Hello and welcome to INAV 6 "Horizon Hawk"
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 Discord Server | |
INAV Official on Facebook |
Tested and suggested hardware can be found here
Important Notes
- The STM32 F3 code was removed from repository, it's no longer possible to compile F3 locally
Upgrading from a previous release
Upgrading from INAV 5 and 5.1
- Download and install the new configurator
- Save to a file the current diff all from the CLI.
- Upgrade to INAV 6 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 6.0 features, and enjoy!
Upgrading from older versions
Please follow the instructions on this page.
Important changes
New AHRS (Attitude & Heading Reference System)
INAV 6.0 includes a complete rework of the AHRS for Attitude Estimation, to make sure INAV always knows its correct attitude relative to the ground. This should once and for all fix the issue, known as "Horizon Drift" and makes any navigation mode as well as self-levelling modes like ANGLE fully reliable and allows much more precise GPS-Navigation. This affects Fixed Wing as well as Multirotor.
The best results are given if the craft is equipped with GPS and in the case of Multirotor also with a compass. But also for pure LOS Craft that have no GPS on board, the AHI stability is noticeably improved in most situations. To work best with non-GPS Fixed Wings, the Reference Airspeed has to be set according the average cruise speed of the craft.
For Fixed Wing Craft with no GPS:
set fw_reference_airspeed = (set this in cm/s. Set this to airspeed at which PIDs were tuned. Usually should be set to cruise airspeed. Also used for coordinated turn calculation if airspeed sensor is not present.)
HUD Offset change
The operation of osd_horizon_offset
has been reversed, to make it more intuitive. If you have a non-zero value for osd_horizon_offset
it will need to be inverted. For example, osd_horizon_offset = 1
would become osd_horizon_offset = -1
. Positive values move the HUD up, and negative values move it down.
RTH Trackback
When triggered the craft returns along the trackback route until the end is reached at which point it reverts to normal RTH heading directly home. It doesn't perform the RTH climb phase but instead uses the track point altitude but with altitude never allowed below the altitude of the start point so it can climb but never descend below the start point.
OFF
by default, adjust nav_rth_trackback_mode
to enable. For details see #7988
Accelerometer calibration is optional
Accelerometer calibration is required only if any of the Accelerometer Based Flight Modes or Failsafe procedures is configured. For example, ACC calibration will be needed when Failsafe RTH is enabled, or any GPS assisted flight modes is configured. Acro only multirotor and fixed wings do not require calibration.
nav_extra_arming_safety OFF option
The off
option has been removed from nav_extra_arming_safety
. Instead, the allow_bypass
can be used for with the same effect. To allow the bypass, yaw right and arm. The extra arming safety features will be disabled until the next power cycle of the battery. Please update your diff if you use this parameter; either manually, or using this tool.
Improved fixed wing waypoint course tracking
Attempts to improve fixed wing WP course tracking accuracy by adding a couple of options:
-
Tracking accuracy option that forces craft toward the waypoint course line as quickly as possible and actively tracks the line thereafter. A single setting adjusts the strength of the tracking behaviour. Works for WP mode and RTH trackback. Option is disabled by default.
-
Turn smoothing option for waypoint turns. Sets a loiter point within the turn such that the craft follows a loiter turn path that either passes through the waypoint or cuts the turn missing the waypoint (2 settings possible). Only works for WP mode. Option is disabled by default.
See #8234 for details
Support for Hardware In The Loop simulator in X-Plane 11
INAV flight controller can be used with X-Plane 11 flight simulator. Very useful for training, testing and debugging. Requires X-Plane 11 and HITL Plugin https://github.com/RomanLut/INAV-X-Plane-HITL
Waypoint multi-mission in flight mission change
Allows WP multi-missions to be changed in flight using new mission change mode. With mode active the required mission index can be selected by cycling through missions using the WP mode switch. Selected mission is loaded when mission change mode is switched off. Mission index can also be changed through addition of a new Mission Index adjustment function which should be useful for DJI users unable to use the normal OSD mission related fields. See #8354 for details
MSP Displayport fixes and updates
INAV has now support for various flavours of the MSP Displayport protocol used by HDZero, DJI Goggles 2, Walksnail Avatar or WTFOS. Based on the osd_video_system
setting different canvas sizes and glyphs are used. Available options are:
AUTO
- for analog systems onlyPAL
NTSC
HDZERO
DJIWTF
AVATAR
BF43COMPAT
- keep the compatibility with Betaflight 4.3 implementation by lowering canvas size, lowering the number of OSD glyphs and matching to Betaflight character mapping. Required for DJI MSP Displayport with DJI O3 Air Unit
Enhance programming options for waypoint missions
The programming framework surrounding waypoints has changed. This has caused a conflict in compatibility with previous versions of INAV. If you use anything in the programming tab. Please run your diff through this conversion tool, to keep your logic conditions working. Please feel free to check out the new waypoint related logical switch operands in the Programming Framework document.
