INAV

# INAV 10.0.0-RC2 This is for testing new features prior to the stable release planned for December. If you prefer a more reliable version and want bug fixes only, choose the latest release in the 9.1.x series instead. 📖 **Full details, screenshots, and setup guides:** [10.0 Firm

# INAV 10.0.0-RC1 This is the first Release Candidate for INAV 10.0, a new major version. This build contains significant new features first seen in this release. A release candidate is for testing out the new features prior to the stable release planned for December. If you pref

 # 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: <table> <body> <tr> <td><img width=

 # Welcome to INAV 9.1.0-RC1 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: <table> <body> <tr> <td><img wi

 # Hello and welcome to INAV 9.0.1 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: <table> <body> <tr> <td

 # Hello and welcome to INAV 9.0.0 # INAV 9.0.0-RC4 Firmware Release Notes **Release Candidate 4 for Testing** This is a pre-release for testing purposes. Please report issues on GitHub. Please carefully read all of this

# 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

 # Hello and welcome to INAV 9.0.0 RC2 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

 # Hello and welcome to INAV 8.0.1 "Gallant Goshawk" Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions and ask fo

 # Hello and welcome to INAV 8.0.1 RC2 "Gallant Goshawk" Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions an

 # Hello and welcome to INAV 8.0.1 RC1 "Gallant Goshawk" Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions an

 # Hello and welcome to INAV 8.0.0 "Gallant Goshawk" Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions and as

 # Hello and welcome to INAV 8.0.0 "Gallant Goshawk" Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions and as

 # Hello and welcome to INAV 8.0.0 "Gallant Goshawk" Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions and as

 # Hello and welcome to INAV 8.0.0 "Gallant Goshawk" Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions and as

 # Hello and welcome to INAV 7.1.2 "Ferocious Falcon" Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions and ask

 # Hello and welcome to INAV 7.1.1 "Ferocious Falcon" Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions and ask

 # Hello and welcome to INAV 7.1 "Ferocious Falcon" Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions and ask for

 # Hello and welcome to INAV 7.1 "Ferocious Falcon" Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions and ask for

 # Hello and welcome to INAV 7 "Ferocious Falcon" Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions and ask for help

 # Hello and welcome to INAV 7 "Ferocious Falcon" Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions and ask for help

 # Hello and welcome to INAV 7 "Ferocious Falcon" Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions and ask for help

 # Hello and welcome to INAV 6.1.1 "Horizon Hawk" Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask f

 # Hello and welcome to INAV 6.1 "Horizon Hawk" Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for

 # Hello and welcome to INAV 6.1 "Horizon Hawk" Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for

 # Hello and welcome to INAV 6 "Horizon Hawk" Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for h

 # Hello and welcome to INAV 6 "Horizon Hawk" Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for h

 # Hello and welcome to INAV 6 "Horizon Hawk" Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for h

 # Hello and welcome to INAV 6 "Horizon Hawk" Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for h

 # Hello and welcome to INAV 5.1 "Ballistic Buzzard" Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions a

 # Hello and welcome to INAV 5.0 "Ballistic Buzzard" Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions a

 # Hello and welcome to INAV 5.0 "Ballistic Buzzard" Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions a

 # Hello and welcome to INAV 5.0 "Ballistic Buzzard" Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions a

 ## Hello and welcome to INAV 4.1 "Raging Sparrow" Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for help on: <table> <

 ## Hello and welcome to INAV 4.1 "Red Kite" Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for help on: <table> <body>

 **Hello and welcome to INAV 4.0.0 Release Candidate 2!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for help on: <t

 **Hello and welcome to INAV 4.0.0 Release Candidate 1!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for help on: <t

 **Hello and welcome to INAV 3.0.2 Release!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for help on: <table> <tbody

 **Hello and welcome to INAV 3.0.1 Release!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for help on: <table> <tbody

 **Hello and welcome to INAV 3.0.0 Release!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions

 **Hello and welcome to INAV 3.0.0 Release!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions

 **Hello and welcome to INAV 2.6.1 Release!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions

 **Hello and welcome to INAV 2.6.0 Release!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions

 **Hello and welcome to INAV 2.6.0 Release Candidate 3!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences,

 **Hello and welcome to INAV 2.6.0 Release Candidate 2!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences,

 **Hello and welcome to INAV 2.5.2 Release!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions

 **Hello and welcome to INAV 2.5.1 Release!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions

 **Hello and welcome to INAV 2.5.0 Release!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions

 **Hello and welcome to INAV 2.5.0 Release!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions

 **Hello and welcome to INAV 2.5.0 RC1!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and

 **Hello and welcome to INAV 2.4.0 Release!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions

 **Hello and welcome to INAV 2.4.0 Release!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions

 **Hello and welcome to INAV 2.4.0 Release!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions

 **Hello and welcome to INAV 2.3.0 Release!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions

 **Hello and welcome to INAV 2.3.0 Release!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions

 **Hello and welcome to INAV 2.3.0 Release!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions

 **Hello and welcome to INAV 2.2.1 Release!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions

 **Hello and welcome to INAV 2.2.0 Release!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions

**Hello and welcome to INAV 2.2.0 Release!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for help on: <table> <tbody> <tr> <td><img src="https://upload.wikimedia.org

