3.0.0 Release Notes

Hello and welcome to INAV 3.0.0 Release!

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

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Tested and suggested hardware can be found here

Important Notes

F3 Removal

STM32 F3 flight controllers like Omnibus F3 or SP Racing F3 are no longer supported in INAV. If you are still using F3 boards, please migrate to F4 or F7.

The supporting code will be retained for a few more releases, but will not be maintained and is not guaranteed to build or work properly in the future.

Adjustments

There are now separate adjustments for D and CD/FF gains. This breaks compatibility with diffs from previous releases. Check the adjustments tab in the configurator after restoring a diff to makes sure they are set up correctly.

Font update required

The OSD fonts have been improved (@Jettrel) and there are several new symbols. Therefore, a font file update is required. Load the updated font of your choosing from the OSD tab.

Upgrading from 2.6, 2.6.1

Download and install the new configurator
Save to a file the current diff all from the CLI.
Upgrade to INAV 3.0 using the Full Erase option in the configurator.
Upload your OSD font of choice from the OSD tab.
Go the CLI again and paste the contents on the file you previously created and write save , press ENTER.
There are a large number of new, changed and removed settings. Check carefully that the settings are correct and fix any unrecognised or out of range items from the saved configuration.
You should be ready, explore new 3.0 features and enjoy!

Upgrading from 2.5 or older version

Please follow the instructions on this page.

New targets:

Diatone MambaF405US_I2C
FLYWOOF411_V2
Mamba F722_I2C

CLI:

New commands

None (TBC).

Changed Settings

Setting	Description
blackbox_device	Default: target
log_level	Default: ERROR
nav_overrides_motor_stop	When set to OFF the navigation system will not take over the control of the motor if the throttle is low (motor will stop). When set to OFF_ALWAYS the navigation system will not take over the control of the motor if the throttle was low even when failsafe is triggered. When set to AUTO_ONLY the navigation system will only take over the control of the throttle in autonomous navigation modes (NAV WP and NAV RTH). When set to ALL_NAV (default) the navigation system will take over the control of the motor completely and never allow the motor to stop even when the throttle is low. This setting only has an effect on NAV modes which take control of the throttle when combined with MOTOR_STOP and is likely to cause a stall if fw_min_throttle_down_pitch isn't set correctly or the pitch estimation is wrong for fixed wing models when not set to ALL_NAV
nav_rth_climb_first	New: `ON_FW_SPIRAL`
platform_type	Default: MULTIROTOR
receiver_type	Default: target
rssi_source	Default: AUTO

