Release notes from inav

INAV 9.0.1

2026-03-09T09:51:00Z

Hello and welcome to INAV 9.0.1

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

Contact other pilots, share experiences, suggestions and ask for help on:

	INAV Discord Server
	INAV Official on Facebook

This is a patch release with bug fixes and new target support. No settings have been renamed or removed, so your 9.0.0 configuration will work without changes.

Changes since 9.0.0

Bug Fixes

CRSF frame length validation - Fix missing frame length verification when handling CRSF_FRAMETYPE_MSP_REQ/MSP_WRITE, preventing potential buffer issues (#11210, @VoodooChild99)
Position estimator corrections - Fix position and velocity corrections for improved GPS hold and navigation accuracy. Addresses issues #10360, #10391, #10893, #11049 (#11270, @breadoven)
Position estimator sanity limit - Relate correction sanity limit to loop rate for consistent behavior across different loop rates (#11270, @breadoven)
STM32H7 DFU mode - Fix CLI dfu command on H743/H750 targets which would reboot as VCP instead of entering DFU mode (#11295, @sensei-hacker)
DShot beeper arming loop - Fix feedback loop where DShot beeper confirmation prevents re-arming by resetting the guard timer on each attempt (#11306, @sensei-hacker)
Surface mode Z velocity - Fix mathematical inconsistency where AGL velocity update used squared acceleration weight factor while altitude update used linear weight factor (#11255, @sensei-hacker)
Terra Ranger Evo - Fix rangefinder driver for TeraRanger Evo sensors (#11311, @error414)

New Targets

AIKONF4V3 - Aikon F405 V3 flight controller (#11284, @sensei-hacker)
COREWINGF405WINGV2 - CoreWing F405 Wing V2 (#11291, @MakeSomeFakeNews)

Build & CI

PG struct validation - Add build-time Parameter Group struct size validation to catch EEPROM-breaking changes before release (#11283, @sensei-hacker)

Upgrading from INAV 9.0.0

Download and install the new INAV Configurator 9.0.1
Backup configuration with CLI diff all command
Flash INAV 9.0.1 - Full Chip Erase is not required when upgrading from 9.0.0
Restore your settings from CLI or select Keep current settings from the defaults pop-up

⚠️ Important Upgrade Information (from INAV 8.x)

Flashing Notes

Full chip erase REQUIRED when upgrading from 8.x
Back up your configuration with diff all before flashing
Review 9.0.0 Release Notes for breaking changes and incompatible settings

Upgrading from INAV 8.0

Download and install the new INAV Configurator 9.0.1
Backup configuration with CLI diff all command or use the Diff All and Save to file buttons.
Flash INAV 9.0.1 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.

Check the 9.0.0 Release Notes Wiki for further information

Major Changes in INAV 9.x Since 8.0.1

JavaScript Logic Conditions

Navigation & Flight Control

Improved fixed-wing altitude control with two selectable methods
Enhanced position estimator Z velocity accuracy
Position estimator corrections fix for improved GPS hold accuracy
Temperature compensation for accelerometers and barometers
Improved VTOL tilt-rotor support with servo speed filtering
Enhanced magless multicopter yaw estimation
Improved fixed-wing flight detection for auto-disarm
Airspeed based PID Attenuation (APA)
GPS-based pitot sensor validation with automatic fallback to virtual airspeed on sensor failure

OSD & Telemetry

Rebranded "Vario" as Vertical Speed Indicator
Enhanced ADSB aircraft warnings with extended OSD glyphs
New vertical digital throttle gauge display
Barometer altitude integrated into CRSF telemetry
New OSD elements: VERTICAL_SPEED_INDICATOR, ADSB_WARNING, ADSB_INFO, THROTTLE_GAUGE, NAV_MIN_GROUND_SPEED
Increased flexibility for fixedwing minimum ground speed settings
SmartPort telemetry: Configure sensors for OpenTX widgets and ETHOS dashboards

Maps & Mission Planning

Bing Maps replaced with Esri World Imagery (no API key needed)
Better imagery quality and reliability

Programming & Logic

Programming Framework enables dynamic minimum ground speed adjustment
Extended MSP override capability to 32-bit channels
Add MSP2_INAV_SET_GVAR command for global variable manipulation
Add MSP2_INAV_LOGIC_CONDITIONS_CONFIGURED command for optimized loading

Hardware Support

New Targets (34+ additional flight controller targets including):
- AIKONF4V3: Aikon F405 V3
- COREWINGF405WINGV2: CoreWing F405 Wing V2
- VANTAC_RF007: FrSky/Rotorflight Vantac RF007 with magnetometer support
- OMNIBUSF4V3_ICM: New target variant
- BLUEBERRYF435WING target added
- RADIOLINKF722: Add W25Q128 flash chip support
New Sensors:
- QMC5883P magnetometer driver
- Puya PY25Q128HA flash chip support (16MB SPI NOR)

Bug Fixes

USB MSC (Mass Storage): Fix H743 USB MSC regression, add timeout protection and retry logic for SD card access
Power Limiting: Fix power limiting treating 0 (disabled) as less than continuous current
CRSF Telemetry: Fix buffer overflow and dashboard sizeof bug
CRSF MSP: Fix missing frame length verification for CRSF MSP requests
Logic Conditions: Guard against increasing max conditions beyond 64
Critical Bugs: Fix integer overflow and buffer overrun issues (cppcheck)
Blackbox: Fix MOTORS condition mismatch causing null byte padding in logs
STM32H7 DFU: Fix CLI dfu command on H743/H750 targets
DShot Beeper: Fix arming feedback loop caused by DShot beeper guard timer
AGL Velocity Estimation: Fix squared acceleration weight factor inconsistency in AGL velocity update
Terra Ranger Evo: Fix rangefinder driver for TeraRanger Evo sensors
Mission control waypoint landing functionality fixes
Servo mixer overflow issues fixed
Fixedwing level pitch trim accuracy improvements

Performance & Improvements

Flight counter addition to statistics tracking
Airspeed TPA: Add pitch angle aware TPA with airspeed support
Raise pitot_lpf_milli_hz default for better pitot performance
MSP_REBOOT DFU mode parameter for entering bootloader via MSP

Localization

Ukrainian language now available
Expanded language support across configurator

Build/CI & Development

Include cygwin1.dll in Windows SITL artifact (fixes Windows SITL)
Build-time Parameter Group struct size validation
Add maintenance-9.x to nightly build workflow
MSP Protocol: Deprecate MSP command 8226, add enum parsing improvements
Add maintenance branch workflow documentation
Add release creation guide

Documentation

Add Power and Current Limiting documentation
Update JavaScript Programming documentation for namespaced syntax
Improve DEBUG mode documentation
Add prominent configurator download links to README
Update OSD element documentation
Fix Settings.md documentation to match settings.yaml definitions
Update LedStrip.md documentation

Full Changelog (since 9.0.0): 9.0.0...9.0.1
Full Changelog (since 8.0.1): 8.0.1...9.0.1
Wiki Release Notes: https://github.com/iNavFlight/inav/wiki/9.0.0-Release-Notes

INAV 9.0.0

2026-01-30T11:43:55Z

Hello and welcome to INAV 9.0.0

Stable Release

This is the stable 9.0.0 release. For a complete list of changes since 8.0.1, please see the 9.0.0 Release Notes Wiki.

⚠️ Important Upgrade Information

Flashing Notes

Full chip erase REQUIRED when upgrading from 8.x
Back up your configuration with diff all before flashing
Review 9.0.0 Release Notes for breaking changes and incompatible settings

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

Diff update tool

INAV CLI Update Tool

Upgrading from older versions

Please follow the instructions on this page.

Check the 9.0.0 Release Notes Wiki for further information

Changes in 9.0.0 (since RC4)

New Features

Pitot Sensor Validation: GPS-based pitot sensor validation with automatic fallback to virtual airspeed on sensor failure (#11222)
- Adds defensive airspeed clamping to prevent division issues
- Improves safety for fixed-wing aircraft with pitot sensors
MSP_REBOOT DFU Mode: Add optional DFU mode parameter to MSP_REBOOT command for entering bootloader (#11238)
- Adds payload size validation for command safety

Bug Fixes

Blackbox: Fix MOTORS condition mismatch causing null byte padding in logs (#11220)
APA (Airspeed Pitch Assist): Improve safety by reducing I-term scaling and maximum gain limits
Airspeed TPA: Adjust TPA parameters for better fixed-wing aircraft performance
Documentation: Fix Settings.md documentation to match settings.yaml definitions

Target Changes

VANTAC_RF007: Add new FrSky/Rotorflight Vantac RF007 target with magnetometer support (#11082)
RADIOLINKF722: Add W25Q128 flash chip support (#11232)

Documentation

Blackbox DEBUG: Improve DEBUG mode documentation (#11239)
README: Add prominent configurator download links (#11221)
OSD Elements: Update OSD element documentation

Build/CI

Nightly Builds: Add maintenance-9.x to nightly build workflow (#11204)
MSP Protocol: Deprecate MSP command 8226, add enum parsing improvements (#11185)

Major Changes in 9.0 Since 8.0.1

JavaScript Logic Conditions

Navigation & Flight Control

Improved fixed-wing altitude control with two selectable methods
Enhanced position estimator Z velocity accuracy
Temperature compensation for accelerometers and barometers
Improved VTOL tilt-rotor support with servo speed filtering
Enhanced magless multicopter yaw estimation
Improved fixed-wing flight detection for auto-disarm
Airspeed based PID Attenuation (APA)

OSD & Telemetry

Rebranded "Vario" as Vertical Speed Indicator
Enhanced ADSB aircraft warnings with extended OSD glyphs
New vertical digital throttle gauge display
Barometer altitude integrated into CRSF telemetry
New OSD elements: VERTICAL_SPEED_INDICATOR, ADSB_WARNING, ADSB_INFO, THROTTLE_GAUGE, NAV_MIN_GROUND_SPEED
Increased flexibility for fixedwing minimum ground speed settings
SmartPort telemetry: Configure sensors for OpenTX widgets and ETHOS dashboards

Maps & Mission Planning

Bing Maps replaced with Esri World Imagery (no API key needed)
Better imagery quality and reliability

Programming & Logic

Programming Framework enables dynamic minimum ground speed adjustment
Extended MSP override capability to 32-bit channels
Add MSP2_INAV_SET_GVAR command for global variable manipulation
Add MSP2_INAV_LOGIC_CONDITIONS_CONFIGURED command for optimized loading

Hardware Support

New Targets (32+ additional flight controller targets including):
- VANTAC_RF007: New FrSky/Rotorflight Vantac RF007 target with magnetometer support
- OMNIBUSF4V3_ICM: New target variant
- BLUEBERRYF435WING target added
- RADIOLINKF722: Add W25Q128 flash chip support
New Sensors:
- QMC5883P magnetometer driver
- Puya PY25Q128HA flash chip support (16MB SPI NOR)

Bug Fixes

USB MSC (Mass Storage): Fix H743 USB MSC regression, add timeout protection and retry logic for SD card access
Power Limiting: Fix power limiting treating 0 (disabled) as less than continuous current
CRSF Telemetry: Fix buffer overflow and dashboard sizeof bug
Logic Conditions: Guard against increasing max conditions beyond 64
Critical Bugs: Fix integer overflow and buffer overrun issues (cppcheck)
Blackbox: Fix MOTORS condition mismatch causing null byte padding in logs
Mission control waypoint landing functionality fixes
Servo mixer overflow issues fixed
Fixedwing level pitch trim accuracy improvements

Performance & Improvements

Flight counter addition to statistics tracking
Airspeed TPA: Add pitch angle aware TPA with airspeed support
Raise pitot_lpf_milli_hz default for better pitot performance

Localization

Ukrainian language now available
Expanded language support across configurator

Build/CI & Development

Include cygwin1.dll in Windows SITL artifact (fixes Windows SITL)
Add maintenance-9.x to nightly build workflow
MSP Protocol: Deprecate MSP command 8226, add enum parsing improvements
Add maintenance branch workflow documentation
Add release creation guide

Documentation

Add Power and Current Limiting documentation
Update JavaScript Programming documentation for namespaced syntax
Improve DEBUG mode documentation
Add prominent configurator download links to README
Update OSD element documentation
Fix Settings.md documentation to match settings.yaml definitions
Update LedStrip.md documentation

Full Changelog: 8.0.1...9.0.0

Wiki Release Notes: https://github.com/iNavFlight/inav/wiki/9.0.0-Release-Notes

INAV 9.0.0-RC4 release candidate for testing

2025-12-28T16:24:44Z

Hello and welcome to INAV 9.0.0

INAV 9.0.0-RC4 Firmware Release Notes

Release Candidate 4 for Testing
This is a pre-release for testing purposes. Please report issues on GitHub.

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

Contact other pilots, share experiences, suggestions and ask for help on:

	INAV Discord Server
	INAV Official on Facebook

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

Diff update tool

INAV CLI Update Tool

Upgrading from older versions

Please follow the instructions on this page.

Changes in RC4 (since RC3)

Bug Fixes

USB MSC (Mass Storage): Fix H743 USB MSC regression, add timeout protection and retry logic for SD card access
Power Limiting: Fix power limiting treating 0 (disabled) as less than continuous current
CRSF Telemetry: Fix buffer overflow and dashboard sizeof bug
Airspeed TPA: Fix floating-point division in throttle adjustment calculation
Logic Conditions: Guard against increasing max conditions beyond 64
Critical Bugs: Fix integer overflow and buffer overrun issues (cppcheck)

New Features

Puya Flash Support: Add support for Puya PY25Q128HA flash chip (16MB SPI NOR)
Airspeed TPA: Add pitch angle aware TPA with airspeed support
MSP Protocol: Add MSP2_INAV_LOGIC_CONDITIONS_CONFIGURED command for optimized loading
Pitot: Raise pitot_lpf_milli_hz default

Target Changes

BLUEBERRYF435WING: Disable dynamic notch filter by default
OMNIBUSF4V3_ICM: New target variant

Documentation

Add Power and Current Limiting documentation
Update JavaScript Programming documentation for namespaced syntax
Add maintenance branch workflow documentation

Build/CI

Include cygwin1.dll in Windows SITL artifact (fixes Windows SITL)

Testing Focus for RC4

Please test and report issues with:

USB Mass Storage on H7 boards
Power limiting functionality
Airspeed TPA if using pitot
Puya PY25Q128HA flash chip detection
Windows SITL functionality

Highlights of the INAV 9 series:

Fixedwing airspeed APA/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. Do not tune your PIFF too tight!

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.

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

New Settings

Name	Description
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
osd_pan_servo_range_decadegrees	Replaces the name of the old `osd_pan_servo_pwm2centideg`
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 range of dynamic airspeed PID scaling
tpa_pitch_compensation	Sets the strength which pitch angle will override 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
SKYSTARSF405V2
TBS_LUCID_H7_WING
TBS_LUCID_H7_WING_MINI
SPEEDYBEEF405WINGV2
WARPF7

What's Changed

Update Aocodarcf7mini by @dlt2018 in #9312
Add a template for new target PR by @mmosca in #9946
Add flights counter to stats by @ TransientTetra in #10020
Update Buzzer.md by @wchnflr in #10121
Added Zerodrag WARP7 by @vishnumda in #10262
Enable MSP override build flag by default by @xznhj8129 in #10330
Accelerometer and Barometer temperature compensation by @breadoven in #10382
Change gimbal sensitivity from programming framework by @error414 in #10405
MSP DisplayPort add DJI Native video system by @mmosca in #10440
Lulu fixes and improvements by @pjpei in #10416
Add new targets: MicoAir743AIO and MicoAir743v2 by @Minderring in #10557
MSP command to get radar position of other planes from esp32radar by jeffhendrix in #10571
Add new target ORBITF435 by @orbittechnologyx in #10578
Update libraries - pre-req for H7A3 by @mmosca in #10593
Fixed wing flight detection fix by @breadoven in #10621
Matekf405 spi flash blackbox fix by @mmosca in #10630
TBS_LUCID_H7: fix gyro2 by @bkleiner in #10678
fix LTM attitude (mis-cast) by @stronnag in #10680
Enable second dynamic gyro only if primary is enabled by @DzikuVx in #10687
Add barometer altitude to CRSF telemetry by @her01n in #10694
improve cli status NAV reasons by @stronnag in #10696
Updates to Iterm Lock for better readability by @DzikuVx in #10699
Add more flexibility for minimum ground speed by @MrD-RC in #10720
Update OSD.md by @MrD-RC in #10722
Add throttle gauge option to OSD by @MrD-RC in #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 #10792
Brother h743 by @sensei-hacker in #10805
Add new target: DAKEFPVF722X8 by @ThanYangFPV in #10811
Position estimator improvements by @breadoven in #10818
Add ADSB to CMS menu by @P-I-Engineer in #10820
New target JHEMCUF435 (non-AIO) by @sensei-hacker in #10825
Change the spelling error by @shivam-daksh in #10827
Docs: LED pin PWM as PINIO by @sensei-hacker in #10831
DAKEFPVF722X8: Add UART3 by @sensei-hacker in #10832
dmesg: log init messages to RAM until serial init by @sensei-hacker in #10836
Add new target CORVON743V1 by @holydust in #10839
F435 correct uart->tx_af by @sensei-hacker in #10840
New target DAKEFPVH743 by @sensei-hacker in #10843
Programming Framework.md - typo by @sensei-hacker in #10861
Use Nav max bank angle for multirotor ATTI mode by @breadoven in #10866
Fix cardinal OSD icon for DJI by @error414 in #10871
Add functions to serial.md by @sensei-hacker in #10880
Fix osd.md, add missing OSD_NAV_FW_ALT_CONTROL_RESPONSE by @druckgott in #10882
Add support for SKYSTARSF405V2 by @DusKing1 in #10884
Add new target ORBITH743 by @orbittechnologyx in #10889
Reversible motor fixes by @breadoven in #10890
Extend msp_override_mask to 32bits / channels by @stronnag in #10891
Removed dead links from the beepers list by @medvedev in #10894
Add custom targets for BOTWINGF405 and BOTWINGF722 flight controllers by @PrateekShanker99 in #10895
Add new target CORVON405V2 by @holydust in #10897
Corrected approach length marker by @b14ckyy in #10899
For burst mode dmar, define as DMA_REQUEST_TIMx_UP by @sensei-hacker in #10900
Update Bug_report.md by @b14ckyy in #10902
Option to use position for fixed wing nav altitude control by @breadoven in #10903
Docs: create contributing.md by @sensei-hacker in #10905
Nav RTH climb first fix by @breadoven in #10908
Add TBS_LUCID_H7_WING by @bkleiner in #10909
Add TBS_LUCID_H7_WING_MINI by @bkleiner in #10910
LED pin PWM.md: update link to screenshot by @sensei-hacker in #10914
Nav position estimator baro air cushion compensation fix by @breadoven in #10925
ADSB - Use extended OSD glyphs for dot in numbers and improve aircraft warning by @error414 in #10927
Branches clean up : merge docs from master to maintenance-8.x.x by @sensei-hacker in #10932
Add New Target: DAKEFPVH743PRO by @ThanYangFPV in #10940
Backport #10382 baro temp compensation to maintenance-8.x.x by @sensei-hacker in #10946
8.1 change gimbal sensitivity from programming framework by @sensei-hacker in #10950
CADDXF4_AIO_ELRS baro uses i2c2 by @sensei-hacker in #10951
8.1 JH fix matek f405 variants by @sensei-hacker in #10952
ADD NEW TARGET HUMMINGBIRD_FC305 by @LYNHQQ in #10954
Blackbox logging arm behaviour setting option by @breadoven in #10955
Add New Target DAKEFPVF435 by @ThanYangFPV in #10956
Create Building in Github Codespace.md by @WizzardDr in #10957
Flycolorf4 target by @DzikuVx in #10963
Foxeer F405V2 by @DzikuVx in #10964
Targets for darkmatter BRAHMA boards by @DzikuVx in #10965
Fix changing msp receiver crash by @stronnag in #10971
Jh fix gcc15 warnings by @stronnag in #10972
SpeedyBeeF405Wing V2 target by @DzikuVx in #10976
Fixes Building in Docker by @Lebensgefahr in #10982
Better default display i2c bus by @sensei-hacker in #10984
Allow servo speed filter carry over on the mixer profile switch by @shota3527 in #10986
Fixes for Brahma targets: F405 and F722 by @DzikuVx in #10987
Add New Target HAPPYMODELF405 by @githubDLG in #10989
Add QMC5883P driver by @BortEngineerDude in #10994
Fix some typos by @valeriyvan in #11003
Add target RADIOLINKF405 by @radiolinkW in #11006
Blackbox servos fix by @breadoven in #11010
Added ICM42605 IMU support for SKYSTARSH743HD by @DusKing1 in #11014
Fix Mac SITL CI by @Scavanger in #11017
DAKEFPVF722 SPL06 support by @sensei-hacker in #11022
Lucid_h7: add pc13 for 9v en by @bkleiner in #11023
DAKEFPVF722 support for DPS310 by @ThanYangFPV in #11041
New feature: SmartPort battery sensor by @functionpointer in #11045
Ublox: include array index to set satellites with no signal as unused by @sensei-hacker in #11064
Dakefpvf435 by @sensei-hacker in #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 #11073
Add new target blueberryF435wing by @sunyanmeng963 in #11074
Replace "exposition" with "exponential" in Settings.md by @jp39 in #11084
Rename numeric vario to vertical speed indicator by @MrD-RC in #11085
Fix typo in Control Profiles documentation by @sensei-hacker in #11086
Update external mag I2C driver registration for HUMMINGBIRD_FC305 @LYNHQQ in #11090
Update CRSF telemetry modes sensor to better reflect INAV modes by @MrD-RC in #11094
Update Geofence AUTO mode to GEO by @MrD-RC in #11096
Corrected mode display ordering by @MrD-RC in #11097
Fix buffer overflow from deprecated MSP2_INAV_LOGIC_CONDITIONS by @MrD-RC in #11099
Update throttle gauge skip by @MrD-RC in #11101
Made SITL ports configurable by @xznhj8129 in #11103
Update SmartPort telemetry to reflect latest flight modes by @MrD-RC in #11104
Update status flag check for QMC5883 by @sensei-hacker in #11105
Updates to wind in the IPF by @MrD-RC in #11109
Update cygwin ci script for the sitl by @stronnag in #11111
Update "Building SITL" document by @stronnag in #11113
Add scaling to pan servo offset by @MrD-RC in #11072
Vtol.md: s/pid_profile/control_profile/ by @sensei-hacker in #11108
Raise the limit to display CRSF SNR values on OSD by @rmaia3d in #9793
Better yaw estimation for mulitirotor(magless operation) by @shota3527 in #11114
MSP2 via CSFR/SmartPort telemetry by @error414 in #11093
MSP protocol JSON definition file + derived documentation generation by @xznhj8129 in #11088
Remove legacy option of rebooting fc without using MSP by @mmosca in #9970
Fix ADSB cardinal for broken mag direction by @error414 in #11076
Mavlink systemid cli by @xznhj8129 in #11062
MAV_CMD_DO_REPOSITION to WP#255 for GCS NAV by @xznhj8129 in #11061
Regen mavlink headers + add missing values to funcs in mavlink.c by @xznhj8129 in #11060
Add options to adjust motor RPY when transition mode is activate(vtol) by @shota3527 in #10996
MSP json rev2 by @xznhj8129 in #11115
Battery control profile off by 1 by @sensei-hacker in #11118
Update references to that should be control_profile by @MrD-RC in #11122
New target: FlyingRC F4wing mini by @dixi83 in #11092
Update FlyingRC F4Wing Mini target by @MrD-RC in #11131
NEXUSX: USE_DSHOT_DMAR, use TIM2 instead of TIM5 by @functionpointer in #11129
Add I2C compass driver registration for HUMMINGBIRD FC305 by @LYNHQQ in #11134
Normalize line endings to LF in src/main/target/FLYSPARKF4V4 in #11137
Revert #11025 "[crsf] add temperature, RPM and AirSpeed telemetry" in #11139
Add JavaScript programming documentation by @sensei-hacker in #11143
Add flyspark target by @FlySparkfpv in #10788
Dynamic Custom OSD Elements position changing by companion computer by @Ahmed-hadzi in #11095
Add JHEMCU F435 AIO target board support by @jhemcu in #10740
MSP2 message exposing 3D attitude, position, and velocity by @yakorch in #11032
MSP2_INAV_SET_GVAR by @xznhj8129 in #11146
Add release creation guide by @sensei-hacker in #11152
Update LedStrip.md by @Barnabasek in #11159
Fix missing magnetometer support on NEXUSX target by @sensei-hacker in #11157
Add MSP2_INAV_LOGIC_CONDITIONS_CONFIGURED command by @sensei-hacker in #11171
Fix H743 USB MSC regression and SDIO reliability issues by @sensei-hacker in #11194
Add airspeed TPA support by @shota3527 in #11042