Increase nav_wp_safe_distance maximum
nav_wp_safe_distance
has been replaced with nav_wp_max_safe_distance
. This setting uses metres, and used to define the maximum distance away that the first waypoint can be. Please update your diff if you use this parameter; either manually, or using this tool.
Stop allowing navigation modes to be active while arming
The ability to arm the craft while in a navigation mode has been removed. The only people who this will effect are those who use permanently enabled autolaunch. Pre-6.0 you could arm while in a navigation mode. However this is dangerous, as it is easy to not realise, arm, disable the launch, then have the motor go to the cruise throttle. You will still be able to use a navigation mode as the exit mode from a launch. You just need to use the correct procedure for initiating the launch:
- Be in a non-navigation mode
- Arm
- Select the flight mode that you want to use on launch exit
- Raise the throttle to the level you want on launch exit
- The motor will enter idle if idle throttle is used, or await being thrown
- Throw the plane in to the air, and autolaunch will trigger
Disarm on land by default
The disarm on landing flag is now set to ON
by default. This means, after successful automated landing your aircraft should disarm and stop the motors automatically!
Automated landing manual activation
Allows an emergency landing to be triggered manually as required.
Landing started or ended by rapid toggling of PosHold mode, at least 5 times at a minimum rate of 1Hz.
Emergency landing position hold added which will work for all emergency landings regardless of cause so long as a valid position is available.
Failsafe inhibited during manual emergency landing to allow landing to continue if Failsafe triggered whilst active.
Other changes
- Gyro noise peaks are now logged into blackbox as separate fields, not debug options. Setting documentation
- Raw gyro signal is now logged into blackbox as separate field, not debug options. Setting documentation
- Adds auto smoothing of RC input based on RX refresh rate. Disabled by default, can be enabled with
SET rc_filter_auto=ON
- Wind Estimator is now giving proper results
- 3D Matrix filter improves PID tuning on noisy Multirotors. See #8253
- Strobe lights support. See #8536
- Kakute H7 V2 Invert PINIO2 so VTX is ON by default See #8628
Other removed functions
- MTK GPS protocol support
- NAZA GPS protocol support
- BNO055 Secondary IMU function
- MPU6050 gyro support
- SPI RX protocol support
- JR XBUS RX protocol support
- SUMH RX protocol support
New targets
- Foxeer F722 V4
- Foxeer F745 AIO V3
- Kakute H7 V2
- SpeedyBee F745 AIO
- Zeez F7 V3
- Diatone Mamba F722 WING
- AocodaRC F4 V2
- HakRC F722D
- HakRC F411 AIO
- HakRC F405 DJI
CLI
Changed settings
Note: nav_extra_arming_safety
The OFF
option has been removed. ON
and ALLOW_BYPASS
are now the only valid options. ALLOW_BYPASS
permits arming in "navigation unsafe" condition by temporally applying full right yaw when operating the arm switch.
