Version: 9.1.0

INAV 9.0.0

9.1.0
9.0.0

Welcome to INAV 9.1.0

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

Known Issues in 9.1.0

Attempts have been made to test as many changes as possible under different conditions. But if you do find any issues, please visit INAV Github to see if the matter has already been raised. If not, then open a new issue report.

Upgrading from a previous release

Upgrading from INAV 8.1 or 9.0.X versions

Download and install the new INAV 9.1 Configurator
Backup configuration with CLI diff all command or use the Diff All and _Save to file buttons.
Flash INAV 9.1 WITH _Full Chip Erase option enabled.
Load your 9.0.2 Diff settings in to the CLI.
Make a copy of your 9.0.2 Diff text file and rename it 9.1. Then edit it by removing any incompatible settings you see marked in RED in the CLI.
Once done, in the CLI type in Defaults then save.
Return to the CLI and load your edited INAV 9.1 Diff text file.

Diff update tool

Rather than steps 4 and 5 above. You can try this diff update tool . This is a work in progress. Currently it will try to update version 8 or later diffs to version 9 or later. Just paste your full diff all (not dump) in to the tool. Select the INAV version you're upgrading to. Then press the button. It will create a new diff for you and give you warnings about anything you should check.

[!Note] INAV 9.1 Configurator also has a settings migration tool in the CLI for firmware upgrading and flashing. Please see the 9.1 configurator release for more details.

Upgrading from older versions

If you are updating from a much older versions of INAV. Please follow the instructions on this page.

Highlights

INAV 9.1 is primarily a maintenance build. It contains many fixes and code cleanups. With the goal of making INAV even more dependable.

GNSS constellations and update rate handling

Due to GNSS data processing losses than occur when gps_ublox_nav_hz is set higher. INAV now provides a more optimized update rate, depending on your hardware type (M8, M9 or M10) and the number of concurrent constellations you have selected.

In general, lower UBLOX update rates will allow your GNSS module to provide better position accuracy when more constellations are selected. But there is also a trade-off. The update positions will becoming more broadly spread-out at higher flight speeds.
Changes can be made in the Configurator GPS Tab to suit your hardware and flight requirements.

Read PR , Issue and GPS and Compass setup for more information on the topic if required.

Multicopter set magless heading

This allows pilots who choose to fly without a compass, to point the front of their MC or VTOL towards a known NORTH (0°) heading before takeoff; so you don't have to fly a short distance to acquire a GNSS course over ground heading before a navigation mode can be activated. Please read Multicopter navigation without a compass to gain a greater understanding of how to use this feature.

Position estimator improvements

Various changes have been made to improve multicopter position hold accuracy when the GNSS signal is poor or fluctuating. These changes have also added some small benefits to fixedwing navigation performance as well. However keep in mind, position estimation will now rely more on the accelerometer weight. This means you should always ensure your multicopter or VTOL is as free from propeller and motor vibrations as possible. Read hardware vibration and filters for some useful setup tips.

Relevant commits - #11270 , #11322 , #11387

[!Warning] If you have increased nav_mc_pos_z_p or nav_mc_vel_z_p multicopter altitude controller gains above their default values since INAV 7.1. It is advisable to lower those gains or re-tune them, to avoid possible throttle oscillations in navigation modes that control altitude. Specifically WP, Cruise and RTH.

Poshold is generally less affected in a fixed hover. But if it's used for forward flight, it too can be affected.

OSD changes

The handling of the OSD STATS after disarming has been improved. CRSF RX data is now being displayed. As well as the Saving Setting and Disarmed by advisories are again working correctly on HD. link
System message updates and improvements have been added for Surface mode and Geozones. link
Simplification of the OSD Multifunction mode tools operation. With the addition of battery Voltage and Capacity, Pitot failure and Compass calibration.
If multicopter compass deviation occurs (toilet bowling) in Poshold, a system message warning is displayed until the mode is cancelled. link

Other changes

Adds I-term stability detection for fixedwing servo autotrim. link
Add Loiter to LED control mode. link
Reduce subsequent altitude error if multicopter is armed with a poor satellite fix. link
Support for SSD1315 OLED display.link

Prominent bug fixes

Fix a safety issue with reversed throttle servos. link
Fix 4 in 1 ESC random spin-up of motor 1 after disarming, when using BLheli_32 - 32.9 firmware and earlier. link
Fix RTH Trackback to prevent the flight controller locking up in some instances. link
Inhibits landing detection when Surface mode active unless AGL altitude Trusted and below 50cm. link
Timeout guards for SD card SPI and SDIO drivers when using problematic SD cards. link
Fix CRSF airspeed, rpm, and temperature telemetry from corrupting the data stream. link
Althold manual climb rate fix. Now allows the climb rate to correctly meet the target setpoint. link
Fix UBLOX polling block to improve accuracy. link
Better handling of virtual pitot if GPS hardware failure occurs. link
Fix AT32F43x LED toggle logic using correct register operations. link
Prevents overflow in blackbox acceleration and vibration fields. link
Reduce MSP over telemetry pass-through congestion. link
Prevents permanently blocking multi-frame MSP request assembly. link

Sensor addition

ICM45686 IMU support MS5525DSO digital airspeed sensor

Flash storage support

XT25F128F MX35LF2G

New targets

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

tip

Manufacturers. You can be alerted of changes that may affect your products by subscribing to the #technical-changes channel on the INAV Discord Server

What's Changed - Pull Requests

A big thanks to everyone who has contributed to INAV 9.1. And a special thanks to the project collaborators.