**Hello and welcome to INAV 2.2.0 Release!** Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for help on: <table> <tbody> <tr> <td><img src="https://upload.wikimedia.org

Hello and welcome to INAV 2.1.0 Release! Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for help on: <table> <tbody> <tr> <td><img src="https://upload.wikimedia.org/wik

Hello and welcome to INAV 2.1.0-RC3! Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for help on: <table> <tbody> <tr> <td><img src="https://upload.wikimedia.org/wikiped

Hello and welcome to INAV 2.1.0 Release! Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for help on: <table> <tbody> <tr> <td><img src="https://upload.wikimedia.org/wik

Hello and welcome to INAV 2.1.0 Release! Please carefully read all of this document for the best possible experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for help on: <table> <tbody> <tr> <td><img src="https://upload.wikimedia.org/wik

Hello and welcome to INAV 2.0.1 Release! Please carefully read all of this document for the best possibile experience and safety. Get in touch with other pilots, share experiences, suggestions and ask for help on: <table> <tbody> <tr> <td><img src="https://upload.wikimedia.org/wi

## Changes since RC5: ## - Fix issue with not being able to disarm after ~70 min flight - Fix missing vtx settings from CLI - Telemetry improvements for LuaTelemetry Full list: https://github.com/iNavFlight/inav/compare/2.0.0-RC5...2.0.0-RC6 Please, see the full release notes at

## Changes since RC4: ## - Add SOFTSERIAL support on TX2 for MATEKF405 - New setting for disabling motor_stop in NAV modes - Ignore RC receiver data if receiver is in failsafe - Fix default compass direction for SPRACINGF3EVO - Add workaround for AKK VTX with S.Audio bug - Replac

## Changes since RC3: ## - Fixed bug which caused some ESCs to lose their calibration data (introduced in RC3). - Show a message in the ARMED screen when GPS is configured but no home position has been recorded. - Make the home arrow point up (when disarmed) or show a `-` (when a

Known issues: - Due to the changes made to eliminate servo twitching, **some ESC might lose their calibration data. Please, make sure yours are not affected**. A fix has been already merged and will be present in RC4. Changes since RC2: https://github.com/iNavFlight/inav/compare/

Changes since RC1: - Fixed display of battery and PID values in OSD - Hide `name` from diff output when it has its default value - Fixed transition from CRUISE and CRUISE 3D modes to POSHOLD - Fixed incorrect remaining flight distance OSD element - Fixed incorrect amperage/used c

Please read the release notes carefully and upgrade [INAV Configurator application](https://github.com/iNavFlight/inav-configurator/releases/tag/1.9.3). INAV is and will remain open-source and free, but you are more than welcome to [support the development](https://inavflight.git

Please read the release notes carefully and upgrade [INAV Configurator application](https://github.com/iNavFlight/inav-configurator/releases/tag/1.9.0). INAV is and will remain open-source and free, but you are more than welcome to [support the development](https://inavflight.git

Please read the release notes carefully and upgrade [INAV Configurator application](https://github.com/iNavFlight/inav-configurator/releases/tag/1.9.0). INAV is and will remain open-source and free, but you are more than welcome to [support the development](https://inavflight.git

Please read the release notes carefully and upgrade [INAV Configurator application](https://github.com/iNavFlight/inav-configurator/releases/tag/1.9.0). INAV is and will remain open-source and free, but you are more than welcome to [support the development](https://inavflight.git

Please read the release notes carefully and upgrade INAV Configurator available at [Chrome Store](https://chrome.google.com/webstore/detail/inav-configurator/fmaidjmgkdkpafmbnmigkpdnpdhopgel). You can also use [Configurator built as a native MacOS or Windows application](https://

Please read the release notes carefully and upgrade INAV Configurator available at [Chrome Store](https://chrome.google.com/webstore/detail/inav-configurator/fmaidjmgkdkpafmbnmigkpdnpdhopgel). You can also use [Configurator built as a native MacOS or Windows application](https://

Please read the release notes carefully and upgrade INAV Configurator available at [Chrome Store](https://chrome.google.com/webstore/detail/inav-configurator/fmaidjmgkdkpafmbnmigkpdnpdhopgel). You can also use [Configurator built as a native MacOS or Windows application](https://

This is a BETA release - it didn't go through public release-candidate testing, but developers believe it's safe to use. Please test everything before taking off! Please read the release notes carefully and upgrade INAV Configurator available at [Chrome Store](https://chrome.goog