Name | Values |
---|---|
acc_hardware | Removed: MPU6050
|
debug_modes | New: POS_EST
|
debug_modes | Removed: GYRO , SBUS , FPORT , ERPM , RPM_FILTER , RPM_FREQ , DYNAMIC_FILTER , DYNAMIC_FILTER_FREQUENCY , IRLOCK , KALMAN_GAIN , PID_MEASUREMENT , SPM_CELLS , SPM_VS600 , SPM_VARIO , IMU2 , SMITH_PREDICTOR
|
gps_provider | Removed: UNUSED , NAZA , MTK
|
mag_hardware | Removed: GPSMAG
|
nav_extra_arming_safety | Removed: OFF
|
osd_video_system | New: HDZERO , DJIWTF , AVATAR , BF43COMPAT
|
osd_video_system | Removed: HD
|
receiver_type | Removed: SPI
|
serial_rx | Removed: SUMH , XB-B , XB-B-RJ01
|
New Items
Name | Description |
---|---|
ahrs_acc_ignore_rate | Total gyro rotation rate threshold [deg/s] before scaling to consider accelerometer trustworthy Values: 0 - 30 Default: 15 |
ahrs_acc_ignore_slope | Half-width of the interval to gradually reduce accelerometer weight. Centered at imu_acc_ignore_rate (exactly 50% weight) Values: 0 - 10 Default: 5
|
ahrs_dcm_ki | Inertial Measurement Unit KI Gain for accelerometer measurements Values: 0 - 65535 Default: 50 |
ahrs_dcm_ki_mag | Inertial Measurement Unit KI Gain for compass measurements Values: 0 - 65535 Default: 50 |
ahrs_dcm_kp | Inertial Measurement Unit KP Gain for accelerometer measurements Values: 0 - 65535 Default: 2000 |
ahrs_dcm_kp_mag | Inertial Measurement Unit KP Gain for compass measurements Values: 0 - 65535 Default: 2000 |
ahrs_gps_yaw_windcomp | Wind compensation in heading estimation from gps groundcourse(fixed wing only) Default: TRUE |
ahrs_inertia_comp_method | Inertia force compensation method when gps is avaliable, VELNED use the accleration from gps, TURNRATE calculates accleration by turnrate multiplied by speed, ADAPTIVE choose best result from two in each ahrs loop Default: VELNED |
dynamic_gyro_notch_3d_q | Q factor for 3D dynamic notches Values: 1 - 1000 Default: 200 |
dynamic_gyro_notch_mode | Gyro dynamic notch type Default: 2D |
failsafe_mission_delay | Applies if failsafe occurs when a WP mission is in progress. Sets the time delay in seconds between failsafe occurring and the selected failsafe procedure activating. If set to -1 the failsafe procedure won't activate at all and the mission will continue until the end. Values: -1 - 600 Default: 0 |
nav_auto_disarm_delay | Delay before craft disarms when nav_disarm_on_landing is set (ms) Values: 100 - 10000 Default: 1000
|
nav_fw_launch_manual_throttle | Allows launch with manually controlled throttle. INAV only levels wings and controls climb pitch during launch. Throttle is controlled directly by throttle stick movement. IF USED WITHOUT A GPS LOCK plane must be launched immediately after throttle is increased to avoid issues with climb out stabilisation and the launch ending sooner than expected (launch end timer starts as soon as the throttle stick is raised). Default: FALSE |
nav_fw_wp_tracking_accuracy | Waypoint tracking accuracy forces the craft to quickly head toward and track along the waypoint course line as closely as possible. Settings 1 to 10 adjust the course tracking response. Higher values dampen the response reducing possible overshoot. A value of 5 is a good starting point. Set to 0 to disable. Values: 0 - 10 Default: 0 |
nav_fw_wp_tracking_max_angle | Sets the maximum allowed alignment convergence angle to the waypoint course line when nav_fw_wp_tracking_accuracy is active [degrees]. Lower values result in smoother alignment with the course line but will take more distance until this is achieved. Values: 30 - 80 Default: 60 |
nav_fw_wp_turn_smoothing | Smooths turns during WP missions by switching to a loiter turn at waypoints. When set to ON the craft will reach the waypoint during the turn. When set to ON-CUT the craft will turn inside the waypoint without actually reaching it (cuts the corner). Default: OFF |
