4.0.0 Release Notes

Hello and welcome to INAV 4.0 "Red Kite"

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

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Tested and suggested hardware can be found here

Important Notes

PPM receivers are no longer supported

If you use a PPM receiver, these are no longer supported by INAV. We recommend that you use serial based receivers.

F411 and F722 feature reduction

Due to the storage space on these flight controllers. Features have started to be dropped. See PR #7297 for details

Font update required

A font file update is required to use the new symbols and avoid an invalid font warning. Upload the updated font of your choosing from the OSD tab.

INAV LUA Script

If you are using the INAV LUA script and Crossfire, you should update to the latest INAV LUA script.

Upgrading from a previous release

Upgrading from INAV 3

You can copy osd, led, servo, aux, serial, and mixer settings, from INAV 3.0.2 diff all, but other settings should be tuned again.

Download and install the new configurator
Save to a file the current diff all from the CLI.
Upgrade to INAV 4.0 using the Full Erase option in the configurator.
Upload your OSD font of choice from the OSD tab.
Go to the CLI again and paste the above-described contents from the file you previously created and write save , press ENTER.
There are a large number of new, changed, and removed settings. Check carefully that the settings are correct and fix any unrecognized or out-of-range items from the saved configuration.
You should be ready, explore new 4.0 features, and enjoy!

Upgrading from older versions

Please follow the instructions on this page.

Important changes

Filtering changes

With INAV 4.0 there are a couple of important changes in how gyro and D-term are filtered. They mostly affect Multirotor pilots.

Kalman filter aka Unicorn Filter is enabled by default
Unicorn Filter setup is simplified: you only tune Q factor. Window size and sharpness settings are removed
Dynamic Notch aka Matrix Filter is enabled by default
Matrix filter has been reworked and simplified. Now you only set minimum frequency and Q factor
Matrix filter resolution is now 4 times higher than with INAV 3
Static gyro notch was removed
First D-term LPF type changed to PT2 and second D-term LPF is disabled - this gives the same filtering as previously but with less settings to worry about
The Alpha-Beta-Gamma filter removed
The Smith Predictor is enabled by default by the new Configurator defaults

H743 support

INAV 4.0 comes with the full support of all H7 boards compatible with MATEKH743 target. This includes the SD Card and MSC mode support. Bear in mind, CAN and UAVCAN are still not supported by INAV and currently, there are no plans to implement them.

Blackbox improvements

Blackbox now always logs the Control Derivative and Feed Forward components, as well as rate target in degrees-per-seconds. The latest INAV Blackbox Explorer is required to fully use those features.

New command blackbox allows setting which Blackbox fields are recorded to conserve space and bandwidth. Possible fields are:

NAV_ACC - Navigation accelerometer readouts
NAV_PID - Navigation PID debug
NAV_POS - Current and target position and altitude
MAG - Magnetometer raw values
ACC - Accelerometer raw values
ATTI - Attitude as computed by INAV position estimator
RC_DATA - RC channels 1-4 as returned by the radio receiver
RC_COMMAND - RC_DATA converted to [-500:500] scale with expo and headband
MOTORS - motor output

Usage

blackbox currently enabled Blackbox fields
blackbox list all available fields
blackbox -MOTORS disable MOTORS logging
blackbox MOTOR enable MOTORS logging

Rate Dynamics

INAV 4.0 adds a port of the EmuFlight Rate Dynamics system. It modifies stick input to change the flight feeling. To find out more refer to:

Below are some presets you might want to try

Default

set rate_dynamics_center_sensitivity = 100
set rate_dynamics_center_correction = 10
set rate_dynamics_center_weight = 0
set rate_dynamics_end_sensitivity = 100
set rate_dynamics_end_correction = 10
set rate_dynamics_end_weight = 0

Cinematic

set rate_dynamics_center_sensitivity = 80
set rate_dynamics_center_correction = 20
set rate_dynamics_center_weight = 85
set rate_dynamics_end_sensitivity = 90
set rate_dynamics_end_correction = 10
set rate_dynamics_end_weight = 50

Freestyle

set rate_dynamics_center_sensitivity = 80
set rate_dynamics_center_correction = 10
set rate_dynamics_center_weight = 35
set rate_dynamics_end_sensitivity = 130
set rate_dynamics_end_correction = 10 
set rate_dynamics_end_weight = 35

Freestyle Less bounceback

set rate_dynamics_center_sensitivity = 80
set rate_dynamics_center_correction = 10
set rate_dynamics_center_weight = 35
set rate_dynamics_end_sensitivity = 130
set rate_dynamics_end_correction = 30 
set rate_dynamics_end_weight = 35

Racing

set rate_dynamics_center_sensitivity = 130
set rate_dynamics_center_correction = 35
set rate_dynamics_center_weight = 30
set rate_dynamics_end_sensitivity = 115
set rate_dynamics_end_correction = 20
set rate_dynamics_end_weight = 10

Battery Profiles

Some settings have moved from the # master section of the CLI in to # battery profiles. These include:

throttle_idle
fw_min_throttle_down_pitch
nav_fw_cruise_thr
nav_fw_min_thr
nav_fw_pitch2thr
nav_fw_launch_thr
nav_fw_launch_idle_thr
failsafe_throttle
nav_mc_hover_thr

These settings will be automatically added to the current battery profile when importing a diff. You will need to replicate them on any other battery profiles you use.

