INAV 2.0.0

Hello and welcome to INAV 2.0.0 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:

	INAV Official on Telegram
	INAV Official on Facebook
	INAV Official on Slack

Sponsors and supporters

Ongoing development would be impossible without ongoing cooperation with manufacturers and support from the following businesses:

• CarbonBird Robotics http://www.carbonbird.com/
• Airbot https://store.myairbot.com/
• ADPM Drones http://www.adpmdrones.com/
• Matek Systems http://www.mateksys.com
• AKK https://www.akktek.com
• FuriousFPV http://furiousfpv.com/

Important Notes

• DO NOT RESTORE ACCELEROMETER CALIBRATION VALUES FROM AN OLDER RELEASE (<2.0) Doing that will led to poor attitude estimation performance and may cause troubles.

• When upgrading a full chip erase (when flashing) / defaults from CLI is advised. Be sure to backup your configuration and restore it wisely.

• OSD layout configuration from releases < 2.0 is not compatible with the current one. Take a screenshot of your current OSD layout before upgrading and restore it manually from the configurator.

• current_meter_offset setting changed scale. Need to be multiplied by 10 if it's value is coming from < INAV 2.0.0

• Position Hold 2D (only keeping horizontal position with GPS aid) has been dropped. Now Position Hold is only 3D and it will hold position and altitude.

• STM32F1 boards support has been dropped. NAZE/CC3D targets are no longer supported. Please upgrade to F4/F7 board. F3 boards are not recommended since their flash space is almost full and they are likely to not receive all features on the next release.

• AIRMODE now excludes feature MOTOR_STOP in multicopters This means that if you have AIRMODE enabled on a multi-rotor, the motors will most likely spin on arming, even with feature MOTOR_STOP (or the configurator "Don't spin the motors when armed") set.

Upgrading from 1.9.X

1. Be sure to run the latest INAV 2.0 Configuration release. Download from [here]
2. Go to the CLI tab and copy and paste the diff output to a text file for later usage.
3. Go to the OSD tab and take a screenshot of the current layout
4. Flash INAV 2.0 enabling full chip erase . Now you FC should run INAV 2.0. Connect again and check firmware version.
5. Go to the Mixer tab and load and apply your desidered mixer.
6. Go back to your configuration text file and delete all lines starting with: mixer acczero accgain magzero osd. Adjust values to be adjusted noted in the release notes.
7. Open the CLI tab in the configurator and paste your cleaned up configuration in the text box and type save and press enter. The flight controller will now reboot.
8. Calibrate the accelerometer following the steps in the dedicated tab. Only first two steps needs to be made in the right order.
9. Calibration of the magnetometer should be done at the field. The magnetic field indoors can be distorted and led to a bad calibration.
10. Restore manually your OSD layout using the screenshot and upload the font you like using the dedicated button.
11. Carefully check all the configuration and check on the bench without installed propellers if everything looks good. In particular check if the model preview behave correctly when you are moving your model and check surfaces movements for an airplane.
12. Enjoy INAV 2.0.0 and explore its new features!

Walk through if TL;DR

https://www.youtube.com/watch?v=sHvItS2qKfk

Known bugs

• RadioLink R9DS (an possibly all RadioLink receivers) SBUS output cannot be used . They are not complying with standards and this results in them sending invalid SBUS packets to the FC ([#3563])
• If INAV Configurator starts minimized, you have to manually remove content of C:\Users%Your_UserNname%\AppData\Local\inav-configurator https://www.youtube.com/watch?v=XMoULyiFDp4
• When running async (GYRO or ALL), gyro update will stick to PID loop frequency even if the configurator reports an higher frequency. You can check this via tasks command in CLI. It's strongly recommended not to run async and synchronize looptime to gyroscope. ([#3628])

New mixer and mixer GUI

Starting from INAV 2.0.0, there are no predefined mixers on the firmware side: CLI command mixer QUADX will just not work. Mixer has to be configured using INAV Configurator 2.0 with Mixer tab.

Restoring from previous releases via CLI will not work correctly. Please use Configurator 2.0 mixer tab to configure it from scratch.

See https://www.youtube.com/watch?v=0cLFu-5syi0

It is no longer necessary to use smix reverse to reverse a tricopter tail servo; this can be done in the 2.0 Configurator or with the CLI smix 0 5 2 -100 0.

