INAV 10.0.0-RC1

This is the first Release Candidate for INAV 10.0, a new major version.
This build contains significant new features first seen in this release. A release candidate is for testing out the new features prior to the stable release planned for December. If you prefer a more reliable version and want bug fixes only, choose the latest release in the 9.1.x series instead.

📖 Full details, screenshots, and setup guides: 10.0 Firmware Release Notes wiki
🖥️ You'll also need INAV Configurator 10.0 — firmware and Configurator major versions must match.

⚠️ Upgrading from INAV 9.x — read this first

To get automatic settings migration, use the Backup Config / Restore Config buttons on Configurator's Firmware Flasher tab — not the CLI's diff all. Migration only runs on that Restore Config path; pasting a diff all straight into the CLI does not invoke it, and you'd need to hand-edit every rename/removal below yourself.

1. Backup Config (Firmware Flasher tab) before flashing.
2. Flash INAV 10.0 with Full Chip Erase enabled.
3. Restore Config (same tab) after flashing. INAV Configurator 10.0's migration tool renames/remaps most of the settings below for you automatically at this step — but a couple of removals are real and need attention regardless.

Incompatible Settings

Removed:

• frsky_use_legacy_gps_mode_sensor_ids — legacy S.Port telemetry IDs are gone; tools/scripts reading FrSky mode/GNSS telemetry should already use the new IDs (470/480).
• led_pin_pwm_mode — replaced by the new unified PINIO PWM system. Logic condition operation 52 now targets a PINIO channel (operand B = 0 for the former LED pin).

Renamed (auto-migrated via Restore Config, no manual edit needed):

• mavlink_ext_status_rate, mavlink_rc_chan_rate, mavlink_pos_rate, mavlink_extra1_rate, mavlink_extra2_rate, mavlink_extra3_rate, mavlink_min_txbuffer, mavlink_radio_type → mavlink_port1_* (multi-port MAVLink support)
• nav_fw_wp_turn_smoothing → nav_fw_wp_turn_mode (values remap: OFF→DIRECT, ON/ON-CUT→COORD_FLYBY)

Other behavior changes worth knowing about (not settings removals):

• GPS defaults changed: gps_ublox_nav_hz 10→8, gps_ublox_use_galileo/gps_ublox_use_beidou OFF→ON. A restored backup that already specifies these keeps its old values.
• pinio_box1..pinio_box4 defaults changed from NONE to USER1..USER4.

If you use the CLI diff all path instead of Backup/Restore Config, none of the above gets migrated for you — anything shown in RED needs manual handling using the mapping above.

Highlights

• Terrain AGL altitude data — GPS-position-based ground elevation from preloaded SD-card terrain data, feeding Terrain AGL Hold mode. (#11438, #11785)
• DroneCAN support — peer-to-peer CAN bus for peripherals, configured via Configurator's new DroneCAN tab. (#11527, #11683, #11688)
• VTOL auto transition — airspeed-based automated transition with a fallback timer, plus stabilization/lift-control smoothing. (#11553)
• Fixed-wing Auto Speed mode — hold a chosen airspeed or 3D ground speed instead of thrust-based cruise. (#11595)
• Predictive coordinated waypoint turns — turns are flown as geometric coordinated arcs sized to the aircraft's actual turn radius, for more consistent tracking. (#11812, #11804)
• Improved MAVLink implementation — RC override over MAVLink serial RX, MSP-over-MAVLink tunnel, mission upload/download, guided navigation control, native MLRS receiver integration.
• OSD improvements — configurable refresh rate, per-constellation GNSS signal-strength element, 16-bit custom OSD element IDs (512 symbols), in-flight stick-menu access (land required to save changes).
• New sensors: LSM6DXX / LSM6DS320x / ICM40609D IMUs, LIS2MDL magnetometer, INA226 battery meter, BY25Q64 flash chip.
• New targets: DAKEFPVF405WING, HGLRCF722LITE, HUMMINGBIRD_FC305_H7, ORBITH743v2, SYNERDUINOH7/H7A, SYNERDUINOSTM_F405/F405A, ZEEZF72020V3, ZEEZF73030V3, RP2350_PICO.

See the full wiki page for the complete list of features, settings, and fixes, plus documentation links for each.

By the numbers (since 9.1.0)

~79 fixes and ~134 features/enhancements across 228 merged pull requests. (Heuristic count from PR titles — see the wiki page for the full itemized list.)

Full Changelog: 9.1.0...10.0.0-rc1