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9.0.0 Release Notes

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Darren Lines edited this page Dec 28, 2025 · 5 revisions

DRAFT !

INAV 9.0.0

Hello and welcome to INAV 9.0.0

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

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

  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

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 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.

Highlights

Minimum ground speed flexibility

Via the Programming Framework. It allows the user to have more flexibility when flying in higher wind conditions. To ensure the airplane makes headway.
In addition, you can program it to dynamically adjust the minimum ground speed according to the Wind direction and Wind speed.
More information can be found in this link.

OSD throttle gauge

Allows the pilot to see the throttle as a vertical digital gauge.
Functional information can be found here in the PR link

Fixed wing altitude controller

Changes have been made to improve its operation on a broader range of airframes. One of two methods can be selected to better suited different climb rate conditions.

  • Altitude Velocity controller nav_fw_alt_use_position = OFF (default)
  • Altitude Position controller nav_fw_alt_use_position = ON

See here for more information. And the required PID tune settings for either control method.

Position estimator improvements

Changes to the position estimator are mainly intended to improve issues with Z velocity accuracy but also includes code clean-ups and fixes.
There has also been setting changes added with the code alterations. Depending on the sensor data quality. It may be beneficial in some cases to revert your settings back to the old ones, or somewhere in between the two.

Name CLI Old New
w_z_baro_v 0.1 0.35
inav_w_z_gps_p 0.2 0.35
inav_w_z_gps_v 0.1 0.35

More information directly related to the changes can be found here.

Sensor addition

QMC5883P magnetometer driver

Other changes:

  • Barometer altitude added to CRSF telemetry.
  • Better Fixed wing flight detection to handle auto disarm on landing. PR link
  • Lulu filter fixes and improvements. PR Link
  • Accelerometer and Barometer temperature compensation for better altitude control - Calibration method and PR link.
  • Add flights counter to stats PR link
  • Servo speed filter for tilt-rotor VTOL. PR link
  • Enhance VTOL tilt-rotor support. To assist transition smoothness PR link
  • Better air cushion compensation for multicopters and rangefinder fix. PR link
  • Improved yaw estimation for magless multicopter operation. PR link - The default ahrs_acc_ignore_rate setting has also been lowered from 20 to 15.
  • Mavlink clean-ups and fixes - 11060 11061 11062

OSD/CMS changes

Name Function
OSD_VERTICAL_SPEED_INDICATOR New name for OSD vario
OSD_ADSB_WARNING CMS stick menu
OSD_ADSB_INFO CMS stick menu
OSD_THROTTLE_GAUGE OSD
OSD_NAV_MIN_GROUND_SPEED OSD

Font changes

The Minimum Ground Speed and Throttle Gauge additions to the OSD require new font symbols. The analogue fonts are up-to-date. However, there may be time needed for this to propagate to the digital systems. For HDZero and Walksnail Avatar fonts should be available soon. However DJI may take longer as they need to update the font built in to their firmware.

Functions

Function Name Values
Battery SMARTPORT vbat_meter_type , current_meter_type
Programming Framework Gimbal Sensitivity Scales Operand A from [-16 : 15]
Programming Framework Override Minimum Ground Speed When active, sets the minimum ground speed to the value specified in Operand A [m/s]. Minimum allowed value is set in nav_min_ground_speed. Maximum value is 150
Programming Framework Minimum Ground Speed [m/s] The current minimum ground speed allowed in navigation flight modes
Programming Framework Horizontal Wind Speed [cm/s] Estimated wind speed. If the wind estimator is unavailable or the wind estimation is invalid, -1 is returned
Programming Framework Wind Direction [deg] Estimated wind direction. If the wind estimator is unavailable or the wind estimation is invalid, -1 is returned
Programming Framework Relative Wind Offset [deg] The relative offset between the heading of the aircraft and the heading of the wind. 0 indicates flying directly into a headwing. Negative numbers are a left offset. For example, if -20° is shown, turning right will correct towards 0. If the wind estimator is unavailable or the wind estimation is invalid, 0 is returned