Added NAV CRUISE flight mode (fixed wing)

This release introduces the new NAV CRUISE flight mode. When enabled the machine will try to maintain the current heading and compensate for any external disturbances (2D CRUISE). User can adjust the flight direction directly with ROLL stick or with the YAW stick ( nav_fw_cruise_yaw_rate set the yawing rate at full stick deflection ). The latter will offer a smoother way to adjust the flight direction. If the mode is enabled in conjunction with NAV ALTHOLD also the current altitude will be maintained (3D CRUISE). Altitude can be adjusted, as usual, via the pitch stick. In both modes ANGLE mode is active and the plane will stay leveled.

OSD improvements

OSD functionally got overhauled and improved. Now it is possible to have three OSD layouts and switch between them via an RC channel. Furthermore new two modes have been added: map and radar.

• map mode draws the home centered, while the craft moves around. There are two available maps: one with the North pointing up and another one with the takeoff direction pointing up.
• radar mode draws the craft in the center and the home moving around.

Those modes will enable the display of other aircraft flying in the vicinity in a future releases.

It is now possible to display a lot of new data on the OSD:

• All the values adjustable in flight via RC. When a value is selected for adjustment it starts blinking. This means it is possible to select a lot of adjustments with a pot for example and know easily which one is being adjusted.
• Wind estimation
• Numeric attitude angles
• Cruise mode heading info
• Numeric heading to home
• New battery related data: estimated remaining time and distance before having to head home, sag compensated battery voltage, estimated battery impedance
• Outputs of the PID controllers

Added full VTX control via Smart Audio / TRAMP

User can now select VTX settings from the configurator or via the OSD CMS. Furthermore vtx_low_power_disarm setting has been added. Setting it to ON will set the power to its minimum value on startup (usually 25mW) and increase it to vtx_power when arming and change it back to its lowest setting after disarming. Note that this setting can jeopardize the ability to find a lost quad using a strong signal coming from the VTX but on the other way it can prevent the VTX to overheat if you do quick flight cycles on the same battery.
UNTIL_FIRST_ARM will set the VTX to its minimum power, but once the craft is armed it will increase the output power to vtx_power and it will never decrease until the craft is power cycled. OFF will make the power output always to be set to the vtx_power setting.

Wind Estimation for Fixed Wing

It is possible to show estimated wind speed and direction on the OSD. In particular both lateral and vertical indicators are present. This is an experimental feature, you are encouraged to use it and report any anomalies in the estimated wind speed.

Battery management related features

These features have been added for helping with the battery management:

• Battery profile with optional automatic switching
• Sag compensated battery voltage and battery impedance calculation
• Estimation of the remaining flight time and distance before having to head home
• Automatic compensation of throttle command based on battery voltage to help maintain constant thrust regardless of the battery voltage
• The current sensor can be calibrated more accurately (increased offset voltage resolution: 0.1mV instead of 1mV). If you'd like to keep your current_meter_offset value from an old config you need to multiply it by 10).

You can read more about these feature in the battery documentation

CLI parameter renaming / new parameters

Name	Description
nav_fw_cruise_yaw_rate	Max YAW rate when NAV CRUISE mode is enabled (0=disable control via yaw stick) [dps]
gyro_stage2_lowpass_hz	Software based seco...

INAV 2.0.0 RC6

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: 2.0.0-RC5...2.0.0-RC6

Please, see the full release notes at https://github.com/iNavFlight/inav/wiki/2.0.0-Release-Notes

INAV 2.0.0 RC5

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
• Replace rssi_scale and rssi_invert with rssi_min and rssi_max
• Check settings for respecting min/max values at boot time

Full list: 2.0.0-RC4...2.0.0-RC5

Please, see the full release notes at https://github.com/iNavFlight/inav/wiki/2.0.0-Release-Notes

INAV 2.0.0 RC4

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 armed) if the direction to home is not actually known (due to either sensor failure or no home position recorded).
• Fixed display of coordinates in the (-1, 0) range in the latitude and longitude indicators.
• Fixed RC adjustments being applied too fast when multiple adjustments where active at the same time.
• Ensure micros() doesn't return an incorrect value under some special circumstances.
• Added new parameter for changing the SBUS frame sync interval, for receivers not implementing SBUS properly.

Full list: 2.0.0-RC3...2.0.0-RC4

Please, see the full release notes at https://github.com/iNavFlight/inav/wiki/2.0.0-Release-Notes

INAV 2.0.0 RC3

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: 2.0.0-RC2...2.0.0-RC3

Please, see the full release notes at https://github.com/iNavFlight/inav/wiki/2.0.0-Release-Notes

INAV 2.0.0 RC2

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 current display in several places (OSD, configurator, etc...)

See the full release notes at https://github.com/iNavFlight/inav/wiki/2.0.0-Release-Notes

INAV 2.0.0 RC1

Merge pull request #3239 from bnn1044/CLRACINGF4AIRV3

Add CLRACINGF4AIRV3 to CLRACINGF4AIR target

INAV 1.9.1

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!

