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2.4.0 Release Notes

Daniel Ribeiro edited this page Feb 6, 2020 · 22 revisions

Hello and welcome to INAV 2.4.0 Release!

Please carefully read all of this document for the best possible experience and safety.

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Tested and suggested hardware can be found here

Important Notes

Upgrading from 2.3.0 or 2.2.0

  1. Download and install the new configurator
  2. Save to a file the current diff all from the CLI.
  3. Upgrade to INAV 2.4 using the Full Erase option in the configurator.
  4. Upload your OSD font of choice from the OSD tab.
  5. Find on your diff all result the min_throttle line, and replace it by throttle_idle, setting the percentage of the idle throttle. The default is 15.
  6. Go the CLI again and paste the contents on the file you previously create and write save , press ENTER and done!
  7. You should be ready, explore new 2.4 features and enjoy!

Upgrading from 2.1.0 or older version

Please follow the instructions on this page.

New targets:

CLI:

New commands

Command Description
msc Enter USB Mass storage mode. See docs/USB_Mass_Storage_(MSC)_mode.md for usage information.
Setting Description
throttle_idle Previously min_throttle - Set the idle throttle percent. The percentage of the throttle range (max_throttle - min_command) above min_command used for minimum / idle throttle. Note that the default of 15% will most likely be too high for modern *shot ESCs.
nav_rth_home_offset_distance Distance offset from GPS established home to "safe" position used for RTH (cm, 0 disables)
nav_rth_home_offset_direction Direction offset from GPS established home to "safe" position used for RTH (degrees, 0=N, 90=E, 180=S, 270=W, requires non-zero offset distance)
gyro_stage2_lowpass_type Defines the type of stage 2 gyro LPF filter. Possible values: PT1, BIQUAD. PT1 offers faster filter response while BIQUAD better attenuation. Default value: BIQUAD
rpm_gyro_filter_enabled Enables gyro RPM filter. Turned OFF by default. Set to ON only when ESC telemetry is working and rotation speed of the motors is correctly reported to INAV
rpm_dterm_filter_enabled RPM filter for D-term. Experimental, probably will be removed in the next release
rpm_gyro_harmonics Number of harmonic frequencies to be covered by gyro RPM filter. Default value of 1 usually works just fine
rpm_gyro_min_hz The lowest frequency for gyro RPM filter. Default 150 is fine for 5" mini-quads. On 7-inch drones you can lower even down to 60-70
rpm_gyro_q Q factor for gyro RPM filter. Lower values give softer, wider attenuation. Usually there is no need to change this setting
dterm_gyro_harmonics Number of harmonic frequencies to be covered by D-term RPM filter. Default value of 1 usually works just fine
rpm_dterm_min_hz -
rpm_dterm_q -
dterm_lpf_type Defines the type of stage 1 D-term LPF filter. Possible values: PT1, BIQUAD. PT1 offers faster filter response while BIQUAD better attenuation. Default value: BIQUAD
dterm_lpf2_hz Cutoff frequency for stage 2 D-term filter. Disabled by default 0
dterm_lpf2_type Defines the type of stage 1 D-term LPF filter. Possible values: PT1, BIQUAD. PT1 offers faster filter response while BIQUAD better attenuation. Default value: BIQUAD
pidsum_limit_yaw Replaces yaw_jump_prevention_limit and yaw_p_limit
pid_type Allows to set type of PID controller used in control loop. Possible values: NONE, PID, PIFF, AUTO. Change only in case of experimental platforms like VTOL, tailsitters, rovers, boats, etc. Airplanes should always use PIFF and multirotors PID

Removed settings

Setting Description
min_throttle Replaced by throttle_idle
yaw_jump_prevention_limit Replaced by pidsum_limit_yaw
yaw_p_limit Replaced by pidsum_limit_yaw

New drivers and protocols

RPM Filters (@DzikuVx)

INAV can now take determine where to place notch filters based on the rotation speed of the motors to attenuate noise being fed into PID. You need to connect BlHeli telemetry on a serial port and then enable RPM Filters.