nav_land_detect_sensitivity | Changes sensitivity of landing detection. Higher values increase speed of detection but also increase risk of false detection. Default value should work in most cases. Values: 1 - 15 Default: 5 |
nav_rth_trackback_distance | Maximum distance allowed for RTH trackback. Normal RTH is executed once this distance is exceeded [m]. Values: 50 - 2000 Default: 500 |
nav_rth_trackback_mode | Useage modes for RTH Trackback. OFF = disabled, ON = Normal and Failsafe RTH, FS = Failsafe RTH only. Default: OFF |
nav_wp_max_safe_distance | First waypoint in the mission should be closer than this value [m]. A value of 0 disables this check. Values: 0 - 1500 Default: 100 |
osd_ahi_pitch_interval | Draws AHI at increments of the set pitch interval over the full pitch range. AHI line is drawn with ends offset when pitch first exceeds interval with offset increasing with increasing pitch. Offset direction changes between climb and dive. Set to 0 to disable (Not for pixel OSD) Values: 0 - 30 Default: 0 |
osd_msp_displayport_fullframe_interval | Full Frame redraw interval for MSP DisplayPort [deciseconds]. This is how often a full frame update is sent to the DisplayPort, to cut down on OSD artifacting. The default value should be fine for most pilots. Though long range pilots may benefit from increasing the refresh time, especially near the edge of range. -1 = disabled (legacy mode) , 0 = every frame (not recommended) , default = 10 (1 second) Values: -1 - 600 Default: 10 |
osd_pan_servo_indicator_show_degrees | Show the degress of offset from centre on the pan servo OSD display element. Default: FALSE |
osd_pan_servo_offcentre_warning | Degrees either side of the pan servo centre; where it is assumed camera is wanted to be facing forwards, but isn't at 0. If in this range and not 0 for longer than 10 seconds, the pan servo offset OSD element will blink. 0 means the warning is disabled. Values: 0 - 45 Default: 10 |
pilot_name | Pilot name Default: |
rc_filter_auto | When enabled, INAV will set RC filtering based on refresh rate and smoothing factor. Default: FALSE |
rc_filter_lpf_hz | RC data biquad filter cutoff frequency. Lower cutoff frequencies result in smoother response at expense of command control delay. Practical values are 20-50. Set to zero to disable entirely and use unsmoothed RC stick values Values: 15 - 250 Default: 50 |
rc_filter_smoothing_factor | The RC filter smoothing factor. The higher the value, the more smoothing but also the more delay in response. Value 1 sets the filter at half the refresh rate. Value 100 sets the filter to aprox. 10% of the RC refresh rate Values: 1 - 100 Default: 30 |
Removed Items
Name | Description |
---|---|
baro_median_filter | |
eleres_freq | |
eleres_loc_delay | |
eleres_loc_en | |
eleres_loc_power | |
eleres_signature | |
eleres_telemetry_en | |
eleres_telemetry_power | |
failsafe_mission | see new failsafe_mission_delay
|
imu2_align_pitch | |
imu2_align_roll | |
imu2_align_yaw | |
imu2_gain_acc_x | |
imu2_gain_acc_y | |
imu2_gain_acc_z | |
imu2_gain_mag_x | |
imu2_gain_mag_y | |
imu2_gain_mag_z | |
imu2_hardware | |
imu2_radius_acc | |
imu2_radius_mag | |
imu2_use_for_osd_ahi | |
imu2_use_for_osd_heading | |
imu2_use_for_stabilized | |
imu_acc_ignore_rate | see new ahrs_* equivalent
|
imu_acc_ignore_slope | see new ahrs_* equivalent
|
imu_dcm_ki | see new ahrs_* equivalent
|
imu_dcm_ki_mag | see new ahrs_* equivalent
|
imu_dcm_kp | see new ahrs_* equivalent
|
imu_dcm_kp_mag | see new ahrs_* equivalent
|
nav_fw_auto_disarm_delay | See generic nav_auto_disarm_delay
|
nav_mc_auto_disarm_delay | See generic nav_auto_disarm_delay
|
nav_wp_safe_distance | see nav_wp_max_safe_distance