• The map statement only requires four characters, default is AETR. If you use a different map (e.g. Spektrum, previously TAER5678) then you must manually adjust (Spektrum typically TAER).

Known bugs

• OSD: Trip distance is now displayed if current sensor is not enabled

CLI parameter renaming / new parameters

Name	Description
align_mag_roll	Set the external mag alignment on the roll axis (in 0.1 degree steps). If this value is non-zero, the compass is assumed to be externally mounted and both the board and on-board compass alignent (align_mag) are ignored. See also align_mag_pitch and align_mag_yaw.
align_mag_pitch	Same as align_mag_roll, but for the pitch axis.
align_mag_yaw	Same as align_mag_roll, but for the yaw axis.
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
report_cell_voltage	Makes telemetry in all protocols send the average cell voltage rather than full battery voltage. Replaces frsky_vfas_cell_voltage with the same semantics.
serialrx_inverted	Reverse the serial inversion of the serial RX protocol. When this value is OFF, each protocol will use its default signal. ON should be used only for custom or hacked receivers. Replaces the sbus_inversion, but it's applied to more protocols.
telemetry_inverted	Determines if the telemetry protocol default signal inversion is reversed. This should be OFF in most cases unless a custom or hacked RX is used. Replaces telemetry_inversion, which needed per protocol adjustments.

New boards

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

New features

• Add support for arbitrarily aligned external compasses (@fiam, #2833)
• Add SOFTSERIAL support on RX4/TX4 for MATEKF405 (@shellixyz, #2842)
• Add MSP message for reading air speed (@shellixyz, #2853)
• Add LEDSTRIP support to KAKUTEF4 target (@digitalentity, #2862)
• Add trip distance element to OSD (@shellixyz, #2887)
• Add FPort support (@fiam, #2915)
• Simplify channel mapping ([@shellizyx], #2947)
• TPA smoothing and delayed response of throttle-based TPA (@digitalentity, #2966)
• Allow TRICOPTER mix on AIRHEROF3 board (@digitalentity, #3067)

Improvements

• Bulk gyro/acc reads for better performance (@digitalentity, #2846)
• Improve stats - reformat + add total energy and average efficiency (@shellixyz, #2852)
• Save almost 7kB of RAM by reworking CMS (@fiam, #2881)
• Quaternion IMU conversion (@digitalentity, #2894)
• Current calculation is now more precise (@shellixyz, #2941)
• Make MSP processing more robust (@shellixyz, #2948)
• Move servo from S1 to S6 pin for MATEKF405 (@alexeystn, #2954)
• Gyro sync denominator parameter has been deprecated (@digitalentity, #2958)
• VCP Port driver improvements (@digitalentity, #3046)
• IBUS telemetry reporting cell voltage (@hali9, #3041)
• Decreased RC latency by removing unnecessary filtering (@giacomo892, #3057)

Bugfixes

• Fix ESC double initialization (@shellixyz, #2884)
• Fix incorrect PWM output initialization on F7 causing no output on S6 on MatekF722 (@digitalentity, #2891)
• 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 bug when saving servo params causing the servos not freeze (@shellixyz, #2950)
• Fix flaperon mode incorrect direction of flaps (@shellixyz, #2961)
• Fix OSD summary screen not displayed after long flight (@shellixyz, #2974)
• Fix LTM scheduler not being set if telemetry port is shared (@giacomo892, #3030)

INAV 1.9.0

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

• If you are using HMC5883/HMC5983 compass it is advised to recalibrate. Please don't restore the old settings from the dump/diff script.
• Internal scaling for VEL_XY PID setting has changed. It is advised to use default setting (40) as a starting point. Old setting from 1.8 or earlier will probably cause severe oscillation.

Known bugs

• [MATEKF722] S6 output doesn't work
• [MATEKF722] Mixers with servos cause configuration corruption

Renamed PASSTHROUGH flight mode (fixed wing)

The PASSTHROUGH flight mode has been renamed to MANUAL. New settings also have been added to allow the use of different servo rates (or control weight) for the servos when flying without stabilization without using a programmable remote control. The exposition settings for roll/pitch and yaw controls are now also also independent from the exposition settings used for stabilized flight modes. See the manual_* settings in the CLI settings table below. The default settings make the MANUAL flight mode behave exactly as the old PASSTHROUGH flight mode.

Increased VBAT resolution

The battery voltage resolution has been increased from 100mV to 10mV. In consequence the vbat_scale, vbat_max_cell_voltage, vbat_warning_cell_voltage and vbat_min_cell_voltage settings resolution has also been increased 10 fold allowing more precise battery voltage calibration and battery voltage thresholds. To restore old configuration settings users need to multiply their old setting values by 10.