New Settings

Setting	Description
dji_speed_source	Sets the speed type displayed by the DJI OSD: GROUND, 3D, AIR Default: GROUND
dshot_beeper_enabled	Whether using DShot motors as beepers is enabled Default: TRUE
dshot_beeper_tone	Sets the DShot beeper tone Values: 1 - 5 Default: 1
fw_d_pitch	Fixed wing rate stabilisation D-gain for PITCH Default: 0
fw_d_roll	Fixed wing rate stabilisation D-gain for ROLL Default: 0
fw_d_yaw	Fixed wing rate stabilisation D-gain for YAW Default: 0
fw_level_pitch_trim	Pitch trim for self-leveling flight modes. In degrees. +5 means airplane nose should be raised 5 deg from level Values: -10 - 10 Default: 0
fw_yaw_iterm_freeze_bank_angle	Yaw Iterm is frozen when bank angle is above this threshold [degrees]. This solves the problem of the rudder counteracting turns by partially disabling yaw stabilization when making banked turns. Setting to 0 (the default) disables this feature. Only applies when autopilot is not active and TURN ASSIST is disabled. Values: 0 - 90 Default: 0
gyro_abg_alpha	Alpha factor for Gyro Alpha-Beta-Gamma filter Values: 0 - 1 Default: 0
gyro_abg_boost	Boost factor for Gyro Alpha-Beta-Gamma filter Values: 0 - 2 Default: 0.35
gyro_abg_half_life	Sample half-life for Gyro Alpha-Beta-Gamma filter Values: 0 - 10 Default: 0.5
gyro_anti_aliasing_lpf_hz	Gyro processing anti-aliasing filter cutoff frequency. In normal operation this filter setting should never be changed. In Hz Values: 0 - 255 Default: 250
gyro_anti_aliasing_lpf_type	Specifies the type of the software LPF of the gyro signals. Default: PT1
gyro_dyn_lpf_curve_expo	Expo value for the throttle-to-frequency mapping for Dynamic LPF Values: 1 - 10 Default: 5
gyro_dyn_lpf_max_hz	Maximum frequency of the gyro Dynamic LPF Values: 40 - 1000 Default: 500
gyro_dyn_lpf_min_hz	Minimum frequency of the gyro Dynamic LPF Values: 40 - 400 Default: 200
gyro_main_lpf_hz	Software based gyro main lowpass filter. Value is cutoff frequency (Hz) Values: 0 - 500 Default: 60
gyro_main_lpf_type	Defines the type of the main gyro LPF filter. Possible values: `PT1`, `BIQUAD`. `PT1` offers faster filter response while `BIQUAD` better attenuation. Default: BIQUAD
gyro_use_dyn_lpf	Use Dynamic LPF instead of static gyro stage1 LPF. Dynamic Gyro LPF updates gyro LPF based on the throttle position. Default: FALSE
imu2_align_pitch	Pitch alignment for Secondary IMU. 1/10 of a degree Values: -1800 - 3600 Default: 0
imu2_align_roll	Roll alignment for Secondary IMU. 1/10 of a degree Values: -1800 - 3600 Default: 0
imu2_align_yaw	Yaw alignment for Secondary IMU. 1/10 of a degree Values: -1800 - 3600 Default: 0
imu2_gain_acc_x	Secondary IMU ACC calibration data Values: -32768 - 32767 Default: 0
imu2_gain_acc_y	Secondary IMU ACC calibration data Values: -32768 - 32767 Default: 0
imu2_gain_acc_z	Secondary IMU ACC calibration data Values: -32768 - 32767 Default: 0
imu2_gain_mag_x	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_gain_mag_y	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_gain_mag_z	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_hardware	Selection of a Secondary IMU hardware type. NONE disables this functionality Default: NONE, values `NONE`, `BNO055`, `BNO055_SERIAL`
imu2_radius_acc	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_radius_mag	Secondary IMU MAG calibration data Values: -32768 - 32767 Default: 0
imu2_use_for_osd_ahi	If set to ON, Secondary IMU data will be used for Analog OSD Artificial Horizon Default: FALSE
imu2_use_for_osd_heading	If set to ON, Secondary IMU data will be used for Analog OSD heading Default: FALSE
imu2_use_for_stabilized	If set to ON, Secondary IMU data will be used for Angle, Horizon and all other modes that control attitude (PosHold, WP, RTH) Default: FALSE
mavlink_version	Version of MAVLink to use Values: 1 - 2 Default: 2
nav_land_maxalt_vspd	Vertical descent velocity above nav_land_slowdown_maxalt during the RTH landing phase. [cm/s] Values: 100 - 2000 Default: 200
nav_land_minalt_vspd	Vertical descent velocity under nav_land_slowdown_minalt during the RTH landing phase. [cm/s] Values: 50 - 500 Default: 50
nav_max_altitude	Max allowed altitude (above Home Point) that applies to all NAV modes (including Altitude Hold). 0 means limit is disabled Values: 0 - 65000 Default: 0
nav_mc_wp_slowdown	When ON, NAV engine will slow down when switching to the next waypoint. This prioritizes turning over forward movement. When OFF, NAV engine will continue to the next waypoint and turn as it goes. Default: TRUE
nav_rth_alt_control_override	If set to ON RTH altitude and CLIMB FIRST settings can be overridden during the RTH climb phase using full pitch or roll stick held for > 1 second. RTH altitude is reset to the current altitude using pitch down stick. RTH CLIMB FIRST is overridden using right roll stick so craft turns and heads directly to home (CLIMB FIRST override only works for fixed wing) Default: FALSE
osd_pan_servo_index	Index of the pan servo to adjust osd home heading direction based on camera pan. Note that this feature does not work with continiously rotating servos. Values: 0 - 10 Default: 0
osd_pan_servo_pwm2centideg	Centidegrees of pan servo rotation us PWM signal. A servo with 180 degrees of rotation from 1000 to 2000 us PWM typically needs `18` for this setting. Change sign to inverse direction. Values: -36 - 36 Default: 0
osd_plus_code_short	Number of leading digits removed from plus code. Removing 2, 4 and 6 digits requires a reference location within, respectively, ~800km, ~40 km and ~2km to recover the original coordinates. Default: 0
osd_sidebar_height	Height of sidebars in rows. 0 leaves only the level indicator arrows (Not for pixel OSD) Values: 0 - 5 Default: 3
osd_stats_min_voltage_unit	Display minimum voltage of the `BATTERY` or the average per `CELL` in the OSD stats. Default: BATTERY. Options `BATTERY`, `CELL`
osd_telemetry	To enable OSD telemetry for antenna tracker. Possible values are `OFF`, `ON` and `TEST` Default: OFF
prearm_timeout	Duration (ms) for which Prearm being activated is valid. after this, Prearm needs to be reset. 0 means Prearm does not timeout. Values: 0 - 10000 Default: 10000
safehome_max_distance	In order for a safehome to be used, it must be less than this distance (in cm) from the arming point. Values: 0 - 65000 Default: 20000
safehome_usage_mode	Used to control when safehomes will be used. Possible values are `OFF`, `RTH` and `RTH_FS`. See Safehome documentation for more information. Default: RTH
servo_autotrim_rotation_limit	Servo midpoints are only updated when total aircraft rotation is less than this threshold [deg/s]. Only applies when using `feature FW_AUTOTRIM`. Values: 1 - 60 Default: 15
smith_predictor_delay	Expected delay of the gyro signal. In milliseconds Values: 0 - 8 Default: 0
smith_predictor_lpf_hz	Cutoff frequency for the Smith Predictor Low Pass Filter Values: 1 - 500 Default: 50
smith_predictor_strength	The strength factor of a Smith Predictor of PID measurement. In percents Values: 0 - 1 Default: 0.5
turtle_mode_power_factor	Turtle mode power factor Values: 0 - 100 Default: 55
vtx_smartaudio_early_akk_workaround	Enable workaround for early AKK SAudio-enabled VTX bug. Default: TRUE

