Hello and welcome to INAV 7 "Ferocious Falcon"
Please carefully read all of this document for the best possible experience and safety.
Contact other pilots, share experiences, suggestions and ask for help on:
INAV Discord Server | |
INAV Official on Facebook |
Important Notes
INAV 7 is the last INAV official release available for F411 based flight controllers. The next milestone, INAV 8 will not be available for F411 boards.
The GPS NMEA protocol is no longer supported. All pilots are required to switch to UBLOX protocol. All modern GPS modules (even as old as from 2015 and earlier) support UBLOX protocol and there is not a single good reason to stick to NMEA nowadays
The FrSky D-series telemetry support has been removed. This applies to legacy D4R receivers and some 3rd party whoop boards
Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default.
Upgrading from a previous release
Upgrading from INAV 6 and 6.1
- Download and install the new INAV Configurator 7
- Save to a file the current diff all from the CLI.
- Upgrade to INAV 7 using the Full Erase option in the configurator.
- In case of Analog FPV, 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 many 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 7.0 features, and enjoy!
Upgrading from older versions
Please follow the instructions on this page.
Major changes
Flexible motor and servo output allocation
INAV now was a function that allows to flexibly assign functions to PWM outputs directly from INAV Configurator.
Specific function AUTO
, MOTORS
or SERVOS
can be assigned to each Timer Group. Then, all outputs from this group will perform this function.
Thanks to this, it's possible to use servos and motors in ways that previously required building a custom targets.
Bear in mind:
- In some rare cases, output assignment might be different than in INAV 6. This makes it even more important to remove your props and double check your outputs before you power your flight controller with batteries for the first time after applying your old settings or enabling outputs.
- It is not possible to assign function to individual outputs. It's a hardware, not software limitation.
Mixer profiles and VTOL support
This has been a frequent request since PNP VTOL models started becoming more common.
Read more in Mixer Profile INAV docs and VTOL INAV docs
Ez Tune
The Ez Tune is a simplified tuning framework similar to Betalight's Simplified Slider Tuning. Instead of setting each PID controller gain, rate, and filter setting separately, Pilot is presented with 8 sliders for:
- Axis ratio
- Main filter frequency
- Response
- Damping
- Stability
- Aggressiveness
- Rate
- Expo
Ez Tune settings are not compatible with Betaflight Slider Tuning setting and cannot be migrated directly.
Read the description in Configurator's Ez Tune tab on what each setting does and how it should be used.
More on the topic of Ez Tune can be found here
Timer DMA Burst
INAV 7 adds the DMA Burst mode to selected target as ultimately fixes the problem of DSHOT protocol not working on some boards. Pilots do not have to take any actions, DSHOT is just available on previously affected flight controllers. This applies to:
- Matek F405 TE
- SpeedyBee F405 V3
JETI EXBUS fixed
The JETI EXBUS protocol should now not hang the flight controller during operation. The issue was originally fixed in betaflight/betaflight#13130 . Thank you @SteveCEvans and @klutvott123
Multirotor Cruise Mode
The Cruise Mode for Multirotors allows pilots to let go the radio sticks while UAV flies on a predefined course with predefined speed. Just like with regular PosHold, Throttle stick sets the altitude and course, while the pitch stick is used to set the horizontal speed. When released INAV will hold set speed, altitude, and course. More information available in here https://youtu.be/4pgDxexuSnU
NMEA Protocol no longer available
As mentioned in the Important Notes
section, INAV 7 no longer supports the GPS NMEA protocol. All modern GPS module support one of the UBLOX protocols and as a result pilots must switch to either UBLOX
or UBLOX7
protocol.
GPS Improvements
A number of improvements have been made to GPS support in INAV 7.
It is now possible to select multiple GPS constellations, and not only Galileo. If your GPS modules does not support a particular combination, it will fallback to no extra constellations.
M10 GPS units will now default to 10Hz, like M8 units and a new cli setting has been added to allow overriding the update rate of your UBLOX7
GPS (gps_ublox_nav_hz
). This should allow you to fall back to 5Hz or bump it up to the limits of what is supported by your GPS module.
MSP VTX support
INAV now support MSP VTX when using MSP DisplayPort OSD.