New target: FlyDragon Pro by @ functionpointer in #11126
Set altitude target functionality by @xznhj8129 in #11147
add HAKRCH743 target by @HAKRC8899 in #11182
Fix CRSF airspeed, rpm, and temperature telemetry corruption by @sensei-hacker in #11189
MSP: Add minimum power index to MSP_VTX_CONFIG by @sensei-hacker in #11190
Reduce CPU overhead by rate-limiting updateArmingStatus() to 200 Hz by @sensei-hacker in #11200
Verify frame length when handling CRSF_FRAMETYPE_MSP_REQ/CRSF_FRAMETYPE_MSP_WRITE by @VoodooChild99 in #11210
Add I-term stability check to servo autotrim by @sensei-hacker in #11215
FIX AT32 LED blink BUG by @sunyanmeng963 in #11228
Add optional DFU mode parameter to MSP_REBOOT command by @sensei-hacker in #11238
Fix SPI register masking in busWriteBuf by @sensei-hacker in #11242
Added support for switchable 9v BEC for FLYWOOF405HD and FLYWOOF405PRO by @radekdomin in #11251
Passthrough, USB Improvements by @jlpoltrack in #11256
Add GPS hardware version to MSP and optimize defaults for M8/M9/M10 by @sensei-hacker in #11262
MSP Bind Message, CLI Command by @jlpoltrack in #11267
Position estimator position and velocity corrections fix by @breadoven in #11270
Add target BLUEBERRYH743 by @sunyanmeng963 in #11279
Add target BLUEBERRYF405 by @sunyanmeng963 in #11280
Rename profile commands to control_profile by @MrD-RC in #11302
Multifunction add battery voltage warnings by @breadoven in #11308
Comment 16 MSP commands as deprecated (for removal in INAV 10 or 11) by @sensei-hacker in #11315
Fix servo throttle mix outputting wrong position when disarmed by @sensei-hacker in #11318
Fix SD card busy-wait loops that can lock up flight controller by @sensei-hacker in #11321
Position estimator sensor correction refactor by @breadoven in #11322
New target: SDMODELH7V2 (STM32H743) by @sensei-hacker in #11341
Position estimator GPS origin altitude improvement for poor initial GPS epv by @breadoven in #11355
Multicopter althold altitude adjustment manual climb rate fix by @breadoven in #11359
New target: FRSKYF405 by @sensei-hacker in #11366
Position estimator corrections improvement and estimated velocity filtering by @breadoven in #11387
Trackback flight controller lock up fix by @breadoven in #11393
Add AGENT.md rules by @DzikuVx in #11397
Brahma H7 Support by @DzikuVx in #11404
SimplyFly H7 target by @DzikuVx in #11413
Virtual pitot fixes by @breadoven in #11441
Blackbox acceleration/vibration fixes by @breadoven in #11447
Fix MSP-over-telemetry multi-frame request assembly by @b14ckyy in #11478
Fix MSP_RESULT_NO_REPLY ignored in MSP-over-telemetry passthrough by @b14ckyy in #11481
MSP2_INAV_SET_AUX_RC (0x2230) — Bandwidth-efficient auxiliary RC channel updates by @b14ckyy in #11482
Docs: add Backup and Restore documentation for Configurator auto-backup by @b14ckyy in #11494
Add MSP2 link stats message + fix missing msp-set-wp-index-and-altitude by @xznhj8129 in #11496
target/FLYINGRCF4WINGMINI_NOT_RECOMMENDED: add LED strip support by @Leander-Vh in #11501
OSD stats fixes and code cleanup by @breadoven in #11506
Fix GPS capability poll blocking for 500ms every 5 seconds by @sensei-hacker in #11332
Power and Current Limiting fix and documentation by @sensei-hacker in #11187
Fix NEXUSX default IMU orientation by @sensei-hacker in #11338
docs: move NEXUSX board README to docs/boards by @sensei-hacker in #11363
NEW_HARDWARE_POLICY.md: Use Discord rather than email by @sensei-hacker in #11333
Remove legacy hdzero special case by @mmosca in #10540
CI: publish PR test builds to iNavFlight/pr-test-builds by @sensei-hacker in #11381
CI: fix YAML syntax error in pr-test-builds workflow by @sensei-hacker in #11384
Fix SPI GPIO alternate function assignment on STM32H7/F7 by @sensei-hacker in #11389
