Welcome to INAV 9.1.0

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

INAV 9.1 is primarily a maintenance release focused on reliability improvements, safety fixes, and GPS accuracy. Since 9.0.1: 46 fixes and 76 new features/enhancements, including 19 new hardware targets. It contains no incompatible settings changes — your 9.0.x diff all will load cleanly.

For full PR-by-PR detail, see the wiki release notes.

Upgrading from INAV 9.0.x

Download and install the new INAV 9.1 Configurator
Backup your configuration: CLI → diff all → save to file
Flash INAV 9.1.0 — Full Chip Erase is NOT required when upgrading from 9.0.x
Restore settings from CLI or use the Keep current settings option

Upgrading from INAV 8.x

Download and install the new INAV 9.1 Configurator
Backup configuration: CLI → diff all → save to file
Flash INAV 9.1.0 WITH Full Chip Erase enabled
Load your 8.x diff into the CLI; note any settings shown in RED
Use the INAV CLI Update Tool or manually update incompatible settings from the 9.0.0 release notes
See Upgrading from an older version for full instructions

Note

The INAV 9.1 Configurator includes a settings migration tool in the CLI tab that can assist with upgrading from older versions.

⚠️ Important Notes for 9.1

GPS Default Settings Changed

Two GPS defaults have changed. These only affect you if you never explicitly set them in your configuration (i.e., they are not in your diff all):

gps_ublox_nav_hz default changed from 10 → 8 Hz. Lower rate allows more satellite constellations to be tracked for better accuracy, especially on M8/M9 modules. If you want to keep 10 Hz, add set gps_ublox_nav_hz = 10 to your diff.
gps_ublox_use_galileo and gps_ublox_use_beidou now default to ON. More constellations generally improves position accuracy.

Position Estimator — Altitude Controller Gains

Warning

If you have increased nav_mc_pos_z_p or nav_mc_vel_z_p above their default values since INAV 7.1, it is advisable to lower those gains or re-tune them to avoid possible throttle oscillations in navigation modes that control altitude (WP, Cruise, RTH, and forward-flight Poshold).

The improved position estimator relies more on accelerometer weighting, so ensure your multicopter or VTOL is free from propeller and motor vibrations. See Multirotor filter setup for tips.

Highlights

GNSS Constellation and Update Rate

INAV now provides an optimized GPS update rate based on your hardware type (M8, M9, M10) and the number of active constellations. PR #11262

Multicopter Magless Heading

Pilots flying without a compass can now point the front of their multicopter or VTOL toward a known North heading before takeoff. PR #11529

Position Estimator Improvements

Several changes improve multicopter position hold accuracy when GPS signal is poor or fluctuating. #11270, #11322, #11387

OSD Improvements

Post-disarm stats, Multifunction mode expansion, toilet-bowl compass deviation warning, and Surface mode/Geozone message improvements. #11506, #11308, #10854

New Hardware Support

New Sensors: ICM-45686 IMU, MS5525DSO airspeed sensor, SSD1315 OLED display, LSM6DSV16X/LSM6DSK320X accgyro

New Flash Storage: XT25F128F, MX35LF2G

19 New Targets: AIKONF4V2, AXISFLYINGH743PRO, BLADE_F4, BLUEBERRYH743, BLUEBERRYF405, Brahma H7, DAKEFPVH743_SLIM, FlyDragon Pro, FLYWOOF405HD, FLYWOOF405PRO, FRSKYF405, HAKRCH743, NEXUS (Original), PAURCF405V2, SDMODELH7V2, SimplyFly H7, SOLOGOODF722, TBS_LUCID_H7_OEM, TBS_LUCID_H7_V3

Changes Since 9.1.0-RC1

Fixed SDIO blocking delays and state management issues on problematic SD cards (#11674)
Fixed WP JUMP and cross-track tracking issues in fixed-wing nav (#11640, #11648)
Fixed a NULL-serial-port crash risk when the GPS provider is changed without reboot (#11634)
Fixed ICM-42688P/42686P AAF frequency overflow (#11682)
Added 3 new targets: DAKEFPVH743_SLIM, SOLOGOODF722, AXISFLYINGH743PRO
Added LSM6DSV16X/LSM6DSK320X accgyro driver support (#11694)
Allow UART pin swap on H7 targets (#11687)
Several target-specific DMA/UART/telemetry fixes (AEDROXH7, JHEMCUF435, DAKEFPVH743PRO, DAKEFPVF405)

Full list: wiki release notes (see "Since 9.1.0-RC1" section)

Full Changelog: 9.0.1...9.1.0
Wiki Release Notes: https://github.com/iNavFlight/inav/wiki/9.1.0-Release-Notes

iNavFlight/inav 9.1.0 INAV 9.1.0 on GitHub