Full Changelog: 8.0.1...9.0.0

INAV 9.0.0-RC3 release candidate for testing

2025-12-07T21:25:05Z

INAV 9.0.0-RC3 Release Notes

Hello and welcome to INAV 9.0.0 RC3

This release candidate is for testing the new features and changes that will be part of the INAV 9.0.0 release soon

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

Contact other pilots, share experiences, suggestions and ask for help on:

	INAV Discord Server
	INAV Official on Facebook

Note

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

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 (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.

Changes in 9.0.0-RC3 (from RC2)

MSP2_INAV_SET_GVAR by @xznhj8129 in #11146
Add release creation guide by @sensei-hacker in #11152
Update LedStrip.md by @Barnabasek in #11159
Fix missing magnetometer support on NEXUSX target by @sensei-hacker in #11157

Full Changelog: 9.0.0-RC2...9.0.0-RC3

Overview

This release candidate introduces new features and improvements for testing before the official INAV 9.0.0 release. Users are advised to remove props and verify motor/servo outputs before first battery power-up, as flexible motor and servo allocation may alter default output configurations.

Key Highlights

Minimum Ground Speed Flexibility

The Programming Framework now enables dynamic adjustment of minimum ground speed based on wind conditions, allowing aircraft to maintain headway in challenging flight environments.

OSD Throttle Gauge

A new vertical digital throttle gauge display option provides pilots with real-time throttle visualization on-screen.

Fixed Wing Altitude Control

Two selectable altitude control methods accommodate different airframe types and climb rate requirements:

Altitude Velocity controller (default)
Altitude Position controller (alternative)

Position Estimator Improvements

Enhanced Z velocity accuracy through algorithm refinements and new default weighting parameters for barometric and GPS measurements.

Sensor Additions

New QMC5883P magnetometer driver support expands hardware compatibility.

Other Notable Changes

Barometer altitude integrated into CRSF telemetry
Improved fixed-wing flight detection for auto-disarm functionality
Temperature compensation for accelerometers and barometers
Flight counter addition to statistics tracking
Enhanced VTOL tilt-rotor support with servo speed filtering
Improved magless multicopter yaw estimation
Extended MSP override capability to 32-bit channels

CLI Updates

New Settings include blackbox arm control extension, temperature correction factors, ADSB warning styles, and VTOL transition PID multipliers.

New Flight Controller Targets: 32 additional targets now supported, including variants from Blueberry, DakeFPV, TBS, and others.

OSD/CMS Changes

New elements: OSD_VERTICAL_SPEED_INDICATOR, OSD_ADSB_WARNING, OSD_ADSB_INFO, OSD_THROTTLE_GAUGE, and OSD_NAV_MIN_GROUND_SPEED.

Upgrade Instructions

From INAV 8.0, users must perform full chip erase during flashing and reload configuration via CLI diff commands. Phased loading of multi-profile settings is recommended for safety.

Critical Renaming: PID Profile → Control Profile

The term "PID Profile" has been renamed to "Control Profile" throughout INAV 9.0 to better reflect that these profiles control more than just PID settings.

Renamed Settings

Old Name (8.0.x)	New Name (9.0.0)	Notes
`controlrate_profile`	`use_control_profile`	Selects which control profile to use
`mixer_pid_profile_linking`	`mixer_control_profile_linking`	Links mixer profile to control profile
`osd_pan_servo_pwm2centideg`	`osd_pan_servo_range_decadegrees`	Pan servo range renamed for clarity

Removed Settings

Setting Name	Reason	Replacement
`reboot_character`	Legacy MSP reboot method removed	Use standard MSP reboot command

INAV 9.0.0-RC2 release candidate for testing

2025-11-30T15:49:44Z

Hello and welcome to INAV 9.0.0 RC2

This release candidate is for testing the new features and changes that will be part of the INAV 9.0.0 release soon

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

Contact other pilots, share experiences, suggestions and ask for help on:

	INAV Discord Server
	INAV Official on Facebook

Note

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

Backup configuration with CLI diff all command or use the Diff All and Save to file buttons.
Download and install the new INAV Configurator 9.0
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.
Now go to the Status Tab and press the Reset Setting button.
Select Keep current settings from the defaults pop-up.
Go to CLI and load your edited INAV 9.0 Diff
Done

Tip

Concerning step 8.
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.

Upgrading from older versions

Please follow the instructions on this page.

Highlights

Minimum ground speed flexibility

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

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

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

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

New Settings

Name	Description
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
osd_pan_servo_range_decadegrees	Replaces the name of the old `osd_pan_servo_pwm2centideg`
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

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
SKYSTARSF405V2
TBS_LUCID_H7_WING
TBS_LUCID_H7_WING_MINI
SPEEDYBEEF405WINGV2
WARPF7

What's Changed

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

Full Changelog: 8.0.1...9.0.0

INAV 8.0.1

2025-09-10T12:30:06Z

Hello and welcome to INAV 8.0.1 "Gallant Goshawk"

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

Contact other pilots, share experiences, suggestions and ask for help on:

	INAV Discord Server
	INAV Official on Facebook

INAV 8 no longer includes F411 targets as part of the official release.

GPS: UBLOX7 and UBLOX have been merged into a single UBLOX option, and units with older firmware are now deprecated. Only M8 and newer will be supported in the future.

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.

This is a minor release and If nothing serious is found, this will be released as 8.0.1 final.

Fixed issues in 8.0.1

#10646 Jeti receivers may lock up while using telemetry. (Thanks to https://elefun.no/ for helping us get in touch with JETI and arranging delivery of a DS-12 + REX3 rx on loan to debug the issue)

Known Issues in 8.0.1

Fixedwing Altitude Velocity controller tuning. Requiring a more precise Autotune to be conducted. Read below
Not an issue. But the Jeti update can benefit from more testing.

Upgrading from a previous release

Upgrading from INAV 8.0.0

Backup configuration with CLI diff all command
Download and install the new INAV Configurator 8.0
Flash INAV 8.0 WITH Full Chip Erase option enabled
Select Keep current settings from the defaults pop-up
Go to CLI and restore your inav diff

Upgrading from INAV 7.0 and 7.1

Backup configuration with CLI diff all command
Download and install the new INAV Configurator 8.0
Flash INAV 8.0 WITH Full Chip Erase option enabled
Edit the 7.x diff and apply Diff breaking changes described bellow, and save it as your new inav 8 diff. See Diff breaking changes section below.
Select Keep current settings from the defaults pop-up
Go to CLI and restore your edited inav diff
Done

This tool can help migrate your INAV 7.x diff over to INAV 8.0.0. It will take care of the major changes that have been highlighted in these release notes.

Upgrading from older versions

Please follow the instructions on this page.

Highlights

DJI O4 support (updated in 8.0.1)

DJI has released new firmware for O4, DJI Goggles 2, 3, N3 and integra that will add INAV font support on those goggles and fix the armed detection in O4.

With configurator 8.0.1 you should be able to select DJI_NATIVE as the video system, but if you don't want to upgrade, the AVATAR option should also give you the correct INAV font and canvas size, but don't forget to select INAV as the OSD type in your updated goggles.

The O4 arming workaround will be remove in INAV 9.

Geozones

The Geozone feature allows pilots to define one or multiple areas on the map in Mission Control, to prevent accidental flying outside of allowed zones (Flight-Zones, FZ) or to avoid certain areas they are not allowed or not willing to fly in (No-Flight-Zone, NFZ). This type of feature might be known to many pilots as a "Geofence" and despite providing the same core functionality, INAV Geozones are significantly more versatile and provide more safety and features. Read the Documentation for more info
IMPORTANT: Geozones will not be available for STM32F722 based Flight Controllers due to insufficient flash storage.

GPS Fix estimation (dead reckoning, RTH without GPS fix) for Airplanes

This new feature allows INAV to return to its launch location, in case of a failed GPS due to hardware failure or interference. INAV will use the remaining sensors and the already calculated wind speed and direction, to blindly return towards the home location. For this feature, no extra sensors are strictly necessary, aside from the standard Accelerometer, Gyroscope and Barometer, but its highly recommended to have a compass and for best precision, to also have an Airspeed sensor. The feature will not be able to precisely return to the pilot, but it allows the Aircraft to either get out of an area with interferences, or to give the pilot time and a chance to regain control for a manual return, when the aircraft is closer. Details here

MSP-Linkstats

A new MSP Message that allows RC links that communicate with the Flight controller via MSP, to provide Link Information to INAV like LQ, RSSI, Power Level, SNR and more. The first RC Link to support this is the mLRS Project with more possibly coming in the future. Details here

MSP-VTX

MSP-VTX has been updated by @geoffsim to increase compatibility with HDZero vtxs.

Mavlink Advancement for MavlinkRC

The previously simple Mavlink Telemetry was extended to be compatible with flow control capable links (Thanks @MUSTARDTIGERFPV). This now allows RC Control via Mavlink and Telemetry at the same time over a Single UART. It is tested successfully with ELRS Mavlink-RC and mLRS Mavlink. Additionally it allows the Use of Mission Planner, QGroundControl and potentially other GCS Applications to be used for Flight Monitoring with INAV.
Note: To receive RSSI and LQ for ELRS Mavlink-RC you need to set mavlink_radio_type=ELRS in the CLI. Details here

Walksnail Serial Gimbal and Headtracker support

INAV now also supports the Caddx / Walksnail GM Series Gimbals. These can now be controlled via a dedicated uart UART or via MSP and don't need up to 3 PWM Outputs anymore. This enables the direct Gimbal Control via Head Tracking from Walksnail goggles, without additional wiring. Details Here

OSD Updates

Users can change the precision (amount of decimal places) for Altitude and Distance #10431
Enhancements for Custom OSD Elements #10282
Update arming screen for better space utilisation #10300
OSD system message improvements #10090
Better organisation of the post flight stats screen with more stats available #9617

ADSB Receiver Support

It is now possible to connect an ADSB receiver to your flight controller and get OSD Warnings if any ADSB enabled Aircraft, is close by. INAV Configurator can show these Aircraft on the map for additional safety of UAV flights. ADSB is supported for generally available receivers like uAvionix pingRX (not tested) and Aerobit TT-SC1 (tested) and should also work with the upcoming PicoADSB Details here

I-Term Lock for Fixed Wing

The Fixed Wing PIDFF Controller was reworked. The PIDs are now attenuated based in the amount of Setpoint (Stick deflection in Acro Mode) for a more "Manual" flight feel during aggressive inputs while keeping the locked in feel of a PID-Assisted flight. This allows the Pilot to have a PID tune with very high P and I values for a locked in flight feel, while keeping a good manual feeling of the plane's flight characteristics, especially when flying slow. Additionally the Attenuation fixes the Bounce-Back caused by the Integral of the PID controller, after sharp roll or pitch inputs. Details Here

U-Blox AssistNow Support in INAV Configurator

AssistNow is a Service that provides GPS Satellite information data for offline-applications, to dramatically increase the time to fix for GPS Devices. By Providing your own AssistNow Token, INAV Configurator can automatically download the latest data set and transfer it to any connected INAV UAV. With this, a GPS fix after cold start should merely take seconds instead of minutes. This is especially helpful for people who go fly with a big fleet of aircraft. Details here

Sensor ID change for SmartPort telemetry

The sensor IDs for the Modes and GNSS data have changed in SmartPort telemetry. The default settings in INAV are to now use the new sensor IDs. The INAV OpenTX-Telemetry-Widget has been updated to use these new IDs. So you will not see any issues when using the latest version of this widget. However, if you use another widget or app that uses the SmartPort telemetry. It is recommended to inform the creator of the app/widget, as the old sensor IDs will be removed in INAV 10.0.0. Details here

You can change INAV to use the old sensor IDs with the CLI parameter set frsky_use_legacy_gps_mode_sensor_ids = on. However, it is recommended to only use this only as long as necessary. This parameter will also be removed in INAV10.0.0.

Improved SD Card support for F7 and H7 flight controllers using SDIO

This version of INAV fixes some long standing bugs with the SDIO driver for H7 and F765 flight controllers. Now they share the same HAL based driver and fixes.
This affects a small number of targets, as most targets use the older and slower SPI based access to SD cards.
Moving forward, SDIO is the preferred and recommend way to implement SD Card blackbox in INAV, as it is faster than SPI and support up to 4BIT wide data access, versus SPI 1 bit.

This change affects the following targets:

FLYWOOH743PRO
IFLIGHT_BLITZ_H7_PRO
KAKUTEH7WING
MATEKF765
MATEKH743
MICOAIR743
NEUTRONRCH7BT
PIXRACER
TBS_LUCID_H7

Fixed wing altitude velocity controller

The altitude VELOCITY controller replaces the old POSITION control method. It is still considered somewhat experimental. Being that it requires the fw_ff_pitch and pitch_rate to be tuned more precisely with AutoTune. Or pitch oscillation may occur in modes that hold altitude, with your older DIFF settings.

Tip

Ensure the control surface servo throws are set correctly before you tune the Rates and Feedforwards by the Autotune process.
Any adjustments made to the servo Mixer or Output travels after you have tuned the Rates and Feedforwards, will negatively effect performance. Requiring you to run the tuning process again.

Please also read here for advise on the tuning of this controller. And things that can influence behavior.

Also follow this issue report if required #9471

Other important changes:

Multirotor inverted crash detection #10099
Waypoint tracking improvements #10278 (Note usage change for nav_fw_wp_tracking_accuracy may require change of setting)
Fixed wing altitude velocity control #9471 (see know issues above related to this change)

Diff breaking changes

Profile consolidation

The profile CLI command has been renamed to control_profile. When updating from an older version of INAV. You will need to edit your diff with this change. For example:

# profile
profile 1

set fw_p_pitch = 14
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 137
...

Will become

# profile
control_profile 1

set fw_p_pitch = 14
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 137
...

OSD Custom Elements

If you have previously used OSD Custom Elements. You will need to update the diff for these, so that they continue to work in the same way. The system has been expanded to allow the use of logic condition results and have more numerical variations. To keep your OSD Custom Elements working, you will need to change the element type IDs, if they are 4, 5, 6, or 7. The table below shows the old and new IDs.

Numeric format	Old name	Old ID	New name	New ID
000	CUSTOM_ELEMENT_TYPE_GV_SMALL	6	CUSTOM_ELEMENT_TYPE_GV_3	7
00000	CUSTOM_ELEMENT_TYPE_GV	4	CUSTOM_ELEMENT_TYPE_GV_5	9
0.0	CUSTOM_ELEMENT_TYPE_GV_SMALL_FLOAT	7	CUSTOM_ELEMENT_TYPE_GV_FLOAT_1_1	10
0000.0	CUSTOM_ELEMENT_TYPE_GV_FLOAT	5	CUSTOM_ELEMENT_TYPE_GV_FLOAT_4_1	16

Below, you can see the position of the IDs that you need to change if they are 4, 5, 6, or 7.

osd_custom_elements 0 3 0 1 0 0 0 0 0 "FLAPS"
                      ^   ^   ^

CLI

New / Changed Items

Name	Description
`geozone`	Manages the geozone data set
`control_profile`	`profile` has been renamed to `control_profile`

Changed Settings

Name	Values
`blackbox_device`	New: `FILE` (for `SITL` usage)
`debug_modes`	New: `ADAPTIVE_FILTER`, `HEADTRACKER`, `GPS`, `LULU`, `SBUS2`
`dynamic_gyro_notch_mode`	Removed: `3D_R`, `3D_P`, `3D_Y`, `3D_RP`, `3D_RY`, `3D_PY`
`filter_type_full`	New: `LULU`
`gps_dyn_model`	New: `SEA`, `MOWER`
`gps_provider`	Removed: `UBLOX7` (Use `UBLOX`; version specific capabilities will be auto-detected)
`nav_fw_wp_tracking_accuracy`	Now set distance from waypoint course line in meters rather some arbitrary tracking response value
`rangefinder_hardware`	New: `TERARANGER_EVO`, `USD1_V0`, `NRA`
`serial_rx`	New: `SBUS2`

