Skip to content

2.3.0 Release Notes

Pawel Spychalski (DzikuVx) edited this page Sep 21, 2022 · 15 revisions

Hello and welcome to INAV 2.3.0 Release!

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

Get in touch with other pilots, share experiences, suggestions and ask for help on:

INAV Official on Telegram
INAV Official on Facebook

Please continue to support developers, for free, by checking out from the following stores after having clicked on the following links:

Support us on Banggood

Your contribution from the past month has been very welcome! Thanks!

Tested and suggested hardware can be found here

Important Notes

Upgrading from 2.2.0

  1. Download and install the new configurator
  2. Save to a file the current diff all from the CLI.
  3. Upgrade to INAV 2.3 using the Full Erase option in the configurator.
  4. Upload your OSD font of choice from the OSD tab.
  5. Go the CLI again and paste the contents on the file you previously create and write save , press ENTER and done!
  6. You should be ready, explore new 2.3 features and enjoy!

Upgrading from 2.1.0

  1. Please follow the upgrade guide to 2.2.0 and then step to the previous section.

New targets:

CLI:

New

Setting Description
dyn_notch_width_percent Distance in % of the attenuated frequency for double dynamic filter notched. When set to 0 single dynamic notch filter is used
dyn_notch_range Dynamic gyro filter range. Possible values LOW MEDIUM HIGH. MEDIUM should work best for 5-6" multirotors. LOW should work best with 7" and bigger. HIGH should work with everything below 4"
dyn_notch_q Q factor for dynamic notches
dyn_notch_min_hz Minimum frequency for dynamic notches. Default value of 150 works best with 5" multirors. Should be lowered with increased size of propellers. Values around 100 work fine on 7" drones. 10" can go down to 60 - 70
throttle_scale Throttle scaling factor. 1 means no throttle scaling. 0.5 means throttle scaled down by 50%
vbat_meter_type Vbat voltage source. Possible values: NONE, ADC, ESC. ESC required ESC telemetry enabled and running
antigravity_gain Max Antigravity gain. 1 means Antigravity is disabled, 2 means Iterm is allowed to double during rapid throttle movements
antigravity_accelerator
antigravity_cutoff_lpf_hz Antigravity cutoff frequenct for Throtte filter. Antigravity is based on the difference between actual and filtered throttle input. The bigger is the difference, the bigger Antigravity gain
sim_pin PIN for GSM card module

ESC Telemetry

ESC Telemetry is a feature of DSHOT ESCs to send some data back to the flight controller - voltage, current, temperature, motor RPM. It required additional wire from an ESC to the flight controller. To configure you need DSHOT as a motor protocol and "ESC output/telemetry" function enabled for the serial port where ESC telemetry wires are connected.

INAV ESC Telemetry with BlHeli_32 - The Complete Guide

Dynamic Filters

Dynamic Filters is a port of Betaflight dynamic filtering. It uses FFT analysis of gyro traces to locate noise peaks and double notch filters to attenuate them. By default, there are 6 notches, 2 per each axis: roll, pitch and yaw.

To enable Dynamic Filters, go to CLI and type feature DYNAMIC_FILTERS

The default values are suited for 5" mini quads. Depending on the size of multirotor propellers, some adjustments might be required.

Propeller size dyn_notch_range dyn_notch_min_hz
Below 5" HIGH 200 or more
5" HIGH or MEDIUM 150 or more
7" LOW 100 or less

INAV Dynamic Filters, one of INAV 2.3 goodies - how-to guide

Global Functions

Global Functions (abbr. GF) are a mechanism allowing to override certain flight parameters (during flight). Global Functions are activated by Logic Conditions.

Currently implemented Global Functions

Name Notes
OVERRIDE_ARMING_SAFETY Allows to arm on any angle even without GPS fix
OVERRIDE_THROTTLE_SCALE Override throttle scale to the defined value
SWAP_ROLL_YAW basically, when activated, yaw stick will control roll and roll stick will control yaw. Required for tail-sitters VTOL during vertical-horizonral transition when body frame changes
SET_VTX_POWER_LEVEL Sets VTX power level. Allows to change VTX power level based on distance, switch or other values present in Logic Conditions
INVERT_ROLL Inverts ROLL axis input for PID/PIFF controller
INVERT_PITCH Inverts PITCH axis input for PID/PIFF controller
INVERT_YAW Inverts YAW axis input for PID/PIFF controller
OVERRIDE_THROTTLE Override throttle value that is fed to the motors by mixer. Allows for throttle hold

For details refer to Global Functions.md in docs folder.

Pixel based OSD

INAV now supports pixel based OSDs and includes a driver for FrSky's OSD. Some elements, like the artificial horizon, the home arrow or the heading graph include pixel based implementations.

To enable it go to the Ports tab in the configurator and select "FrSky OSD" from the peripherals column of the port that the OSD is connected to. Font uploading and OSD element configuration works in the same way, regardless of the OSD type.

Development Environment

The INAV Makefile will attempt to install a recommended compiler for your platform. Should you wish to override this, or your platform is not supported, please refer to the document docs/development/Generic_Linux_development.md which describes how to use an alternative compiler.

Due to third-party incompatibilities between Windows 64bit, Cygwin and the 32bit ARM cross-compiler, we do not recommend trying to build with Cygwin. The Cygwin build documentation has been withdrawn. Please use WSL or a Linux VM for building on Windows.