|
rc_filter_frequency | |
rx_spi_id | |
rx_spi_protocol | |
rx_spi_rf_channel_count |
Changelist
The full list of changes is available here
The full list of INAV Configurator changes is available here
What's Changed from INAV 6 RC1
- Add a mapping for 3D kph and mph symbols by @DzikuVx in #8761
- Pan Enhancements and cardinal markers for ESP32 Radar by @MrD-RC in #8699
- Fix WS2812 led definition in IFLIGHT_BLITZ_F722 target by @mmosca in #8770
- ahrs parameter names change by @shota3527 in #8767
- Fix formatting of decimal numbers in BF43COMPAT display mode by @mmosca in #8776
- Simplify and fix altitude processing for BF43COMPAT by @DzikuVx in #8779
What's Changed from INAV 5.1
- Clean old box comments by @JulioCesarMatias in #8076
- Update Omnibus F4.md by @gigabytebit in #8088
- Remove the rest of the PCA9685 driver by @JulioCesarMatias in #8085
- Fix mixing motor and servo on same timer. by @sasodoma in #8071
- [fc/fc_msp_box.c] Remove uncompiled line by @JulioCesarMatias in #8077
- Clear the #if 0 by @JulioCesarMatias in #8118
- Target release cleanup by @DzikuVx in #8108
- Make use of calc_length_pythagorean_2D on some lines by @JulioCesarMatias in #8101
- Edit GPS Provider list by @JulioCesarMatias in #8102
- [flash_m25p16.c] Add W25Q128 variant by @JulioCesarMatias in #8054
- Drop MTK GPS by @JulioCesarMatias in #8084
- RTH Trackback by @breadoven in #7988
- Remove nav_extra_arming_safety = OFF option by @MrD-RC in #8106
- Fix PC2/PC3 ADC not working on MAMBAH743 by @hogthrob in #8149
- [BMP280] Allow target-specific I2C address definition by @RomanLut in #8129
- Drop support for NAZA GPS by @DzikuVx in #8144
- Release 5.0.0 by @DzikuVx in #8061
- Fix wrong merge by @DzikuVx in #8151
- INAV 6 version bump by @DzikuVx in #8141
- Set Gyro Raw as an independent Blackbox field, not debug mode by @DzikuVx in #8139
- [cli.c] RC map code aesthetics by @JulioCesarMatias in #8153
- Remove F3 from the codebase by @DzikuVx in #8053
- Settings.md: Document osd_ahi_reverse_roll by @sensei-hacker in #8167
- Drop a function used only in STM32F3 by @JulioCesarMatias in #8164
- Drop the BNO055 I2C version by @DzikuVx in #8168
- Drop the JR XBUS support as not used by @DzikuVx in #8176
- Remove an unused definition by @JulioCesarMatias in #8181
- Reorder box_t to save few hundreds of bytes by @JulioCesarMatias in #8180
- Drop SPI RX as not used by any supported hardware by @DzikuVx in #8173
- Reset fixed wing heading status on disarm by @breadoven in #8160
- OmnibusF4 RX serial fix by @breadoven in #8175
- Increased FW launch abort pitch/roll stick dead band by @breadoven in #8161
- Remove additional validation for motor rate by @DzikuVx in #8174
- Fix surface mode msp box availability logic by @breadoven in #8171
- Update VTx.md by @MrD-RC in #8187
- Opimise navwaypoint_t stuct alignment by @stronnag in #8182
- Optimize memory for better alignment by @DzikuVx in #8183
- Fix RX Serial Enumeration by @JulioCesarMatias in #8191
- Remove unused rxRefreshRate by @JulioCesarMatias in #8189
- Configurator: Reset PIDs button to use applied defaults by @MrD-RC in #8185
- Log gyro noise peaks as separate fields by @DzikuVx in #8197
- Drop SUMH RX protocol by @DzikuVx in #8198
- Update jetiexbus.c by @RoadyFPV in #8202
- Support for Flash Memory W25N01G of 128MB by @JulioCesarMatias in #8166
- [STM32F3] Remove everything else by @JulioCesarMatias in #8204
- Debug cleanup by @DzikuVx in #8211
- [Building in Linux.md] Fix Typo by @JulioCesarMatias in #8222
- Remove unused header file by @JulioCesarMatias in #8221
- Drop the MPU-6050 Support by @JulioCesarMatias in #8213
- Remove barometer median filter by @digitalentity in #8201
- OSD PG reset template version bump by @breadoven in #8217