Fix USB VCP lockup on disconnect (issue #11348) by @sensei-hacker in #11351
Fix hard faults when handling large MSP responses over CRSF by @KeithCoreDumped in #11369
Add Loiter to LED control on mode flight by @john-Henrique in #11374
cmake/sitl: use CheckLinkerFlag instead of GCC version check for --no-warn-rwx-segments by @sensei-hacker in #11383
Use single-precision math to save ~17 KB of flash on F722 targets by @sensei-hacker in #11402
Master to maintenance-9 by @sensei-hacker in #11406
Bugfix: SDIO capacity shows incorrectly on F4 devices by @cluez0r in #11347
CI: build only affected target for single-target PRs by @sensei-hacker in #11450
added support of icm45686 sensor by @Yuri-Sharapov in #11418
fix lsm6dxx driver lack gyroAlign setting issue by @Ncerzzk in #11367
Fix bugs in ICM-45686 IMU driver (PR #11418) by @sensei-hacker in #11455
Add two new MSP2 commands for GCS-initiated flight control by @danarrib in #11462
Add NEXUS target for RadioMaster Nexus (Original) flight controller by @joshperry in #11324
imu: compute GPS 3D speed only on new GPS data by @sensei-hacker in #11356
optimize imuMahonyAHRSupdate() hot path (5 micro-opts) by @sensei-hacker in #11358
Add new target: PAURCF405V2 by @sensei-hacker in #11497
GPS: fix hwVersion field size from uint32_t to uint8_t by @sensei-hacker in #11510
Flash supports MX35LF2G model by @RunnyCow in #11505
BLUEBERRYF405: add missing PWM beeper timer entry for PB9 by @sensei-hacker in #11531
drivers: use NAND-standard opcodes for W25N register read/write by @sensei-hacker in #11533
lucid: add more baros, enable led strip, align gyro orientations by @bkleiner in #11534
Multifunction improvement by @breadoven in #11543
drivers: wait for DMA EN bit to clear before reconfiguring DShot DMA (F7/H7) by @sensei-hacker in #11390
pid/filter: FAST_CODE annotations and RC command caching by @sensei-hacker in #11357
Multifunction fixes by @breadoven in #11549
Allow yaw reset to north when disarmed - for multirotors with no compass by @breadoven in #11529
Multifunction refactor by @breadoven in #11552
osd: replace common tfp_sprintf patterns with direct formatting helpers by @sensei-hacker in #11405
OSD flight efficiency formatting fix by @breadoven in #11556
Add support for MS5525DSO digital airspeed sensor by @nventurino in #11467
added changes to max7456.c to add setting speed and removing spi_mod_0 flag with defines from target.h file by @DariaOrqa in #11396
Please test on FRSKYPILOT. Fix STM32F765xG linker scripts by @sensei-hacker in #11391
Fix HUMMINGBIRD FC305 baro by @LYNHQQ in #11469
Fix the issue where the default configuration parameters for the log by @yangbryant in #11493
fix: disable bootloader variants for targets without storage backend by @daijoubu in #11522
Needs testing: Issue #10830 Surface Mode Fixes by @breadoven in #11425
change BLUEBERRYH743 VBAT_SCALE_DEFAULT = 2100 by @sunyanmeng963 in #11579
docs: Document CMAKE_BUILD_TYPE=Release for production builds by @sensei-hacker in #11249
SSD1315 OLEDs also seem to work by @tonuonu in #10959
Multirotor toilet bowling detection by @breadoven in #10854
Reset free PIDs if coefficients are changed via CLI or MSP by @wimalopaan in #11431
add a new target BLADE_F4 by @hakrc1 in #9904
HITL/SITL X-Plane: Improvements by @Scavanger in #11253
HITL/SITL X-Plane fixes for merge #11253 by @sensei-hacker in #11566
Fix: Prioritize Airspeed over GPS for turn acceleration compensation by @shota3537 in #11312
Add TBS_LUCID_H7_OEM target by @bkleiner and @sensei-hacker in #11610
Add TBS_LUCID_H7_V3 target by @bkleiner and @sensei-hacker in #11609
Add support for XTX XT25F128F nor flash chip by @gaoyu2144287 in #11590

