5.0.0 Release Notes

INAV 5 Ballistic Buzzard

Hello and welcome to INAV 5.0 "Ballistic Buzzard"

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

PCA9685 PWM driver no longer supported

The I2C PCA9685 servo driver is no longer supported as obsolete and not widely adopted. All PCA9685 setups are advised to upgrade to SBUS output and SBUS to PWM decoders

Gyro and Acc alignment settings removed

The align_acc and align_gyro settings are removed. Gyro/Acc orientation should always be set with align_board_yaw

GPS Glitch Detection

The NAV_GPS_GLITCH_DETECTION was removed as not suitable for modern aircraft. There is no user action required

Removal of depreciated MSP frames

INAV 5 removed the support for the following MSP frames:

MSP_IDENT
MSP_PID
MSP_PID_CONTROLLER
MSP_BF_CONFIG
MSP_BF_BUILD_INFO
MSP_SET_PID_CONTROLLER
MSP_SET_PID
MSP_SET_BF_CONFIG
MSP_CF_SERIAL_CONFIG
MSP_SET_CF_SERIAL_CONFIG

No user action is required in the case of the INAV Configurator. In the case of 3rd party INAV configuration apps, this change might break the compatibility if the app was using any of those frames. SpeedyBee developers have been notified, other apps have to adjust accordingly.

Upgrading from a previous release

Upgrading from INAV 4 and 4.1

Download and install the new configurator
Save to a file the current diff all from the CLI.
Upgrade to INAV 5.0 using the Full Erase option in the configurator.
Upload your OSD font of choice from the OSD tab.
Go to the CLI again and paste the above-described contents from 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 unrecognized or out-of-range items from the saved configuration.
You should be ready, explore new 5.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Important changes

Configurable outputs mode

INAV allows changing the function assignment of ALL PWM outputs. Bear in mind, that it's not resource mapping! This function allows assigning all outputs as motors or all outputs as servos. It's driven by CLI output_mode setting

AUTO assigns outputs according to the default mapping
SERVOS assigns all outputs to servos
MOTORS assigns all outputs to motors

Improved landing detection

Updates landing detection for multirotor and add detection for fixed-wing. Detects when flying and activates landing detection from that point. Multirotor detection was added for non-autonomous landing as well as RTH. Fixed-wing detection is based on velocity, axis rates, and finally absolute movement in roll and pitch (so it probably wouldn't work if stuck in a tree being blown around by the wind). For details see https://github.com/iNavFlight/inav/pull/7270

Add the ability to adjust LED Strip color with RC channel

LED hue can be updated with an RC channel. For example, CLI led 7 8,10::H:6 will adjust hue of LED number 7 based on RC channel 6. For details see https://github.com/iNavFlight/inav/pull/7618

An option to not calibrate the gyro during boot

This feature allows to arm of INAV aircraft on a boat or any other moving vehicle, as it allows to use of stored gyro calibration value instead of calibrating on every boot.

init_gyro_cal If defined to OFF, it will ignore the gyroscope calibration done at each startup. Instead, the gyroscope's last calibration from when you calibrated will be used. It also means you don't have to keep the UAV stationary during a startup.
gyro_zero_x gyro X calibration stored
gyro_zero_y gyro Y calibration stored
gyro_zero_z gyro Z calibration stored