- Nav launch stick abort deadband setting by @breadoven in #8218
- RC interpolation updates by @DzikuVx in #8212
- [config_eeprom.c] Replace a function with another one that already exists in the library by @JulioCesarMatias in #8215
- Report motor RPM via MSP by @DzikuVx in #8225
- Make HUD offset more intuitive by @MrD-RC in #8226
- Nav launch manual throttle option by @breadoven in #8134
- Remove some NO optimizations made by MCU_FLASH_SIZE by @JulioCesarMatias in #8230
- fixed wind estimator by @RomanLut in #8228
- fixed wind direction icon on osd by @RomanLut in #8227
- Update Building in Windows 10 or 11 with MSYS2.md by @pwnept in #8248
- Update Matrix Filter to 3D Matrix Filter by @DzikuVx in #8253
- Add glide time, glide distance, and climb efficiency OSD elements by @MrD-RC in #8081
- Update PPM by @MrD-RC in #8269
- Updated profiles.md doc by @MrD-RC in #8279
- Add USER3 mode by @shellixyz in #8276
- Add target: NEUTRONRCH7BT by @shellixyz in #8277
- Enforce waypoint altitude tolerance fix by @breadoven in #8280
- Improved fixed wing waypoint course tracking by @breadoven in #8234
- Allow autolevel in nav_course_hold_mode by @FinalFrag in #8178
- Fix altitude conversion in MSP_SET_RAW_GPS by @stronnag in #8337
- Updated CMS GPSNAV PIDs by @breadoven in #8326
- make use of the MS2S macro whenever possible by @JulioCesarMatias in #8332
- Support for Hardware In The Loop simulator in X-Plane 11 by @RomanLut in #8268
- fixed BOX_PERMANENT_ID_USER3 collision by @RomanLut in #8346
- Use ARRAYLEN macro where applicable by @JulioCesarMatias in #8323
- Fix uint8_t to bool by @JulioCesarMatias in #8325
- Rename pitotCalculateAirSpeed() by @JulioCesarMatias in #8330
- INAV 5.1.0 Release branch by @DzikuVx in #8186
- Mamba 2022B targets by @DzikuVx in #8368
- Fix S1 by removing LED conflict by @DzikuVx in #8371
- [OMNIBUSF4V3] Add BMI270 support by @JulioCesarMatias in #8351
- [fc_core.c] Rename annexCode void by @JulioCesarMatias in #8329
- Drop the old HIL by @JulioCesarMatias in #8281
- Missing Nav default settings fix by @breadoven in #8396
- Treat wp.p3 as bitfield by @stronnag in #8393
- HakRC F405 DJI target by @nmaggioni in #8384
- HakRC F722D target by @nmaggioni in #8387
- Re-order boxmodes to have as little disruption to 5.1 as possible by @MrD-RC in #8394
- added scripts to update Settings.md with Docker by @RomanLut in #8350
- HakRC F411 AIO target by @nmaggioni in #8385
- WP mode failsafe delay setting by @breadoven in #8363
- Nav landing fixes by @breadoven in #8358
- Waypoint multi-mission in flight mission change by @breadoven in #8354
- Make sure first motorCount outputs get assigned to motor on MR by @mluessi in #8289
- make use of the US2S macro whenever possible by @JulioCesarMatias in #8331
- [INS] Use Acc and Gyro calibration validation to calibrate the 1G of the acceleration by @JulioCesarMatias in #8214
- [HITL Mode] Make a "makeup" in the algorithm by @JulioCesarMatias in #8356
- Enable LEDs by default on JBF7PRO by @nmaggioni in #8412
- iNav to INAV by @DzikuVx in #8410
- set GPS timeout to 2000ms by @stronnag in #8423
- Add landing sensitivity setting + duplicate setting fix by @breadoven in #8427
- fix "Blackbox Internals" encoding and update by @stronnag in #8431
- MSP Displayport by @DzikuVx in #8435
- Mamba f722 wing target by @DzikuVx in #8436
- Add macro data conversion to MPU by @JulioCesarMatias in #8432
- enable virtual pitot on F411 and F722 by @shota3527 in #8428
- mavlink telemetry half/full duplex support by @RomanLut in #8274
- Throw out all the setup part of the Gyro interrupt routine by @JulioCesarMatias in #8199
- Allow more applied_defaults by @DzikuVx in #8437
- Disable stick commands if in CLI by @MrD-RC in #8406
- Fix bool values by @JulioCesarMatias in #8445