Removed settings

Setting	Description
gyro_lpf_hz
gyro_lpf_type
gyro_stage2_lowpass_hz
gyro_stage2_lowpass_type
gyro_sync
nav_landing_speed	replaced by `nav_land_minalt_vspd` and `nav_land_maxalt_vspd`

Renamed settings

Old name	New name
mc_airmode_threshold	airmode_threshold
mc_airmode_type	airmode_type
osd_artificial_horizon_max_pitch	osd_ahi_max_pitch
osd_artificial_horizon_reverse_roll	osd_ahi_reverse_roll

New drivers and protocols

Rangefinder "GY-US42(v2) Ultrasonic Range Sensor
Rangefinder vl53l1x
BNO055 Secondary IMU
BMI088 IMU

New features

Turtle mode aka Flip Over after crash (@kernel-machine)

inav now has a "Turtle Mode".

Requires DSHOT ESC protocol
Assign a switch to TURTLE mode
Ensure you can arm at any angle

WP mission sealevel altitude datum (@breadoven)

Prior to inav 3.0, mission waypoint altitudes are relative the arming location. It is now possible to define waypoints with absolute (AMSL) altitude, making the mission independent of the arming location. See the inav wiki for details (WP paramater 3)

WP Mission Landing Elevation Setting (@breadoven)

The relative / absolute ground altitude of a LAND waypoint may be set as WP paramater 2 (m). See the inav wiki for details.

Do not slow down in WP mission when approaching a waypoint (@DzikuVx)

DShot Beeper (@harry1453)

RC via MAVLink & MAVLink V2 Support (@harry1453)

Prearm Mode (@harry1453)

Prearm offers a two-stage arming process as an optional additional safety feature.

Activate prearm (normally a button or momentary switch)
Activate arm

Initial cut on H7 MCU support (@digitalentity, @bkleiner, @DzikuVx)

H7 is available in the source repository; target Hex files will be released as targets mature, probably in the future point releases.

Add D-term to control loop on fixed wing aircraft (@avsaase)

Improvements and updates

Gyro processing improvements (@DzikuVx)

Update EGNOS PRN mask to latest EGSA definition, fix SBAS for non-Galileo usage (@stronnag)

The EGNOS (GPS ground assistance) definitions have been updated to the latest values for all GNSS options. An invalid association with availability of Galileo has been corrected.

Make CW270FLIP default MAG alignment (@DzikuVx)

New FCs raraly feature on-board compass, and most GPS+MAG default to CW270FLIP, so this is now the inav default. If you use another value, check your setup after upgrading.

Add CRUISE mode which is equivalent to CRSH+AH (@shellixyz)

Add option to display min cell voltage instead of min pack voltage on the disarm screen (@avsaase)

Bump OSD font min version to 2 (@shellixyz)

Multirotors: add new setting for final landing vertical speed instead of being hard-coded to 25% of set landing vertical speed (@shellixyz)

Drop gyro_sync (@DzikuVx)

Delayed safehome (@tonyyng)

Safehome does not now replace the arming location until it is needed. If you cancel RTH or recover from RX failsafe, the original arming location is restored as the home location. Under normal circumstances, "distance to home" will revert to range from the arming location.

Switched RTH Preset Altitude Override (@breadoven)

Provides stick options to override configured RTH climb and/or turn behaviour. See the nav_rth_alt_control_override setting description for details.

Renamed OSD SW and LEDLOW to OSD/LEDS OFF (@MrD-RC)

Fixed wing RTH Spiral Climb Option (@breadoven)

Increase loiter max radius to 300m (@DzikuVx)

Rename NAV CRUISE mode to NAV COURSE HOLD (@shellixyz)

Homogenize OSD AHI settings prefix (@shellixyz)

Do not slow down in WP mission when approaching a waypoint (@DzikuVx)

Configure speed source for DJI OSD (@DzikuVx)

Pan servo home direction offset (@avsaase)

Increased fw loiter radius default (@MrD-RC)

Ability to trim pitch angle for level flight (@DzikuVx)

vtx_smartaudio_early_akk_workaround option (@RomanLut)

Added option to output servos on PWM and SBUS (@IVData)

build: Use -Os for F7 targets with flash <= 512K (@fiam)

Option for local plus codes on osd (@avsaase)

This adds the option to remove the first 2, 4, or 6 digits from the OSD plus code. Doing so requires a reference location (for example your current location when using Google Maps on your phone) within ~600, ~40, and ~2km, respectively.

Changed default settings for fixed wing throttle smoothing in navigation modes (@Airwide)

Throttle smoothing in the navigation modes on fixed wing aircraft is now enabled by default. This results in smoother throttle management and more efficient cruising.