.

Known bugs

• bug

CLI parameter renaming / new parameters

New parameters have been introduced. Some CLI parameters were renamed to support new features or to better reflect their meaning:

Old name	New name(s)
new parameter	fw_turn_assist_yaw_gain

New boards

• FALCORE drone
• ALIENFLIGHTF4
• KFC32F3 board
• ANYFCM7 board

New features

• On airplanes force PASSTHOUGH mode until sensors are fully calibrated - give pilot ability to manually recover the plane after a brown-out
• Enable IIR on BMP280 baro - could make baro readings more stable
• Refactor ADC code - allow all analog inputs to be used on F3 boards
• Allow analog airspeed input on AIRHEROF3 board
• Add yaw gain for TURN_ASSIST mode
• New MSP parameters for airplane and RTH settings
• New UBLOX7 protocol for genuine Ublox Neo7 and Neo8 modules (may be supported on cloned GPS units as well - use at own risk)

Bugs fixed

• Fixed display of negative longitudes on OSD
• Fix board hangup when flooded with MSP requests
• Fix incorrect type for fw_reference_airspeed parameter
• Remove navDebug from blackbox
• Refactor and fix hangup when using HoTT telemetry
• Fix uncontrolled descent on airplane when doing RTH landing
• Fix incorrect OSD indications for speed

INAV 1.7.0

This version has some significant differences from 1.6.x, please read the release notes carefully and upgrade INAV Configurator available at Chrome Store.

INAV is and will remain open-source and free, but you are more than welcome to support the development.

This release was supported by our awesome sponsors CarbonBird.com, Airbot and ADPM Drones.

Known bugs

• RTH descent might not work at all, be too slow or too aggressive and don't respect the landing speed on a fixed wing

CLI parameter renaming

Some CLI parameters are renamed to support new features or to better reflect their meaning:

Old name	New name(s)
mag_hold_rate_limit	heading_hold_rate_limit
nav_max_speed	nav_auto_speed
nav_max_climb_rate	nav_auto_climb_rate

And nav_fw_roll2pitch is removed due to no longer necessary. GPS modes for fixedwing now uses Turn Assist mode.

Servo mixer parser changed (Very important step for fixed winger)

Angle at min / max has been removed due to it was newer used.

So the servo mixer no longer have does defined, and if you try to copy paste from 1.6.1 release it will not work!

If you copy and paste old value like this you will get parse error:

# servo 3 1070 1950 1500 90 90 -80 -1

Parse error

You will need to remove 90 90 So it looks like this:
servo 3 1070 1950 1500 -80 -1

Please, verify your servo movement after updating to INAV 1.7

Airplane turn assistant

This release features new TURN ASSIST mode for airplanes. In this mode INAV will automatically do a coordinated balanced turn with ailerons, elevator and rudder. Until we have pitot airspeed sensor support this feature requires that your set cruize airspeed via fw_reference_airspeed CLI setting.

Airplane autotune

AUTOTUNE mode is a flight mode that acts on top of normal ANGLE/HORIZON/ACRO mode and uses changes in flight attitude input by the pilot to learn the tuning values for roll, pitch and yaw tuning. Please read the AUTOTUNE manual carefully before proceeding.

WARNING: You may find the plane is quite sluggish when you first enter AUTOTUNE. You will find that as the tune progresses this will get better. Make sure your flight area has plenty of room for slow large-radius turns.

Heading Hold flight mode

This flight mode replaces MAG and HEADING LOCK modes. It affects only yaw axis and can be enabled together with any other flight mode. It helps to maintain current heading without pilots input and can be used with and without magnetometer support. When yaw stick is neutral position, Heading Hold mode tries to keep heading (azimuth if compass sensor is available) at a defined direction. When pilot moves yaw stick, Heading Hold is temporary disabled and is waiting for a new setpoint.

Heading hold only uses yaw control (rudder) so it won't work on a flying wing which has no rudder.