CLI

New Settings

Name Description
blackbox_arm_control Can extend blackbox logging up to 60 seconds after disarming
acc_temp_correction Accelerometer temperature correction factor to compensate for acceleromter drift
baro_temp_correction Baro temperature correction factor to compensate for Baro altitude drift
osd_adsb_warning_style ADSB warning element style - COMPACT or EXTENDED
nav_fw_alt_use_position Use position for fixed wing altitude control rather than velocity
osd_pan_servo_range_decadegrees Replaces the name of the old osd_pan_servo_pwm2centideg
mavlink_autopilot_type Sets the Mavlink telemetry type - GENERIC or ARDUPILOT
transition_pid_mmix_multiplier_pitch Intended to solve pitch coupling in transtion mode on tilting rotor VTOL
transition_pid_mmix_multiplier_roll intended to solve roll/yaw coupling oscillation in transtion mode on tilting rotor VTOL
transition_pid_mmix_multiplier_yaw Intended to solve yaw/roll coupling oscillation in transtion mode on tilting rotor VTOL

New targets

  • BLUEBERRYF435WING
  • BLUEBERRYF435WING_SD
  • BOTWINGF405
  • BOTWINGF722
  • BRAHMA_F405
  • BROTHERHOBBYH743
  • BROTHERHOBBYF405V3
  • CORVON743V1
  • CORVON743V1
  • CORVON405V2
  • DAKEFPVF722X8
  • DAKEFPVH743PRO
  • DAKEFPVF435
  • HAPPYMODELF405
  • HUMMINGBIRD_FC305
  • FLYINGRCF4WINGMINI
  • FLYCOLORF4
  • FLYSPARKF4V4
  • FOXEERF405V2
  • JHEMCUF435
  • JHEMF435AIO
  • MICOAIR743AIO
  • ORBITH743
  • ORBITF435
  • ORBITF435_SD
  • RADIOLINKF405
  • SKYSTARSF405V2
  • TBS_LUCID_H7_WING
  • TBS_LUCID_H7_WING_MINI
  • SPEEDYBEEF405WINGV2
  • WARPF7

What's Changed

Full Changelog: https://github.com/iNavFlight/inav/compare/8.0.1...9.0.0

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WIKI TOPICS

Wiki Home Page

INAV Version Release Notes

8.0.0 Release Notes
7.1.0 Release Notes
7.0.0 Release Notes
6.0.0 Release Notes
5.1 Release notes
5.0.0 Release Notes
4.1.0 Release Notes
4.0.0 Release Notes
3.0.0 Release Notes
2.6.0 Release Notes
2.5.1 Release notes
2.5.0 Release Notes
2.4.0 Release Notes
2.3.0 Release Notes
2.2.1 Release Notes
2.2.0 Release Notes
2.1.0 Release Notes
2.0.0 Release Notes
1.9.1 Release notes
1.9.0 Release notes
1.8.0 Release notes
1.7.3 Release notes
Older Release Notes

QUICK START GUIDES

Getting started with iNav
Fixed Wing Guide
Howto: CC3D flight controller, minimOSD , telemetry and GPS for fixed wing
Howto: CC3D flight controller, minimOSD, GPS and LTM telemetry for fixed wing
INAV for BetaFlight users
launch mode
Multirotor guide
YouTube video guides
DevDocs Getting Started.md
DevDocs INAV_Fixed_Wing_Setup_Guide.pdf
DevDocs Safety.md

Connecting to INAV

Bluetooth setup to configure your flight controller
DevDocs Wireless Connections (BLE, TCP and UDP).md\

Flashing and Upgrading

Boards, Targets and PWM allocations
Upgrading from an older version of INAV to the current version
DevDocs Installation.md
DevDocs USB Flashing.md