Full Changelog: https://github.com/iNavFlight/inav/compare/master...maintenance-9.x

Welcome to INAV 9.0.0

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

note

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 9.0

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

Upgrading from a previous release

Upgrading from INAV 8.0

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

tip

Concerning step 6. It can be a safer option to load your Diff All settings in two parts if you are using multiple Profiles. e.g. Control, Mixer or Battery.
This can be done by copying and loading the Diff All text setting from the top, down to the bottom of the # master settings category. Then load that into the CLI and press enter. Once it has written, press the Save Settings button.
Wait until it reboots and go back to the CLI tab again, then copy and load the rest of the Diff All text file. Starting from the # Control_profile 1 settings category, down to the bottom. Press enter. Once written, it will save by itself.

Diff update tool

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

INAV CLI Update Tool

Upgrading from older versions

Please follow the instructions on this page.

Highlights

Fixedwing airspeed APA and pitch angle enhanced TPA support

Fixeding aircraft can now use a pitot sensor or virtual airspeed to dynamically adjust the PIDFF gains inflight. This adds the advantage of a tighter stabilization response across the whole flight speed envelope.
Full details of setup and tuning can be found here. Under the topics APA and TPA and Pitch angle.

Minimum ground speed flexibility

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

OSD throttle gauge

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

Fixed wing altitude controller

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

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

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

Position estimator improvements

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

Name CLI	Old	New
`w_z_baro_v`	0.1	0.35
`inav_w_z_gps_p`	0.2	0.35
`inav_w_z_gps_v`	0.1	0.35

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

Sensor addition

QMC5883P magnetometer driver

Other changes:

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

OSD/CMS changes

Name	Function
OSD_VERTICAL_SPEED_INDICATOR	New name for OSD vario
OSD_ADSB_WARNING	CMS stick menu
OSD_ADSB_INFO	CMS stick menu
OSD_THROTTLE_GAUGE	OSD
OSD_NAV_MIN_GROUND_SPEED	OSD

Font changes

The Minimum Ground Speed and Throttle Gauge additions to the OSD require new font symbols. The analogue fonts are up-to-date. However, there may be time needed for this to propagate to the digital systems. For HDZero and Walksnail Avatar fonts should be available soon. However DJI may take longer as they need to update the font built in to their firmware.

[!TIP] Manufacturers. You can be alerted of changes that may affect your products by subscribing to the #technical-changes channel on the INAV Discord Server

Functions

Function	Name	Values
Battery	SMARTPORT	`vbat_meter_type` , `current_meter_type`
Programming Framework	Gimbal Sensitivity	Scales `Operand A` from [`-16` : `15`]
Programming Framework	Override Minimum Ground Speed	When active, sets the minimum ground speed to the value specified in `Operand A` [m/s]. Minimum allowed value is set in `nav_min_ground_speed`. Maximum value is `150`
Programming Framework	Minimum Ground Speed [m/s]	The current minimum ground speed allowed in navigation flight modes
Programming Framework	Horizontal Wind Speed [cm/s]	Estimated wind speed. If the wind estimator is unavailable or the wind estimation is invalid, -1 is returned
Programming Framework	Wind Direction [deg]	Estimated wind direction. If the wind estimator is unavailable or the wind estimation is invalid, -1 is returned
Programming Framework	Relative Wind Offset [deg]	The relative offset between the heading of the aircraft and the heading of the wind. 0 indicates flying directly into a headwing. Negative numbers are a left offset. For example, if -20° is shown, turning right will correct towards 0. If the wind estimator is unavailable or the wind estimation is invalid, 0 is returned

CLI

Incompatible Settings Changes

The first three CLI settings have been renamed or changed in INAV 9.0. When loading an older diff all, these will show errors:

New Settings

Name	Description
use_control_profile	Renames old `controlrate_profile`
mixer_control_profile_linking	Renames old `mixer_pid_profile_linking`
osd_pan_servo_range_decadegrees	Renames old `osd_pan_servo_pwm2centideg`
blackbox_arm_control	Can extend blackbox logging up to 60 seconds after disarming
acc_temp_correction	Accelerometer temperature correction factor to compensate for acceleromter drift
baro_temp_correction	Baro temperature correction factor to compensate for Baro altitude drift
osd_adsb_warning_style	ADSB warning element style - COMPACT or EXTENDED
nav_fw_alt_use_position	Use position for fixed wing altitude control rather than velocity
mavlink_autopilot_type	Sets the Mavlink telemetry type - GENERIC or ARDUPILOT
transition_pid_mmix_multiplier_pitch	Intended to solve pitch coupling in transtion mode on tilting rotor VTOL
transition_pid_mmix_multiplier_roll	intended to solve roll/yaw coupling oscillation in transtion mode on tilting rotor VTOL
transition_pid_mmix_multiplier_yaw	Intended to solve yaw/roll coupling oscillation in transtion mode on tilting rotor VTOL
apa_pow	Sets the strength and speed range of dynamic airspeed PID scaling
tpa_pitch_compensation	Sets the strength which pitch angle will override the throttle dynamic PID scaling

New targets

BLUEBERRYF435WING
BLUEBERRYF435WING_SD
BOTWINGF405
BOTWINGF722
BRAHMA_F405
BROTHERHOBBYH743
BROTHERHOBBYF405V3
CORVON743V1
CORVON743V1
CORVON405V2
DAKEFPVF722X8
DAKEFPVH743PRO
DAKEFPVF435
HAPPYMODELF405
HUMMINGBIRD_FC305
FLYINGRCF4WINGMINI
FLYCOLORF4
FLYSPARKF4V4
FOXEERF405V2
JHEMCUF435
JHEMF435AIO
MICOAIR743AIO
ORBITH743
ORBITF435
ORBITF435_SD
RADIOLINKF405
RADIOLINKF722 : Add W25Q128 flash chip support
SKYSTARSF405V2
TBS_LUCID_H7_WING
TBS_LUCID_H7_WING_MINI
SPEEDYBEEF405WINGV2
VANTAC_RF007 : Add new FrSky/Rotorflight Vantac RF007 target with magnetometer support
WARPF7