Please read the release notes carefully and upgrade INAV Configurator available at [Chrome Store](https://chrome.google.com/webstore/detail/inav-configurator/fmaidjmgkdkpafmbnmigkpdnpdhopgel). INAV is and will remain open-source and free, but you are more than welcome to [support

Please read the release notes carefully and upgrade INAV Configurator available at [Chrome Store](https://chrome.google.com/webstore/detail/inav-configurator/fmaidjmgkdkpafmbnmigkpdnpdhopgel). INAV is and will remain open-source and free, but you are more than welcome to [support

This version has some significant differences from 1.6.x, please read the release notes carefully and upgrade INAV Configurator available at [Chrome Store](https://chrome.google.com/webstore/detail/inav-configurator/fmaidjmgkdkpafmbnmigkpdnpdhopgel). INAV is and will remain open-

This version has some significant differences from 1.6.x, please read the release notes carefully and upgrade INAV Configurator available at [Chrome Store](https://chrome.google.com/webstore/detail/inav-configurator/fmaidjmgkdkpafmbnmigkpdnpdhopgel). INAV is and will remain open-

This is the bugfix release for [INAV 1.6](https://github.com/iNavFlight/inav/releases/tag/1.6). Please have a read on release notes for version 1.6. ## Known bugs * Failsafe Stage 2 doesn't show as enabled in Configurator (it is always enabled, it's only UI bug) ## New features *

This version has some significant differences from 1.5.1, please read the release notes carefully and upgrade INAV Configurator available at [Chrome Store](https://chrome.google.com/webstore/detail/inav-configurator/fmaidjmgkdkpafmbnmigkpdnpdhopgel). INAV is and will remain open-

This version has some significant differences from 1.5.1, please read the release notes carefully and upgrade INAV Configurator available at [Chrome Store](https://chrome.google.com/webstore/detail/inav-configurator/fmaidjmgkdkpafmbnmigkpdnpdhopgel). INAV is and will remain open-

This version has some significant differences from 1.5.1, please read the release notes carefully and upgrade INAV Configurator available at [Chrome Store](https://chrome.google.com/webstore/detail/inav-configurator/fmaidjmgkdkpafmbnmigkpdnpdhopgel). INAV is and will remain open-

# This is an ALPHA release. Use caution! This version has some significant differences from 1.5.1, please read the release notes carefully and upgrade INAV Configurator available at [Chrome Store](https://chrome.google.com/webstore/detail/inav-configurator/fmaidjmgkdkpafmbnmigkpd

# This is an ALPHA release. Use caution! This version has some significant differences from 1.5.1, please read the release notes carefully and upgrade INAV Configurator available at [Chrome Store](https://chrome.google.com/webstore/detail/inav-configurator/fmaidjmgkdkpafmbnmigkpd

This is a release to fix some serious bugs in INAV-1.5 that were discovered too late to make it into that release. As usual, you are encouraged to upgrade INAV Configurator available at [Chrome Store](https://chrome.google.com/webstore/detail/inav-configurator/fmaidjmgkdkpafmbnmi

This version has some significant differences from 1.4, please read the release notes carefully and upgrade INAV Configurator available at [Chrome Store](https://chrome.google.com/webstore/detail/inav-configurator/fmaidjmgkdkpafmbnmigkpdnpdhopgel). INAV is and will remain open-so

INAV v1.4 This version has some significant differences from 1.3, please read the release notes carefully and upgrade INAV Configurator available at [Chrome Store](https://chrome.google.com/webstore/detail/inav-configurator/fmaidjmgkdkpafmbnmigkpdnpdhopgel). ## Motor/servo output

I'm happy to announce INAV 1.3! Most notable change is always unsynched motor updates. At over 1-2 kHz update rate the delay between PID loop and motor update is negligible (at 1 kHz average delay would be 0.5ms which is merely ~2% of total quad response delay). Please update INA

This is a bugfix release: - Fix incorrect BMP280 read scheduling. Solves issue with random compass readings on some machines. - Fix for HORIZON mode when with certain settings self-leveling was never disabled completely. Thanks to all who helped tracking down these bugs.

At last we have final INAV-1.2 release. [INAV Configurator](https://chrome.google.com/webstore/detail/inav-configurator/fmaidjmgkdkpafmbnmigkpdnpdhopgel) is available from Chrome Webstore. [Hardware compatibility and feature map](https://github.com/iNavFlight/inav/wiki/Hardware-s

Ok, looks like we are finally ready to 1.1 release. Everything is merged and somewhat tested. WARNINGS: - Config will be erased. - Re-tuning your aricraft PIDs is a **STRICT requirement** Fixes: - Changed biquad to pt1 filter for PID D-term (lower phase shift, better tunability)

New minor release. Most notable change - new BiQuad filter. WARNING: Config will be erased. Fixes: - Mode selection bug fixed - New GPS defaults to LOW_G model and don't use VELNED for navigation (less precise but safer) - Sonar-assisted landing bug fixed - Fixed wrong units for