New boards

• KROOZX board
• BEEROTORF4 board
• ANYFCF7 board

New features

• Sonar is back enabled with proper hardware detection. Not recommended to be used for flight yet.
• Support for MS5607 baro sensor
• Support for Spansion S25FL116 SPI memory chip
• Flaperon support moved to mixer code. Can be configured for custom airplane mix as separate flaps now
• Enable airplane setups for Sparky board
• Rename MAG mode to Heading Hold mode and allow to operate without compass
• Fixed-wing autotune
• Preliminary support for analog airspeed sensor. No boards support this currently.
• MAVLink made bidirectional. Limited subset of waypoints is supported via QGroundControl and similar software
• Add support for more baud rates (1200 to 921600)
• Add noreboot option to defaults CLI command. defaults noreboot will reset board to defaults but won't reboot the board to allow you to apply configuration right away.
• Remove failsafe channel fallback. Now receiver channel values are always received, but in case of signal loss - not used.
• Enable SoftSerial feature for AIRHEROF3
• HoTT telemetry refactoring
• BLHeli 4wif catch up with Betaflight
• Log last disarm reason to blackbox, report via LTM
• Improve run-time calibration to be faster and more accurate
• Initial cut on coordinated turn code for airplanes. TURN ASSIST flight mode will automatically apply rudder and elevator when commanding an aileron-only banked turn.
• Barometer glitch detection and cancellation
• Improve climb-out logic for airplanes. Use bigger margin for error if possible.
• OMNIBUSF4 target now supports tricopter setup
• Some F7 fixes and performance improvements
• Log hardware health status to blackbox

Bugs fixed

• Fix incorrect handling of beeper -ON_USB
• Fixed speed limitation by nav_max_speed enforced even in manual flying
• Fix HMC5883L detection and initialisation in presence of magnetic fields
• Fix broken MPU6500 detection and init
• Fix a bug with falling out of the sky when loosing GPS in FAILSAFE RTH. Now will use SET-THR (landing) as a backup in case RTH is aborted during failsafe.
• Make LTM send X-Frame even for targets w/o GPS
• Allow FAILSAFE to override PASSTHROUGH mode. Fix a bug with failsafe not engaging when plane is in PASSTHROUGH.
• Fix a bug with FAILSAFE locking pilot out of control when board is disarmed by timeout.
• Fix non-working IBUS receiver w/o telemetry
• Fix option to use more motor outputs than are physically available (might cause board to crash)
• Limit RC command processing rate. Fix a bug with stick combos being processed at extreme rate on some receivers
• Custom current metter scale for OmnibusF4 Pro. Fix a bug with incorrect current sensor readings.
• Avoid target clash between PPM and motor output on REVO target. Fix a bug with OneShot125 and PPM being incompatible.
• Fix a bug when airplane althold was not working w/o GPS (baro only)
• Fix incorrect units on OSD when OSD_UNIT_IMPERIAL is selected
• Fixed gyro alignment for BeeRotor F4

INAV 1.7.0-RC1

This version has some significant differences from 1.6.x, please read the release notes carefully and upgrade INAV Configurator available at Chrome Store.

INAV is and will remain open-source and free, but you are more than welcome to support the development.

This release was supported by our awesome sponsors CarbonBird.com, Airbot and ADPM Drones.

Known bugs

• RTH descent might be too aggressive and don't respect the landing speed on a fixed wing

CLI parameter renaming

Some CLI parameters are renamed to support new features or to better reflect their meaning:

Old name	New name(s)
mag_hold_rate_limit	heading_hold_rate_limit
nav_max_speed	nav_auto_speed
nav_max_climb_rate	nav_auto_climb_rate

And nav_fw_roll2pitch is removed due to no longer necessary. GPS modes for fixedwing now uses Turn Assist mode.

Servo mixer parser changed (Very important step for fixed winger)

Angle at min / max has been removed due to it was newer used.

So the servo mixer no longer have does defined, and if you try to copy paste from 1.6.1 release it will not work!