What's Changed

Update Aocodarcf7mini by @dlt2018 in https://github.com/iNavFlight/inav/pull/9312
Add a template for new target PR by @mmosca in https://github.com/iNavFlight/inav/pull/9946
Add flights counter to stats by @ TransientTetra in https://github.com/iNavFlight/inav/pull/10020
Update Buzzer.md by @wchnflr in https://github.com/iNavFlight/inav/pull/10121
Added Zerodrag WARP7 by @vishnumda in https://github.com/iNavFlight/inav/pull/10262
Enable MSP override build flag by default by @xznhj8129 in https://github.com/iNavFlight/inav/pull/10330
Accelerometer and Barometer temperature compensation by @breadoven in https://github.com/iNavFlight/inav/pull/10382
Change gimbal sensitivity from programming framework by @error414 in https://github.com/iNavFlight/inav/pull/10405
MSP DisplayPort add DJI Native video system by @mmosca in https://github.com/iNavFlight/inav/pull/10440
Lulu fixes and improvements by @pjpei in https://github.com/iNavFlight/inav/pull/10416
Add new targets: MicoAir743AIO and MicoAir743v2 by @Minderring in https://github.com/iNavFlight/inav/pull/10557
MSP command to get radar position of other planes from esp32radar by jeffhendrix in https://github.com/iNavFlight/inav/pull/10571
Add new target ORBITF435 by @orbittechnologyx in https://github.com/iNavFlight/inav/pull/10578
Update libraries - pre-req for H7A3 by @mmosca in https://github.com/iNavFlight/inav/pull/10593
Fixed wing flight detection fix by @breadoven in https://github.com/iNavFlight/inav/pull/10621
Matekf405 spi flash blackbox fix by @mmosca in https://github.com/iNavFlight/inav/pull/10630
TBS_LUCID_H7: fix gyro2 by @bkleiner in https://github.com/iNavFlight/inav/pull/10678
fix LTM attitude (mis-cast) by @stronnag in https://github.com/iNavFlight/inav/pull/10680
Enable second dynamic gyro only if primary is enabled by @DzikuVx in https://github.com/iNavFlight/inav/pull/10687
Add barometer altitude to CRSF telemetry by @her01n in https://github.com/iNavFlight/inav/pull/10694
improve cli status NAV reasons by @stronnag in https://github.com/iNavFlight/inav/pull/10696
Updates to Iterm Lock for better readability by @DzikuVx in https://github.com/iNavFlight/inav/pull/10699
Add more flexibility for minimum ground speed by @MrD-RC in https://github.com/iNavFlight/inav/pull/10720
Update OSD.md by @MrD-RC in https://github.com/iNavFlight/inav/pull/10722
Add throttle gauge option to OSD by @MrD-RC in https://github.com/iNavFlight/inav/pull/10725
Update VTOL.md by DanielOBenson in 10775, 10779, 10780
fixed crash: Firmware crash when OSD is disabled but MSP Display UART is allocated by @RomanLut in https://github.com/iNavFlight/inav/pull/10792
Brother h743 by @sensei-hacker in https://github.com/iNavFlight/inav/pull/10805
Add new target: DAKEFPVF722X8 by @ThanYangFPV in https://github.com/iNavFlight/inav/pull/10811
Position estimator improvements by @breadoven in https://github.com/iNavFlight/inav/pull/10818
Add ADSB to CMS menu by @P-I-Engineer in https://github.com/iNavFlight/inav/pull/10820
New target JHEMCUF435 (non-AIO) by @sensei-hacker in https://github.com/iNavFlight/inav/pull/10825
Change the spelling error by @shivam-daksh in https://github.com/iNavFlight/inav/pull/10827
Docs: LED pin PWM as PINIO by @sensei-hacker in https://github.com/iNavFlight/inav/pull/10831
DAKEFPVF722X8: Add UART3 by @sensei-hacker in https://github.com/iNavFlight/inav/pull/10832
dmesg: log init messages to RAM until serial init by @sensei-hacker in https://github.com/iNavFlight/inav/pull/10836
Add new target CORVON743V1 by @holydust in https://github.com/iNavFlight/inav/pull/10839
F435 correct uart->tx_af by @sensei-hacker in https://github.com/iNavFlight/inav/pull/10840
New target DAKEFPVH743 by @sensei-hacker in https://github.com/iNavFlight/inav/pull/10843
Programming Framework.md - typo by @sensei-hacker in https://github.com/iNavFlight/inav/pull/10861
Use Nav max bank angle for multirotor ATTI mode by @breadoven in https://github.com/iNavFlight/inav/pull/10866
Fix cardinal OSD icon for DJI by @error414 in https://github.com/iNavFlight/inav/pull/10871
Add functions to serial.md by @sensei-hacker in https://github.com/iNavFlight/inav/pull/10880
Fix osd.md, add missing OSD_NAV_FW_ALT_CONTROL_RESPONSE by @druckgott in https://github.com/iNavFlight/inav/pull/10882
Add support for SKYSTARSF405V2 by @DusKing1 in https://github.com/iNavFlight/inav/pull/10884
Add new target ORBITH743 by @orbittechnologyx in https://github.com/iNavFlight/inav/pull/10889
Reversible motor fixes by @breadoven in https://github.com/iNavFlight/inav/pull/10890
Extend msp_override_mask to 32bits / channels by @stronnag in https://github.com/iNavFlight/inav/pull/10891
Removed dead links from the beepers list by @medvedev in https://github.com/iNavFlight/inav/pull/10894
Add custom targets for BOTWINGF405 and BOTWINGF722 flight controllers by @PrateekShanker99 in https://github.com/iNavFlight/inav/pull/10895
Add new target CORVON405V2 by @holydust in https://github.com/iNavFlight/inav/pull/10897