New Settings

Name	Description
`disarm_always`	When you switch to Disarm, do so regardless of throttle position. If this Setting is `OFF`. It will only disarm only when the throttle is low. This is similar to the previous `disarm_kill_switch` option. Default setting is the same as the old default behaviour. Default: TRUE
`enable_broken_o4_workaround`	DJI O4 release firmware has a broken MSP DisplayPort implementation. This enables a workaround to restore ARM detection. Default: FALSE
`ez_snappiness`	EzTune snappiness Values: 0 - 100 Default: 0
`failsafe_gps_fix_estimation_delay`	Controls whether waypoint mission is allowed to proceed with gps fix estimation. Sets the time delay in seconds between gps fix lost event and RTH activation. Minimum delay is 7 seconds. If set to -1 the mission will continue until the end. With default setting(7), waypoint mission is aborted and switched to RTH with 7 seconds delay. RTH is done with GPS Fix estimation. Values: -1 - 600 Default: 7
`frsky_use_legacy_gps_mode_sensor_ids`	S.Port telemetry: If `ON`, send the legacy telemetry IDs for modes (Tmp1) and GNSS (Tmp2). These are old IDs, deprecated, and will be removed in INAV 10.0. Tools and scripts using these IDs should be updated to use the new IDs of 470 for Modes and 480 for GNSS. Default: 'OFF' Default: FALSE
`fw_iterm_lock_engage_threshold`	Defines error rate (in percents of max rate) when Iterm Lock is engaged when sticks are release. Iterm Lock will stay active until error drops below this number Values: 5 - 25 Default: 10
`fw_iterm_lock_rate_threshold`	Defines rate percentage when full P I and D attenuation should happen. 100 disables Iterm Lock for P and D term Values: 10 - 100 Default: 40
`fw_iterm_lock_time_max_ms`	Defines max time in milliseconds for how long ITerm Lock will shut down Iterm after sticks are release Values: 100 - 1000 Default: 500
`geozone_avoid_altitude_range`	Altitude range in which an attempt is made to avoid a geozone upwards Values: 0 - 1000000 Default: 5000
`geozone_detection_distance`	Distance from which a geozone is detected Values: 0 - 1000000 Default: 50000
`geozone_mr_stop_distance`	Distance in which multirotors stops before the border Values: 0 - 100000 Default: 15000
`geozone_no_way_home_action`	Action if RTH with active geozones is unable to calculate a course to home (`RTH`, `EMRG_LAND`). Default: RTH
`geozone_safe_altitude_distance`	Vertical distance that must be maintained to the upper and lower limits of the zone. Values: 0 - 10000 Default: 1000
`geozone_safehome_as_inclusive`	Treat nearest safehome as inclusive geozone Default: FALSE
`geozone_safehome_zone_action`	Fence action for safehome zone (`NONE`, `AVOID`, `POS_HOLD`, `RTH`). Default: NONE
`gimbal_pan_channel`	Gimbal pan rc channel index. 0 is no channel. Values: 0 - 32 Default: 0
`gimbal_pan_trim`	Trim gimbal pan center position. Values: -500 - 500 Default: 0
`gimbal_roll_channel`	Gimbal roll rc channel index. 0 is no channel. Values: 0 - 32 Default: 0
`gimbal_roll_trim`	Trim gimbal roll center position. Values: -500 - 500 Default: 0
`gimbal_sensitivity`	Gimbal sensitivity is similar to gain and will affect how quickly the gimbal will react. Values: -16 - 15 Default: 0
`gimbal_serial_single_uart`	Gimbal serial and headtracker device share same UART. FC RX goes to headtracker device, FC TX goes to gimbal. Default: FALSE
`gimbal_tilt_channel`	Gimbal tilt rc channel index. 0 is no channel. Values: 0 - 32 Default: 0
`gimbal_tilt_trim`	Trim gimbal tilt center position. Values: -500 - 500 Default: 0
`gyro_adaptive_filter_hpf_hz`	High pass filter cutoff frequency Values: 1 - 50 Default: 10
`gyro_adaptive_filter_integrator_threshold_high`	High threshold for adaptive filter integrator Values: 1 - 10 Default: 4
`gyro_adaptive_filter_integrator_threshold_low`	Low threshold for adaptive filter integrator Values: -10 - 0 Default: -2
`gyro_adaptive_filter_max_hz`	Maximum frequency for adaptive filter Values: 0 - 505 Default: 150
`gyro_adaptive_filter_min_hz`	Minimum frequency for adaptive filter Values: 0 - 250 Default: 50
`gyro_adaptive_filter_std_lpf_hz`	Standard deviation low pass filter cutoff frequency Values: 0 - 10 Default: 2
`gyro_adaptive_filter_target`	Target value for adaptive filter Values: 1 - 6 Default: 3.5
`gyro_filter_mode`	Specifies the type of the software LPF of the gyro signals (`OFF`, `STATIC`, `DYNAMIC`, `ADAPTIVE`). Default: STATIC
`gyro_lulu_enabled`	Enable/disable gyro LULU filter Default: FALSE
`gyro_lulu_sample_count`	Gyro lulu sample count, in number of samples. Values: 1 - 15 Default: 3
`headtracker_pan_ratio`	Head pan movement vs camera movement ratio Values: 0 - 5 Default: 1
`headtracker_roll_ratio`	Head roll movement vs camera movement ratio Values: 0 - 5 Default: 1
`headtracker_tilt_ratio`	Head tilt movement vs camera movement ratio Values: 0 - 5 Default: 1
`headtracker_type`	Type of headtracker dervice (`NONE`, `SERIAL`, `MSP`). Default: NONE
`inav_allow_gps_fix_estimation`	Defines if inav will estimate GPS fix with magnetometer and barometer on GPS outages. Enables navigation and RTH without GPS fix on fixed wing. Also see failsafe_gps_fix_estimation_delay. Default: FALSE
`inav_default_alt_sensor`	Sets the default altitude sensor to use (`GPS`, `BARO`, `GPS_ONLY`, `BARO_ONLY`). Settings GPS and BARO always use both sensors unless there is an altitude error between the sensors that exceeds a set limit. In this case only the selected sensor will be used while the altitude error limit is exceeded. GPS error limit = 2 * inav_max_eph_epv. BARO error limit = 4 * inav_baro_epv. Settings GPS_ONLY and BARO_ONLY will use only the selected sensor even if the other sensor is working. The other sensor will only be used as a backup if the selected sensor is no longer available to use. Default: GPS
`inav_w_z_baro_v`	Weight of barometer climb rate measurements in estimated climb rate. Setting is used on both airplanes and multirotors. Values: 0 - 10 Default: 0.1
`mavlink_min_txbuffer`	Minimum percent of TX buffer space free, before attempting to transmit telemetry. Requuires RADIO_STATUS messages to be processed. 0 = always transmits. Values: 0 - 100 Default: 33
`mavlink_radio_type`	Mavlink radio type (`GENERIC`, `ELRS`, `SIK`). Affects how RSSI and LQ are reported on OSD. Default: GENERIC
`nav_fw_alt_control_response`	Adjusts the deceleration response of fixed wing altitude control as the target altitude is approached. Decrease value to help avoid overshooting the target altitude. Values: 5 - 100 Default: 40
`nav_fw_auto_climb_rate`	Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s] Values: 10 - 2000 Default: 500
`nav_fw_launch_wiggle_to_wake_idle`	Trigger the idle throttle by wiggling the plane. 0 = disabled. 1 and 2 signify 1 or 2 yaw wiggles to activate. 1 wiggle has a higher detection point, for airplanes without a tail. 2 wiggles has a lower detection point, but requires the repeated action. This is intended for larger models and airplanes with tails. Values: 0 - 2 Default: 0
`nav_fw_manual_climb_rate`	Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s] Values: 10 - 2500 Default: 300
`nav_fw_pos_z_ff`	FF gain of altitude PID controller (Fixedwing) Values: 0 - 255 Default: 10
`nav_mc_auto_climb_rate`	Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s] Values: 10 - 2000 Default: 500
`nav_mc_inverted_crash_detection`	Setting a value > 0 enables inverted crash detection for multirotors. It will auto disarm in situations where the multirotor has crashed inverted on the ground and can't be manually disarmed due to loss of control or for some other reason. When enabled this setting defines the additional number of seconds before disarm beyond a minimum fixed time delay of 3s. Requires a barometer to work. Values: 0 - 15 Default: 0
`nav_mc_manual_climb_rate`	Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s] Values: 10 - 2000 Default: 200
`osd_adsb_distance_alert`	Distance inside which ADSB data flashes for proximity warning Values: 1 - 64000 Default: 3000
`osd_adsb_distance_warning`	Distance in meters of ADSB aircraft that is displayed Values: 1 - 64000 Default: 20000
`osd_adsb_ignore_plane_above_me_limit`	Ignore adsb planes above, limit, 0 disabled (meters) Values: 0 - 64000 Default: 0
`osd_decimals_altitude`	Number of decimals for the altitude displayed in the OSD [3-5]. Values: 3 - 5 Default: 3
`osd_decimals_distance`	Number of decimals for distance displayed in the OSD [3-5]. This includes distance from home, total distance, and distance remaining. Values: 3 - 5 Default: 3
`osd_estimations_wind_mps`	Wind speed estimation in m/s Default: FALSE
`osd_highlight_djis_missing_font_symbols`	Show question marks where there is no symbol in the DJI font to represent the INAV OSD element's symbol. When off, blank spaces will be used. Only relevent for DJICOMPAT modes. Default: TRUE
`osd_radar_peers_display_time`	Time in seconds to display next peer Values: 1 - 10 Default: 3
`osd_stats_show_metric_efficiency`	Enabling this option will show metric efficiency statistics on the post flight stats screen. In addition to the efficiency statistics in your chosen units. Default: FALSE

Removed Settings

Name	Description
`control_deadband`
`cpu_underclock`
`disarm_kill_switch`
`dji_workarounds`
`fw_iterm_limit_stick_position`
`gyro_anti_aliasing_lpf_type`
`gyro_hardware_lpf`
`gyro_main_lpf_type`
`gyro_use_dyn_lpf`
`inav_use_gps_no_baro`
`inav_use_gps_velned`
`ledstrip_visual_beeper`
`max_throttle`
`nav_auto_climb_rate`
`nav_manual_climb_rate`
`osd_stats_min_voltage_unit`
`pidsum_limit`
`pidsum_limit_yaw`

What's Changed

Update GPS_fix_estimation.md by @nicesub in #10636
Matekf405 spi flash blackbox fix by @mmosca in #10630
Change TARGET_BOARD_IDENTIFIER for AET-H743-Basic to avoid confliction by @villivateur in #10637
Add missing gyro defines to TMOTORF7 by @ot0tot in #10639
Add unofficial target for CADDXF4_AIO_ELRS by @mmosca in #10641
Fixed wing flight detection fix by @breadoven in #10621
Add new targets: MicoAir743AIO and MicoAir743v2 by @Minderring in #10557
settings.yaml: clarify description of nav_fw_launch_timeout by @sensei-hacker in #10638
fix LTM attitude (mis-cast) by @stronnag in #10680
MSP DisplayPort add DJI Native video system by @mmosca in #10440
improve cli status NAV reasons by @stronnag in #10696
TBS_LUCID_H7: fix gyro2 by @bkleiner in #10678
Make config_streamer_stm32h7 less hard coded. by @mmosca in #10706
Prepare for 8.0.1 release by @mmosca in #10724
Adsbee1090 by @error414 in #10727
fix MATEKF405 variants BBL logging by @stronnag in #10741
JETI EXBUS fixes by @mmosca in #10772
Multirotor Althold altitude adjustment fix by @breadoven in #10664

New Contributors

@nicesub made their first contribution in #10636

Full Changelog: 8.0.0...8.0.1

INAV 8.0.1 RC2

2025-03-26T10:01:36Z

Hello and welcome to INAV 8.0.1 RC2 "Gallant Goshawk"

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

Contact other pilots, share experiences, suggestions and ask for help on:

	INAV Discord Server
	INAV Official on Facebook

INAV 8 no longer includes F411 targets as part of the official release.

GPS: UBLOX7 and UBLOX have been merged into a single UBLOX option, and units with older firmware are now deprecated. Only M8 and newer will be supported in the future.

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.

This is a minor release and If nothing serious is found, this will be released as 8.0.1 final.

Fixed issues in 8.0.1

#10646 Jeti receivers may lock up while using telemetry. (Thanks to https://elefun.no/ for helping us get in touch with JETI and arranging delivery of a DS-12 + REX3 rx on loan to debug the issue)

Known Issues in 8.0.1

None, but the Jeti issue can benefit from more testing.

Upgrading from a previous release

Upgrading from INAV 8.0.0

Backup configuration with CLI diff all command
Download and install the new INAV Configurator 8.0
Flash INAV 8.0 WITH Full Chip Erase option enabled
Select Keep current settings from the defaults pop-up
Go to CLI and restore your inav diff

Upgrading from INAV 7.0 and 7.1

Backup configuration with CLI diff all command
Download and install the new INAV Configurator 8.0
Flash INAV 8.0 WITH Full Chip Erase option enabled
Edit the 7.x diff and apply Diff breaking changes described bellow, and save it as your new inav 8 diff. See Diff breaking changes section below.
Select Keep current settings from the defaults pop-up
Go to CLI and restore your edited inav diff
Done

This tool can help migrate your INAV 7.x diff over to INAV 8.0.0. It will take care of the major changes that have been highlighted in these release notes.

Upgrading from older versions

Please follow the instructions on this page.

Highlights

DJI O4 support (updated in 8.0.1)

DJI has released new firmware for O4, DJI Goggles 2, 3, N3 and integra that will add INAV font support on those goggles and fix the armed detection in O4.

The O4 arming workaround will be remove in INAV 9.

Geozones

GPS Fix estimation (dead reckoning, RTH without GPS fix) for Airplanes

MSP-Linkstats

MSP-VTX

MSP-VTX has been updated by @geoffsim to increase compatibility with HDZero vtxs.

Mavlink Advancement for MavlinkRC

Walksnail Serial Gimbal and Headtracker support

OSD Updates

Users can change the precision (amount of decimal places) for Altitude and Distance #10431
Enhancements for Custom OSD Elements #10282
Update arming screen for better space utilisation #10300
OSD system message improvements #10090
Better organisation of the post flight stats screen with more stats available #9617

ADSB Receiver Support

I-Term Lock for Fixed Wing

U-Blox AssistNow Support in INAV Configurator

Sensor ID change for SmartPort telemetry

Improved SD Card support for F7 and H7 flight controllers using SDIO

This change affects the following targets:

FLYWOOH743PRO
IFLIGHT_BLITZ_H7_PRO
KAKUTEH7WING
MATEKF765
MATEKH743
MICOAIR743
NEUTRONRCH7BT
PIXRACER
TBS_LUCID_H7

Other important changes:

Multirotor inverted crash detection #10099
Waypoint tracking improvements #10278 (Note usage change for nav_fw_wp_tracking_accuracy may require change of setting)
Fixed wing altitude velocity control #9471 (see know issues above related to this change)

Diff breaking changes

Profile consolidation

The profile CLI command has been renamed to control_profile. When updating from an older version of INAV. You will need to edit your diff with this change. For example:

# profile
profile 1

set fw_p_pitch = 14
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 137
...

Will become

# profile
control_profile 1

set fw_p_pitch = 14
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 137
...

OSD Custom Elements

Numeric format	Old name	Old ID	New name	New ID
000	CUSTOM_ELEMENT_TYPE_GV_SMALL	6	CUSTOM_ELEMENT_TYPE_GV_3	7
00000	CUSTOM_ELEMENT_TYPE_GV	4	CUSTOM_ELEMENT_TYPE_GV_5	9
0.0	CUSTOM_ELEMENT_TYPE_GV_SMALL_FLOAT	7	CUSTOM_ELEMENT_TYPE_GV_FLOAT_1_1	10
0000.0	CUSTOM_ELEMENT_TYPE_GV_FLOAT	5	CUSTOM_ELEMENT_TYPE_GV_FLOAT_4_1	16

Below, you can see the position of the IDs that you need to change if they are 4, 5, 6, or 7.

osd_custom_elements 0 3 0 1 0 0 0 0 0 "FLAPS"
                      ^   ^   ^

CLI

New / Changed Items

Name	Description
`geozone`	Manages the geozone data set
`control_profile`	`profile` has been renamed to `control_profile`

Changed Settings

Name	Values
`blackbox_device`	New: `FILE` (for `SITL` usage)
`debug_modes`	New: `ADAPTIVE_FILTER`, `HEADTRACKER`, `GPS`, `LULU`, `SBUS2`
`dynamic_gyro_notch_mode`	Removed: `3D_R`, `3D_P`, `3D_Y`, `3D_RP`, `3D_RY`, `3D_PY`
`filter_type_full`	New: `LULU`
`gps_dyn_model`	New: `SEA`, `MOWER`
`gps_provider`	Removed: `UBLOX7` (Use `UBLOX`; version specific capabilities will be auto-detected)
`nav_fw_wp_tracking_accuracy`	Now set distance from waypoint course line in meters rather some arbitrary tracking response value
`rangefinder_hardware`	New: `TERARANGER_EVO`, `USD1_V0`, `NRA`
`serial_rx`	New: `SBUS2`

New Settings

Name	Description
`disarm_always`	When you switch to Disarm, do so regardless of throttle position. If this Setting is `OFF`. It will only disarm only when the throttle is low. This is similar to the previous `disarm_kill_switch` option. Default setting is the same as the old default behaviour. Default: TRUE
`enable_broken_o4_workaround`	DJI O4 release firmware has a broken MSP DisplayPort implementation. This enables a workaround to restore ARM detection. Default: FALSE
`ez_snappiness`	EzTune snappiness Values: 0 - 100 Default: 0
`failsafe_gps_fix_estimation_delay`	Controls whether waypoint mission is allowed to proceed with gps fix estimation. Sets the time delay in seconds between gps fix lost event and RTH activation. Minimum delay is 7 seconds. If set to -1 the mission will continue until the end. With default setting(7), waypoint mission is aborted and switched to RTH with 7 seconds delay. RTH is done with GPS Fix estimation. Values: -1 - 600 Default: 7
`frsky_use_legacy_gps_mode_sensor_ids`	S.Port telemetry: If `ON`, send the legacy telemetry IDs for modes (Tmp1) and GNSS (Tmp2). These are old IDs, deprecated, and will be removed in INAV 10.0. Tools and scripts using these IDs should be updated to use the new IDs of 470 for Modes and 480 for GNSS. Default: 'OFF' Default: FALSE
`fw_iterm_lock_engage_threshold`	Defines error rate (in percents of max rate) when Iterm Lock is engaged when sticks are release. Iterm Lock will stay active until error drops below this number Values: 5 - 25 Default: 10
`fw_iterm_lock_rate_threshold`	Defines rate percentage when full P I and D attenuation should happen. 100 disables Iterm Lock for P and D term Values: 10 - 100 Default: 40
`fw_iterm_lock_time_max_ms`	Defines max time in milliseconds for how long ITerm Lock will shut down Iterm after sticks are release Values: 100 - 1000 Default: 500
`geozone_avoid_altitude_range`	Altitude range in which an attempt is made to avoid a geozone upwards Values: 0 - 1000000 Default: 5000
`geozone_detection_distance`	Distance from which a geozone is detected Values: 0 - 1000000 Default: 50000
`geozone_mr_stop_distance`	Distance in which multirotors stops before the border Values: 0 - 100000 Default: 15000
`geozone_no_way_home_action`	Action if RTH with active geozones is unable to calculate a course to home (`RTH`, `EMRG_LAND`). Default: RTH
`geozone_safe_altitude_distance`	Vertical distance that must be maintained to the upper and lower limits of the zone. Values: 0 - 10000 Default: 1000
`geozone_safehome_as_inclusive`	Treat nearest safehome as inclusive geozone Default: FALSE
`geozone_safehome_zone_action`	Fence action for safehome zone (`NONE`, `AVOID`, `POS_HOLD`, `RTH`). Default: NONE
`gimbal_pan_channel`	Gimbal pan rc channel index. 0 is no channel. Values: 0 - 32 Default: 0
`gimbal_pan_trim`	Trim gimbal pan center position. Values: -500 - 500 Default: 0
`gimbal_roll_channel`	Gimbal roll rc channel index. 0 is no channel. Values: 0 - 32 Default: 0
`gimbal_roll_trim`	Trim gimbal roll center position. Values: -500 - 500 Default: 0
`gimbal_sensitivity`	Gimbal sensitivity is similar to gain and will affect how quickly the gimbal will react. Values: -16 - 15 Default: 0
`gimbal_serial_single_uart`	Gimbal serial and headtracker device share same UART. FC RX goes to headtracker device, FC TX goes to gimbal. Default: FALSE
`gimbal_tilt_channel`	Gimbal tilt rc channel index. 0 is no channel. Values: 0 - 32 Default: 0
`gimbal_tilt_trim`	Trim gimbal tilt center position. Values: -500 - 500 Default: 0
`gyro_adaptive_filter_hpf_hz`	High pass filter cutoff frequency Values: 1 - 50 Default: 10
`gyro_adaptive_filter_integrator_threshold_high`	High threshold for adaptive filter integrator Values: 1 - 10 Default: 4
`gyro_adaptive_filter_integrator_threshold_low`	Low threshold for adaptive filter integrator Values: -10 - 0 Default: -2
`gyro_adaptive_filter_max_hz`	Maximum frequency for adaptive filter Values: 0 - 505 Default: 150
`gyro_adaptive_filter_min_hz`	Minimum frequency for adaptive filter Values: 0 - 250 Default: 50
`gyro_adaptive_filter_std_lpf_hz`	Standard deviation low pass filter cutoff frequency Values: 0 - 10 Default: 2
`gyro_adaptive_filter_target`	Target value for adaptive filter Values: 1 - 6 Default: 3.5
`gyro_filter_mode`	Specifies the type of the software LPF of the gyro signals (`OFF`, `STATIC`, `DYNAMIC`, `ADAPTIVE`). Default: STATIC
`gyro_lulu_enabled`	Enable/disable gyro LULU filter Default: FALSE
`gyro_lulu_sample_count`	Gyro lulu sample count, in number of samples. Values: 1 - 15 Default: 3
`headtracker_pan_ratio`	Head pan movement vs camera movement ratio Values: 0 - 5 Default: 1
`headtracker_roll_ratio`	Head roll movement vs camera movement ratio Values: 0 - 5 Default: 1
`headtracker_tilt_ratio`	Head tilt movement vs camera movement ratio Values: 0 - 5 Default: 1
`headtracker_type`	Type of headtracker dervice (`NONE`, `SERIAL`, `MSP`). Default: NONE
`inav_allow_gps_fix_estimation`	Defines if inav will estimate GPS fix with magnetometer and barometer on GPS outages. Enables navigation and RTH without GPS fix on fixed wing. Also see failsafe_gps_fix_estimation_delay. Default: FALSE
`inav_default_alt_sensor`	Sets the default altitude sensor to use (`GPS`, `BARO`, `GPS_ONLY`, `BARO_ONLY`). Settings GPS and BARO always use both sensors unless there is an altitude error between the sensors that exceeds a set limit. In this case only the selected sensor will be used while the altitude error limit is exceeded. GPS error limit = 2 * inav_max_eph_epv. BARO error limit = 4 * inav_baro_epv. Settings GPS_ONLY and BARO_ONLY will use only the selected sensor even if the other sensor is working. The other sensor will only be used as a backup if the selected sensor is no longer available to use. Default: GPS
`inav_w_z_baro_v`	Weight of barometer climb rate measurements in estimated climb rate. Setting is used on both airplanes and multirotors. Values: 0 - 10 Default: 0.1
`mavlink_min_txbuffer`	Minimum percent of TX buffer space free, before attempting to transmit telemetry. Requuires RADIO_STATUS messages to be processed. 0 = always transmits. Values: 0 - 100 Default: 33
`mavlink_radio_type`	Mavlink radio type (`GENERIC`, `ELRS`, `SIK`). Affects how RSSI and LQ are reported on OSD. Default: GENERIC
`nav_fw_alt_control_response`	Adjusts the deceleration response of fixed wing altitude control as the target altitude is approached. Decrease value to help avoid overshooting the target altitude. Values: 5 - 100 Default: 40
`nav_fw_auto_climb_rate`	Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s] Values: 10 - 2000 Default: 500
`nav_fw_launch_wiggle_to_wake_idle`	Trigger the idle throttle by wiggling the plane. 0 = disabled. 1 and 2 signify 1 or 2 yaw wiggles to activate. 1 wiggle has a higher detection point, for airplanes without a tail. 2 wiggles has a lower detection point, but requires the repeated action. This is intended for larger models and airplanes with tails. Values: 0 - 2 Default: 0
`nav_fw_manual_climb_rate`	Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s] Values: 10 - 2500 Default: 300
`nav_fw_pos_z_ff`	FF gain of altitude PID controller (Fixedwing) Values: 0 - 255 Default: 10
`nav_mc_auto_climb_rate`	Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s] Values: 10 - 2000 Default: 500
`nav_mc_inverted_crash_detection`	Setting a value > 0 enables inverted crash detection for multirotors. It will auto disarm in situations where the multirotor has crashed inverted on the ground and can't be manually disarmed due to loss of control or for some other reason. When enabled this setting defines the additional number of seconds before disarm beyond a minimum fixed time delay of 3s. Requires a barometer to work. Values: 0 - 15 Default: 0
`nav_mc_manual_climb_rate`	Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s] Values: 10 - 2000 Default: 200
`osd_adsb_distance_alert`	Distance inside which ADSB data flashes for proximity warning Values: 1 - 64000 Default: 3000
`osd_adsb_distance_warning`	Distance in meters of ADSB aircraft that is displayed Values: 1 - 64000 Default: 20000
`osd_adsb_ignore_plane_above_me_limit`	Ignore adsb planes above, limit, 0 disabled (meters) Values: 0 - 64000 Default: 0
`osd_decimals_altitude`	Number of decimals for the altitude displayed in the OSD [3-5]. Values: 3 - 5 Default: 3
`osd_decimals_distance`	Number of decimals for distance displayed in the OSD [3-5]. This includes distance from home, total distance, and distance remaining. Values: 3 - 5 Default: 3
`osd_estimations_wind_mps`	Wind speed estimation in m/s Default: FALSE
`osd_highlight_djis_missing_font_symbols`	Show question marks where there is no symbol in the DJI font to represent the INAV OSD element's symbol. When off, blank spaces will be used. Only relevent for DJICOMPAT modes. Default: TRUE
`osd_radar_peers_display_time`	Time in seconds to display next peer Values: 1 - 10 Default: 3
`osd_stats_show_metric_efficiency`	Enabling this option will show metric efficiency statistics on the post flight stats screen. In addition to the efficiency statistics in your chosen units. Default: FALSE