New defaults for these settings:

• vbat_scale: 1100 (was 110)
• vbat_max_cell_voltage: 424 (was 43) or 4.24V/cell
• vbat_warning_cell_voltage: 350 (was 35) or 3.5V/cell
• vbat_min_cell_voltage: 330 (was 33) or 3.3V/cell

Users who were using the old defaults should not use the settings from their dump but use the new defaults instead.

Users now have the option to display 1 or 2 decimals for battery voltages in the OSD display (see osd_main_voltage_decimals in the CLI settings table below).

Battery capacity monitoring

It is now possible to display the remaining battery capacity in the OSD and also use the battery capacity thresholds (battery_capacity_warning and battery_capacity_critical) for battery alarms.

For the capacity monitoring to work you need a current sensor (CURRENT_METER feature). For monitoring energy in milliWatt hour you also need voltage measurement (VBAT feature). For best results the current and voltage readings have to be calibrated.

For the remaining battery capacity to be displayed users need to set the battery_capacity setting (>0) and the battery to be full when plugged in. If the battery_capacity setting is set to 0 the remaining battery capacity item in the OSD will display NA and the battery gauge will use an estimation based on the battery voltage (like it used to be) otherwise it will display the remaining battery capacity down to the battery_capacity_critical setting (battery considered empty). For the capacity thresholds to be used for alarms the battery_capacity_warning and battery_capacity_critical settings also needs to be set (>0) and the battery to be full the moment it is plugged in. The value are absolute meaning that battery_capacity_warning is the battery capacity left when the battery is entering the warning state and battery_capacity_critical is the battery capacity left when the battery is considered empty and entering the critical state.

For the battery to be considered full the mean cell voltage of the battery needs to be above vbat_max_cell_voltage - 140mV (by default 4.1V). So a 3S battery will be considered full above 12.3V and a 4S battery above 16.24V. If the battery plugged in is not considered full the remaining battery capacity OSD item will show NF (Not Full).

For the remaining battery capacity and battery gauge to be the most precise (linear relative to throttle from full to empty) when using battery capacity monitoring users should use the milliWatt hour unit for the battery capacity settings. The battery capacity settings unit can be set using the battery_capacity_unit setting (see the CLI parameters table below).

NAV Launch (airplane launch assistant) available as feature

The mode can now be permanently enabled via the configurator or the CLI using feature FW_LAUNCH in this case NAV LAUNCH doesn't need to be enabled via a transmitter switch prior to arming freeing a switch for other uses. If you inadvertently disarm mid-air, NAV LAUNCH will be active again after arming again so, before raising the throttle again (you should lower the throttle to arm again) move pitch/roll stick and you will have full control back. If you have this feature enabled and for some reason you want to launch the plane manually just move pitch/roll stick right after arming and you have back full control for a manual launch.

CLI parameter renaming / new parameters

New parameters have been introduced. Some CLI parameters were renamed to support new features or to better reflect their meaning:

Name	Description
rangefinder_median_filter	Default is OFF
failsafe_lights	Enable or disable the lights when the FAILSAFE flight mode is enabled. The target needs to be compiled with USE_LIGHTS [ON/OFF]. Default is ON
failsafe_lights_flash_period	Time in milliseconds between two flashes when failsafe_lights is ON and FAILSAFE flight mode is enabled [40-65535]. Default is 1000ms.
failsafe_lights_flash_on_time	Flash lights ON time in milliseconds when failsafe_lights is ON and FAILSAFE flight mode is enabled. [20-65535]. Default is 100ms.
battery_capacity	Set the battery capacity in mAh or mWh (see battery_capacity_unit). Used to calculate the remaining battery capacity. Default is 0
battery_capacity_warning	If the remaining battery capacity goes below this threshold the beeper will emit short beeps and the relevant OSD items will blink. Default is 0
battery_capacity_critical	If the remaining battery capacity goes below this threshold the battery is considered empty and the beeper will emit long beeps. Default is 0
battery_capacity_unit	Unit used for battery_capacity, battery_capacity_warning and battery_capacity_critical [MAH/MWH] (milliAmpere hour / milliWatt hour). Default is MAH
manual_rc_expo	Exposition value used for the PITCH/ROLL axes by the MANUAL flight mode [0-100]. Default is 70
manual_rc_yaw_expo	Exposition value used for the YAW axis by the MANUAL flight mode. Default is 20
manual_pitch_rate	Servo travel multiplier for the PITCH axis in MANUAL flight mode [0-100]%. Default is 100%
manual_roll_rate	Servo travel multiplier for the ROLL axis in MANUAL flight mode [0-100]%. Default is 100%
manual_yaw_rate	Servo travel multiplier for the YAW axis in MANUAL flight mode [0-100]%. Default is 100%
gps_ublox_use_galileo	Enable use of Galileo satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires M8N and Ublox firmware 3.x (or later) [OFF/ON]. Default is OFF
smartport_fuel_unit	Unit of the value sent with the FUEL ID through the S.Port telemetry. Replaces the smartport_fuel_percent setting [PERCENT/MAH/MWH]. Default is PERCENT
osd_stats_energy_unit	Unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt hour). Default is MAH
osd_main_voltage_decimals	Number of decimals for the battery voltages displayed in the OSD [1-2]. Default is 1
osd_wh_drawn_pos
osd_bat_remaining_capacity_pos
osd_bat_remaining_percent_pos
osd_efficiency_mah_pos
osd_efficiency_wh_pos
display_force_sw_blink
mag_to_use	Allow to chose between built-in and external compass sensor if they are connected to separate buses. Currently only for REVO target
nav_fw_launch_min_time	Allow launch mode to execute at least this time (ms) and ignore stick movements [0-60000]. Default is 0
nav_fw_launch_max_altitude	Altitude (centimeters) at which LAUNCH mode will be turned off and regular flight mode will take over [0-60000]. Default is 0