WIKI TOPICS

Wiki Home Page

INAV Version Release Notes

7.1.0 Release Notes
7.0.0 Release Notes
6.0.0 Release Notes
5.1 Release notes
5.0.0 Release Notes
4.1.0 Release Notes
4.0.0 Release Notes
3.0.0 Release Notes
2.6.0 Release Notes
2.5.1 Release notes
2.5.0 Release Notes
2.4.0 Release Notes
2.3.0 Release Notes
2.2.1 Release Notes
2.2.0 Release Notes
2.1.0 Release Notes
2.0.0 Release Notes
1.9.1 Release notes
1.9.0 Release notes
1.8.0 Release notes
1.7.3 Release notes
Older Release Notes

QUICK START GUIDES

Getting started with iNav
Fixed Wing Guide
Howto: CC3D flight controller, minimOSD , telemetry and GPS for fixed wing
Howto: CC3D flight controller, minimOSD, GPS and LTM telemetry for fixed wing
INAV for BetaFlight users
launch mode
Multirotor guide
YouTube video guides
DevDocs Getting Started.md
DevDocs INAV_Fixed_Wing_Setup_Guide.pdf
DevDocs Safety.md

Connecting to INAV

Bluetooth setup to configure your flight controller
DevDocs Wireless Connections (BLE, TCP and UDP).md\

Flashing and Upgrading

Boards, Targets and PWM allocations
Upgrading from an older version of INAV to the current version
DevDocs Installation.md
DevDocs USB Flashing.md

Setup Tab
Live 3D Graphic & Pre-Arming Checks

Calibration Tab
Accelerometer, Compass, & Optic Flow Calibration

Alignment Tool Tab
Adjust mount angle of FC & Compass

Ports Tab
Map Devices to UART Serial Ports

Receiver Tab
Set protocol and channel mapping

Mixer

Mixer Tab
Custom mixes for exotic setups
DevDocs Mixer.md

Outputs

DevDocs ESC and servo outputs.md
DevDocs Servo.md

Modes

Modes
Navigation modes
Navigation Mode: Return to Home
DevDocs Controls.md
DevDocs INAV_Modes.pdf
DevDocs Navigation.md

Configuration

Sensor auto detect and hardware failure detection

Failsafe

Failsafe
DevDocs Failsafe.md

PID Tuning

PID Attenuation and scaling
Fixed Wing Tuning for INAV 3.0
Tune INAV PIFF controller for fixedwing
DevDocs Autotune - fixedwing.md
DevDocs INAV PID Controller.md
DevDocs INAV_Wing_Tuning_Masterclass.pdf
DevDocs PID tuning.md
DevDocs Profiles.md

GPS

GPS and Compass setup
GPS Failsafe and Glitch Protection

OSD and VTx

DevDocs Betaflight 4.3 compatible OSD.md
OSD custom messages
OSD Hud and ESP32 radars
DevDocs OSD.md
DevDocs VTx.md

LED Strip

DevDocs LedStrip.md

ADVANCED

Advanced Tuning

Fixed Wing Autolaunch
DevDocs INAV_Autolaunch.pdf

Programming

DevDocs Programming Framework.md

Adjustments

DevDocs Inflight Adjustments.md

Mission Control

iNavFlight Missions
DevDocs Safehomes.md

Tethered Logging

Log when FC is connected via USB

Blackbox

DevDocs Blackbox.md
INAV blackbox variables
DevDocs USB_Mass_Storage_(MSC)_mode.md

CLI

iNav CLI variables
DevDocs Cli.md
DevDocs Settings.md

VTOL

DevDocs MixerProfile.md
DevDocs VTOL.md

TROUBLESHOOTING

"Something" is disabled Reasons
Blinkenlights
Pixel OSD FAQs
TROUBLESHOOTING
Why do I have limited servo throw in my airplane

ADTL TOPICS, FEATURES, DEV INFO

AAT Automatic Antenna Tracker
Building custom firmware
Default values for different type of aircrafts
Features safe to add and remove to fit your needs.
Developer info
INAV MSP frames changelog
INAV Remote Management, Control and Telemetry
Lightweight Telemetry (LTM)
Making a new Virtualbox to make your own INAV
MSP Navigation Messages
MSP V2
OrangeRX LRS RX and OMNIBUS F4
Rate Dynamics
Target and Sensor support
UAV Interconnect Bus
Ublox 3.01 firmware and Galileo
DevDocs 1wire.md
DevDocs ADSB.md
DevDocs Battery.md
DevDocs Buzzer.md
DevDocs Channel forwarding.md
DevDocs Display.md
DevDocs Fixed Wing Landing.md
DevDocs GPS_fix_estimation.md
DevDocs LED pin PWM.md
DevDocs Lights.md
DevDocs OSD Joystick.md
DevDocs Servo Gimbal.md
DevDocs Temperature sensors.md

OLD LEGACY INFO

Supported boards
DevDocs Boards.md
Legacy Mixers
Legacy target ChebuzzF3
Legacy target Colibri RACE
Legacy target Motolab
Legacy target Omnibus F3
Legacy target Paris Air Hero 32
Legacy target Paris Air Hero 32 F3
Legacy target Sparky
Legacy target SPRacingF3
Legacy target SPRacingF3EVO
Legacy target SPRacingF3EVO_1SS
DevDocs Configuration.md
Request form new PRESET
DevDocs Introduction.md
Welcome to INAV, useful links and products
iNav Telemetry
DevDocs Rangefinder.md
DevDocs Rssi.md
DevDocs Runcam device.md
DevDocs Serial.md
DevDocs Telemetry.md
DevDocs Rx.md
DevDocs Spektrum bind.md

Clone this wiki locally