Corrected approach length marker by @b14ckyy in https://github.com/iNavFlight/inav/pull/10899
For burst mode dmar, define as DMA_REQUEST_TIMx_UP by @sensei-hacker in https://github.com/iNavFlight/inav/pull/10900
Update Bug_report.md by @b14ckyy in https://github.com/iNavFlight/inav/pull/10902
Option to use position for fixed wing nav altitude control by @breadoven in https://github.com/iNavFlight/inav/pull/10903
Docs: create contributing.md by @sensei-hacker in https://github.com/iNavFlight/inav/pull/10905
Nav RTH climb first fix by @breadoven in https://github.com/iNavFlight/inav/pull/10908
Add TBS_LUCID_H7_WING by @bkleiner in https://github.com/iNavFlight/inav/pull/10909
Add TBS_LUCID_H7_WING_MINI by @bkleiner in https://github.com/iNavFlight/inav/pull/10910
LED pin PWM.md: update link to screenshot by @sensei-hacker in https://github.com/iNavFlight/inav/pull/10914
Nav position estimator baro air cushion compensation fix by @breadoven in https://github.com/iNavFlight/inav/pull/10925
ADSB - Use extended OSD glyphs for dot in numbers and improve aircraft warning by @error414 in https://github.com/iNavFlight/inav/pull/10927
Branches clean up : merge docs from master to maintenance-8.x.x by @sensei-hacker in https://github.com/iNavFlight/inav/pull/10932
Add New Target: DAKEFPVH743PRO by @ThanYangFPV in https://github.com/iNavFlight/inav/pull/10940
Backport #10382 baro temp compensation to maintenance-8.x.x by @sensei-hacker in https://github.com/iNavFlight/inav/pull/10946
8.1 change gimbal sensitivity from programming framework by @sensei-hacker in https://github.com/iNavFlight/inav/pull/10950
CADDXF4_AIO_ELRS baro uses i2c2 by @sensei-hacker in https://github.com/iNavFlight/inav/pull/10951
8.1 JH fix matek f405 variants by @sensei-hacker in https://github.com/iNavFlight/inav/pull/10952
ADD NEW TARGET HUMMINGBIRD_FC305 by @LYNHQQ in https://github.com/iNavFlight/inav/pull/10954
Blackbox logging arm behaviour setting option by @breadoven in https://github.com/iNavFlight/inav/pull/10955
Add New Target DAKEFPVF435 by @ThanYangFPV in https://github.com/iNavFlight/inav/pull/10956
Create Building in Github Codespace.md by @WizzardDr in https://github.com/iNavFlight/inav/pull/10957
Flycolorf4 target by @DzikuVx in https://github.com/iNavFlight/inav/pull/10963
Foxeer F405V2 by @DzikuVx in https://github.com/iNavFlight/inav/pull/10964
Targets for darkmatter BRAHMA boards by @DzikuVx in https://github.com/iNavFlight/inav/pull/10965
Fix changing msp receiver crash by @stronnag in https://github.com/iNavFlight/inav/pull/10971
Jh fix gcc15 warnings by @stronnag in https://github.com/iNavFlight/inav/pull/10972
SpeedyBeeF405Wing V2 target by @DzikuVx in https://github.com/iNavFlight/inav/pull/10976
Fixes Building in Docker by @Lebensgefahr in https://github.com/iNavFlight/inav/pull/10982
Better default display i2c bus by @sensei-hacker in https://github.com/iNavFlight/inav/pull/10984
Allow servo speed filter carry over on the mixer profile switch by @shota3527 in https://github.com/iNavFlight/inav/pull/10986
Fixes for Brahma targets: F405 and F722 by @DzikuVx in https://github.com/iNavFlight/inav/pull/10987
Add New Target HAPPYMODELF405 by @githubDLG in https://github.com/iNavFlight/inav/pull/10989
Add QMC5883P driver by @BortEngineerDude in https://github.com/iNavFlight/inav/pull/10994
Fix some typos by @valeriyvan in https://github.com/iNavFlight/inav/pull/11003
Add target RADIOLINKF405 by @radiolinkW in https://github.com/iNavFlight/inav/pull/11006
Blackbox servos fix by @breadoven in https://github.com/iNavFlight/inav/pull/11010
Added ICM42605 IMU support for SKYSTARSH743HD by @DusKing1 in https://github.com/iNavFlight/inav/pull/11014
Fix Mac SITL CI by @Scavanger in https://github.com/iNavFlight/inav/pull/11017
DAKEFPVF722 SPL06 support by @sensei-hacker in https://github.com/iNavFlight/inav/pull/11022
Lucid_h7: add pc13 for 9v en by @bkleiner in https://github.com/iNavFlight/inav/pull/11023
DAKEFPVF722 support for DPS310 by @ThanYangFPV in https://github.com/iNavFlight/inav/pull/11041
New feature: SmartPort battery sensor by @functionpointer in https://github.com/iNavFlight/inav/pull/11045
Ublox: include array index to set satellites with no signal as unused by @sensei-hacker in https://github.com/iNavFlight/inav/pull/11064
Dakefpvf435 by @sensei-hacker in https://github.com/iNavFlight/inav/pull/11066
Update (fixed spelling mistakes in the page) GPS_fix_estimation.md by @Fire18Parrot in 11068 and 11071
Brotherhobbyf405 v3 - tested correct by @sensei-hacker in https://github.com/iNavFlight/inav/pull/11073
Add new target blueberryF435wing by @sunyanmeng963 in https://github.com/iNavFlight/inav/pull/11074
Replace "exposition" with "exponential" in Settings.md by @jp39 in https://github.com/iNavFlight/inav/pull/11084
Rename numeric vario to vertical speed indicator by @MrD-RC in https://github.com/iNavFlight/inav/pull/11085
Fix typo in Control Profiles documentation by @sensei-hacker in https://github.com/iNavFlight/inav/pull/11086
