1.9.0 Release notes

Please read the release notes carefully and upgrade INAV Configurator application.

INAV is and will remain open-source and free, but you are more than welcome to support the development.

This release was supported by our awesome sponsors CarbonBird.com, Airbot, ADPM Drones and a number of supporters on Patreon.

WARNINGS

• todo

Known bugs

• todo

CLI parameter renaming / new parameters

New parameters have been introduced. Some CLI parameters were renamed to support new features or to better reflect their meaning:

Name	Description
rangefinder_median_filter
baro_median_filter
failsafe_lights	Enable or disable the lights when the FAILSAFE flight mode is enabled. The target needs to be compiled with USE_LIGHTS [ON/OFF]. Default is ON
failsafe_lights_flash_period	Time in milliseconds between two flashes when failsafe_lights is ON and FAILSAFE flight mode is enabled [40-65535]. Default is 1000ms.
failsafe_lights_flash_on_time	Flash lights ON time in milliseconds when failsafe_lights is ON and FAILSAFE flight mode is enabled. [20-65535]. Default is 100ms.
battery_capacity	Set the battery capacity in mAh or mWh (see battery_capacity_unit). Used to calculate the remaining battery capacity. Default is 0
battery_capacity_warning	If the remaining battery capacity goes below this threshold the beeper will emit short beeps and the relevant OSD items will blink. Default is 0
battery_capacity_critical	If the remaining battery capacity goes below this threshold the battery is considered empty and the beeper will emit long beeps. Default is 0
battery_capacity_unit	Unit used for battery_capacity, battery_capacity_warning and battery_capacity_critical [MAH/MWH] (milliAmpere hour / milliWatt hour). Default is MAH
manual_rc_expo	Expo settings used for the PITCH/ROLL axes by the MANUAL flight mode [0-100]. Default is 70
manual_rc_yaw_expo	Expo settings used for the YAW axis by the MANUAL flight mode. Default is 20
manual_pitch_rate	Servo travel multiplier for the PITCH axis in MANUAL flight mode [0-100]%. Default is 100%
manual_roll_rate	Servo travel multiplier for the ROLL axis in MANUAL flight mode [0-100]%. Default is 100%
manual_yaw_rate	Servo travel multiplier for the YAW axis in MANUAL flight mode [0-100]%. Default is 100%
gps_ublox_use_galileo	Enable use of Galileo satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires M8N and Ublox firmware 3.x (or later) [OFF/ON]. Default is OFF
smartport_fuel_unit	Unit of the value sent with the FUEL ID through the S.Port telemetry [PERCENT/MAH/MWH]. Default is PERCENT
osd_stats_energy_unit	Unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt hour]. Default is MAH
osd_main_voltage_decimals	Number of decimals for the battery voltages displayed in the OSD [1-2]. Default is 1
osd_wh_drawn_pos
osd_bat_remaining_capacity_pos
osd_bat_remaining_percent_pos
osd_efficiency_mah_pos
osd_efficiency_wh_pos
display_force_sw_blink
mag_to_use	Allow to chose between built-in and external compass sensor if they are connected to separate buses. Currently only for REVO target
nav_fw_launch_min_time	Allow launch mode to execute at least this time (ms) and ignore stick movements [0-60000]. Default is 0
nav_fw_launch_max_altitude	Altitude (centimeters) at which LAUNCH mode will be turned off and regular flight mode will take over [0-60000]. Default is 0

New boards

• Betaflight F3
• Betaflight F4
• FuriousFPV F35 Lightning (former FuriousFPV WingF4)
• Matek F722
• Matek F405-CTR
• Holybro KAKUTE F4
• Holybro KAKUTE F4 V2
• Fortini F4

New features

• [COMPASS] Allow to chose between internal and external compass on REVO target (@digitalentity, #2522)
• [SYSTEM] Migrate to busDevice abstraction layer for better device access abstraction (@digitalentity, #2290)
• [SYSTEM] Create dedicated F427 startup file (@digitalentity, #2559)
• [MOTOLAB] Allow MOTOLAB target to be used for airplanes (@shellixyz, #2502)
• [GPS] Enables use of Galileo satellites for NEO-M8N GPS units (@stronnag, #2583)
• [CALIBRATION] Add API for Calibration tab in Configurator
• [OSD] Allow OSD mode to disable OSD (@shellixyz, #2676)
• [OSD] Increase odometer accuracy (@digitalentity, #2757)
• [OSD] Add more battery-related indicators (including efficiency)
• [LIGHTS] Add LIGHTS flight mode to enable/disable GPIO-driven equipment (@shellixyz, #2675)
• [LAUNCH] Allow LAUNCH mode to ignore sticks for certain amount of time (@shellixyz, #2677)
• [LAUNCH] Allow LAUNCH mode to be permanently enabled as FW_LAUNCH feature (@giacomo892, #2731)
• [MSP] API to support smix/mmix configuration via Configurator (@DzikuVx, #2693)
• [MSP] Add no-reply flag to allow MSP messages that don't need a response (@digitalentity, #2762)
• [COMPASS] Enable QMC5883, MAG3110 and IST8310 on most of the targets (@digitalentity, #2699)
• [AIRPLANE] Replace PASSTHROUGH with MANUAL flight mode (@shellixyz, #2661)
• [BATTERY] Improve battery monitoring and resolution (@shellixyz, #2705)
• [SYSTEM] Remove SoftSPI implementation since it's not used (@DzikuVx, #2726)
• [SYSTEM] Allow in-flight adjustments of board alignment, cruise throttle and pitch2thr
• [SYSTEM] Trace messages output for easier debugging (@digitalentity, #2691)

Bugfixes

• Fix flash overflow on F7 targets due to usage of flash_split
• Update BLHeli passthrough to support BLHeli_32
• Fix AK8963 compass support (@digitalentity, #2551)
• Fix timer clash between motors and servos on PIKOBLX
• Fix non-working UART7/8
• Fix non-booting OMNIBUSF4 (some variants with MPU6500-family gyro)
• Fix support for dataflash chips larger than 16MiB
• Fix VCP issues on F7 targets
• Fix potential buffer overflow in MSPv2 parsing
• Fix OSD statistics displaying issues on NTSC screens
• Fix RCSplit not being detected (increase timeout)
• Fix OSD blinking on some flawed OSD hardware (allow software blinking) (@fiam, #2452)
• Fix P gains for Heading Hold not available in CLI (@DzikuVx, #2669)
• Fix arming with AUTOTRIM enabled (@giacomo892, #2756)