WP Mission Enhancements

Multi-Mission

Multiple missions may be uploaded to the flight controller and a mission selected for execution by OSD, Stick Command or Mission Planner. Multi-Mission is supported by the inav Configurator and mwp mission planners.

Number of Waypoints

The maximum number of WPs is now 120.

On the fly missions

Inav 4.0 adds the capability to generate an "on the fly" mission while flying using aircraft positions.

Fly By Home Waypoints

Inav 4.0 adds Fly-by-home waypoints. This is a way point whose location is set to the home position at arm time.

Fixed wing changes

Soaring mode

Soaring mode comes to INAV 4.0. The addition is great for people who fly gliders. Soaring mode adds a modifier that you can use to change how Course Hold, Cruise, or Position Hold (loiter) behave. When enabled, it disables altitude control and allows Angle mode to free float in pitch, allows the plane to soar freely.

Two-stage climb first for RTH

This change allows the climb phase of a climb first RTH to have two separate parts. This is useful for pilots who want to climb first, to clear potential obstacles. But, don't want to be wasting energy flying away from home. This allows you to set a first climb stage altitude. Once it meets or exceeds that altitude, the plane will turn to home and continue climbing to the RTH altitude. See the INAV Wiki for more information.

Autotune no longer tunes P and I

There were often autotunes in INAV 3.0 which resulted in too high P and I. Also, D was not tuned at all. New default PIDs, that will work reasonably on all sizes of planes (#1390) have been added. This should give good results with an autotune, which can then be fine tuned to your plane.

OSD Units

If you previously used the UK units in your OSD. You will now find that your units are set to Metric + MPH. This is the new name for the old UK units. There is also a new UK units set, that better represents transportation units used in the UK. Full details can be found in the pull release.

There is also a new units set aimed at General Aviation pilots. This set uses Knots, Feet, Nautical Miles, 100 Feet per Minute, and Celsius for their respective values.

Changelist

H7: usb msc support for sdio #7572 - This enables SD card support on H7 boards
Improve leading space handing in craft name in CLI #6056
Ability to store multiple missions and select before arming #6765
Unicorn Filter improvements #6819 #7132 #7523
Rate dynamics #6823
Mission restart option #6938
Other Missions improvements #6920
On the fly WP Mission Planner #6967
OSD Improvements #6979 #6993 #6995 #7068 #7104 #7126 #7427 #7371 #7367 #7355 #7515 #7518 #7519 #7441
SmartSudio on SoftwareSerial fixed #6986
DJI FPV OSD improvements - craft name hack no longer necessary #7098 #7138
Autotune improvements #7180
Don't change P, I and D during FW autotune #7461
PT2 and PT3 Low Pass Filters for D-term #7165 #7310
Dboost 2 - dynamic Dterm management #7149
Fix name clashes in FAT filesystem #7155
Add proper % RSSI for CRSF [0..99%] #7173
Two Stage Climb First RTH #7323
Rangefinder cleanup #7318 #7316 #7312
VCM5883 magnetometer driver #7301
Remove motor rate limiting #7296
Cleanup not used ESC protocols #7295
Multirotor Auto Speed Change #7293
Add support for TOF10120 i2c rangefinder #7291
Enable MPU6000 on kakute F4 v2 #7258
Added General aviation OSD units - includes a fair amount of work and fixes on the OSD & Fonts #7255
Fixed wing soaring mode #7250
Fix i2c errors after 72 min of FC launch #7226
Added PID Profiles to Programming framework #7432
Add average speed to OSD stats #7428
Emergency Landing Fix #7421
Add 50mW CRSF tx power level #7397
Drop PPM receivers #7393
Decrease acc and mag P-gains in AHRS #7392
Control Derivative improvements #7391
Blackbox improvements #7390 #7378 #7440
Failsafe Emergency Landing change #7376
Add support for Bosch Sensortec BMI270 Accelerometer / Gyro #7356
Fixed wing emergency landing vertical rate control addition #7364
Nav Emergency landing code fixes and refactor #7339
IMU2 BNO055 improvements #7335
Set manual rc expo to 35% #7491
BMI270: support for reading IMU temperature #7501
Dynamic Notch aka Matrix Filter Improvements #7521 #7522 #7544
Drop ABG filtering #7524
Fix buffer is accessed out of bounds #7545
Drop the last static gyro notch #7560
Fix MSC on windows with F7 and H7 #7573
Added PINIO and USER1 mode to FLYWOOF745 and FLYWOOF745 #7574
Remove old and unused IMU #7453
Fix emergency landing during failsafe #7460
Add min and max airspeed alarms #7467
Fixed issue #7194, The DSHOT direction command not working in STM32F405 #7477
fix array overflow with 11S-14S battery in Mavlink #7478
Adding loiter radius to programming #7480
WP mission RTH failsafe fix #7487
Enable FW motors and servos on ZEEZF7V2 #7490