Now it is possible to change VTX power levels and channels via INAV's OSD menu or ELRS backpack without connecting the SmartAudio wire on HD-Zero VTXs.
If you MSP DisplayPort OSD is working, no extra configuration is needed.
Linear Descent RTH mode changed
AT_LEAST_LINEAR_DESCENT
is no longer a method for RTH. It has been replaced with a more flexible linear descent option that will work with any RTH method. If previously using AT_LEAST_LINEAR_DESCENT
, you should now just use AT_LEAST
as the RTH type. Linear Descent is now a separate option that can be used with any other RTH method. To make this possible, the target altitude of the descent is now the nav_rth_home_altitude
. In some cases, if flying below the home position, this will work as a linear ascent.
You can also decide when the linear descent will start. Set the nav_rth_linear_descent_start_distance
parameter to the distance (metres) from the home point, where you want to start descending. Set to 0
, the default setting; the descent will start immediately, as with the pre-7.0 implementation.
These options are available in Configurator.
See the Navigation Mode: Return to Home wiki for more details.
Pilot Logos
You can now have custom pilot logos on your OSD and arming screen (HD Only). You will need to create a custom font with your logos to show them on screen. The OSD logo is a 3x1 character symbol. This can be used with both analogue and HD. The arming screen logo is a 10x4 character image, and only works with HD systems.
More details are available in the OSD Document.
Other changes
- The
AUTOLEVEL
mode is renamed toAUTO LEVEL TRIM
. The functionality remains the same. - The
osd_mah_used_precision
parameter has been renamedosd_mah_precision
. - 24 channels available for Jeti systems (not available with F411 or F722 flight controllers).
- Virtual pitot is enabled by default.
Other removed functions
- FrSky D-series telemetry
output_mode
setting that allows to reassign all PWM outputs to either MOTORS or SERVOS
New targets
- SDmodel H7V1
- Matek H743HD
- SpeedyBee F405 V4
- SpeedeBee F405 Mini
- SpeedyBee F7 Mini V2
- GEPRCF405
- GEPRCF722
- NEUTRONRC F435 Mini AIO
CLI
Changed settings
Name | Description |
---|---|
gps_provider | Removed: NMEA
|
gps_sbas_mode | New: SPAN
|
nav_rth_alt_mode | Removed: AT_LEAST_LINEAR_DESCENT
|
pitot_hardware | New: DLVR-L10D
|
New Items
Name | Description |
---|---|
ez_aggressiveness | EzTune aggressiveness Values: 0 - 200 Default: 100 |
ez_axis_ratio | EzTune axis ratio Values: 25 - 175 Default: 110 |
ez_damping | EzTune damping Values: 0 - 200 Default: 100 |
ez_enabled | Enables EzTune feature Default: FALSE |
ez_expo | EzTune expo Values: 0 - 200 Default: 100 |
ez_filter_hz | EzTune filter cutoff frequency Values: 10 - 300 Default: 110 |
ez_rate | EzTune rate Values: 0 - 200 Default: 100 |
ez_response | EzTune response Values: 0 - 200 Default: 100 |
ez_stability | EzTune stability Values: 0 - 200 Default: 100 |
gps_auto_baud_max_supported | Max baudrate supported by GPS unit. This is used during autobaud. M8 supports up to 460400, M10 supports up to 921600 and 230400 is the value used before INAV 7.0 Default: 230400 |
gps_ublox_nav_hz | Navigation update rate for UBLOX7 receivers. Some receivers may limit the maximum number of satellites tracked when set to a higher rate or even stop sending navigation updates if the value is too high. Some M10 devices can do up to 25Hz. 10 is a safe value for M8 and newer. Values: 5 - 200 Default: 10 |
gps_ublox_use_beidou | Enable use of Beidou satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires gps hardware support [OFF/ON]. Default: FALSE |