Removed Settings

Name	Description
`control_deadband`
`cpu_underclock`
`disarm_kill_switch`
`dji_workarounds`
`fw_iterm_limit_stick_position`
`gyro_anti_aliasing_lpf_type`
`gyro_hardware_lpf`
`gyro_main_lpf_type`
`gyro_use_dyn_lpf`
`inav_use_gps_no_baro`
`inav_use_gps_velned`
`ledstrip_visual_beeper`
`max_throttle`
`nav_auto_climb_rate`
`nav_manual_climb_rate`
`osd_stats_min_voltage_unit`
`pidsum_limit`
`pidsum_limit_yaw`

What's Changed

Try to build nightly for 8.x.x by @mmosca in #10634
Update GPS_fix_estimation.md by @nicesub in #10636
Matekf405 spi flash blackbox fix by @mmosca in #10630
Change TARGET_BOARD_IDENTIFIER for AET-H743-Basic to avoid confliction by @villivateur in #10637
Add missing gyro defines to TMOTORF7 by @ot0tot in #10639
Add unofficial target for CADDXF4_AIO_ELRS by @mmosca in #10641
Fixed wing flight detection fix by @breadoven in #10621
Add new targets: MicoAir743AIO and MicoAir743v2 by @Minderring in #10557
settings.yaml: clarify description of nav_fw_launch_timeout by @sensei-hacker in #10638
INAV 8.1.0 by @mmosca in #10628
fix LTM attitude (mis-cast) by @stronnag in #10680
MSP DisplayPort add DJI Native video system by @mmosca in #10440
improve cli status NAV reasons by @stronnag in #10696
TBS_LUCID_H7: fix gyro2 by @bkleiner in #10678
Make config_streamer_stm32h7 less hard coded. by @mmosca in #10706
Prepare for 8.0.1 release by @mmosca in #10724
Adsbee1090 by @error414 in #10727
fix MATEKF405 variants BBL logging by @stronnag in #10741
JETI EXBUS fixes by @mmosca in #10772
Multirotor Althold altitude adjustment fix by @breadoven in #10664

New Contributors

@nicesub made their first contribution in #10636

Full Changelog: 8.0.0...8.0.1-RC2

INAV 8.0.1 RC1

2025-02-25T13:19:06Z

Hello and welcome to INAV 8.0.1 RC1 "Gallant Goshawk"

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

Contact other pilots, share experiences, suggestions and ask for help on:

	INAV Discord Server
	INAV Official on Facebook

INAV 8 no longer includes F411 targets as part of the official release.

GPS: UBLOX7 and UBLOX have been merged into a single UBLOX option, and units with older firmware are now deprecated. Only M8 and newer will be supported in the future.

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.

This is a minor release and If nothing serious is found, this will be released as 8.0.1 final.

Known Issues in 8.0.1

#10646 Jeti receivers may lock up while using telemetry. We are waiting for a loaner tx/rx to investigate and fix this issue once and for all. This has been a recurring issue for a few versions now.

Upgrading from a previous release

Upgrading from INAV 8.0.0

Backup configuration with CLI diff all command
Download and install the new INAV Configurator 8.0
Flash INAV 8.0 WITH Full Chip Erase option enabled
Select Keep current settings from the defaults pop-up
Go to CLI and restore your inav diff

Upgrading from INAV 7.0 and 7.1

Backup configuration with CLI diff all command
Download and install the new INAV Configurator 8.0
Flash INAV 8.0 WITH Full Chip Erase option enabled
Edit the 7.x diff and apply Diff breaking changes described bellow, and save it as your new inav 8 diff. See Diff breaking changes section below.
Select Keep current settings from the defaults pop-up
Go to CLI and restore your edited inav diff
Done

This tool can help migrate your INAV 7.x diff over to INAV 8.0.0. It will take care of the major changes that have been highlighted in these release notes.

Upgrading from older versions

Please follow the instructions on this page.

Highlights

DJI O4 support (updated in 8.0.1)

DJI will soon soon release new firmware for O4, DJI Goggles 2, 3, N3 and integra that will add INAV font and fix the arm detection.

With configurator 8.0.1 you should be able to select DJI_NATIVE as the video system, but if you don't want to upgrade, the AVATAR option should also work.

For O4 firmware V1.00.0100 and earlier, the follwing still applies:

DJI released a new air unit, and while rumors suggested it would include full INAV font support, that is unfortunately not true with the released firmware. There is also a bug on DJI firmware that prevents it from detecting when the flight controller is armed and leaves the air unit stuck in low power mode.

There are two possible workaround for the arming issues:

Turn off low power mode This should work with older INAV versions as well
On INAV 8.0.0, you can type this on the cli: set enable_broken_o4_workaround = ON

With the added workarounds, setup in INAV should be the same as O3.

Geozones

GPS Fix estimation (dead reckoning, RTH without GPS fix) for Airplanes

MSP-Linkstats

MSP-VTX

MSP-VTX has been updated by @geoffsim to increase compatibility with HDZero vtxs.

Mavlink Advancement for MavlinkRC

Walksnail Serial Gimbal and Headtracker support

OSD Updates

Users can change the precision (amount of decimal places) for Altitude and Distance #10431
Enhancements for Custom OSD Elements #10282
Update arming screen for better space utilisation #10300
OSD system message improvements #10090
Better organisation of the post flight stats screen with more stats available #9617

ADSB Receiver Support

I-Term Lock for Fixed Wing

U-Blox AssistNow Support in INAV Configurator

Sensor ID change for SmartPort telemetry

Improved SD Card support for F7 and H7 flight controllers using SDIO

This change affects the following targets:

FLYWOOH743PRO
IFLIGHT_BLITZ_H7_PRO
KAKUTEH7WING
MATEKF765
MATEKH743
MICOAIR743
NEUTRONRCH7BT
PIXRACER
TBS_LUCID_H7

Other important changes:

Multirotor inverted crash detection #10099
Waypoint tracking improvements #10278 (Note usage change for nav_fw_wp_tracking_accuracy may require change of setting)
Fixed wing altitude velocity control #9471 (see know issues above related to this change)

Diff breaking changes

Profile consolidation

The profile CLI command has been renamed to control_profile. When updating from an older version of INAV. You will need to edit your diff with this change. For example:

# profile
profile 1

set fw_p_pitch = 14
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 137
...

Will become

# profile
control_profile 1

set fw_p_pitch = 14
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 137
...

OSD Custom Elements

Numeric format	Old name	Old ID	New name	New ID
000	CUSTOM_ELEMENT_TYPE_GV_SMALL	6	CUSTOM_ELEMENT_TYPE_GV_3	7
00000	CUSTOM_ELEMENT_TYPE_GV	4	CUSTOM_ELEMENT_TYPE_GV_5	9
0.0	CUSTOM_ELEMENT_TYPE_GV_SMALL_FLOAT	7	CUSTOM_ELEMENT_TYPE_GV_FLOAT_1_1	10
0000.0	CUSTOM_ELEMENT_TYPE_GV_FLOAT	5	CUSTOM_ELEMENT_TYPE_GV_FLOAT_4_1	16

Below, you can see the position of the IDs that you need to change if they are 4, 5, 6, or 7.

osd_custom_elements 0 3 0 1 0 0 0 0 0 "FLAPS"
                      ^   ^   ^

CLI

New / Changed Items

Name	Description
`geozone`	Manages the geozone data set
`control_profile`	`profile` has been renamed to `control_profile`

Changed Settings

Name	Values
`blackbox_device`	New: `FILE` (for `SITL` usage)
`debug_modes`	New: `ADAPTIVE_FILTER`, `HEADTRACKER`, `GPS`, `LULU`, `SBUS2`
`dynamic_gyro_notch_mode`	Removed: `3D_R`, `3D_P`, `3D_Y`, `3D_RP`, `3D_RY`, `3D_PY`
`filter_type_full`	New: `LULU`
`gps_dyn_model`	New: `SEA`, `MOWER`
`gps_provider`	Removed: `UBLOX7` (Use `UBLOX`; version specific capabilities will be auto-detected)
`nav_fw_wp_tracking_accuracy`	Now set distance from waypoint course line in meters rather some arbitrary tracking response value
`rangefinder_hardware`	New: `TERARANGER_EVO`, `USD1_V0`, `NRA`
`serial_rx`	New: `SBUS2`

New Settings

Name	Description
`disarm_always`	When you switch to Disarm, do so regardless of throttle position. If this Setting is `OFF`. It will only disarm only when the throttle is low. This is similar to the previous `disarm_kill_switch` option. Default setting is the same as the old default behaviour. Default: TRUE
`enable_broken_o4_workaround`	DJI O4 release firmware has a broken MSP DisplayPort implementation. This enables a workaround to restore ARM detection. Default: FALSE
`ez_snappiness`	EzTune snappiness Values: 0 - 100 Default: 0
`failsafe_gps_fix_estimation_delay`	Controls whether waypoint mission is allowed to proceed with gps fix estimation. Sets the time delay in seconds between gps fix lost event and RTH activation. Minimum delay is 7 seconds. If set to -1 the mission will continue until the end. With default setting(7), waypoint mission is aborted and switched to RTH with 7 seconds delay. RTH is done with GPS Fix estimation. Values: -1 - 600 Default: 7
`frsky_use_legacy_gps_mode_sensor_ids`	S.Port telemetry: If `ON`, send the legacy telemetry IDs for modes (Tmp1) and GNSS (Tmp2). These are old IDs, deprecated, and will be removed in INAV 10.0. Tools and scripts using these IDs should be updated to use the new IDs of 470 for Modes and 480 for GNSS. Default: 'OFF' Default: FALSE
`fw_iterm_lock_engage_threshold`	Defines error rate (in percents of max rate) when Iterm Lock is engaged when sticks are release. Iterm Lock will stay active until error drops below this number Values: 5 - 25 Default: 10
`fw_iterm_lock_rate_threshold`	Defines rate percentage when full P I and D attenuation should happen. 100 disables Iterm Lock for P and D term Values: 10 - 100 Default: 40
`fw_iterm_lock_time_max_ms`	Defines max time in milliseconds for how long ITerm Lock will shut down Iterm after sticks are release Values: 100 - 1000 Default: 500
`geozone_avoid_altitude_range`	Altitude range in which an attempt is made to avoid a geozone upwards Values: 0 - 1000000 Default: 5000
`geozone_detection_distance`	Distance from which a geozone is detected Values: 0 - 1000000 Default: 50000
`geozone_mr_stop_distance`	Distance in which multirotors stops before the border Values: 0 - 100000 Default: 15000
`geozone_no_way_home_action`	Action if RTH with active geozones is unable to calculate a course to home (`RTH`, `EMRG_LAND`). Default: RTH
`geozone_safe_altitude_distance`	Vertical distance that must be maintained to the upper and lower limits of the zone. Values: 0 - 10000 Default: 1000
`geozone_safehome_as_inclusive`	Treat nearest safehome as inclusive geozone Default: FALSE
`geozone_safehome_zone_action`	Fence action for safehome zone (`NONE`, `AVOID`, `POS_HOLD`, `RTH`). Default: NONE
`gimbal_pan_channel`	Gimbal pan rc channel index. 0 is no channel. Values: 0 - 32 Default: 0
`gimbal_pan_trim`	Trim gimbal pan center position. Values: -500 - 500 Default: 0
`gimbal_roll_channel`	Gimbal roll rc channel index. 0 is no channel. Values: 0 - 32 Default: 0
`gimbal_roll_trim`	Trim gimbal roll center position. Values: -500 - 500 Default: 0
`gimbal_sensitivity`	Gimbal sensitivity is similar to gain and will affect how quickly the gimbal will react. Values: -16 - 15 Default: 0
`gimbal_serial_single_uart`	Gimbal serial and headtracker device share same UART. FC RX goes to headtracker device, FC TX goes to gimbal. Default: FALSE
`gimbal_tilt_channel`	Gimbal tilt rc channel index. 0 is no channel. Values: 0 - 32 Default: 0
`gimbal_tilt_trim`	Trim gimbal tilt center position. Values: -500 - 500 Default: 0
`gyro_adaptive_filter_hpf_hz`	High pass filter cutoff frequency Values: 1 - 50 Default: 10
`gyro_adaptive_filter_integrator_threshold_high`	High threshold for adaptive filter integrator Values: 1 - 10 Default: 4
`gyro_adaptive_filter_integrator_threshold_low`	Low threshold for adaptive filter integrator Values: -10 - 0 Default: -2
`gyro_adaptive_filter_max_hz`	Maximum frequency for adaptive filter Values: 0 - 505 Default: 150
`gyro_adaptive_filter_min_hz`	Minimum frequency for adaptive filter Values: 0 - 250 Default: 50
`gyro_adaptive_filter_std_lpf_hz`	Standard deviation low pass filter cutoff frequency Values: 0 - 10 Default: 2
`gyro_adaptive_filter_target`	Target value for adaptive filter Values: 1 - 6 Default: 3.5
`gyro_filter_mode`	Specifies the type of the software LPF of the gyro signals (`OFF`, `STATIC`, `DYNAMIC`, `ADAPTIVE`). Default: STATIC
`gyro_lulu_enabled`	Enable/disable gyro LULU filter Default: FALSE
`gyro_lulu_sample_count`	Gyro lulu sample count, in number of samples. Values: 1 - 15 Default: 3
`headtracker_pan_ratio`	Head pan movement vs camera movement ratio Values: 0 - 5 Default: 1
`headtracker_roll_ratio`	Head roll movement vs camera movement ratio Values: 0 - 5 Default: 1
`headtracker_tilt_ratio`	Head tilt movement vs camera movement ratio Values: 0 - 5 Default: 1
`headtracker_type`	Type of headtracker dervice (`NONE`, `SERIAL`, `MSP`). Default: NONE
`inav_allow_gps_fix_estimation`	Defines if inav will estimate GPS fix with magnetometer and barometer on GPS outages. Enables navigation and RTH without GPS fix on fixed wing. Also see failsafe_gps_fix_estimation_delay. Default: FALSE
`inav_default_alt_sensor`	Sets the default altitude sensor to use (`GPS`, `BARO`, `GPS_ONLY`, `BARO_ONLY`). Settings GPS and BARO always use both sensors unless there is an altitude error between the sensors that exceeds a set limit. In this case only the selected sensor will be used while the altitude error limit is exceeded. GPS error limit = 2 * inav_max_eph_epv. BARO error limit = 4 * inav_baro_epv. Settings GPS_ONLY and BARO_ONLY will use only the selected sensor even if the other sensor is working. The other sensor will only be used as a backup if the selected sensor is no longer available to use. Default: GPS
`inav_w_z_baro_v`	Weight of barometer climb rate measurements in estimated climb rate. Setting is used on both airplanes and multirotors. Values: 0 - 10 Default: 0.1
`mavlink_min_txbuffer`	Minimum percent of TX buffer space free, before attempting to transmit telemetry. Requuires RADIO_STATUS messages to be processed. 0 = always transmits. Values: 0 - 100 Default: 33
`mavlink_radio_type`	Mavlink radio type (`GENERIC`, `ELRS`, `SIK`). Affects how RSSI and LQ are reported on OSD. Default: GENERIC
`nav_fw_alt_control_response`	Adjusts the deceleration response of fixed wing altitude control as the target altitude is approached. Decrease value to help avoid overshooting the target altitude. Values: 5 - 100 Default: 40
`nav_fw_auto_climb_rate`	Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s] Values: 10 - 2000 Default: 500
`nav_fw_launch_wiggle_to_wake_idle`	Trigger the idle throttle by wiggling the plane. 0 = disabled. 1 and 2 signify 1 or 2 yaw wiggles to activate. 1 wiggle has a higher detection point, for airplanes without a tail. 2 wiggles has a lower detection point, but requires the repeated action. This is intended for larger models and airplanes with tails. Values: 0 - 2 Default: 0
`nav_fw_manual_climb_rate`	Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s] Values: 10 - 2500 Default: 300
`nav_fw_pos_z_ff`	FF gain of altitude PID controller (Fixedwing) Values: 0 - 255 Default: 10
`nav_mc_auto_climb_rate`	Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s] Values: 10 - 2000 Default: 500
`nav_mc_inverted_crash_detection`	Setting a value > 0 enables inverted crash detection for multirotors. It will auto disarm in situations where the multirotor has crashed inverted on the ground and can't be manually disarmed due to loss of control or for some other reason. When enabled this setting defines the additional number of seconds before disarm beyond a minimum fixed time delay of 3s. Requires a barometer to work. Values: 0 - 15 Default: 0
`nav_mc_manual_climb_rate`	Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s] Values: 10 - 2000 Default: 200
`osd_adsb_distance_alert`	Distance inside which ADSB data flashes for proximity warning Values: 1 - 64000 Default: 3000
`osd_adsb_distance_warning`	Distance in meters of ADSB aircraft that is displayed Values: 1 - 64000 Default: 20000
`osd_adsb_ignore_plane_above_me_limit`	Ignore adsb planes above, limit, 0 disabled (meters) Values: 0 - 64000 Default: 0
`osd_decimals_altitude`	Number of decimals for the altitude displayed in the OSD [3-5]. Values: 3 - 5 Default: 3
`osd_decimals_distance`	Number of decimals for distance displayed in the OSD [3-5]. This includes distance from home, total distance, and distance remaining. Values: 3 - 5 Default: 3
`osd_estimations_wind_mps`	Wind speed estimation in m/s Default: FALSE
`osd_highlight_djis_missing_font_symbols`	Show question marks where there is no symbol in the DJI font to represent the INAV OSD element's symbol. When off, blank spaces will be used. Only relevent for DJICOMPAT modes. Default: TRUE
`osd_radar_peers_display_time`	Time in seconds to display next peer Values: 1 - 10 Default: 3
`osd_stats_show_metric_efficiency`	Enabling this option will show metric efficiency statistics on the post flight stats screen. In addition to the efficiency statistics in your chosen units. Default: FALSE

Removed Settings

Name	Description
`control_deadband`
`cpu_underclock`
`disarm_kill_switch`
`dji_workarounds`
`fw_iterm_limit_stick_position`
`gyro_anti_aliasing_lpf_type`
`gyro_hardware_lpf`
`gyro_main_lpf_type`
`gyro_use_dyn_lpf`
`inav_use_gps_no_baro`
`inav_use_gps_velned`
`ledstrip_visual_beeper`
`max_throttle`
`nav_auto_climb_rate`
`nav_manual_climb_rate`
`osd_stats_min_voltage_unit`
`pidsum_limit`
`pidsum_limit_yaw`

What's Changed

Try to build nightly for 8.x.x by @mmosca in #10634
Update GPS_fix_estimation.md by @nicesub in #10636
Matekf405 spi flash blackbox fix by @mmosca in #10630
Change TARGET_BOARD_IDENTIFIER for AET-H743-Basic to avoid confliction by @villivateur in #10637
Add missing gyro defines to TMOTORF7 by @ot0tot in #10639
Add unofficial target for CADDXF4_AIO_ELRS by @mmosca in #10641
Fixed wing flight detection fix by @breadoven in #10621
Add new targets: MicoAir743AIO and MicoAir743v2 by @Minderring in #10557
settings.yaml: clarify description of nav_fw_launch_timeout by @sensei-hacker in #10638
INAV 8.1.0 by @mmosca in #10628
fix LTM attitude (mis-cast) by @stronnag in #10680
MSP DisplayPort add DJI Native video system by @mmosca in #10440
improve cli status NAV reasons by @stronnag in #10696
TBS_LUCID_H7: fix gyro2 by @bkleiner in #10678
Make config_streamer_stm32h7 less hard coded. by @mmosca in #10706
Prepare for 8.0.1 release by @mmosca in #10724

New Contributors

@nicesub made their first contribution in #10636

Full Changelog: 8.0.0...8.0.1-RC1

INAV 8.0.0

2025-06-03T05:31:07Z

Hello and welcome to INAV 8.0.0 "Gallant Goshawk"

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

Contact other pilots, share experiences, suggestions and ask for help on:

	INAV Discord Server
	INAV Official on Facebook

INAV 8 no longer includes F411 targets as part of the official release.

