Hello and welcome to INAV 9.0.0

Stable Release

This is the stable 9.0.0 release. For a complete list of changes since 8.0.1, please see the 9.0.0 Release Notes Wiki.

⚠️ Important Upgrade Information

Flashing Notes

• Full chip erase REQUIRED when upgrading from 8.x
• Back up your configuration with diff all before flashing
• Review 9.0.0 Release Notes for breaking changes and incompatible settings

Upgrading from INAV 8.0

1. Download and install the new INAV Configurator 9.0
2. Backup configuration with CLI diff all command or use the Diff All and Save to file buttons.
3. Flash INAV 9.0 WITH Full Chip Erase option enabled
4. Load your 8.0 Diff settings in to the CLI. Then take a note or write down the incompatible settings changes marked in RED.
5. Then copy your 8.0 Diff file and rename it 9.0. And edit the old incompatible settings.
6. Go to CLI and load your edited INAV 9.0 Diff
7. Done

Diff update tool

Rather than steps 4 and 5 above. You can try this diff update tool. This is a work in progress. Currently it will try to update version 7 or later diffs to version 8 or later. Just paste your full diff all (not dump) in to the tool. Select the INAV version you're upgrading to. Then press the button. It will create a new diff for you and give you warnings about anything you should check.

INAV CLI Update Tool

Upgrading from older versions

Please follow the instructions on this page.

• Check the 9.0.0 Release Notes Wiki for further information

Changes in 9.0.0 (since RC4)

New Features

• Pitot Sensor Validation: GPS-based pitot sensor validation with automatic fallback to virtual airspeed on sensor failure (#11222)
  • Adds defensive airspeed clamping to prevent division issues
  • Improves safety for fixed-wing aircraft with pitot sensors
• MSP_REBOOT DFU Mode: Add optional DFU mode parameter to MSP_REBOOT command for entering bootloader (#11238)
  • Adds payload size validation for command safety

Bug Fixes

• Blackbox: Fix MOTORS condition mismatch causing null byte padding in logs (#11220)
• APA (Airspeed Pitch Assist): Improve safety by reducing I-term scaling and maximum gain limits
• Airspeed TPA: Adjust TPA parameters for better fixed-wing aircraft performance
• Documentation: Fix Settings.md documentation to match settings.yaml definitions

Target Changes

• VANTAC_RF007: Add new FrSky/Rotorflight Vantac RF007 target with magnetometer support (#11082)
• RADIOLINKF722: Add W25Q128 flash chip support (#11232)

Documentation

• Blackbox DEBUG: Improve DEBUG mode documentation (#11239)
• README: Add prominent configurator download links (#11221)
• OSD Elements: Update OSD element documentation

Build/CI

• Nightly Builds: Add maintenance-9.x to nightly build workflow (#11204)
• MSP Protocol: Deprecate MSP command 8226, add enum parsing improvements (#11185)

Major Changes in 9.0 Since 8.0.1

JavaScript Logic Conditions

Navigation & Flight Control

• Improved fixed-wing altitude control with two selectable methods
• Enhanced position estimator Z velocity accuracy
• Temperature compensation for accelerometers and barometers
• Improved VTOL tilt-rotor support with servo speed filtering
• Enhanced magless multicopter yaw estimation
• Improved fixed-wing flight detection for auto-disarm
• Airspeed based PID Attenuation (APA)

OSD & Telemetry

• Rebranded "Vario" as Vertical Speed Indicator
• Enhanced ADSB aircraft warnings with extended OSD glyphs
• New vertical digital throttle gauge display
• Barometer altitude integrated into CRSF telemetry
• New OSD elements: VERTICAL_SPEED_INDICATOR, ADSB_WARNING, ADSB_INFO, THROTTLE_GAUGE, NAV_MIN_GROUND_SPEED
• Increased flexibility for fixedwing minimum ground speed settings
• SmartPort telemetry: Configure sensors for OpenTX widgets and ETHOS dashboards

Maps & Mission Planning

• Bing Maps replaced with Esri World Imagery (no API key needed)
• Better imagery quality and reliability

Programming & Logic

• Programming Framework enables dynamic minimum ground speed adjustment
• Extended MSP override capability to 32-bit channels
• Add MSP2_INAV_SET_GVAR command for global variable manipulation
• Add MSP2_INAV_LOGIC_CONDITIONS_CONFIGURED command for optimized loading

Hardware Support

• New Targets (32+ additional flight controller targets including):
  • VANTAC_RF007: New FrSky/Rotorflight Vantac RF007 target with magnetometer support
  • OMNIBUSF4V3_ICM: New target variant
  • BLUEBERRYF435WING target added
  • RADIOLINKF722: Add W25Q128 flash chip support
• New Sensors:
  • QMC5883P magnetometer driver
  • Puya PY25Q128HA flash chip support (16MB SPI NOR)

Bug Fixes

• USB MSC (Mass Storage): Fix H743 USB MSC regression, add timeout protection and retry logic for SD card access
• Power Limiting: Fix power limiting treating 0 (disabled) as less than continuous current
• CRSF Telemetry: Fix buffer overflow and dashboard sizeof bug
• Logic Conditions: Guard against increasing max conditions beyond 64
• Critical Bugs: Fix integer overflow and buffer overrun issues (cppcheck)
• Blackbox: Fix MOTORS condition mismatch causing null byte padding in logs
• Mission control waypoint landing functionality fixes
• Servo mixer overflow issues fixed
• Fixedwing level pitch trim accuracy improvements

Performance & Improvements

• Flight counter addition to statistics tracking
• Airspeed TPA: Add pitch angle aware TPA with airspeed support
• Raise pitot_lpf_milli_hz default for better pitot performance

Localization

• Ukrainian language now available
• Expanded language support across configurator

Build/CI & Development

• Include cygwin1.dll in Windows SITL artifact (fixes Windows SITL)
• Add maintenance-9.x to nightly build workflow
• MSP Protocol: Deprecate MSP command 8226, add enum parsing improvements
• Add maintenance branch workflow documentation
• Add release creation guide

Documentation

• Add Power and Current Limiting documentation
• Update JavaScript Programming documentation for namespaced syntax
• Improve DEBUG mode documentation
• Add prominent configurator download links to README
• Update OSD element documentation
• Fix Settings.md documentation to match settings.yaml definitions
• Update LedStrip.md documentation

Full Changelog: 8.0.1...9.0.0

Wiki Release Notes: https://github.com/iNavFlight/inav/wiki/9.0.0-Release-Notes