gps_ublox_use_glonass | Enable use of Glonass satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires gps haardware support [OFF/ON]. Default: FALSE |
led_pin_pwm_mode | PWM mode of LED pin. Values: SHARED_LOW , SHARED_HIGH , LOW , HIGH . Default: SHARED_LOW
|
mixer_automated_switch | If set to on, This mixer_profile will try to switch to another mixer_profile when 1.RTH heading home is requested and distance to home is lager than 3*nav_fw_loiter_radius on mixer_profile is a MULTIROTOR or TRICOPTER platform_type. 2. RTH landing is requested on this mixer_profile is a AIRPLANE platform_type Default: FALSE |
mixer_pid_profile_linking | If enabled, pid profile_index will follow mixer_profile index. Set to OFF(default) if you want to handle PID profile by your self. Recommend to set to ON on all mixer_profiles to let the mixer_profile handle the PID profile switching on a VTOL or mixed platform type setup. Default: FALSE |
mixer_switch_trans_timer | If switch another mixer_profile is scheduled by mixer_automated_switch or mixer_automated_switch. Activate Mixertransion motor/servo mixing for this many decisecond(0.1s) before the actual mixer_profile switch. Values: 0 - 200 Default: 0 |
motorstop_on_low | If enabled, motor will stop when throttle is low on this mixer_profile Default: FALSE |
nav_cruise_yaw_rate | Max YAW rate when NAV COURSE HOLD/CRUISE mode is enabled. Set to 0 to disable on fixed wing (Note: On multirotor setting to 0 will disable Course Hold/Cruise mode completely) [dps] Values: 0 - 120 Default: 20 |
nav_landing_bump_detection | Allows immediate landing detection based on G bump at touchdown when set to ON. Requires a barometer and currently only works for multirotors. Default: FALSE |
nav_mc_althold_throttle | If set to STICK the FC remembers the throttle stick position when enabling ALTHOLD and treats it as the neutral midpoint for holding altitude. If set to MID_STICK or HOVER the neutral midpoint is set to the mid stick position or the hover throttle position respectively. Default: STICK |
nav_rth_linear_descent_start_distance | The distance [m] away from home to start the linear descent. 0 = immediately (original linear descent behaviour) Values: 0 - 10000 Default: 0 |
nav_rth_use_linear_descent | If enabled, the aircraft will gradually descent to the nav_rth_home_altitude en route. The distance from home to start the descent can be set with nav_rth_linear_descent_start_distance . Default: FALSE
|
osd_arm_screen_display_time | Amount of time to display the arm screen [ms] Values: 1000 - 5000 Default: 1500 |
osd_inav_to_pilot_logo_spacing | The space between the INAV and pilot logos, if osd_use_pilot_logo is ON . This number may be adjusted so that it fits the odd/even col width displays. For example, if using an odd column width display, such as Walksnail, and this is set to 4. 1 will be added so that the logos are equally spaced from the centre of the screen. Values: 0 - 20 Default: 8
|
osd_joystick_down | PWM value for DOWN key Values: 0 - 100 Default: 0 |
osd_joystick_enabled | Enable OSD Joystick emulation Default: FALSE |
osd_joystick_enter | PWM value for ENTER key Values: 0 - 100 Default: 75 |
osd_joystick_left | PWM value for LEFT key Values: 0 - 100 Default: 63 |
osd_joystick_right | PWM value for RIGHT key Values: 0 - 100 Default: 28 |
osd_joystick_up | PWM value for UP key Values: 0 - 100 Default: 48 |
osd_mah_precision | Number of digits used for mAh precision. Currently used by mAh Used and Battery Remaining Capacity Values: 4 - 6 Default: 4 |
osd_use_pilot_logo | Use custom pilot logo with/instead of the INAV logo. The pilot logo must be characters 473 to 511 Default: FALSE |