GPS: UBLOX7 and UBLOX have been merged into a single UBLOX option, and units with older firmware are now deprecated. Only M8 and newer will be supported in the future.

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 8.0

Fixedwing Altitude Velocity controller tuning. Requiring a more precise Autotune to be conducted. Read below

Upgrading from a previous release

Upgrading from INAV 7.0 and 7.1

Backup configuration with CLI diff all command
Download and install the new INAV Configurator 8.0
Flash INAV 8.0 WITH Full Chip Erase option enabled
Edit the 7.x diff and apply Diff breaking changes described bellow, and save it as your new inav 8 diff. See Diff breaking changes section below.
Select Keep current settings from the defaults pop-up
Go to CLI and restore your edited inav diff
Done

This tool can help migrate your INAV 7.x diff over to INAV 8.0.0. It will take care of the major changes that have been highlighted in these release notes.

Upgrading from older versions

Please follow the instructions on this page.

Highlights

Geozones

GPS Fix estimation (dead reckoning, RTH without GPS fix) for Airplanes

MSP-Linkstats

MSP-VTX

MSP-VTX has been updated by @geoffsim to increase compatibility with HDZero vtxs.

Mavlink Advancement for MavlinkRC

Walksnail Serial Gimbal and Headtracker support

OSD Updates

Users can change the precision (amount of decimal places) for Altitude and Distance #10431
Enhancements for Custom OSD Elements #10282
Update arming screen for better space utilisation #10300
OSD system message improvements #10090
Better organisation of the post flight stats screen with more stats available #9617

ADSB Receiver Support

I-Term Lock for Fixed Wing

U-Blox AssistNow Support in INAV Configurator

Sensor ID change for SmartPort telemetry

Improved SD Card support for F7 and H7 flight controllers using SDIO

This change affects the following targets:

FLYWOOH743PRO
IFLIGHT_BLITZ_H7_PRO
KAKUTEH7WING
MATEKF765
MATEKH743
MICOAIR743
NEUTRONRCH7BT
PIXRACER
TBS_LUCID_H7

DJI O4 support

There are two possible workaround for the arming issues:

Turn off low power mode This should work with older INAV versions as well
On INAV 8.0.0, you can type this on the cli: set enable_broken_o4_workaround = ON

With the added workarounds, setup in INAV should be the same as O3.

Fixed wing altitude velocity controller

Tip

Please also read here for advise on the tuning of this controller. And things that can influence behavior.

Also follow this issue report if required #9471

Other important changes:

Multirotor inverted crash detection #10099
Waypoint tracking improvements #10278 (Note usage change for nav_fw_wp_tracking_accuracy may require change of setting)
Fixed wing altitude velocity control #9471 (see know issues above related to this change)

Diff breaking changes

Profile consolidation

The profile CLI command has been renamed to control_profile. When updating from an older version of INAV. You will need to edit your diff with this change. For example:

# profile
profile 1

set fw_p_pitch = 14
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 137
...

Will become

# profile
control_profile 1

set fw_p_pitch = 14
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 137
...

OSD Custom Elements

Numeric format	Old name	Old ID	New name	New ID
000	CUSTOM_ELEMENT_TYPE_GV_SMALL	6	CUSTOM_ELEMENT_TYPE_GV_3	7
00000	CUSTOM_ELEMENT_TYPE_GV	4	CUSTOM_ELEMENT_TYPE_GV_5	9
0.0	CUSTOM_ELEMENT_TYPE_GV_SMALL_FLOAT	7	CUSTOM_ELEMENT_TYPE_GV_FLOAT_1_1	10
0000.0	CUSTOM_ELEMENT_TYPE_GV_FLOAT	5	CUSTOM_ELEMENT_TYPE_GV_FLOAT_4_1	16

Below, you can see the position of the IDs that you need to change if they are 4, 5, 6, or 7.

osd_custom_elements 0 3 0 1 0 0 0 0 0 "FLAPS"
                      ^   ^   ^

CLI

New / Changed Items

Name	Description
`geozone`	Manages the geozone data set
`control_profile`	`profile` has been renamed to `control_profile`

Changed Settings

Name	Values
`blackbox_device`	New: `FILE` (for `SITL` usage)
`debug_modes`	New: `ADAPTIVE_FILTER`, `HEADTRACKER`, `GPS`, `LULU`, `SBUS2`
`dynamic_gyro_notch_mode`	Removed: `3D_R`, `3D_P`, `3D_Y`, `3D_RP`, `3D_RY`, `3D_PY`
`filter_type_full`	New: `LULU`
`gps_dyn_model`	New: `SEA`, `MOWER`
`gps_provider`	Removed: `UBLOX7` (Use `UBLOX`; version specific capabilities will be auto-detected)
`nav_fw_wp_tracking_accuracy`	Now set distance from waypoint course line in meters rather some arbitrary tracking response value
`rangefinder_hardware`	New: `TERARANGER_EVO`, `USD1_V0`, `NRA`
`serial_rx`	New: `SBUS2`

New Settings

Name	Description
`disarm_always`	When you switch to Disarm, do so regardless of throttle position. If this Setting is `OFF`. It will only disarm only when the throttle is low. This is similar to the previous `disarm_kill_switch` option. Default setting is the same as the old default behaviour. Default: TRUE
`enable_broken_o4_workaround`	DJI O4 release firmware has a broken MSP DisplayPort implementation. This enables a workaround to restore ARM detection. Default: FALSE
`ez_snappiness`	EzTune snappiness Values: 0 - 100 Default: 0
`failsafe_gps_fix_estimation_delay`	Controls whether waypoint mission is allowed to proceed with gps fix estimation. Sets the time delay in seconds between gps fix lost event and RTH activation. Minimum delay is 7 seconds. If set to -1 the mission will continue until the end. With default setting(7), waypoint mission is aborted and switched to RTH with 7 seconds delay. RTH is done with GPS Fix estimation. Values: -1 - 600 Default: 7
`frsky_use_legacy_gps_mode_sensor_ids`	S.Port telemetry: If `ON`, send the legacy telemetry IDs for modes (Tmp1) and GNSS (Tmp2). These are old IDs, deprecated, and will be removed in INAV 10.0. Tools and scripts using these IDs should be updated to use the new IDs of 470 for Modes and 480 for GNSS. Default: 'OFF' Default: FALSE
`fw_iterm_lock_engage_threshold`	Defines error rate (in percents of max rate) when Iterm Lock is engaged when sticks are release. Iterm Lock will stay active until error drops below this number Values: 5 - 25 Default: 10
`fw_iterm_lock_rate_threshold`	Defines rate percentage when full P I and D attenuation should happen. 100 disables Iterm Lock for P and D term Values: 10 - 100 Default: 40
`fw_iterm_lock_time_max_ms`	Defines max time in milliseconds for how long ITerm Lock will shut down Iterm after sticks are release Values: 100 - 1000 Default: 500
`geozone_avoid_altitude_range`	Altitude range in which an attempt is made to avoid a geozone upwards Values: 0 - 1000000 Default: 5000
`geozone_detection_distance`	Distance from which a geozone is detected Values: 0 - 1000000 Default: 50000
`geozone_mr_stop_distance`	Distance in which multirotors stops before the border Values: 0 - 100000 Default: 15000
`geozone_no_way_home_action`	Action if RTH with active geozones is unable to calculate a course to home (`RTH`, `EMRG_LAND`). Default: RTH
`geozone_safe_altitude_distance`	Vertical distance that must be maintained to the upper and lower limits of the zone. Values: 0 - 10000 Default: 1000
`geozone_safehome_as_inclusive`	Treat nearest safehome as inclusive geozone Default: FALSE
`geozone_safehome_zone_action`	Fence action for safehome zone (`NONE`, `AVOID`, `POS_HOLD`, `RTH`). Default: NONE
`gimbal_pan_channel`	Gimbal pan rc channel index. 0 is no channel. Values: 0 - 32 Default: 0
`gimbal_pan_trim`	Trim gimbal pan center position. Values: -500 - 500 Default: 0
`gimbal_roll_channel`	Gimbal roll rc channel index. 0 is no channel. Values: 0 - 32 Default: 0
`gimbal_roll_trim`	Trim gimbal roll center position. Values: -500 - 500 Default: 0
`gimbal_sensitivity`	Gimbal sensitivity is similar to gain and will affect how quickly the gimbal will react. Values: -16 - 15 Default: 0
`gimbal_serial_single_uart`	Gimbal serial and headtracker device share same UART. FC RX goes to headtracker device, FC TX goes to gimbal. Default: FALSE
`gimbal_tilt_channel`	Gimbal tilt rc channel index. 0 is no channel. Values: 0 - 32 Default: 0
`gimbal_tilt_trim`	Trim gimbal tilt center position. Values: -500 - 500 Default: 0
`gyro_adaptive_filter_hpf_hz`	High pass filter cutoff frequency Values: 1 - 50 Default: 10
`gyro_adaptive_filter_integrator_threshold_high`	High threshold for adaptive filter integrator Values: 1 - 10 Default: 4
`gyro_adaptive_filter_integrator_threshold_low`	Low threshold for adaptive filter integrator Values: -10 - 0 Default: -2
`gyro_adaptive_filter_max_hz`	Maximum frequency for adaptive filter Values: 0 - 505 Default: 150
`gyro_adaptive_filter_min_hz`	Minimum frequency for adaptive filter Values: 0 - 250 Default: 50
`gyro_adaptive_filter_std_lpf_hz`	Standard deviation low pass filter cutoff frequency Values: 0 - 10 Default: 2
`gyro_adaptive_filter_target`	Target value for adaptive filter Values: 1 - 6 Default: 3.5
`gyro_filter_mode`	Specifies the type of the software LPF of the gyro signals (`OFF`, `STATIC`, `DYNAMIC`, `ADAPTIVE`). Default: STATIC
`gyro_lulu_enabled`	Enable/disable gyro LULU filter Default: FALSE
`gyro_lulu_sample_count`	Gyro lulu sample count, in number of samples. Values: 1 - 15 Default: 3
`headtracker_pan_ratio`	Head pan movement vs camera movement ratio Values: 0 - 5 Default: 1
`headtracker_roll_ratio`	Head roll movement vs camera movement ratio Values: 0 - 5 Default: 1
`headtracker_tilt_ratio`	Head tilt movement vs camera movement ratio Values: 0 - 5 Default: 1
`headtracker_type`	Type of headtracker dervice (`NONE`, `SERIAL`, `MSP`). Default: NONE
`inav_allow_gps_fix_estimation`	Defines if inav will estimate GPS fix with magnetometer and barometer on GPS outages. Enables navigation and RTH without GPS fix on fixed wing. Also see failsafe_gps_fix_estimation_delay. Default: FALSE
`inav_default_alt_sensor`	Sets the default altitude sensor to use (`GPS`, `BARO`, `GPS_ONLY`, `BARO_ONLY`). Settings GPS and BARO always use both sensors unless there is an altitude error between the sensors that exceeds a set limit. In this case only the selected sensor will be used while the altitude error limit is exceeded. GPS error limit = 2 * inav_max_eph_epv. BARO error limit = 4 * inav_baro_epv. Settings GPS_ONLY and BARO_ONLY will use only the selected sensor even if the other sensor is working. The other sensor will only be used as a backup if the selected sensor is no longer available to use. Default: GPS
`inav_w_z_baro_v`	Weight of barometer climb rate measurements in estimated climb rate. Setting is used on both airplanes and multirotors. Values: 0 - 10 Default: 0.1
`mavlink_min_txbuffer`	Minimum percent of TX buffer space free, before attempting to transmit telemetry. Requuires RADIO_STATUS messages to be processed. 0 = always transmits. Values: 0 - 100 Default: 33
`mavlink_radio_type`	Mavlink radio type (`GENERIC`, `ELRS`, `SIK`). Affects how RSSI and LQ are reported on OSD. Default: GENERIC
`nav_fw_alt_control_response`	Adjusts the deceleration response of fixed wing altitude control as the target altitude is approached. Decrease value to help avoid overshooting the target altitude. Values: 5 - 100 Default: 40
`nav_fw_auto_climb_rate`	Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s] Values: 10 - 2000 Default: 500
`nav_fw_launch_wiggle_to_wake_idle`	Trigger the idle throttle by wiggling the plane. 0 = disabled. 1 and 2 signify 1 or 2 yaw wiggles to activate. 1 wiggle has a higher detection point, for airplanes without a tail. 2 wiggles has a lower detection point, but requires the repeated action. This is intended for larger models and airplanes with tails. Values: 0 - 2 Default: 0
`nav_fw_manual_climb_rate`	Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s] Values: 10 - 2500 Default: 300
`nav_fw_pos_z_ff`	FF gain of altitude PID controller (Fixedwing) Values: 0 - 255 Default: 10
`nav_mc_auto_climb_rate`	Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s] Values: 10 - 2000 Default: 500
`nav_mc_inverted_crash_detection`	Setting a value > 0 enables inverted crash detection for multirotors. It will auto disarm in situations where the multirotor has crashed inverted on the ground and can't be manually disarmed due to loss of control or for some other reason. When enabled this setting defines the additional number of seconds before disarm beyond a minimum fixed time delay of 3s. Requires a barometer to work. Values: 0 - 15 Default: 0
`nav_mc_manual_climb_rate`	Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s] Values: 10 - 2000 Default: 200
`osd_adsb_distance_alert`	Distance inside which ADSB data flashes for proximity warning Values: 1 - 64000 Default: 3000
`osd_adsb_distance_warning`	Distance in meters of ADSB aircraft that is displayed Values: 1 - 64000 Default: 20000
`osd_adsb_ignore_plane_above_me_limit`	Ignore adsb planes above, limit, 0 disabled (meters) Values: 0 - 64000 Default: 0
`osd_decimals_altitude`	Number of decimals for the altitude displayed in the OSD [3-5]. Values: 3 - 5 Default: 3
`osd_decimals_distance`	Number of decimals for distance displayed in the OSD [3-5]. This includes distance from home, total distance, and distance remaining. Values: 3 - 5 Default: 3
`osd_estimations_wind_mps`	Wind speed estimation in m/s Default: FALSE
`osd_highlight_djis_missing_font_symbols`	Show question marks where there is no symbol in the DJI font to represent the INAV OSD element's symbol. When off, blank spaces will be used. Only relevent for DJICOMPAT modes. Default: TRUE
`osd_radar_peers_display_time`	Time in seconds to display next peer Values: 1 - 10 Default: 3
`osd_stats_show_metric_efficiency`	Enabling this option will show metric efficiency statistics on the post flight stats screen. In addition to the efficiency statistics in your chosen units. Default: FALSE

Removed Settings

Name	Description
`control_deadband`
`cpu_underclock`
`disarm_kill_switch`
`dji_workarounds`
`fw_iterm_limit_stick_position`
`gyro_anti_aliasing_lpf_type`
`gyro_hardware_lpf`
`gyro_main_lpf_type`
`gyro_use_dyn_lpf`
`inav_use_gps_no_baro`
`inav_use_gps_velned`
`ledstrip_visual_beeper`
`max_throttle`
`nav_auto_climb_rate`
`nav_manual_climb_rate`
`osd_stats_min_voltage_unit`
`pidsum_limit`
`pidsum_limit_yaw`

