1.9.1 Release notes

Please read the release notes carefully and upgrade INAV Configurator application.

INAV is and will remain open-source and free, but you are more than welcome to support the development.

This release was supported by our awesome sponsors CarbonBird.com, Airbot, ADPM Drones and a number of supporters on Patreon.

WARNINGS

• comparing to INAV 1.8 and below, scaling of nav_mc_vel_xy_p has been lowered by a factor of 5. Previous default was 200, current default is 40. When restoring configuration from INAV 1.8, divide nav_mc_vel_xy_p by 5. The default value from INAV 1.9 (and a 1.9 setting that works for your machine) can be used without any change in 1.9.1. Do not restore blindly from backup!

Known bugs

• todo

CLI parameter renaming / new parameters

Name	Description
fw_tpa_time_constant	TPA smoothing and delay time constant to reflect non-instant speed/throttle response of the plane. Planes with low thrust/weight ratio generally need higher time constant. Default is zero for compatibility with old setups

New boards

• MATEKF405-WING (MATEKF405SE target)
• AIRBOT ASGARD32 F4
• AIRBOT FIREWORKS V2
• AIRBOT OMNIBUS F7 NXT

New features

• Add MSP message for reading air speed (@shellixyz, #2853)
• Add trip distance element to OSD (@shellixyz, #2887)
• Add FPort support (@fiam, #2815)
• TPA smoothing and delayed response of throttle-based TPA (@digitalentity, #2966)

Improvements

• Bulk gyro/acc reads for better performance (@digitalentity, #2846)
• Save almost 7kB of RAM by reworking CMS (@fiam, #2881)
• Quaternion IMU conversion (@digitalentity, #2894)
• Current calculation is now more precise (@shellixyz, #2941)
• Gyro sync denominator parameter has been deprecated (@digitalentity, #2958)
• Decreased RC latency by removing unnecessary filtering (@giacomo892, #3057)
• VCP Port driver improvements (@digitalentity, #3046)

Bugfixes

• Fix ESC double initialization (@shellixyz, #2884)
• Make FS mode take priority over any other modes in OSD display (@fiam, #2899)
• Fix bug in MPU6500 accelerometer detection (@digitalentity, #2930)
• Fix current not being correctly logged into BlackBox (@shellixyz, #2940)
• Fix incorrect PWM output initialization on F7 (@digitalentity, #2891)
• Fix LTM scheduler not being set if telemetry port is shared (@giacomo892, #3030)