pid_iterm_limit_percent | Limits max/min I-term value in stabilization PID controller. It solves the problem of servo saturation before take-off/throwing the airplane into the air. Or multirotors with low authority. By default, error accumulated in I-term can not exceed 33% of total pid throw (around 165us on deafult pidsum_limit of pitch/roll). Set 0 to disable completely. Values: 0 - 200 Default: 33 |
tpa_on_yaw | Throttle PID attenuation also reduces influence on YAW for multi-rotor, Should be set to ON for tilting rotors. Default: FALSE |
Removed Items
Name | Description |
---|---|
dterm_lpf2_hz | |
dterm_lpf2_type | |
frsky_coordinates_format | |
frsky_default_latitude | |
frsky_default_longitude | |
frsky_unit | |
frsky_vfas_precision | |
fw_iterm_throw_limit | |
moron_threshold | |
nav_fw_cruise_yaw_rate | |
nav_use_midthr_for_althold | |
osd_mah_used_precision | |
output_mode |
Changelist
The full list of changes is available here
The full list of INAV Configurator changes is available here
What's Changed from INAV 6.1.1
- INAV 7 by @DzikuVx in #8886
- Enable USE_SERVO_SBUS on all targets by @DzikuVx in #8876
- Release 6.0 by @DzikuVx in #8763
- Drop D-term LPF2 as no longer used by @DzikuVx in #8875
- Drop FrDky D-series telemetry support by @DzikuVx in #8878
- Allow scheduler to go down to 10us period by @DzikuVx in #8877
- Drop moron_threshold setting by @DzikuVx in #8859
- Release 6.0.0 by @DzikuVx in #8912
- Add target BLACKPILL_F411 by @HKR1987 in #8902
- Update GCC to 10.3.1 by @DzikuVx in #8917
- Release 6.1.0 by @DzikuVx in #8887
- docs: fix documentation of gvar set by @sensei-hacker in #8955
- Update Building in MSYS2 Doc by @pwnept in #8934
- Add osd menu option to preview font file by @mmosca in #8932
- Jh update usb flash doc by @stronnag in #8974
- Add the "GEPRCF722_BT_HD" target by @YI-BOYANG in #8943
- Recognize MPU9255 as a valid IMU by @VasilKalchev in #8927
- Cleanup m25p16 flash detection code by @mmosca in #8985
- Update from master by @MrD-RC in #8987
- Add IFLIGHT_BLITZ_F7_AIO target by @mmosca in #8977
- Mark IFLIGHT_BLITZ_F7_AIO as SKIP_RELEASES by @mmosca in #8988
- Have you ever wished INAV had a mute switch? by @mmosca in #8989
- Enhance Linear Descent RTH feature by @MrD-RC in #8810
- updated battery profile documentation by @RomanLut in #9002
- INAV capitalization by @ryet9 in #9001
- Rename AUTO LEVEL by @MrD-RC in #8972
- fixed pitot sensor by @RomanLut in #9019
- modify servo and motor and magnetometer for AocodaRC F4V2 by @dlt2018 in #9040
- Release 6.1.0 mergeback by @DzikuVx in #8957
- Fix: SpeedyBee F405 V3 uSD card vs OSD interference by @shirase in #9028
- Update Navigation.md by @RomanLut in #9058
- Update Aocodarcf7mini by @dlt2018 in #9056
- Add MPU6000 and MPU6500 support to Foxeer F7 V4 target by @DzikuVx in #9070
- Cleanup abandoned EXTI code by @DzikuVx in #9071
- Multirotor WP speed fix when altitude enforce enabled by @breadoven in #9067
- Update target.h by @pgp69 in #9037
- updated controls documentation by @RomanLut in #9024
- remove obsolete static_assert by @stronnag in #9077
- [SITL OSX] Fix some of the warnings and add macosx SITL build to workflows by @mmosca in #9063
- Add QUADSPI Support for H7 and M25P16 Flash Driver by @mluessi in #8915
- Fix bug for DJI O3's altitude when using imperial by @MrD-RC in #9076
- Switch sensor infrastructure to be float internally by @DzikuVx in #9075
- [SITL] disable nagle for UART TCP by @stronnag in #9079
- [SITL OSX] Fix lldb debugging in OSX and improve OSX detection by @mmosca in #9082
- [SITL] consolidate IP helpers into target.c by @stronnag in #9080
- [SITL] add missing BSD header from IP consolidation by @stronnag in #9085
- [Docs] Readme updates by @stronnag in #9090