What's Changed

GPS Fix estimation (dead reconing, RTH without GPS fix) for fixed wing by @RomanLut in #8347
Boards.md: Add link to full list of boards by @sensei-hacker in #9509
Dzikuvx 7.1 mergeback 1 by @DzikuVx in #9550
Skip release for all F411 boards by @DzikuVx in #9542
INAV 8 version bump by @DzikuVx in #9543
WP mission mode RTH and Manual mode lockout improvements by @breadoven in #9551
update toolchain to gcc13.2 by @stronnag in #9579
Update SPEEDYBEEF405V3.md by @mmosca in #9577
Correct wrong writing by @JulioCesarMatias in #9568
SITL: allow simulating airspeed sensor in SITL with HITL plugin by @RomanLut in #9570
[RTH TrackBack] Create .c and .h files for this feature by @JulioCesarMatias in #9429
increase default nav_cruise_yaw_rate to 60 deg/s by @DzikuVx in #9597
optimize at32 adc sample time make the current meter accure by @shanggl in #9578
Separate the nav climb rate settings for fw and mc by @shota3527 in #9424
Added Compass Calibration programmable operation by @sdellava in #9411
bf2inav.py: clearer error messages, number PWM outputs by @sensei-hacker in #9611
Update GPS_fix_estimation.md by @sys512 in #9622
[docs] update dbg-tool link in serial_printf_debugging.md by @stronnag in #9639
aligned KAKUTEH7WING target with manufacturer docs by @paulwrath1223 in #9640
Add support for SKYSTARSF722HDPRO by @DusKing1 in #9630
Adsb support pingRX / Aerobit TT-SC1 by @error414 in #9355
Update [ESC and servo outputs.md] remove output_mode by @RoboSchmied in #9691
Add GEPRCF405_BT_HD by @YI-BOYANG in #9683
Small changes to timer output docs by @mmosca in #9700
fixed dockerfile and updated docs by @RomanLut in #9702
current meter scale to 500 by @P-I-Engineer in #9703
Idle motor default change by @P-I-Engineer in #9695
update MW XML File schema definition for 7.1 Autoland by @stronnag in #9721
Update mw xsd for autoland by @stronnag in #9723
Remove GPS glitch detection by @JulioCesarMatias in #9709
Add error count to CLI batch command by @MrD-RC in #9712
Spektrum telemetry minor fix to address false Fastboot alerts on radios with latest update by @MiguelFAlvarez in #9743
7.1 mergeback by @DzikuVx in #9762
INAV 7.1 by @DzikuVx in #9549
Update readme.md to mention AT32 on the list of mcus supported by @mmosca in #9779
[docs] update serial_printf doc by @stronnag in #9780
fix grammar in [ESC and servo outputs.md] by @RoboSchmied in #9784
fix cygwin/sitl build with cmake 3.28.3 by @stronnag in #9787
Fix missing EzTune settings in dump and diff by @DzikuVx in #9812
Update settings descriptions by @DzikuVx in #9808
Drop ledstrip_visual_beeper as not used by @DzikuVx in #9809
Betafpvf411 unofficial by @DzikuVx in #9815
Fix compiler existence checking in case if PATH contains tilde by @kubrack in #9760
Add EzTune to CMS menu by @DzikuVx in #9813
Remove unused USE_UNDERCLOCK define and related code by @DzikuVx in #9803
Master 7.1.0 by @DzikuVx in #9821
Enable spektrum bind only if spektrum is enabled by @DzikuVx in #9823
Remove setting a use local VELNED instead of GPS provided by @DzikuVx in #9804
Drop control_deadband setting by @DzikuVx in #9805
Fix motor output glitch by initializing IO after timer by @mluessi in #9714
PINIO: Fix inverted pin handling by @mluessi in #9559
Add new target TUNERC405 by @TUNERC-Aria in #9818
Update NEW_HARDWARE_POLICY.md by @mmosca in #9855
Update Fixed Wing Landing.md by @b14ckyy in #9857
Some updates to development docs by @DzikuVx in #9827
Remove killswitch by @DzikuVx in #9856
Release 7.1.0 by @DzikuVx in #9767
fix broken links to modes.md by @sensei-hacker in #9880
Wiggle to wake launch idle by @MrD-RC in #8511
Reorganise stats screens by @MrD-RC in #9617
Fixes SB F405 Wing ADC for RSSI and Aspd swapped by @b14ckyy in #9817
Update Building in Windows 10 or 11 with Linux Subsystem.md by @MrD-RC in #9886
Potential fix for GCC 13 VCP broken on H7 by @DzikuVx in #9882
Simplify matrix filter and drop all partial versions by @DzikuVx in #9885
Optimize the current meter scale and offset for AOCODARCF405AIO by @lida2003 in #9745
terarange evo lidar by @error414 in #9527
No longer require MAG to unlock GPS related flight modes by @DzikuVx in #9824
garbage is displayed (f.e. single char "+" ) instead of "FIRST WP IS TOO FAR" OSD message by @RomanLut in #9849
Feature cut for F411 and F722 by @DzikuVx in #9822
Fix cmake gcc kit detection on apple silicon macs by @mmosca in #9893
OSD Wind speed in m/s by @Yury-MonZon in #9652
Remove workarounds as not used and obsolete by @DzikuVx in #9898
Filtering simplification by @DzikuVx in #9897
Drop MSP_POSITION_ESTIMATION_CONFIG by @DzikuVx in #9866
Drop MSP_OSD_CONFIG from MSP protocol by @DzikuVx in #9865
New MSP frames for Servos by @DzikuVx in #9873
Configuration symbol for barometer address by @ht099 in #9902
Drop MSP_PIDNAMES frame as outdated by @DzikuVx in #9900
Update Fixed Wing Landing.md by @0crap in #9909
Drop MSP_FILTER_CONFIG and MSP_SET_FILTER_CONFIG commands by @DzikuVx in #9903
do not remove nav modes if connected by usb by @RomanLut in #9913
Drop MSP_PID_ADVANCED and MSP_SET_PID_ADVANCED from MSP protocol by @DzikuVx in #9901
Add GEPRC TAKERF722SE target by @YI-BOYANG in #9919
Drop MSP_MOTOR_PINS by @DzikuVx in #9922
Drop pidsum limit settings and replace with hardcoded values by @DzikuVx in #9911
Update Fixed Wing Landing.md by @b14ckyy in #9896
Add extra description to nav_min_ground_speed parameter by @MrD-RC in #9890
increased VBATT_PRESENT_THRESHOLD by @RomanLut in #9933
Add ICM for IFLIGHT_BLITZ_F722 V1.2 by @b14ckyy in #9939
Fix Aocoda-RC H743Dual motor 5-8 mis-labeled issue by @lida2003 in #9948
Add AOCODARCF4V3 target by @lida2003 in #9669
enforce rx auto smoothing in ez tune by @DzikuVx in #9945
Update deadband defaults by @DzikuVx in #9944
max_throttle adjustments by @DzikuVx in #9915
Reintroduce MSP2_INAV_SET_SERVO_CONFIG and MSP2_INAV_SERVO_CONFIG by @DzikuVx in #9926
update auto-declination generator to current IGRF13 model by @stronnag in #9962
Target: Add JHEMCUF405WING, JHEMCUF745, JHEMCUH743HD board by @jhemcu in #9807
Ez Tune snappiness by @DzikuVx in #9957
Fix ZEEZF7 output mapping by @DzikuVx in #9965
Minor Nav code improvements by @breadoven in #9947
FW Nav Auto Landing fixes by @breadoven in #9940
Prevent high throttle auto cancelling OSD stats screen on disarm by @breadoven in #9951
Fix function prototypes and macos warnings by @mmosca in #9980
[SITL] MacOS SITL, build as universal binary by @mmosca in #9981
SITL: implemented built-in serial receivers support in SITL, implemented FC proxy mode, updated SITL docs by @RomanLut in #9365
Match F745 and F745NANO motor pins to BF target by @mmosca in #9990
Revert enforcing mode on TIM3 by @DzikuVx in #9989
Fix macos builds in release_7.1.1 to fix builds by @mmosca in #9993
Cherry pick flywoof745 fixes from master by @mmosca in #9991
Use 2 bits for msp displayport font page by @mmosca in #9942
RangerFinder NRA15/24 from nanoradar by @error414 in #9842
Revert Nav hold changes by @breadoven in #9999
Create Building in Gitpod.md by @dzaro-dev in #10004
WP mode altitude enforce hold fix by @breadoven in #10002
INAV 7.1.1 by @DzikuVx in #9934
Update Building in Gitpod.md by @dzaro-dev in #10014
fix ist8308 compass local frame by @RomanLut in #10011
mavlink: send RC_CHANNELS instead of RC_CHANNELS_RAW to support 18 channels by @RomanLut in #8282
Optimize PID axis processing by @DzikuVx in #9956
Add GEPRCF745_BT_HD target by @YI-BOYANG in #9978
Fixed wing Nav altitude velocity control by @breadoven in #9471
7.1.1. merge error trackback fix by @breadoven in #10028
BFCOMPAT: Add auto-throttle label and BF font symbols for pitch and roll by @rmaia3d in #10023
RTH trackback code cleanup by @breadoven in #10042
[DOC] Broken USB recovery by @Scavanger in #10045
Update the compatibility mode for DJI to use the actual DJI font. by @MrD-RC in #10046
Adding Crosshair Styles for DJI OSD by @dzaro-dev in #10056
Tidy up DJI crosshairs by @MrD-RC in #10060
Use letter Q for DJI LinkQuality OSD element by @DzikuVx in #10054
I-Term Lock for Fixed Wing by @DzikuVx in #9905
Nav altitude estimation changes by @breadoven in #10041
Reorder blackbox fields by @breadoven in #10068
Add PSA about ICM426xx changes in INAV 7.1 by @mmosca in #10071
Fix OSD mentioned twice on readme.md feature list by @fschuindt in #10092
Building a USB-Rescue firmware without editing sources by @Scavanger in #10073
Update readme.md by @mmosca in #10094
Remove unused define from DJI OSD symbols by @MrD-RC in #10061
Allow pilots the option to hide question marks from the OSD. by @MrD-RC in #10058
Make the 'declination.py' file generate Declination, Inclination and Intensity. by @JulioCesarMatias in #10032
SITL: accelerometer/mag data is not processed when using SITL with inav-HITL-plugin by @RomanLut in #9564
Allow LED pin to be reassigned as MOTOR or SERVO by @mmosca in #10022
Skip pollVersion() and pollGnssCapabilities() if gps_auto_config = OFF by @WizzardDr in #10082
Fix channel selection for DMA2 Stream6. by @manuelilg in #10029
Add JHEF405PRO (aka GHF405AIO-HD) support by @HishamGhosheh in #10070
Add battery profile to programming framework by @MrD-RC in #10100
Blackbox rc/flight modes update by @breadoven in #10093
Do not render INAV logo on DJI compat mode by @DzikuVx in #10055
Make battery_capacity_unit a global setting by @MrD-RC in #10103
Release 7.1.2 by @DzikuVx in #10098
Consolidate the old PIDProfile and Profile in to Control Profile by @MrD-RC in #10102
Added new targets FLYWOOF722PRO, F405HD, updated F745, F405PRO config by @flywoo in #10096
Decrease minimum launch acceleration by @MrD-RC in #10113
Adaptive gyro filter based on signal statistics experiment by @DzikuVx in #9879
Increase allowed speeds in NAV modes on multirotors by @DzikuVx in #9878
gyro_adaptive_filter_min_hz min value error by @mmosca in #10123
Increase max number of pwm outputs by 1, if a LED pin is defined by @mmosca in #10127
We already support 4 page fonts, bump max chars to 1024 by @mmosca in #10128
Change number of builds and make builds faster by @mmosca in #10129
Update github actions by @mmosca in #10130
Multirotor landing G bump detection improvements by @breadoven in #10138
Include trusted altitude for healthy position estimation by @breadoven in #10083
[crsf] move LAND flight mode into ARMED section by @stronnag in #10139
Attempt at building master on sucessfull push by @mmosca in #10131
Update dev-builds.yml by @mmosca in #10146
Change tag for nightly builds by @mmosca in #10149
Programming framework doc - loiter radius by @sensei-hacker in #10151
Update release notes with recommendation fro full chip erase. by @mmosca in #10152
OSD system message improvements by @breadoven in #10090
Remove unused and commented out function from osd.c by @rmaia3d in #10147
Update dev-builds.yml by @0crap in #10153
Add link to nightly builds by @mmosca in #10155
Walksnail Serial gimbal and headtracker support by @mmosca in #10109
Update readme.md by @0crap in #10160
Inhibit active failsafe procedures on landing detection by @breadoven in #10135
Multirotor inverted crash detection by @breadoven in #10099
Update Controls.md by @MrD-RC in #10163
Update nav config revision number by @breadoven in #10162
Don't run biulds for documentation only changes by @mmosca in #10164
Add ICM42688-G to IFLIGHTF4_SUCCEXD by @DzikuVx in #10161
Further serial gimbal/headtracker improvements by @mmosca in #10159
bind_rx cli command now supports CRSF based receivers by @mmosca in #10166
Update bind_rx cli documentation by @mmosca in #10170
Update Cli.md by @mmosca in #10171
Only generate nightly build release if the change includes code. by @mmosca in #10172
Fixed position for formation flight / inav radar by @error414 in #9883
Add msp command to send raw ublox commands to gps by @mmosca in #9349
Allow SBUS servo protocol to output 18 channels, expand mixer to up to 24 channels by @mmosca in #10165
[Targets] USE_MAG_ALL by @mmosca in #10176
Gyro LULU smoother as gyro filter alternative by @DzikuVx in #10177
LULU filter port to iNav as a single replacement for most filters in iNav, simplifying filter configuration drastically by @pjpei in #10145
[FIX] BMI088 driver: get BMI088 acc aligned by @Minderring in #10174
Add ICM-42688P to KakuteF4 by @jamming in #10175
Remove of register optimization in favor or relying on GCC optimization. by @DzikuVx in #10178
Add some docs on Serial Gimbal by @mmosca in #10182
Add flown loiter radius to programming logic by @breadoven in #10183
[GPS] Fix message rate for newer ublox devices and add some extra debugging features by @mmosca in #10179
Fixed position for formation flight / inav radar by @P-I-Engineer in #10190
mixer.h: PLATFORM_OTHER isn't valid, remove by @sensei-hacker in #10201
Fix typo in Rx doc.md by @RobertoD91 in #10202
[GPS] Fix GPS dynamic model setup for M10 GPS units by @mmosca in #10199
Add UBLOX PSA to README by @mmosca in #10204
[gps] correct version checks by @mmosca in #10205
IFLIGHT_BLITZ_ATF435 MAX_PWM_OUTPUT_PORTS should 8 by @sensei-hacker in #10206
Make LULU smoother independent from the gyro LPF by @DzikuVx in #10186
Update OSD.md - List all of the OSD-related docs by @sensei-hacker in #10212
[GPS] Add SEA and MOWER dynamic models. by @mmosca in #10211
[GPS] UBLOX and UBLOX7 have been merged into UBLOX by @mmosca in #10214
Update gps_provider documentaion by @mmosca in #10220
create single zip with all hex files, again. by @mmosca in #10221
All all baro to IFLIGHTF4_SUCCEXD by @DzikuVx in #10218
Improve MAVLink behavior with flow control capable links by @MUSTARDTIGERFPV in #10222
Add blackbox device FILE for SITL build by @bartslinger in #10228
GEPRC_F722_AIO include UART3 by @sensei-hacker in #10233
Add new targets: MicoAir405Mini, MicoAir405v2 and MicoAir743 by @Minderring in #10198
Add gyros to DakeFPV targets by @DzikuVx in #10242
Add a new target KakuteF4wing by @jamming in #10122
Inflight timer fix by @breadoven in #10245
SBUS2 telemetry support by @mmosca in #10169
Fix programming framework parameters using int16 instead of in32 by @MrD-RC in #10246
Lower sbus2 telemetry task priority by @mmosca in #10250
Make sure DEFAULT_I2C_DEVICE is always valid by @mmosca in #10253
Nav course hold yaw stick control improvement for fixed wing by @breadoven in #10187
Change MAVLink component ID to be a "proper" autopilot by @MUSTARDTIGERFPV in #10258
Increase SMARTAUDIO_MAX_POWER_COUNT to 8 by @bkleiner in #10261
add additional BBL headers for MAX SERVO increase by @stronnag in #10263
only BBL log servos defined in the mixer by @stronnag in #10267
add SERVOS to blackbox optional fields list by @stronnag in #10272
Allow serialpassthrough to set parity & stop bits by @MUSTARDTIGERFPV in #10271
Refactor sbus to support futaba's FASSTest26 sbus2 mode (Potentially 36 channels) by @mmosca in #10270
Fix mixer tab by @mmosca in #10277
Allow number of servos exceed pwm outputs, if servo protocol is sbus_pwm by @mmosca in #10276
Allow Mission Upload mid flight by @b14ckyy in #10273
cli.c: Add reason for Navigation Unsafe to status by @sensei-hacker in #10280
AOCODARCF7MINI_V1: DSHOT_DMAR and V1 output order by @sensei-hacker in #10260
Support SBUS2 FASSTest 12 channel short frame time by @mmosca in #10288
add h7 svd file by @bkleiner in #10289
Mac-OS wiki update | How to connect to configurator by @KY-S0ong in #10279
vtx: fix VTX_SETTINGS_POWER_COUNT by @bkleiner in #10290
Jh fix bbl servo logging by @stronnag in #10303
remove excessive SD debug from MSP processing by @stronnag in #10306
adsb enhanced by @error414 in #10298
Add AIKONF7 target by @mbainrot in #9603
Add FLYWOOH743PRO Target by @flywoo in #10285
Update Fixed Wing Landing.md by @b14ckyy in #10311
Update Fixed Wing Landing.md by @b14ckyy in #10312
add TBS_LUCID_FC target by @bkleiner in #10292
add stick_center note to vtol/mixer profile docs for 4+1 motor vtol configurations. by @P-I-Engineer in #10313
GEPRC_F722_AIO add target with UART3 instead of i2c by @sensei-hacker in #10310
MAMBAF722_2022B: use DMAR for motor 7 by @sensei-hacker in #10309
tbs-lucid: remove in-accessible servo pins by @bkleiner in #10332
Change Waypoint mode linear climb method by @breadoven in #10334
Waypoint tracking improvements by @breadoven in #10278
MSP headtracker parsing change by @mmosca in #10342
Update USB Flashing.md - mention using a hub with USB-C by @sensei-hacker in #10343
iFlight IFLIGHT_BLITZ_H7_WING changes by @DzikuVx in #10341
Update ci.yml by @mmosca in #10344
Use all cores during ci builds by @mmosca in #10337
Small fixes for serial gimbal by @mmosca in #10345
at32: add uart pinswap by @bkleiner in #10333
Added documentation about GVARs, PIDFF Controllers, & Integer Math by @trailx in #10335
Update Settings.yaml and settings.md to include units for nav_max_terrain_follow_alt by @daijoubu in #10352
Change SmartPort sensor IDs for GPS and Modes by @MrD-RC in #9868
Enhance OSD Custom Elements by @MrD-RC in #10282
fixed altitude estimator error estimation by @RomanLut in #10367
Update FLYWOOF745 config.c by @flywoo in #10368
[Fix] Potential stack smash in gforce OSD statistics by @Scavanger in #10358
tbs_lucid: mask PA13/PA14 to enable debugging by @bkleiner in #10365
lucid: use PC5 as adc, use PA13/PA14 as PINIO by @bkleiner in #10378
at32: add abilty to specify uart af by @bkleiner in #10366
Change bus for built-in compass for MICOAIR743 target by @bfmvsa in #10384
MICOARI743 Add alternative target that looks for compass on external connector by @mmosca in #10385
Further tweaks to mavlink by @mmosca in #10215
Switch parameters with battery capacity unit by @MrD-RC in #10389
Nav velocity Z estimation improvements by @breadoven in #10243
Navigation.md - Remove outdated references to inav_use_gps_no_baro by @sensei-hacker in #10408
Default altitude sensor setting fix by @breadoven in #10411
Fix lockup on disarm when wh used in post-flight stats by @MrD-RC in #10413
Add MSP command to get ESC telemetry by @jeffhendrix in #10388
Add PrincipioIoT F7 target by @DzikuVx in #10422
at32: add ability to specify uart rx/tx af independently by @bkleiner in #10396
Add feature freeze announcement by @mmosca in #10429
Fix custom OSD elements cli import by @MrD-RC in #10430
Update arming screen for better space utilisation by @MrD-RC in #10300
Allow the pilot to set the precision for altitude and distance in the OSD by @MrD-RC in #10431
Update DPS310 driver to support SPL07-003 by @DzikuVx in #10441
MSP VTX Code Updates by @geoffsim in #10355
Added IMUTemperature read function for ICM42605 by @ultrazar in #10423
Update TUNERCF405 target.h by @TUNERC-Aria in #10438
Have RSSI go from 0-100%, rather than 0-99% by @MrD-RC in #10450
Add spa06 and spl07 baro for Kakutef4/f7 FC by @jamming in #10458
Initial implementation of MSP RC stats and info messages by @MrD-RC in #10451
Revert change to MSP_SET_RAW_RC by @MrD-RC in #10461
[mspv2] pass "flags" field back to sender, define ILMI flag by @stronnag in #10464
Geozones (aka Geofence) by @Scavanger in #10459
Geozones.md by @b14ckyy in #10466
add annotated script to generate RN Changelog by @stronnag in #10468
add TBS_LUCID_H7 by @bkleiner in #10454
Add BF config to INAV target converter by @mmosca in #9556
[Fix] EZ-Tune Filter-HZ Fix by @Scavanger in #10467
Geozone RC2 Fixes by @Scavanger in #10471
Speedybee F405 AIO by @DzikuVx in #10444
gimbal_sensitivity uint8_t -> int8_t. Range is actually -16 to 15 by @mmosca in #10478
Add support for SKYSTARSSF405AIO target by @DusKing1 in #10469
Fix incorrect arming flags reporting on CLI by @mmosca in #10479
add GEPRC_TAKER_H743 target replacement by @DzikuVx in #10484
Fix nightly build by @mmosca in #10485
fixed: gps sensor can not recover from timeout in gps fix estimation mode by @RomanLut in #9574
Update osd.md for 8.0 by @MrD-RC in #10492
add target RADIOLINKF722 by @radiolinkW in #10476
Fixed wing launch mode failsafe fixes by @breadoven in #10486
BF2INAV converter updates by @mmosca in #10503
Fix PINIO in KAKUTEH7WING by @ot0tot in #10509
Show pilot name and craft name on arming screen if they are not empty by @MrD-RC in #10506
fix h7 sdcard init by @bkleiner in #10512
Omnibus F4.md: select IMU for V6 and Fireworks V2 by @sensei-hacker in #10519
h7: enable swd pins by @bkleiner in #10516
msp: expose number of vtx power levels, bands and channels by @bkleiner in #10395
Add a template for new target PR by @mmosca in #9946
f7: migrate sdcard to hal by @bkleiner in #10526
Change Autotune default max servo range by @b14ckyy in #10531
Update VTOL.md with a more detailed guide on setting up tilting servos by @dzaro-dev in #10528
Experimental bmp390 support. by @mmosca in #10542
Programming Framework.md: Fix markdown for Delta by @sensei-hacker in #10546
Correct comments on OSD symbols by @MrD-RC in #10558
Default motor stop to ON by @MrD-RC in #10568
Add support for SKYSTARSF405WING target by @DusKing1 in #10561
Add new target for HGLRCF405V2 by @HGLRC-T in #10417
SITL.md - Addtional info re joystick by @sensei-hacker in #10579
Fix barometer I2C address redefine issues by @Minderring in #10555
make gimbal trims signed int by @sensei-hacker in #10573
Simplify build and retry increasing agents by @mmosca in #10581
Fix nightly build by @mmosca in #10582
More nightly build fixes by @mmosca in #10583
Fixing nightly builds and cleaning up ci by @mmosca in #10585
Fixed wing altitude control fixes by @breadoven in #10541
Add targets for SEQUREH7 and SEQUREH7V2 by @MrD-RC in #10523
A little reminder on the OSD by @mmosca in #10589
Update description for disarm_always by @MrD-RC in #10592
Add SITL linux aarch64 build by @mmosca in #10602
O4 arming workaround by @mmosca in #10598
Fix typo by @mmosca in #10603
Strip version number of inav_SITL binaries in artifacts by @mmosca in #10604
Lower ubuntu version by @mmosca in #10605
Fix mac regular expression by @mmosca in #10609
Added extra format to Custom OSD Elements by @MrD-RC in #10594
Fix negative altitudes in OSD by @MrD-RC in #10612
Revert to actual BF font, now that DJI fixed G2 and newer by @mmosca in #10620
Remove blocking delay from batteryUpdate initialization by @mmosca in #10607
Add new target: AET-H743-Basic by @villivateur in #10600

New Contributors

@sys512 made their first contribution in #9622
@paulwrath1223 made their first contribution in #9640
@RoboSchmied made their first contribution in #9691
@P-I-Engineer made their first contribution in #9703
@kubrack made their first contribution in #9760
@TUNERC-Aria made their first contribution in #9818
@Yury-MonZon made their first contribution in #9652
@ht099 made their first contribution in #9902
@0crap made their first contribution in #9909
@dzaro-dev made their first contribution in #10004
@fschuindt made their first contribution in #10092
@WizzardDr made their first contribution in #10082
@manuelilg made their first contribution in #10029
@HishamGhosheh made their first contribution in #10070
@pjpei made their first contribution in #10145
@Minderring made their first contribution in #10174
@jamming made their first contribution in #10175
@RobertoD91 made their first contribution in #10202
@MUSTARDTIGERFPV made their first contribution in #10222
@bartslinger made their first contribution in #10228
@KY-S0ong made their first contribution in #10279
@mbainrot made their first contribution in #9603
@trailx made their first contribution in #10335
@daijoubu made their first contribution in #10352
@bfmvsa made their first contribution in #10384
@ultrazar made their first contribution in #10423
@radiolinkW made their first contribution in #10476
@ot0tot made their first contribution in #10509
@HGLRC-T made their first contribution in #10417
@villivateur made their first contribution in #10600

Full Changelog: 7.1.2...8.0.0

INAV 8.0.0 RC4

2025-01-15T14:17:03Z

Hello and welcome to INAV 8.0.0 "Gallant Goshawk"

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

Contact other pilots, share experiences, suggestions and ask for help on:

	INAV Discord Server
	INAV Official on Facebook

INAV 8 no longer includes F411 targets as part of the official release.