Setup Tab
Live 3D Graphic & Pre-Arming Checks

Calibration Tab
Accelerometer, Compass, & Optic Flow Calibration

Alignment Tool Tab
Adjust mount angle of FC & Compass

Ports Tab
Map Devices to UART Serial Ports

Receiver Tab
Set protocol and channel mapping

Mixer Tab
Set aircraft type and how its controlled

Outputs Tab
Set ESC Protocol and Servo Parameters

Modes Tab
Assign flight modes to transmitter switches
Standard Modes
Navigation Modes
Return to Home
Fixed Wing Autolaunch
Auto Launch

Configuration Tab
No wiki page currently

Failsafe Tab
Set expected behavior of aircraft upon failsafe

PID Tuning

Navigation PID tuning (FW)
Navigation PID tuning (MC)
EZ-Tune
PID Attenuation and scaling
Tune INAV PID-FF controller for fixedwing
DevDocs Autotune - fixedwing.md
DevDocs INAV PID Controller.md
DevDocs INAV_Wing_Tuning_Masterclass.pdf
DevDocs PID tuning.md
DevDocs Profiles.md

GPS

GPS and Compass setup
GPS Failsafe and Glitch Protection

OSD and VTx

DevDocs Betaflight 4.3 compatible OSD.md
OSD custom messages
OSD Hud and ESP32 radars
DevDocs OSD.md
DevDocs VTx.md

LED Strip

DevDocs LedStrip.md

ADVANCED

Programming

DevDocs Programming Framework.md

Adjustments

DevDocs Inflight Adjustments.md

Mission Control

iNavFlight Missions
DevDocs Safehomes.md

MultiWii Serial Protocol

MSP V2
MSP Messages reference guide
MSP Navigation Messages
INAV MSP frames changelog

Telemetry

INAV Remote Management, Control and Telemetry
MAVlink Control and Telemetry
Lightweight Telemetry (LTM)

Tethered Logging

Log when FC is connected via USB

Blackbox

DevDocs Blackbox.md
INAV blackbox variables
DevDocs USB_Mass_Storage_(MSC)_mode.md

CLI

iNav CLI variables
DevDocs Cli.md
DevDocs Settings.md

VTOL

DevDocs MixerProfile.md
DevDocs VTOL.md

TROUBLESHOOTING

"Something" is disabled Reasons
Blinkenlights
Sensor auto detect and hardware failure detection Pixel OSD FAQs
TROUBLESHOOTING
Why do I have limited servo throw in my airplane

ADTL TOPICS, FEATURES, DEV INFO

AAT Automatic Antenna Tracker
Building custom firmware
Default values for different type of aircrafts
Source Enums
Features safe to add and remove to fit your needs.
Developer info
Making a new Virtualbox to make your own INAV[OrangeRX LRS RX and OMNIBUS F4](OrangeRX-LRS-RX-and-OMNIBUS-F4)
Rate Dynamics
Target and Sensor support
Ublox 3.01 firmware and Galileo
DevDocs Controls
DevDocs 1wire.md
DevDocs ADSB.md
DevDocs Battery.md
DevDocs Buzzer.md
DevDocs Channel forwarding.md
DevDocs Display.md
DevDocs Fixed Wing Landing.md
DevDocs GPS_fix_estimation.md
DevDocs LED pin PWM.md
DevDocs Lights.md
DevDocs OSD Joystick.md
DevDocs Servo Gimbal.md
DevDocs Temperature sensors.md

OLD LEGACY INFO

Supported boards
DevDocs Boards.md
Legacy Mixers
Legacy target ChebuzzF3
Legacy target Colibri RACE
Legacy target Motolab
Legacy target Omnibus F3
Legacy target Paris Air Hero 32
Legacy target Paris Air Hero 32 F3
Legacy target Sparky
Legacy target SPRacingF3
Legacy target SPRacingF3EVO
Legacy target SPRacingF3EVO_1SS
DevDocs Configuration.md
Request form new PRESET
DevDocs Introduction.md
Welcome to INAV, useful links and products
UAV Interconnect Bus
DevDocs Rangefinder.md
DevDocs Rssi.md
DevDocs Runcam device.md
DevDocs Serial.md
DevDocs Telemetry.md
DevDocs Rx.md
DevDocs Spektrum bind.md
DevDocs INAV_Autolaunch.pdf

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