- Speedybee F405 WING fixes by @DzikuVx in #9094
- fix conflicting types by @stronnag in #9097
- allow HITL to run with HW baro failure by @RomanLut in #9021
- Set 10Hz update rate for M9 and M10 gps devices by default and allow higher refresh rates by @mmosca in #9103
- Add board Aocodarcf405aio by @dlt2018 in #9089
- Update Borad Aocodarch7dual by @dlt2018 in #9100
- DSP based gyro operations by @DzikuVx in #9078
- Acc processing with DSP by @DzikuVx in #9116
- Remove brew update step for SITL mac build by @mmosca in #9127
- ICM42605 gyro parsing fix by @erstec in #9125
- Release 6.1.1 by @MrD-RC in #9106
- Fix version check and apply GNSS configuration for M8+ gps by @mmosca in #9128
- Multirotor landing bump detection by @breadoven in #8744
- Add configuration of Beidou and Glonass to M8, M9 and M10 gps modules by @mmosca in #9124
- update gpsConfig_t PG version by @stronnag in #9131
- It looks like UBLOX ROM version 2.01 omits the = sign from PROTVER by @mmosca in #9132
- reenable LTO for MacOS firmware builds by @stronnag in #9136
- Flycolor F7 mini by @DzikuVx in #9122
- updated buzzer documentation by @RomanLut in #9148
- fixed beeper -ON_USB for 1S setup, fixed beeper -SYSTEM_INIT by @RomanLut in #9147
- Enable possibility to simulate HW sensor failures in HITL by @RomanLut in #8858
- Kakute H7 Wing by @erstec in #9145
- Update target.h by @dlt2018 in #9151
- fix target's by @dlt2018 in #9149
- Improve OSD stats page avg efficiency value scaling by @rmaia3d in #9109
- Fix AOCODARCH7DUAL Buzzer continous beeping issue by @lida2003 in #9143
- [SITL] suppress spurious linker warning with gcc12+ by @stronnag in #9163
- How to test a pull request.md - two minor typos by @sensei-hacker in #9170
- Add some documentation on how to test a PR by @mmosca in #9168
- fixed enter/exit camera osd stick positions docs by @RomanLut in #9165
- Fix: Inav 7.0.0 last build not working on SPEEDYBEEF405V3 by @shirase in #9162
- Foxeer H743 target by @DzikuVx in #9171
- Add new OSD document by @MrD-RC in #9177
- Kakute H7 Wing Defaults altered by @erstec in #9185
- Add more baud rates to auto baud, as listed in m10 integration manual by @mmosca in #9174
- Use all 8 motor outputs on AXISFLYINGF7PRO by @nmaggioni in #9179
- MSP VTX support by @mmosca in #9166
- Repair led strip by @dlt2018 in #9190
- Get rid of some not needed floating point divisions by @DzikuVx in #9207
- Restore autobaud for m8 gps by @mmosca in #9219
- Update SPEEDYBEEF7V3. Fix Sensor VL53L1X by @druckgott in #9221
- Extend from 4 ADC channels to 6 (Matek H743 and others) by @sensei-hacker in #9180
- Nav altitude control improvements by @breadoven in #8920
- fix neutronrcf435mini aio motor2 output bug by @shanggl in #9226
- Try to set vscode to play nice with formating style by @mmosca in #9223
- Fix for #9225, some OSD elements are skipped incorrectly, when GPS is not present. by @mmosca in #9229
- Block by Runtime calibration of ACC only when ACC is required by @DzikuVx in #9227
- Fix ADC on FOXEERH743 by @DzikuVx in #9230
- Update speedybeef405v3 docs, with some common issues by @mmosca in #9231
- Let M10 GPS disable SBAS and some small fixes changes by @mmosca in #9232
- Multicopter emergency landing improvement/fix by @breadoven in #9169
- Fix SITL memory leaks by @psmitty7373 in #9235
- Add constrain for DynLPF computation by @DzikuVx in #9242
- Multirotor Althold throttle hover option + altitude adjustment indication by @breadoven in #9220
- OSD Altitude field fix by @breadoven in #9261
- Add blackbox target heading + missing Nav auto enabled flight modes by @breadoven in #9249
- SKYSTARSH743HD remove non-existent S9 & S10. Add servos target by @sensei-hacker in #9214