If you copy and paste old value like this you will get parse error:

# servo 3 1070 1950 1500 90 90 -80 -1

Parse error

You will need to remove 90 90 So it looks like this:
servo 3 1070 1950 1500 -80 -1

Please, verify your servo movement after updating to INAV 1.7

Airplane autotune

AUTOTUNE mode is a flight mode that acts on top of normal ANGLE/HORIZON/ACRO mode and uses changes in flight attitude input by the pilot to learn the tuning values for roll, pitch and yaw tuning. Please read the AUTOTUNE manual carefully before proceeding.

WARNING: You may find the plane is quite sluggish when you first enter AUTOTUNE. You will find that as the tune progresses this will get better. Make sure your flight area has plenty of room for slow large-radius turns.

Heading Hold flight mode

This flight mode replaces MAG and HEADING LOCK modes. It affects only yaw axis and can be enabled together with any other flight mode. It helps to maintain current heading without pilots input and can be used with and without magnetometer support. When yaw stick is neutral position, Heading Hold mode tries to keep heading (azimuth if compass sensor is available) at a defined direction. When pilot moves yaw stick, Heading Hold is temporary disabled and is waiting for a new setpoint.

Heading hold only uses yaw control (rudder) so it won't work on a flying wing which has no rudder.

New boards

• KROOZX board
• BEEROTORF4 board
• ANYFCF7 board

New features

• Sonar is back enabled with proper hardware detection. Not recommended to be used for flight yet.
• Support for MS5607 baro sensor
• Support for Spansion S25FL116 SPI memory chip
• Flaperon support moved to mixer code. Can be configured for custom airplane mix as separate flaps now
• Enable airplane setups for Sparky board
• Rename MAG mode to Heading Hold mode and allow to operate without compass
• Fixed-wing autotune
• Preliminary support for analog airspeed sensor. No boards support this currently.
• MAVLink made bidirectional. Limited subset of waypoints is supported via QGroundControl and similar software
• Add support for more baud rates (1200 to 921600)
• Add noreboot option to defaults CLI command. defaults noreboot will reset board to defaults but won't reboot the board to allow you to apply configuration right away.
• Remove failsafe channel fallback. Now receiver channel values are always received, but in case of signal loss - not used.
• Enable SoftSerial feature for AIRHEROF3
• HoTT telemetry refactoring
• BLHeli 4wif catch up with Betaflight
• Log last disarm reason to blackbox, report via LTM
• Improve run-time calibration to be faster and more accurate
• Initial cut on coordinated turn code for airplanes. TURN ASSIST flight mode will automatically apply rudder and elevator when commanding an aileron-only banked turn.

Bugs fixed

• Fix incorrect handling of beeper -ON_USB
• Fixed speed limitation by nav_max_speed enforced even in manual flying
• Fix HMC5883L detection and initialisation in presence of magnetic fields
• Fix broken MPU6500 detection and init
• Fix a bug with falling out of the sky when loosing GPS in FAILSAFE RTH. Now will use SET-THR (landing) as a backup in case RTH is aborted during failsafe.
• Make LTM send X-Frame even for targets w/o GPS
• Allow FAILSAFE to override PASSTHROUGH mode. Fix a bug with failsafe not engaging when plane is in PASSTHROUGH.
• Fix a bug with FAILSAFE locking pilot out of control when board is disarmed by timeout.
• Fix non-working IBUS receiver w/o telemetry
• Fix option to use more motor outputs than are physically available (might cause board to crash)
• Limit RC command processing rate. Fix a bug with stick combos being processed at extreme rate on some receivers
• Custom current metter scale for OmnibusF4 Pro. Fix a bug with incorrect current sensor readings.
• Avoid target clash between PPM and motor output on REVO target. Fix a bug with OneShot125 and PPM being incompatible.
• Fix a bug when airplane althold was not working w/o GPS (baro only)

INAV 1.6.1

This is the bugfix release for INAV 1.6. Please have a read on release notes for version 1.6.

Known bugs

• Failsafe Stage 2 doesn't show as enabled in Configurator (it is always enabled, it's only UI bug)

New features

• Faster and more accurate baro calibration

Bugs fixed

• Airplane launch mode failure
• Multiple fixes to documentation