USB Mass Storage (@fiam)

USB MSC (mass storage device class) SD card and internal flash access is enabled for F4 and F7 targets with suitable hardware. This means you can mount the FC (SD card / internal flash) as a host computer file system via USB to read BB logs (and delete them from an SD card). See docs/USB_Mass_Storage_(MSC)_mode.md for usage information.

RTH Home Offset (@stronnag)

Allows INAV RTH and failsafe RTH to not return the launch point but in a nearby area allowing not to violate a protected space which might be active in some flying fields. It's configurable via nav_rth_home_offset_distance which sets the distance offset from GPS established home to "safe" position used for RTH and nav_rth_home_offset_direction which configure the direction offset from GPS established home to "safe" position used for RTH (degrees, 0=N, 90=E, 180=S, 270=W, requires non-zero offset distance)

Linear Climb and Dive on Waypoint Missions (@hali9)

When flying a mission with different altitude waypoints, the old behaviour was INAV trying to reach the next waypoint altitude as soon as it can, constrained only by nav_auto_climb_rate, nav_fw_climb_angle and nav_fw_dive_angle CLI variables. Aircraft would use a lot of energy to reach the waypoint altitude, and then will keep that altitude for the rest of the way to the waypoint.

Now, INAV will try to climb or dive to the next waypoint altitude in a linearly manner, so it'll reach the next waypoint altitude only when it's almost reaching the waypoint itself. This way aircraft will consume less energy to climb since it'll be a less steep climb or will save energy by trading altitude for speed for more time when diving.

It works for all airframe types, fixed wing or multirotor.

OSD improvements (@fiam, @shellixyz, @DzikuVx)

Motors RPM can now displayed as a new item. There are minor bug fixes in the FrSky OSD driver. Furthermore when you navigate the CMS (OSD menu) servos on your airplane will not move anymore.

Support for DJI HD FPV (@digitalentity)

INAV is now ready to embrace HD FPV with support for the DJI HD FPV system. Just connect the DJI HD VTX to a spare UART, set that UART to have a DJI FPV function in the Configurator Ports tab and you're good to go.

If you want to use DJI remote controller as well, you can connect the S.Bus wire from DJI VTX to your FC as well and select "SBUS Fast" protocol (earlier known as DJI HDL). INAV fully supports this protocol and will allow you to get 7ms contol latency (as advertised by DJI).

WIKI TOPICS

Wiki Home Page

INAV Version 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

Mixer Tab
Custom mixes for exotic setups
DevDocs Mixer.md

Outputs

DevDocs ESC and servo outputs.md
DevDocs Servo.md

Modes

Modes
Navigation modes
Navigation Mode: Return to Home
DevDocs Controls.md
DevDocs INAV_Modes.pdf
DevDocs Navigation.md

Configuration

Sensor auto detect and hardware failure detection

Failsafe

Failsafe
DevDocs Failsafe.md

PID Tuning

EZ-Tune
PID Attenuation and scaling
Fixed Wing Tuning for INAV 3.0
Tune INAV PIFF 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

Advanced Tuning

Fixed Wing Autolaunch
DevDocs INAV_Autolaunch.pdf

Programming

DevDocs Programming Framework.md

Adjustments

DevDocs Inflight Adjustments.md

Mission Control

iNavFlight Missions
DevDocs Safehomes.md

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
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
Features safe to add and remove to fit your needs.
Developer info
INAV MSP frames changelog
INAV Remote Management, Control and Telemetry
Lightweight Telemetry (LTM)
Making a new Virtualbox to make your own INAV
MSP Navigation Messages
MSP V2
OrangeRX LRS RX and OMNIBUS F4
Rate Dynamics
Target and Sensor support
UAV Interconnect Bus
Ublox 3.01 firmware and Galileo
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
iNav Telemetry
DevDocs Rangefinder.md
DevDocs Rssi.md
DevDocs Runcam device.md
DevDocs Serial.md
DevDocs Telemetry.md
DevDocs Rx.md
DevDocs Spektrum bind.md

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