- [doc] update serial_printf document iaw current implementation by @stronnag in #9266
- Change motor/servo assignements for RUSH_BLADE_F7 targets by @mmosca in #9262
- Pitot DLVR-L10D sensor by @jmajew in #9216
- Add GEPRCF405 and GEPRCF722 targets by @YI-BOYANG in #9260
- Multi function OSD utility by @breadoven in #8698
- Timer DMA burst by @shirase in #9265
- Add mup6500 for mambaf405us by @jianwwpro in #8827
- Programming Frameword.md: Update to match Configurator renaming by @sensei-hacker in #9275
- SpeedyBee F7 Mini V2 target by @DzikuVx in #9272
- Speedybee F405 mini by @DzikuVx in #9273
- Multirotor course hold/cruise mode by @breadoven in #9213
- Bump navConfig PG that was forgotten in #9220 by @DzikuVx in #9278
- Switch MatekF405TE to use burst DMA by @DzikuVx in #9277
- Update Building in Windows 10 or 11 with Linux Subsystem.md by @wchnflr in #9279
- BETAFPVF435 unofficial target by @mmosca in #9281
- Make PWM allocation a bit smarter. by @mmosca in #9268
- [sitl] add --version, add git commit to version output by @stronnag in #9286
- docs/programming user21 typo by @sensei-hacker in #9289
- Failsafe fixes by @breadoven in #9283
- Mixer throttle fixes/improvements + more OSD Throttle changes by @breadoven in #9274
- Ignore tasks.json and use tabs in C files by @MrD-RC in #9295
- Enable the virtual pitot by default by @MrD-RC in #9299
- Add DPS310 by @dlt2018 in #9284
- Drop output_mode setting by @DzikuVx in #9300
- Throttle related refactor/clean up by @breadoven in #9287
- docs/ipf: Fix typos and clarify wording by @sensei-hacker in #9298
- Further simplify timer usage flags. by @mmosca in #9288
- Bulk update targets with new pwm output assignments by @mmosca in #9309
- Remove timer compatibility define, since all targets have been updated by @mmosca in #9318
- DSHOT delay fix by @shirase in #9321
- [docs] modernise Serial and RX documents by @stronnag in #9322
- Mixer profile to open the posibility for vtol/mixed platform by @shota3527 in #8555
- Add SouthPAN SBAS for all my friends in AU/NZ. by @mmosca in #9320
- Drop NMEA protocol by @DzikuVx in #9302
- SpeedyBee F405 V4 by @DzikuVx in #9324
- SpeedyBEEF405WING Change S11 timer, since TIM1 is used by LED by @mmosca in #9325
- Remove info about F3 mcus from Temperature sensors documentation by @mmosca in #9337
- Add Rate Dynamics to MSP by @DzikuVx in #9336
- Update PR test instructions by @mmosca in #9338
- Flight remaining flight distance value by @MrD-RC in #9333
- Fix mixer config initialization sequence by @shota3527 in #9339
- Fix for Rate dynamics MSP layer by @DzikuVx in #9340
- Add myself to Authors by @mmosca in #9341
- Add odometer to OSD by @MrD-RC in #9335
- Update Controls.md by @MrD-RC in #9351
- IPF: Add yaw operand to go with pitch and roll by @sensei-hacker in #9305
- Add MatekH743HD variant by @MATEKSYS in #9244
- additional fixes for mixer profile by @shota3527 in #9363
- fixed HITL docs by @RomanLut in #9353
- Add the Aocodarcf722aio file by @dlt2018 in #9314
- Lower default hover throttle to 30% by @mmosca in #9361
- Increase channels to 24 for Jeti by @MrD-RC in #9350
- Add pilot logo to OSD by @MrD-RC in #9332
- fixes servo output issue by @shota3527 in #9366
- minor changes on ahrs by @shota3527 in #9360
- Timer N channel fix by @shirase in #9276
- Add ICM42605 driver for SKYSTARSF405HD by @DusKing1 in #9370
- Multirotor coursehold/cruise mode fix by @breadoven in #9380
- Ez Tune for Multirotors by @DzikuVx in #9354
- update docker build scripts by @RomanLut in #9346
- Add SYM_TOTAL and SYM_GFORCE to BFCOMPAT by @mmosca in #9385
- In flight emergency rearm by @breadoven in #9254