GPS: UBLOX7 and UBLOX have been merged into a single UBLOX option, and units with older firmware are now deprecated. Only M8 and newer will be supported in the future.

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 8.0 RC4

Possible fixed wing pitch instability in autonomous flight modes (see #10536). Should be fixed in RC4 but if this issue still exists the main solution is to reduce nav_fw_pos_z_d and possibly also nav_fw_pos_z_p.

Highlights

Geozones

GPS Fix estimation (dead reckoning, RTH without GPS fix) for Airplanes

MSP-Linkstats

MSP-VTX

MSP-VTX has been updated by @geoffsim to increase compatibility with HDZero vtxs.

Mavlink Advancement for MavlinkRC

Walksnail Serial Gimbal and Headtracker support

OSD Updates

Users can change the precision (amount of decimal places) for Altitude and Distance #10431
Enhancements for Custom OSD Elements #10282
Update arming screen for better space utilisation #10300
OSD system message improvements #10090
Better organisation of the post flight stats screen with more stats available #9617

ADSB Receiver Support

I-Term Lock for Fixed Wing

U-Blox AssistNow Support in INAV Configurator

Sensor ID change for SmartPort telemetry

Improved SD Card support for F7 and H7 flight controllers using SDIO

This change affects the following targets:

FLYWOOH743PRO
IFLIGHT_BLITZ_H7_PRO
KAKUTEH7WING
MATEKF765
MATEKH743
MICOAIR743
NEUTRONRCH7BT
PIXRACER
TBS_LUCID_H7

Other important changes:

Multirotor inverted crash detection #10099
Waypoint tracking improvements #10278 (Note usage change for nav_fw_wp_tracking_accuracy may require change of setting)
Fixed wing altitude velocity control #9471 (see know issues above related to this change)

Upgrading from a previous release

Upgrading from INAV 7.0 and 7.1

Backup configuration with CLI diff all command
Download and install the new INAV Configurator 8.0
Flash INAV 8.0 WITH Full Chip Erase option enabled
Edit the 7.x diff and apply Diff breaking changes described bellow, and save it as your new inav 8 diff.
Select Keep current settings from the defaults pop-up
Go to CLI and restore your edited inav diff
Done

This tool can help migrate your INAV 7.x diff over to INAV 8.0.0. It will take care of the major changes that have been highlighted in these release notes.

Diff breaking changes

Profile consolidation

The profile CLI command has been renamed to control_profile. When updating from an older version of INAV. You will need to edit your diff with this change. For example:

# profile
profile 1

set fw_p_pitch = 14
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 137
...

Will become

# profile
control_profile 1

set fw_p_pitch = 14
set fw_i_pitch = 5
set fw_d_pitch = 5
set fw_ff_pitch = 137
...

OSD Custom Elements

Numeric format	Old name	Old ID	New name	New ID
000	CUSTOM_ELEMENT_TYPE_GV_SMALL	6	CUSTOM_ELEMENT_TYPE_GV_3	7
00000	CUSTOM_ELEMENT_TYPE_GV	4	CUSTOM_ELEMENT_TYPE_GV_5	9
0.0	CUSTOM_ELEMENT_TYPE_GV_SMALL_FLOAT	7	CUSTOM_ELEMENT_TYPE_GV_FLOAT_1_1	10
0000.0	CUSTOM_ELEMENT_TYPE_GV_FLOAT	5	CUSTOM_ELEMENT_TYPE_GV_FLOAT_4_1	15

Below, you can see the position of the IDs that you need to change if they are 4, 5, 6, or 7.

osd_custom_elements 0 3 0 1 0 0 0 0 0 "FLAPS"
                      ^   ^   ^

Upgrading from older versions

Please follow the instructions on this page.

CLI

New / Changed Items

Name	Description
`geozone`	Manages the geozone data set
`control_profile`	`profile` has been renamed to `control_profile`

Changed Settings

Name	Values
`blackbox_device`	New: `FILE` (for `SITL` usage)
`debug_modes`	New: `ADAPTIVE_FILTER`, `HEADTRACKER`, `GPS`, `LULU`, `SBUS2`
`dynamic_gyro_notch_mode`	Removed: `3D_R`, `3D_P`, `3D_Y`, `3D_RP`, `3D_RY`, `3D_PY`
`filter_type_full`	New: `LULU`
`gps_dyn_model`	New: `SEA`, `MOWER`
`gps_provider`	`UBLOX7` has been removed. Use `UBLOX`; version specific capabilities will be auto-detected
`rangefinder_hardware`	New: `TERARANGER_EVO`, `USD1_V0`, `NRA`
`serial_rx`	New: `SBUS2`
`nav_fw_wp_tracking_accuracy`	Now set distance from waypoint course line in meters rather some arbitrary tracking response value

New Settings

Name	Description
`disarm_always`	Disarms the motors independently of throttle value. Setting to OFF reverts to the old behaviour of disarming only when the throttle is low. Default: TRUE
`ez_snappiness`	EzTune snappiness Values: 0 - 100 Default: 0
`failsafe_gps_fix_estimation_delay`	Controls whether waypoint mission is allowed to proceed with gps fix estimation. Sets the time delay in seconds between gps fix lost event and RTH activation. Minimum delay is 7 seconds. If set to -1 the mission will continue until the end. With default setting(7), waypoint mission is aborted and switched to RTH with 7 seconds delay. RTH is done with GPS Fix estimation. Values: -1 - 600 Default: 7
`frsky_use_legacy_gps_mode_sensor_ids`	S.Port telemetry: If `ON`, send the legacy telemetry IDs for modes (Tmp1) and GNSS (Tmp2). These are old IDs, deprecated, and will be removed in INAV 10.0. Tools and scripts using these IDs should be updated to use the new IDs of 470 for Modes and 480 for GNSS. Default: 'OFF' Default: FALSE
`fw_iterm_lock_engage_threshold`	Defines error rate (in percents of max rate) when Iterm Lock is engaged when sticks are release. Iterm Lock will stay active until error drops below this number Values: 5 - 25 Default: 10
`fw_iterm_lock_rate_threshold`	Defines rate percentage when full P I and D attenuation should happen. 100 disables Iterm Lock for P and D term Values: 10 - 100 Default: 40
`fw_iterm_lock_time_max_ms`	Defines max time in milliseconds for how long ITerm Lock will shut down Iterm after sticks are release Values: 100 - 1000 Default: 500
`geozone_avoid_altitude_range`	Altitude range in which an attempt is made to avoid a geozone upwards Values: 0 - 1000000 Default: 5000
`geozone_detection_distance`	Distance from which a geozone is detected Values: 0 - 1000000 Default: 50000
`geozone_mr_stop_distance`	Distance in which multirotors stops before the border Values: 0 - 100000 Default: 15000
`geozone_no_way_home_action`	Action if RTH with active geozones is unable to calculate a course to home Default: RTH
`geozone_safe_altitude_distance`	Vertical distance that must be maintained to the upper and lower limits of the zone. Values: 0 - 10000 Default: 1000
`geozone_safehome_as_inclusive`	Treat nearest safehome as inclusive geozone Default: FALSE
`geozone_safehome_zone_action`	Fence action for safehome zone Default: NONE
`gimbal_pan_channel`	Gimbal pan rc channel index. 0 is no channel. Values: 0 - 32 Default: 0
`gimbal_pan_trim`	Trim gimbal pan center position. Values: -500 - 500 Default: 0
`gimbal_roll_channel`	Gimbal roll rc channel index. 0 is no channel. Values: 0 - 32 Default: 0
`gimbal_roll_trim`	Trim gimbal roll center position. Values: -500 - 500 Default: 0
`gimbal_sensitivity`	Gimbal sensitivity is similar to gain and will affect how quickly the gimbal will react. Values: -16 - 15 Default: 0
`gimbal_serial_single_uart`	Gimbal serial and headtracker device share same UART. FC RX goes to headtracker device, FC TX goes to gimbal. Default: FALSE
`gimbal_tilt_channel`	Gimbal tilt rc channel index. 0 is no channel. Values: 0 - 32 Default: 0
`gimbal_tilt_trim`	Trim gimbal tilt center position. Values: -500 - 500 Default: 0
`gyro_adaptive_filter_hpf_hz`	High pass filter cutoff frequency Values: 1 - 50 Default: 10
`gyro_adaptive_filter_integrator_threshold_high`	High threshold for adaptive filter integrator Values: 1 - 10 Default: 4
`gyro_adaptive_filter_integrator_threshold_low`	Low threshold for adaptive filter integrator Values: -10 - 0 Default: -2
`gyro_adaptive_filter_max_hz`	Maximum frequency for adaptive filter Values: 0 - 505 Default: 150
`gyro_adaptive_filter_min_hz`	Minimum frequency for adaptive filter Values: 0 - 250 Default: 50
`gyro_adaptive_filter_std_lpf_hz`	Standard deviation low pass filter cutoff frequency Values: 0 - 10 Default: 2
`gyro_adaptive_filter_target`	Target value for adaptive filter Values: 1 - 6 Default: 3.5
`gyro_filter_mode`	Specifies the type of the software LPF of the gyro signals. Default: STATIC
`gyro_lulu_enabled`	Enable/disable gyro LULU filter Default: FALSE
`gyro_lulu_sample_count`	Gyro lulu sample count, in number of samples. Values: 1 - 15 Default: 3
`headtracker_pan_ratio`	Head pan movement vs camera movement ratio Values: 0 - 5 Default: 1
`headtracker_roll_ratio`	Head roll movement vs camera movement ratio Values: 0 - 5 Default: 1
`headtracker_tilt_ratio`	Head tilt movement vs camera movement ratio Values: 0 - 5 Default: 1
`headtracker_type`	Type of headtrackr dervice Default: NONE
`inav_allow_gps_fix_estimation`	Defines if inav will estimate GPS fix with magnetometer and barometer on GPS outages. Enables navigation and RTH without GPS fix on fixed wing. Also see failsafe_gps_fix_estimation_delay. Default: FALSE
`inav_default_alt_sensor`	Sets the default altitude sensor to use. Settings GPS and BARO always use both sensors unless there is an altitude error between the sensors that exceeds a set limit. In this case only the selected sensor will be used while the altitude error limit is exceeded. GPS error limit = 2 * inav_max_eph_epv. BARO error limit = 4 * inav_baro_epv. Settings GPS_ONLY and BARO_ONLY will use only the selected sensor even if the other sensor is working. The other sensor will only be used as a backup if the selected sensor is no longer available to use. Default: GPS
`inav_w_z_baro_v`	Weight of barometer climb rate measurements in estimated climb rate. Setting is used on both airplanes and multirotors. Values: 0 - 10 Default: 0.1
`mavlink_min_txbuffer`	Minimum percent of TX buffer space free, before attempting to transmit telemetry. Requuires RADIO_STATUS messages to be processed. 0 = always transmits. Values: 0 - 100 Default: 33
`mavlink_radio_type`	Mavlink radio type. Affects how RSSI and LQ are reported on OSD. Default: GENERIC
`nav_fw_alt_control_response`	Adjusts the deceleration response of fixed wing altitude control as the target altitude is approached. Decrease value to help avoid overshooting the target altitude. Values: 5 - 100 Default: 20
`nav_fw_auto_climb_rate`	Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s] Values: 10 - 2000 Default: 500
`nav_fw_launch_wiggle_to_wake_idle`	Trigger the idle throttle by wiggling the plane. 0 = disabled. 1 and 2 signify 1 or 2 yaw wiggles to activate. 1 wiggle has a higher detection point, for airplanes without a tail. 2 wiggles has a lower detection point, but requires the repeated action. This is intended for larger models and airplanes with tails. Values: 0 - 2 Default: 0
`nav_fw_manual_climb_rate`	Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s] Values: 10 - 2500 Default: 300
`nav_mc_auto_climb_rate`	Maximum climb/descent rate that UAV is allowed to reach during navigation modes. [cm/s] Values: 10 - 2000 Default: 500
`nav_mc_inverted_crash_detection`	Setting a value > 0 enables inverted crash detection for multirotors. It will auto disarm in situations where the multirotor has crashed inverted on the ground and can't be manually disarmed due to loss of control or for some other reason. When enabled this setting defines the additional number of seconds before disarm beyond a minimum fixed time delay of 3s. Requires a barometer to work. Values: 0 - 15 Default: 0
`nav_mc_manual_climb_rate`	Maximum climb/descent rate firmware is allowed when processing pilot input for ALTHOLD control mode [cm/s] Values: 10 - 2000 Default: 200
`osd_adsb_distance_alert`	Distance inside which ADSB data flashes for proximity warning Values: 1 - 64000 Default: 3000
`osd_adsb_distance_warning`	Distance in meters of ADSB aircraft that is displayed Values: 1 - 64000 Default: 20000
`osd_adsb_ignore_plane_above_me_limit`	Ignore adsb planes above, limit, 0 disabled (meters) Values: 0 - 64000 Default: 0
`osd_decimals_altitude`	Number of decimals for the altitude displayed in the OSD [3-5]. Values: 3 - 5 Default: 3
`osd_decimals_distance`	Number of decimals for distance displayed in the OSD [3-5]. This includes distance from home, total distance, and distance remaining. Values: 3 - 5 Default: 3
`osd_estimations_wind_mps`	Wind speed estimation in m/s Default: FALSE
`osd_highlight_djis_missing_font_symbols`	Show question marks where there is no symbol in the DJI font to represent the INAV OSD element's symbol. When off, blank spaces will be used. Only relevent for DJICOMPAT modes. Default: TRUE
`osd_radar_peers_display_time`	Time in seconds to display next peer Values: 1 - 10 Default: 3
`osd_stats_show_metric_efficiency`	Enabling this option will show metric efficiency statistics on the post flight stats screen. In addition to the efficiency statistics in your chosen units. Default: FALSE

Removed Settings

Name	Description
`control_deadband`
`cpu_underclock`
`disarm_kill_switch`
`dji_workarounds`
`fw_iterm_limit_stick_position`
`gyro_anti_aliasing_lpf_type`
`gyro_hardware_lpf`
`gyro_main_lpf_type`
`gyro_use_dyn_lpf`
`inav_use_gps_no_baro`
`inav_use_gps_velned`
`ledstrip_visual_beeper`
`max_throttle`
`nav_auto_climb_rate`
`nav_manual_climb_rate`
`osd_stats_min_voltage_unit`
`pidsum_limit`
`pidsum_limit_yaw`