- Pass the variable from uint8_t to bool by @JulioCesarMatias in #8444
- ZEEZF7V3 target by @nmaggioni in #8442
- Add ZeroFArray Macro and make use of it in some parts by @JulioCesarMatias in #8447
- Rename the LOG function macros by @JulioCesarMatias in #8446
- Stop showing all LCs for every LC set in dump by @MrD-RC in #8448
- inav->INAV... redo by @DzikuVx in #8468
- Add 2nd PINIO to MATEKF405SE for better use of resources by @MrD-RC in #8438
- Add target KAKUTEF4V23. Support for M5 and M6 outputs. by @marianomd in #8135
- Update virtual pitot to use 3d speed by @shota3527 in #8458
- AHRS centrifugal force compensation by @shota3527 in #8403
- Added support for DJI wtfos MSP-OSD full screen 60x22 OSD by @jeffhendrix in #8434
- New SpeedyBee targets by @DzikuVx in #8478
- Update Github actions version by @JulioCesarMatias in #8481
- [Displayport MSP] Add Macros by @JulioCesarMatias in #8480
- Update PixRacer README.md by @JulioCesarMatias in #8486
- Fix read of DPS310 coef C11 by @JulioCesarMatias in #8485
- Fix MPU6000 for HAKRCKD722 by @nmaggioni in #8493
- Fix MPU6000 for HAKRCF405D by @nmaggioni in #8492
- Drop IMU2 functionality by @DzikuVx in #8491
- fix lpf config for bmi270/bmi160 by @shota3527 in #8495
- add target aocodarcf4v2 by @dlt2018 in #8416
- Add support HDZero 30x16 mode by @geoffsim in #8476
- Drop some PPM definitions by @JulioCesarMatias in #8515
- Update gyro orientation for Mamaba H743_2022B by @DzikuVx in #8505
- Kakute H7 V2 by @DzikuVx in #8522
- [target] Clear some unused defitions by @JulioCesarMatias in #8517
- Added link to "something disabled" wiki by @MrD-RC in #8524
- Fix heading graph on PixelOSD by @MrD-RC in #8526
- [scheduler.c] Remove duplication by @JulioCesarMatias in #8556
- RTH Trackback - suspend track recording on fixed wing during Loiter by @breadoven in #8512
- Add PINIO 3 & 4 plus MATEKF722PX_PINIO target by @MrD-RC in #8401
- Update ci.yml by @MrD-RC in #8560
- Foxeer F722 V4 by @DzikuVx in #8544
- Update Battery.md by @MrD-RC in #8559
- [ci] remove remaining instances of ubuntu-18.04 by @stronnag in #8562
- Waypoint turn smoothing and tracking accuracy improvements by @breadoven in #8519
- OSD AHI pitch interval redraw option by @breadoven in #7018
- Correct Omnibus readme by @sensei-hacker in #8573
- Use course over ground as the default for fixed wing navigation "heading" by @breadoven in #8529
- Changed CleanFlight to INAV by @MrD-RC in #8583
- Fix incorrect temperature shown on OSD by @JulioCesarMatias in #8539
- Remove unnecessary parameters from profiles by @MrD-RC in #8451
- Increase nav_wp_safe_distance maximum by @MrD-RC in #8589
- Add EDGE, DELAY, DELTA, APPROX_EQUAL switches and TIMER to Logic Conditions by @MrD-RC in #8581
- Add symbols for remaining time/distance by @MrD-RC in #8584
- Update target AOCODARCF7DUAL and remove MPU6500 by @dlt2018 in #8510
- New debug_mode POS_EST that is useful for autonomous flight by @ricardodeazambuja in #8549
- Foxeer F745AIO V3 by @DzikuVx in #8543
- Change logo size for future enhancements by @MrD-RC in #8585
- Fixed wing Nav altitude control fix by @breadoven in #8590
- OSD Ground Course and Cross Track Error by @breadoven in #8604
- Throttle low clean up by @breadoven in #8601
- Waypoint accuracy tweak by @breadoven in #8620
- Update target.h for AtomRC F405 NAVI by @DzikuVx in #8610
- Stop allowing navigation modes to be active while arming. by @MrD-RC in #8611
- Kakute H7 V2 Invert PINIO2 so VTX is ON by default by @DzikuVx in #8628
- Add a BF4.3 Compatible restricted OSD implementation. by @mmosca in #8631
- Update Navigation.md by @b14ckyy in #8633
- Increase number of voltage digits in BF compatibility mode OSD by @mmosca in #8634