- Re-enable baro. max chip seems to cause issues by @mmosca in #9400
- Make it easier to include all baro drivers to target by @mmosca in #9394
- Make it easier to include all compass drivers to target by @mmosca in #9401
- BFCOMPAT - improve wind and airspeed fields and labels by @rmaia3d in #9388
- HITL/SITL: allow hitl/sitl to arm with uncalibrated accelerometer by @RomanLut in #9345
- fix mixer_profie configurator issue by @shota3527 in #9364
- flight/pid.c: fix AngleOverride(yaw) to degrees by @sensei-hacker in #9329
- HITL: simulate battery voltage with any sensor by @RomanLut in #9212
- HITL: hd osd support by @RomanLut in #9327
- Fixed #9399 can't find baro chip on PB6/PB7 I2C1 by @lida2003 in #9412
- Fix JETI EXBUS overflow by @DzikuVx in #9407
- Disable ASFR function on ICM426xx driver by @DzikuVx in #9409
- 16G scale range for bmi270 accelerometer by @shota3527 in #9410
- tpa on yaw and i-term limit by @shota3527 in #9408
- FW Auto level trim bug fix by @breadoven in #9393
- Enhance mAh remaining OSD element by @MrD-RC in #9334
- Allow f722 to use mixer profile by @shota3527 in #9416
- Correct disarm servo throttle by @DzikuVx in #9413
- SAFETY issue -- servos.c: Correct servo throttle off when disarmed (not full throttle at disarm) by @sensei-hacker in #9330
- OSD Joystick by @RomanLut in #9201
- New target: ATOMRC Exceed F405 FC V2 by @NickB1 in #8956
- Add more power options for 1G3 group by @MATEKSYS in #9243
- New target: SDMODELH7V1 by @sensei-hacker in #9114
- Framework.md - Note about common error by @sensei-hacker in #9422
- Update OSD.md by @MrD-RC in #9425
- comment on how to clone specific INAV releases added by @Daniel-1276 in #9414
- update vtol documents by @shota3527 in #9426
- Put getConfigMixerProfile as the last byte in message by @DzikuVx in #9431
- [GPS] fix Neo6M recognition by @stronnag in #9446
- Add DPS310 and SPL06 to FLYWOOF745 target by @mmosca in #9448
- Various PWM output changes. Mainly to get rid of potential conflicts by @DzikuVx in #9452
- Show system message when linear descent begins by @MrD-RC in #9453
- Fixed wing RC altitude adjustment fix by @breadoven in #9462
- Unable fo arm 3d esc rover by @mmosca in #9461
- Change the SPI of Mamba H743 by @DzikuVx in #9464
- Flywoof745 of der commented motor numbers by @sensei-hacker in #9479
- Change speedybeeF7V3 default timer allocation by @mmosca in #9475
- Correct output order of FLYWOOF745 target to match BF and production board layout. by @mmosca in #9478
- TMOTORF7V2 has an optional baro, so add more drivers by @mmosca in #9465
- Revert "Enable the virtual pitot by default" by @DzikuVx in #9470
- AtomRC F405 DELUX by @DzikuVx in #9472
- Add FLYWOO new target "FLYWOOF405S_AIO" by @wchnflr in #9251
- FLYWOOF405S_AIO: rename CMakeLists by @sensei-hacker in #9494
- DAKEFPVF722 target by @DzikuVx in #9496
- DAKEFPVF405 target by @DzikuVx in #9495
- fix hdzero channel settings over displayport by @error414 in #9486
New Contributors
- @HKR1987 made their first contribution in #8902
- @VasilKalchev made their first contribution in #8927
- @ryet9 made their first contribution in #9001
- @shirase made their first contribution in #9028
- @pgp69 made their first contribution in #9037
- @lida2003 made their first contribution in #9143
- @druckgott made their first contribution in #9221
- @psmitty7373 made their first contribution in #9235
- @jianwwpro made their first contribution in #8827
- @wchnflr made their first contribution in #9279
- @NickB1 made their first contribution in #8956
- @Daniel-1276 made their first contribution in #9414
- @error414 made their first contribution in #9486
Full Changelog: 6.1.1...7.0.0-RC3
Changelog: 7.0.0-RC2...7.0.0-RC3