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INAV 1.3
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@digitalentity digitalentity released this 02 Nov 10:47
· 11979 commits to master since this release
1.3
479d607

I'm happy to announce INAV 1.3!

Most notable change is always unsynched motor updates. At over 1-2 kHz update rate the delay between PID loop and motor update is negligible (at 1 kHz average delay would be 0.5ms which is merely ~2% of total quad response delay).

Please update INAV Configurator from Chrome Store.

WARNING

FEATURE_ONESHOT125 is now deprecated, you will have to select appropriate motor_pwm_protocol and motor_pwm_rate via CLI to specify ESC protocol and update rate. I.e. for OS125@2kHz you'll have to set:

set motor_pwm_protocol = ONESHOT125
set motor_pwm_rate = 2000

This firmware also supports ONESHOT42 and MULTISHOT ESC protocols.

WARNING

Flight mode IDs have changed in CLI. When restoring old CLI dumps please verify that Flight modes are assigned correctly.

New targets

  • OMNIBUS FC initial support (w/o OSD)
  • MultiWiiCopter AIRHEROF3 FC
  • SPRacingF3 MINI (w/o race transponder)

New features

  • FlySky I-Bus telemetry
  • PCA9685 PWM driver to provide lots of servo outputs for airplanes
  • Possibility to have airplanes auto-arm on throttle up (and never disarm)
  • Stack usage detection
  • Removed unused/deprecated box modes (GOV, LEDMAX, CAMTRIG, SERVO1-3)

Bugfixes

  • Fixed MAG mode aligning the machine North when enabled from the beginning
  • Additional I-term limits for airplanes to prevent wind up when launching
  • Improvements to INAV nRF24 protocol
  • I2C error handling fix - solves most compass detection issues
  • I2C timeout fix (BMP280/BMP085 initialisation fix)
  • AK8963 compass (part of MPU9250) fix
  • BMP280 update rate fix
  • Lots of code cleanups

Thanks to @DzikuVx, @stronnag, @martinbudden, @sambas, @oleost and others who participated in INAV in any way and to all those who put their flying machines at risk testing the code.

Happy flying!

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