Update external mag I2C driver registration for HUMMINGBIRD_FC305 @LYNHQQ in https://github.com/iNavFlight/inav/pull/11090
Update CRSF telemetry modes sensor to better reflect INAV modes by @MrD-RC in https://github.com/iNavFlight/inav/pull/11094
Update Geofence AUTO mode to GEO by @MrD-RC in https://github.com/iNavFlight/inav/pull/11096
Corrected mode display ordering by @MrD-RC in https://github.com/iNavFlight/inav/pull/11097
Fix buffer overflow from deprecated MSP2_INAV_LOGIC_CONDITIONS by @MrD-RC in https://github.com/iNavFlight/inav/pull/11099
Update throttle gauge skip by @MrD-RC in https://github.com/iNavFlight/inav/pull/11101
Made SITL ports configurable by @xznhj8129 in https://github.com/iNavFlight/inav/pull/11103
Update SmartPort telemetry to reflect latest flight modes by @MrD-RC in https://github.com/iNavFlight/inav/pull/11104
Update status flag check for QMC5883 by @sensei-hacker in https://github.com/iNavFlight/inav/pull/11105
Updates to wind in the IPF by @MrD-RC in https://github.com/iNavFlight/inav/pull/11109
Update cygwin ci script for the sitl by @stronnag in https://github.com/iNavFlight/inav/pull/11111
Update "Building SITL" document by @stronnag in https://github.com/iNavFlight/inav/pull/11113
Add scaling to pan servo offset by @MrD-RC in https://github.com/iNavFlight/inav/pull/11072
Vtol.md: s/pid_profile/control_profile/ by @sensei-hacker in https://github.com/iNavFlight/inav/pull/11108
Raise the limit to display CRSF SNR values on OSD by @rmaia3d in https://github.com/iNavFlight/inav/pull/9793
Better yaw estimation for mulitirotor(magless operation) by @shota3527 in https://github.com/iNavFlight/inav/pull/11114
MSP2 via CSFR/SmartPort telemetry by @error414 in https://github.com/iNavFlight/inav/pull/11093
MSP protocol JSON definition file + derived documentation generation by @xznhj8129 in https://github.com/iNavFlight/inav/pull/11088
Remove legacy option of rebooting fc without using MSP by @mmosca in https://github.com/iNavFlight/inav/pull/9970
Fix ADSB cardinal for broken mag direction by @error414 in https://github.com/iNavFlight/inav/pull/11076
Mavlink systemid cli by @xznhj8129 in https://github.com/iNavFlight/inav/pull/11062
MAV_CMD_DO_REPOSITION to WP#255 for GCS NAV by @xznhj8129 in https://github.com/iNavFlight/inav/pull/11061
Regen mavlink headers + add missing values to funcs in mavlink.c by @xznhj8129 in https://github.com/iNavFlight/inav/pull/11060
Add options to adjust motor RPY when transition mode is activate(vtol) by @shota3527 in https://github.com/iNavFlight/inav/pull/10996
MSP json rev2 by @xznhj8129 in https://github.com/iNavFlight/inav/pull/11115
Battery control profile off by 1 by @sensei-hacker in https://github.com/iNavFlight/inav/pull/11118
Update references to that should be control_profile by @MrD-RC in https://github.com/iNavFlight/inav/pull/11122
New target: FlyingRC F4wing mini by @dixi83 in https://github.com/iNavFlight/inav/pull/11092
Update FlyingRC F4Wing Mini target by @MrD-RC in https://github.com/iNavFlight/inav/pull/11131
NEXUSX: USE_DSHOT_DMAR, use TIM2 instead of TIM5 by @functionpointer in https://github.com/iNavFlight/inav/pull/11129
Add I2C compass driver registration for HUMMINGBIRD FC305 by @LYNHQQ in https://github.com/iNavFlight/inav/pull/11134
Normalize line endings to LF in src/main/target/FLYSPARKF4V4 in https://github.com/iNavFlight/inav/pull/11137
Revert #11025 "[crsf] add temperature, RPM and AirSpeed telemetry" in https://github.com/iNavFlight/inav/pull/11139
Add JavaScript programming documentation by @sensei-hacker in https://github.com/iNavFlight/inav/pull/11143
Add flyspark target by @FlySparkfpv in https://github.com/iNavFlight/inav/pull/10788
Dynamic Custom OSD Elements position changing by companion computer by @Ahmed-hadzi in https://github.com/iNavFlight/inav/pull/11095
Add JHEMCU F435 AIO target board support by @jhemcu in https://github.com/iNavFlight/inav/pull/10740
MSP2 message exposing 3D attitude, position, and velocity by @yakorch in https://github.com/iNavFlight/inav/pull/11032
Fix H743 USB MSC regression and SDIO reliability issues by @sensei-hacker in https://github.com/iNavFlight/inav/pull/11194
Add airspeed TPA support by @shota3527 in https://github.com/iNavFlight/inav/pull/11042
Improve APA safety: pitot validation, reduced gains, safe defaults by @sensei-hacker in https://github.com/iNavFlight/inav/pull/11222
Add optional DFU mode parameter to MSP_REBOOT command by @sensei-hacker in https://github.com/iNavFlight/inav/pull/11238
Fix blackbox corruption when no motors defined in mixer by @sensei-hacker in https://github.com/iNavFlight/inav/pull/11220
Improve blackbox DEBUG documentation by @sensei-hacker in https://github.com/iNavFlight/inav/pull/11239
Add prominent download links to README by @sensei-hacker in https://github.com/iNavFlight/inav/pull/11221
Add maintenance-9.x to nightly build workflow by @sensei-hacker in https://github.com/iNavFlight/inav/pull/11204
8226 deprecated, enum parse fix, enums json by @xznhj8129 in https://github.com/iNavFlight/inav/pull/11185