- Be consistent in using #ifdef USE_SAFE_HOME by @sensei-hacker in #8635
- [CLI] add missing arming flag name by @stronnag in #8637
- Fix X8 mode on FoxeerF722V4 by @DzikuVx in #8644
- fixed crsf attitude yaw overflow by @RomanLut in #8638
- changed WP mode priority in crsf telemetry by @RomanLut in #8639
- Nav "Yaw" usage refactor by @breadoven in #8643
- Fix git security issue with docker build by @skeet70 in #8558
- Add more symbols to BF43 translation table. by @mmosca in #8641
- Consolidate post flight and non-essential save calls in to a single save action by @MrD-RC in #8439
- add new target 'AOCODARCF722MINI' by @dlt2018 in #8472
- [doc] document changes introduced by #8446 by @stronnag in #8660
- Fixed wing climb rate fool proofing fix by @breadoven in #8661
- OSD Heading field fix + field display index update by @breadoven in #8624
- Emergency arming simplification by @breadoven in #8659
- use MAX_SUPPORTED_RC_CHANNEL_COUNT instead of hardcoded 16 by @RomanLut in #8676
- Add version info to cliStatus by @OptimusTi in #8671
- Fix Docker build UID/GID mapping by @nmaggioni in #8679
- Unused Baro filter fix by @breadoven in #8688
- DEBUG_ALTITUDE fix by @breadoven in #8693
- RTH Trackback fix by @breadoven in #8697
- Rename functions to avoid confusion why it does not write eeprom by @sakisdog in #8690
- Updates to CLI Outputs by @MrD-RC in #8689
- send value throttle in telemetry exactly as shown on osd by @RomanLut in #8652
- Update RUSH_BLADE_F7 and add RUSH_BLADE_F7_HD targets by @nmaggioni in #8680
- Enhance programming options for waypoint missions by @MrD-RC in #8579
- Update MSPDisplayPort and add Walksnail Avatar settings by @MrD-RC in #8654
- Update Building in Windows with MSYS2.md by @pwnept in #8702
- Change tz_offset min and max by @MrD-RC in #8470
- Use BF SYM_AH_BAR9_4 as replacement for INAV SYM_AH_V_START family in BF Compatibility OSD mode by @mmosca in #8709
- FW Nav Course Hold control method change by @breadoven in #8586
- Disarm on land by default by @DzikuVx in #8711
- Updates in the display of wind estimator by @shota3527 in #8523
- Disable mAh scaling for BF compatibility by @DzikuVx in #8717
- Add RPM symbol translation by @DzikuVx in #8718
- Switch H7 to -Ofast optimizations by @DzikuVx in #8719
- Add strobe overlay to RGB LEDs by @mmosca in #8536
- Add pilot name by @MrD-RC in #8720
- Fixed wing OSD home heading arrow and error fix by @breadoven in #8723
- Fix MATEK F405SE and F722PX targets with PINIO by @MrD-RC in #8728
- Fix build error in osd.c when USE_MSP_DISPLAYPORT is not defined. by @mmosca in #8729
- [Doc] update blackbox.md for 6.0 cli options by @stronnag in #8732
- Landing detector improvements by @breadoven in #8737
- Manual emergency landing FW and MR by @breadoven in #8686
- Correct INAv to INAV by @pwnept in #8746
- add icm42688p support in MATEKF411TE target by @MATEKSYS in #8748
- Landing detection invalid velocity protection by @breadoven in #8743
- Update Flight Mode operand in programming framework by @MrD-RC in #8747
New Contributors
- @gigabytebit made their first contribution in #8088
- @sasodoma made their first contribution in #8071
- @hogthrob made their first contribution in #8149
- @RoadyFPV made their first contribution in #8202
- @pwnept made their first contribution in #8248
- @FinalFrag made their first contribution in #8178
- @shota3527 made their first contribution in #8428
- @marianomd made their first contribution in #8135
- @ricardodeazambuja made their first contribution in #8549
- @mmosca made their first contribution in #8631
- @b14ckyy made their first contribution in #8633
- @skeet70 made their first contribution in #8558
- @sakisdog made their first contribution in #8690
Full Changelog: 5.1.0...6.0.0-RC1
Full Changelog: 5.10...6.0.0-RC2