What's Changed

GPS Fix estimation (dead reconing, RTH without GPS fix) for fixed wing by @RomanLut in #8347
Boards.md: Add link to full list of boards by @sensei-hacker in #9509
Dzikuvx 7.1 mergeback 1 by @DzikuVx in #9550
Skip release for all F411 boards by @DzikuVx in #9542
INAV 8 version bump by @DzikuVx in #9543
WP mission mode RTH and Manual mode lockout improvements by @breadoven in #9551
update toolchain to gcc13.2 by @stronnag in #9579
Update SPEEDYBEEF405V3.md by @mmosca in #9577
Correct wrong writing by @JulioCesarMatias in #9568
SITL: allow simulating airspeed sensor in SITL with HITL plugin by @RomanLut in #9570
[RTH TrackBack] Create .c and .h files for this feature by @JulioCesarMatias in #9429
increase default nav_cruise_yaw_rate to 60 deg/s by @DzikuVx in #9597
optimize at32 adc sample time make the current meter accure by @shanggl in #9578
Separate the nav climb rate settings for fw and mc by @shota3527 in #9424
Added Compass Calibration programmable operation by @sdellava in #9411
bf2inav.py: clearer error messages, number PWM outputs by @sensei-hacker in #9611
Update GPS_fix_estimation.md by @sys512 in #9622
[docs] update dbg-tool link in serial_printf_debugging.md by @stronnag in #9639
aligned KAKUTEH7WING target with manufacturer docs by @paulwrath1223 in #9640
Add support for SKYSTARSF722HDPRO by @DusKing1 in #9630
Adsb support pingRX / Aerobit TT-SC1 by @error414 in #9355
Update [ESC and servo outputs.md] remove output_mode by @RoboSchmied in #9691
Add GEPRCF405_BT_HD by @YI-BOYANG in #9683
Small changes to timer output docs by @mmosca in #9700
fixed dockerfile and updated docs by @RomanLut in #9702
current meter scale to 500 by @P-I-Engineer in #9703
Idle motor default change by @P-I-Engineer in #9695
update MW XML File schema definition for 7.1 Autoland by @stronnag in #9721
Update mw xsd for autoland by @stronnag in #9723
Remove GPS glitch detection by @JulioCesarMatias in #9709
Add error count to CLI batch command by @MrD-RC in #9712
Spektrum telemetry minor fix to address false Fastboot alerts on radios with latest update by @MiguelFAlvarez in #9743
7.1 mergeback by @DzikuVx in #9762
INAV 7.1 by @DzikuVx in #9549
Update readme.md to mention AT32 on the list of mcus supported by @mmosca in #9779
[docs] update serial_printf doc by @stronnag in #9780
fix grammar in [ESC and servo outputs.md] by @RoboSchmied in #9784
fix cygwin/sitl build with cmake 3.28.3 by @stronnag in #9787
Fix missing EzTune settings in dump and diff by @DzikuVx in #9812
Update settings descriptions by @DzikuVx in #9808
Drop ledstrip_visual_beeper as not used by @DzikuVx in #9809
Betafpvf411 unofficial by @DzikuVx in #9815
Fix compiler existence checking in case if PATH contains tilde by @kubrack in #9760
Add EzTune to CMS menu by @DzikuVx in #9813
Remove unused USE_UNDERCLOCK define and related code by @DzikuVx in #9803
Master 7.1.0 by @DzikuVx in #9821
Enable spektrum bind only if spektrum is enabled by @DzikuVx in #9823
Remove setting a use local VELNED instead of GPS provided by @DzikuVx in #9804
Drop control_deadband setting by @DzikuVx in #9805
Fix motor output glitch by initializing IO after timer by @mluessi in #9714
PINIO: Fix inverted pin handling by @mluessi in #9559
Add new target TUNERC405 by @TUNERC-Aria in #9818
Update NEW_HARDWARE_POLICY.md by @mmosca in #9855
Update Fixed Wing Landing.md by @b14ckyy in #9857
Some updates to development docs by @DzikuVx in #9827
Remove killswitch by @DzikuVx in #9856
Release 7.1.0 by @DzikuVx in #9767
fix broken links to modes.md by @sensei-hacker in #9880
Wiggle to wake launch idle by @MrD-RC in #8511
Reorganise stats screens by @MrD-RC in #9617
Fixes SB F405 Wing ADC for RSSI and Aspd swapped by @b14ckyy in #9817
Update Building in Windows 10 or 11 with Linux Subsystem.md by @MrD-RC in #9886
Potential fix for GCC 13 VCP broken on H7 by @DzikuVx in #9882
Simplify matrix filter and drop all partial versions by @DzikuVx in #9885
Optimize the current meter scale and offset for AOCODARCF405AIO by @lida2003 in #9745
terarange evo lidar by @error414 in #9527
No longer require MAG to unlock GPS related flight modes by @DzikuVx in #9824
garbage is displayed (f.e. single char "+" ) instead of "FIRST WP IS TOO FAR" OSD message by @RomanLut in #9849
Feature cut for F411 and F722 by @DzikuVx in #9822
Fix cmake gcc kit detection on apple silicon macs by @mmosca in #9893
OSD Wind speed in m/s by @Yury-MonZon in #9652
Remove workarounds as not used and obsolete by @DzikuVx in #9898
Filtering simplification by @DzikuVx in #9897
Drop MSP_POSITION_ESTIMATION_CONFIG by @DzikuVx in #9866
Drop MSP_OSD_CONFIG from MSP protocol by @DzikuVx in #9865
New MSP frames for Servos by @DzikuVx in #9873
Configuration symbol for barometer address by @ht099 in #9902
Drop MSP_PIDNAMES frame as outdated by @DzikuVx in #9900
Update Fixed Wing Landing.md by @0crap in #9909
Drop MSP_FILTER_CONFIG and MSP_SET_FILTER_CONFIG commands by @DzikuVx in #9903
do not remove nav modes if connected by usb by @RomanLut in #9913
Drop MSP_PID_ADVANCED and MSP_SET_PID_ADVANCED from MSP protocol by @DzikuVx in #9901
Add GEPRC TAKERF722SE target by @YI-BOYANG in #9919
Drop MSP_MOTOR_PINS by @DzikuVx in #9922
Drop pidsum limit settings and replace with hardcoded values by @DzikuVx in #9911
Update Fixed Wing Landing.md by @b14ckyy in #9896
Add extra description to nav_min_ground_speed parameter by @MrD-RC in #9890
increased VBATT_PRESENT_THRESHOLD by @RomanLut in #9933
Add ICM for IFLIGHT_BLITZ_F722 V1.2 by @b14ckyy in #9939
Fix Aocoda-RC H743Dual motor 5-8 mis-labeled issue by @lida2003 in #9948
Add AOCODARCF4V3 target by @lida2003 in #9669
enforce rx auto smoothing in ez tune by @DzikuVx in #9945
Update deadband defaults by @DzikuVx in #9944
max_throttle adjustments by @DzikuVx in #9915
Reintroduce MSP2_INAV_SET_SERVO_CONFIG and MSP2_INAV_SERVO_CONFIG by @DzikuVx in #9926
update auto-declination generator to current IGRF13 model by @stronnag in #9962
Target: Add JHEMCUF405WING, JHEMCUF745, JHEMCUH743HD board by @jhemcu in #9807
Ez Tune snappiness by @DzikuVx in #9957
Fix ZEEZF7 output mapping by @DzikuVx in #9965
Minor Nav code improvements by @breadoven in #9947
FW Nav Auto Landing fixes by @breadoven in #9940
Prevent high throttle auto cancelling OSD stats screen on disarm by @breadoven in #9951
Fix function prototypes and macos warnings by @mmosca in #9980
[SITL] MacOS SITL, build as universal binary by @mmosca in #9981
SITL: implemented built-in serial receivers support in SITL, implemented FC proxy mode, updated SITL docs by @RomanLut in #9365
Match F745 and F745NANO motor pins to BF target by @mmosca in #9990
Revert enforcing mode on TIM3 by @DzikuVx in #9989
Fix macos builds in release_7.1.1 to fix builds by @mmosca in #9993
Cherry pick flywoof745 fixes from master by @mmosca in #9991
Use 2 bits for msp displayport font page by @mmosca in #9942
RangerFinder NRA15/24 from nanoradar by @error414 in #9842
Revert Nav hold changes by @breadoven in #9999
Create Building in Gitpod.md by @dzaro-dev in #10004
WP mode altitude enforce hold fix by @breadoven in #10002
INAV 7.1.1 by @DzikuVx in #9934
Update Building in Gitpod.md by @dzaro-dev in #10014
fix ist8308 compass local frame by @RomanLut in #10011
mavlink: send RC_CHANNELS instead of RC_CHANNELS_RAW to support 18 channels by @RomanLut in #8282
Optimize PID axis processing by @DzikuVx in #9956
Add GEPRCF745_BT_HD target by @YI-BOYANG in #9978
Fixed wing Nav altitude velocity control by @breadoven in #9471
7.1.1. merge error trackback fix by @breadoven in #10028
BFCOMPAT: Add auto-throttle label and BF font symbols for pitch and roll by @rmaia3d in #10023
RTH trackback code cleanup by @breadoven in #10042
[DOC] Broken USB recovery by @Scavanger in #10045
Update the compatibility mode for DJI to use the actual DJI font. by @MrD-RC in #10046
Adding Crosshair Styles for DJI OSD by @dzaro-dev in #10056
Tidy up DJI crosshairs by @MrD-RC in #10060
Use letter Q for DJI LinkQuality OSD element by @DzikuVx in #10054
I-Term Lock for Fixed Wing by @DzikuVx in #9905
Nav altitude estimation changes by @breadoven in #10041
Reorder blackbox fields by @breadoven in #10068
Add PSA about ICM426xx changes in INAV 7.1 by @mmosca in #10071
Fix OSD mentioned twice on readme.md feature list by @fschuindt in #10092
Building a USB-Rescue firmware without editing sources by @Scavanger in #10073
Update readme.md by @mmosca in #10094
Remove unused define from DJI OSD symbols by @MrD-RC in #10061
Allow pilots the option to hide question marks from the OSD. by @MrD-RC in #10058
Make the 'declination.py' file generate Declination, Inclination and Intensity. by @JulioCesarMatias in #10032
SITL: accelerometer/mag data is not processed when using SITL with inav-HITL-plugin by @RomanLut in #9564
Allow LED pin to be reassigned as MOTOR or SERVO by @mmosca in #10022
Skip pollVersion() and pollGnssCapabilities() if gps_auto_config = OFF by @WizzardDr in #10082
Fix channel selection for DMA2 Stream6. by @manuelilg in #10029
Add JHEF405PRO (aka GHF405AIO-HD) support by @HishamGhosheh in #10070
Add battery profile to programming framework by @MrD-RC in #10100
Blackbox rc/flight modes update by @breadoven in #10093
Do not render INAV logo on DJI compat mode by @DzikuVx in #10055
Make battery_capacity_unit a global setting by @MrD-RC in #10103
Release 7.1.2 by @DzikuVx in #10098
Consolidate the old PIDProfile and Profile in to Control Profile by @MrD-RC in #10102
Added new targets FLYWOOF722PRO, F405HD, updated F745, F405PRO config by @flywoo in #10096
Decrease minimum launch acceleration by @MrD-RC in #10113
Adaptive gyro filter based on signal statistics experiment by @DzikuVx in #9879
Increase allowed speeds in NAV modes on multirotors by @DzikuVx in #9878
gyro_adaptive_filter_min_hz min value error by @mmosca in #10123
Increase max number of pwm outputs by 1, if a LED pin is defined by @mmosca in #10127
We already support 4 page fonts, bump max chars to 1024 by @mmosca in #10128
Change number of builds and make builds faster by @mmosca in #10129
Update github actions by @mmosca in #10130
Multirotor landing G bump detection improvements by @breadoven in #10138
Include trusted altitude for healthy position estimation by @breadoven in #10083
[crsf] move LAND flight mode into ARMED section by @stronnag in #10139
Attempt at building master on sucessfull push by @mmosca in #10131
Update dev-builds.yml by @mmosca in #10146
Change tag for nightly builds by @mmosca in #10149
Programming framework doc - loiter radius by @sensei-hacker in #10151
Update release notes with recommendation fro full chip erase. by @mmosca in #10152
OSD system message improvements by @breadoven in #10090
Remove unused and commented out function from osd.c by @rmaia3d in #10147
Update dev-builds.yml by @0crap in #10153
Add link to nightly builds by @mmosca in #10155
Walksnail Serial gimbal and headtracker support by @mmosca in #10109
Update readme.md by @0crap in #10160
Inhibit active failsafe procedures on landing detection by @breadoven in #10135
Multirotor inverted crash detection by @breadoven in #10099
Update Controls.md by @MrD-RC in #10163
Update nav config revision number by @breadoven in #10162
Don't run biulds for documentation only changes by @mmosca in #10164
Add ICM42688-G to IFLIGHTF4_SUCCEXD by @DzikuVx in #10161
Further serial gimbal/headtracker improvements by @mmosca in #10159
bind_rx cli command now supports CRSF based receivers by @mmosca in #10166
Update bind_rx cli documentation by @mmosca in #10170
Update Cli.md by @mmosca in #10171
Only generate nightly build release if the change includes code. by @mmosca in #10172
Fixed position for formation flight / inav radar by @error414 in #9883
Add msp command to send raw ublox commands to gps by @mmosca in #9349
Allow SBUS servo protocol to output 18 channels, expand mixer to up to 24 channels by @mmosca in #10165
[Targets] USE_MAG_ALL by @mmosca in #10176
Gyro LULU smoother as gyro filter alternative by @DzikuVx in #10177
LULU filter port to iNav as a single replacement for most filters in iNav, simplifying filter configuration drastically by @pjpei in #10145
[FIX] BMI088 driver: get BMI088 acc aligned by @Minderring in #10174
Add ICM-42688P to KakuteF4 by @jamming in #10175
Remove of register optimization in favor or relying on GCC optimization. by @DzikuVx in #10178
Add some docs on Serial Gimbal by @mmosca in #10182
Add flown loiter radius to programming logic by @breadoven in #10183
[GPS] Fix message rate for newer ublox devices and add some extra debugging features by @mmosca in #10179
Fixed position for formation flight / inav radar by @P-I-Engineer in #10190
mixer.h: PLATFORM_OTHER isn't valid, remove by @sensei-hacker in #10201
Fix typo in Rx doc.md by @RobertoD91 in #10202
[GPS] Fix GPS dynamic model setup for M10 GPS units by @mmosca in #10199
Add UBLOX PSA to README by @mmosca in #10204
[gps] correct version checks by @mmosca in #10205
IFLIGHT_BLITZ_ATF435 MAX_PWM_OUTPUT_PORTS should 8 by @sensei-hacker in #10206
Make LULU smoother independent from the gyro LPF by @DzikuVx in #10186
Update OSD.md - List all of the OSD-related docs by @sensei-hacker in #10212
[GPS] Add SEA and MOWER dynamic models. by @mmosca in #10211
[GPS] UBLOX and UBLOX7 have been merged into UBLOX by @mmosca in #10214
Update gps_provider documentaion by @mmosca in #10220
create single zip with all hex files, again. by @mmosca in #10221
All all baro to IFLIGHTF4_SUCCEXD by @DzikuVx in #10218
Improve MAVLink behavior with flow control capable links by @MUSTARDTIGERFPV in #10222
Add blackbox device FILE for SITL build by @bartslinger in #10228
GEPRC_F722_AIO include UART3 by @sensei-hacker in #10233
Add new targets: MicoAir405Mini, MicoAir405v2 and MicoAir743 by @Minderring in #10198
Add gyros to DakeFPV targets by @DzikuVx in #10242
Add a new target KakuteF4wing by @jamming in #10122
Inflight timer fix by @breadoven in #10245
SBUS2 telemetry support by @mmosca in #10169
Fix programming framework parameters using int16 instead of in32 by @MrD-RC in #10246
Lower sbus2 telemetry task priority by @mmosca in #10250
Make sure DEFAULT_I2C_DEVICE is always valid by @mmosca in #10253
Nav course hold yaw stick control improvement for fixed wing by @breadoven in #10187
Change MAVLink component ID to be a "proper" autopilot by @MUSTARDTIGERFPV in #10258
Increase SMARTAUDIO_MAX_POWER_COUNT to 8 by @bkleiner in #10261
add additional BBL headers for MAX SERVO increase by @stronnag in #10263
only BBL log servos defined in the mixer by @stronnag in #10267
add SERVOS to blackbox optional fields list by @stronnag in #10272
Allow serialpassthrough to set parity & stop bits by @MUSTARDTIGERFPV in #10271
Refactor sbus to support futaba's FASSTest26 sbus2 mode (Potentially 36 channels) by @mmosca in #10270
Fix mixer tab by @mmosca in #10277
Allow number of servos exceed pwm outputs, if servo protocol is sbus_pwm by @mmosca in #10276
Allow Mission Upload mid flight by @b14ckyy in #10273
cli.c: Add reason for Navigation Unsafe to status by @sensei-hacker in #10280
AOCODARCF7MINI_V1: DSHOT_DMAR and V1 output order by @sensei-hacker in #10260
Support SBUS2 FASSTest 12 channel short frame time by @mmosca in #10288
add h7 svd file by @bkleiner in #10289
Mac-OS wiki update | How to connect to configurator by @KY-S0ong in #10279
vtx: fix VTX_SETTINGS_POWER_COUNT by @bkleiner in #10290
Jh fix bbl servo logging by @stronnag in #10303
remove excessive SD debug from MSP processing by @stronnag in #10306
adsb enhanced by @error414 in #10298
Add AIKONF7 target by @mbainrot in #9603
Add FLYWOOH743PRO Target by @flywoo in #10285
Update Fixed Wing Landing.md by @b14ckyy in #10311
Update Fixed Wing Landing.md by @b14ckyy in #10312
add TBS_LUCID_FC target by @bkleiner in #10292
add stick_center note to vtol/mixer profile docs for 4+1 motor vtol configurations. by @P-I-Engineer in #10313
GEPRC_F722_AIO add target with UART3 instead of i2c by @sensei-hacker in #10310
MAMBAF722_2022B: use DMAR for motor 7 by @sensei-hacker in #10309
tbs-lucid: remove in-accessible servo pins by @bkleiner in #10332
Change Waypoint mode linear climb method by @breadoven in #10334
Waypoint tracking improvements by @breadoven in #10278
MSP headtracker parsing change by @mmosca in #10342
Update USB Flashing.md - mention using a hub with USB-C by @sensei-hacker in #10343
iFlight IFLIGHT_BLITZ_H7_WING changes by @DzikuVx in #10341
Update ci.yml by @mmosca in #10344
Use all cores during ci builds by @mmosca in #10337
Small fixes for serial gimbal by @mmosca in #10345
at32: add uart pinswap by @bkleiner in #10333
Added documentation about GVARs, PIDFF Controllers, & Integer Math by @trailx in #10335
Update Settings.yaml and settings.md to include units for nav_max_terrain_follow_alt by @daijoubu in #10352
Change SmartPort sensor IDs for GPS and Modes by @MrD-RC in #9868
Enhance OSD Custom Elements by @MrD-RC in #10282
fixed altitude estimator error estimation by @RomanLut in #10367
Update FLYWOOF745 config.c by @flywoo in #10368
[Fix] Potential stack smash in gforce OSD statistics by @Scavanger in #10358
tbs_lucid: mask PA13/PA14 to enable debugging by @bkleiner in #10365
lucid: use PC5 as adc, use PA13/PA14 as PINIO by @bkleiner in #10378
at32: add abilty to specify uart af by @bkleiner in #10366
Change bus for built-in compass for MICOAIR743 target by @bfmvsa in #10384
MICOARI743 Add alternative target that looks for compass on external connector by @mmosca in #10385
Further tweaks to mavlink by @mmosca in #10215
Switch parameters with battery capacity unit by @MrD-RC in #10389
Nav velocity Z estimation improvements by @breadoven in #10243
Navigation.md - Remove outdated references to inav_use_gps_no_baro by @sensei-hacker in #10408
Default altitude sensor setting fix by @breadoven in #10411
Fix lockup on disarm when wh used in post-flight stats by @MrD-RC in #10413
Add MSP command to get ESC telemetry by @jeffhendrix in #10388
Add PrincipioIoT F7 target by @DzikuVx in #10422
at32: add ability to specify uart rx/tx af independently by @bkleiner in #10396
Add feature freeze announcement by @mmosca in #10429
Fix custom OSD elements cli import by @MrD-RC in #10430
Update arming screen for better space utilisation by @MrD-RC in #10300
Allow the pilot to set the precision for altitude and distance in the OSD by @MrD-RC in #10431
Update DPS310 driver to support SPL07-003 by @DzikuVx in #10441
MSP VTX Code Updates by @geoffsim in #10355
Added IMUTemperature read function for ICM42605 by @ultrazar in #10423
Update TUNERCF405 target.h by @TUNERC-Aria in #10438
Have RSSI go from 0-100%, rather than 0-99% by @MrD-RC in #10450
Add spa06 and spl07 baro for Kakutef4/f7 FC by @jamming in #10458
Initial implementation of MSP RC stats and info messages by @MrD-RC in #10451
Revert change to MSP_SET_RAW_RC by @MrD-RC in #10461
[mspv2] pass "flags" field back to sender, define ILMI flag by @stronnag in #10464
Geozones (aka Geofence) by @Scavanger in #10459
Geozones.md by @b14ckyy in #10466
add annotated script to generate RN Changelog by @stronnag in #10468
add TBS_LUCID_H7 by @bkleiner in #10454
Add BF config to INAV target converter by @mmosca in #9556
[Fix] EZ-Tune Filter-HZ Fix by @Scavanger in #10467
Geozone RC2 Fixes by @Scavanger in #10471
Speedybee F405 AIO by @DzikuVx in #10444
gimbal_sensitivity uint8_t -> int8_t. Range is actually -16 to 15 by @mmosca in #10478
Add support for SKYSTARSSF405AIO target by @DusKing1 in #10469
Fix incorrect arming flags reporting on CLI by @mmosca in #10479
add GEPRC_TAKER_H743 target replacement by @DzikuVx in #10484
Fix nightly build by @mmosca in #10485
fixed: gps sensor can not recover from timeout in gps fix estimation mode by @RomanLut in #9574
Update osd.md for 8.0 by @MrD-RC in #10492
add target RADIOLINKF722 by @radiolinkW in #10476
Fixed wing launch mode failsafe fixes by @breadoven in #10486
BF2INAV converter updates by @mmosca in #10503
Fix PINIO in KAKUTEH7WING by @ot0tot in #10509
Show pilot name and craft name on arming screen if they are not empty by @MrD-RC in #10506
fix h7 sdcard init by @bkleiner in #10512
Omnibus F4.md: select IMU for V6 and Fireworks V2 by @sensei-hacker in #10519
h7: enable swd pins by @bkleiner in #10516
msp: expose number of vtx power levels, bands and channels by @bkleiner in #10395
Add a template for new target PR by @mmosca in #9946
f7: migrate sdcard to hal by @bkleiner in #10526
Change Autotune default max servo range by @b14ckyy in #10531
Update VTOL.md with a more detailed guide on setting up tilting servos by @dzaro-dev in #10528
Experimental bmp390 support. by @mmosca in #10542
Programming Framework.md: Fix markdown for Delta by @sensei-hacker in #10546
Correct comments on OSD symbols by @MrD-RC in #10558
Default motor stop to ON by @MrD-RC in #10568
Add support for SKYSTARSF405WING target by @DusKing1 in #10561
Add new target for HGLRCF405V2 by @HGLRC-T in #10417
SITL.md - Addtional info re joystick by @sensei-hacker in #10579
Fix barometer I2C address redefine issues by @Minderring in #10555
make gimbal trims signed int by @sensei-hacker in #10573
Simplify build and retry increasing agents by @mmosca in #10581
Fix nightly build by @mmosca in #10582
More nightly build fixes by @mmosca in #10583
Fixing nightly builds and cleaning up ci by @mmosca in #10585
Fixed wing altitude control fixes by @breadoven in #10541
Add targets for SEQUREH7 and SEQUREH7V2 by @MrD-RC in #10523

New Contributors

@sys512 made their first contribution in #9622
@paulwrath1223 made their first contribution in #9640
@RoboSchmied made their first contribution in #9691
@P-I-Engineer made their first contribution in #9703
@kubrack made their first contribution in #9760
@TUNERC-Aria made their first contribution in #9818
@Yury-MonZon made their first contribution in #9652
@ht099 made their first contribution in #9902
@0crap made their first contribution in #9909
@dzaro-dev made their first contribution in #10004
@fschuindt made their first contribution in #10092
@WizzardDr made their first contribution in #10082
@manuelilg made their first contribution in #10029
@HishamGhosheh made their first contribution in #10070
@pjpei made their first contribution in #10145
@Minderring made their first contribution in #10174
@jamming made their first contribution in #10175
@RobertoD91 made their first contribution in #10202
@MUSTARDTIGERFPV made their first contribution in #10222
@bartslinger made their first contribution in #10228
@KY-S0ong made their first contribution in #10279
@mbainrot made their first contribution in #9603
@trailx made their first contribution in #10335
@daijoubu made their first contribution in #10352
@bfmvsa made their first contribution in #10384
@ultrazar made their first contribution in #10423
@radiolinkW made their first contribution in #10476
@ot0tot made their first contribution in #10509
@HGLRC-T made their first contribution in #10417

Full Changelog: 7.1.2...8.0.0-RC4