Full Changelog: https://github.com/iNavFlight/inav/compare/8.0.1...9.0.0

Known Issues in 9.1.0​

Upgrading from a previous release​

Upgrading from INAV 8.1 or 9.0.X versions​

Diff update tool​

Upgrading from older versions​

Highlights​

GNSS constellations and update rate handling​

Multicopter set magless heading​

Position estimator improvements​

OSD changes​

Other changes​

Prominent bug fixes​

Sensor addition​

Flash storage support​

New targets​

What's Changed - Pull Requests​

Welcome to INAV 9.0.0

Known Issues in 9.0​

Upgrading from a previous release​

Upgrading from INAV 8.0​

Diff update tool​

Upgrading from older versions​

Highlights​

Fixedwing airspeed APA and pitch angle enhanced TPA support​

Minimum ground speed flexibility​

OSD throttle gauge​

Fixed wing altitude controller​

Position estimator improvements​

Sensor addition​

Other changes:​

OSD/CMS changes​

Font changes​

Functions​

CLI​

Incompatible Settings Changes​

New Settings​

New targets​

What's Changed​

Known Issues in 9.1.0

Upgrading from a previous release

Upgrading from INAV 8.1 or 9.0.X versions

Diff update tool

Upgrading from older versions

Highlights

GNSS constellations and update rate handling

Multicopter set magless heading

Position estimator improvements

OSD changes

Other changes

Prominent bug fixes

Sensor addition

Flash storage support

New targets

What's Changed - Pull Requests

Known Issues in 9.0

Upgrading from a previous release

Upgrading from INAV 8.0

Diff update tool

Upgrading from older versions

Highlights

Fixedwing airspeed APA and pitch angle enhanced TPA support

Minimum ground speed flexibility

OSD throttle gauge

Fixed wing altitude controller

Position estimator improvements

Sensor addition

Other changes:

OSD/CMS changes

Font changes

Functions

CLI

Incompatible Settings Changes

New Settings

New targets

What's Changed