INAV 9.0.0-RC3 Release Notes
Hello and welcome to INAV 9.0.0 RC3
This release candidate is for testing the new features and changes that will be part of the INAV 9.0.0 release soon
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 |
Note
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.
Known Issues in 9.0
- Please read INAV Github issue reports for outstanding problems that were not resolved in time for the release.
Upgrading from a previous release
Upgrading from INAV 8.0
- Download and install the new INAV Configurator 9.0
- Backup configuration with CLI
diff allcommand or use the Diff All and Save to file buttons. - Flash INAV 9.0 WITH Full Chip Erase option enabled
- Load your 8.0
Diffsettings in to the CLI. Then take a note or write down the incompatible settings changes marked in RED. - Then copy your 8.0
Difffile and rename it 9.0. And edit the old incompatible settings. - Go to CLI and load your edited INAV 9.0
Diff - Done
Tip
Concerning step 6.
It can be a safer option to load your Diff All settings in two parts if you are using multiple Profiles. e.g. Control, Mixer or Battery.
This can be done by copying and loading the Diff All text setting from the top, down to the bottom of the # master settings category. Then load that into the CLI and press enter. Once it has written, press the Save Settings button.
Wait until it reboots and go back to the CLI tab again, then copy and load the rest of the Diff All text file. Starting from the # Control_profile 1 settings category, down to the bottom. Press enter. Once written, it will save by itself.
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 (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.
Upgrading from older versions
Please follow the instructions on this page.
Changes in 9.0.0-RC3 (from RC2)
- MSP2_INAV_SET_GVAR by @xznhj8129 in #11146
- Add release creation guide by @sensei-hacker in #11152
- Update LedStrip.md by @Barnabasek in #11159
- Fix missing magnetometer support on NEXUSX target by @sensei-hacker in #11157
Full Changelog: 9.0.0-RC2...9.0.0-RC3
Overview
This release candidate introduces new features and improvements for testing before the official INAV 9.0.0 release. Users are advised to remove props and verify motor/servo outputs before first battery power-up, as flexible motor and servo allocation may alter default output configurations.
Key Highlights
Minimum Ground Speed Flexibility
The Programming Framework now enables dynamic adjustment of minimum ground speed based on wind conditions, allowing aircraft to maintain headway in challenging flight environments.
OSD Throttle Gauge
A new vertical digital throttle gauge display option provides pilots with real-time throttle visualization on-screen.
Fixed Wing Altitude Control
Two selectable altitude control methods accommodate different airframe types and climb rate requirements:
- Altitude Velocity controller (default)
- Altitude Position controller (alternative)
Position Estimator Improvements
Enhanced Z velocity accuracy through algorithm refinements and new default weighting parameters for barometric and GPS measurements.
Sensor Additions
New QMC5883P magnetometer driver support expands hardware compatibility.
Other Notable Changes
- Barometer altitude integrated into CRSF telemetry
- Improved fixed-wing flight detection for auto-disarm functionality
- Temperature compensation for accelerometers and barometers
- Flight counter addition to statistics tracking
- Enhanced VTOL tilt-rotor support with servo speed filtering
- Improved magless multicopter yaw estimation
- Extended MSP override capability to 32-bit channels
CLI Updates
New Settings include blackbox arm control extension, temperature correction factors, ADSB warning styles, and VTOL transition PID multipliers.
New Flight Controller Targets: 32 additional targets now supported, including variants from Blueberry, DakeFPV, TBS, and others.
OSD/CMS Changes
New elements: OSD_VERTICAL_SPEED_INDICATOR, OSD_ADSB_WARNING, OSD_ADSB_INFO, OSD_THROTTLE_GAUGE, and OSD_NAV_MIN_GROUND_SPEED.
Upgrade Instructions
From INAV 8.0, users must perform full chip erase during flashing and reload configuration via CLI diff commands. Phased loading of multi-profile settings is recommended for safety.
Critical Renaming: PID Profile → Control Profile
The term "PID Profile" has been renamed to "Control Profile" throughout INAV 9.0 to better reflect that these profiles control more than just PID settings.
Renamed Settings
| Old Name (8.0.x) | New Name (9.0.0) | Notes |
|---|---|---|
controlrate_profile
| use_control_profile
| Selects which control profile to use |
mixer_pid_profile_linking
| mixer_control_profile_linking
| Links mixer profile to control profile |
osd_pan_servo_pwm2centideg
| osd_pan_servo_range_decadegrees
| Pan servo range renamed for clarity |
Removed Settings
| Setting Name | Reason | Replacement |
|---|---|---|
reboot_character
| Legacy MSP reboot method removed | Use standard MSP reboot command |