New boards

• Betaflight F3
• Betaflight F4
• FuriousFPV F35 Lightning (former FuriousFPV WingF4)
• Matek F722
• Matek F405-CTR
• Holybro KAKUTE F4
• Holybro KAKUTE F4 V2
• Fortini F4

New features

• [COMPASS] Allow to chose between internal and external compass on REVO target ([@digitalentity], [#2522])
• [COMPASS] Support for QMC5883 compass chips that incorrectly mimic the HMC58883 ([@digitalentity], [#2809])
• [SYSTEM] Migrate to busDevice abstraction layer for better device access abstraction ([@digitalentity], [#2290])
• [SYSTEM] Create dedicated F427 startup file ([@digitalentity], [#2559])
• [MOTOLAB] Allow MOTOLAB target to be used for airplanes ([@shellixyz], [#2502])
• [GPS] Enables use of Galileo satellites for NEO-M8N GPS units ([@stronnag], [#2583])
• [CALIBRATION] Add API for Calibration tab in Configurator
• [OSD] Allow OSD mode to disable OSD ([@shellixyz], [#2676])
• [OSD] Increase ...

INAV 1.9.0-RC2

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

• If you are using HMC5883/HMC5983 compass it is advised to recalibrate. Please don't restore the old settings from the dump/diff script.

Known bugs

• todo

Increased VBAT resolution

The battery voltage resolution has been increased from 100mV to 10mV. In consequence the vbat_scale, vbat_max_cell_voltage, vbat_warning_cell_voltage and vbat_min_cell_voltage settings resolution has also been increased 10 fold allowing more precise battery voltage calibration and battery voltage thresholds. To restore old configuration settings users need to multiply their old setting values by 10.

New defaults for these settings:

• vbat_scale: 1100 (was 110)
• vbat_max_cell_voltage: 424 (was 43) or 4.24V/cell
• vbat_warning_cell_voltage: 350 (was 35) or 3.5V/cell
• vbat_min_cell_voltage: 330 (was 33) or 3.3V/cell

Users who were using the old defaults should not use the settings from their dump but use the new defaults instead.

Users now have the option to display 1 or 2 decimals for battery voltages in the OSD display (see osd_main_voltage_decimals in the CLI settings table below).

Battery capacity monitoring

It is now possible to display the remaining battery capacity in the OSD and also use the battery capacity thresholds (battery_capacity_warning and battery_capacity_critical) for battery alarms.

For the capacity monitoring to work you need a current sensor (CURRENT_METER feature). For monitoring energy in milliWatt hour you also need voltage measurement (VBAT feature). For best results the current and voltage readings have to be calibrated.

For the remaining battery capacity to be displayed users need to set the battery_capacity setting (>0) and the battery to be full when plugged in. If the battery_capacity setting is set to 0 the remaining battery capacity item in the OSD will display NA and the battery gauge will use an estimation based on the battery voltage (like it used to be) otherwise it will display the remaining battery capacity down to the battery_capacity_critical setting (battery considered empty) and the battery gauge will be based on the remaining capacity. For the capacity thresholds to be used for alarms the battery_capacity_warning and battery_capacity_critical settings also needs to be set (>0) and the plugged in battery to be full when plugged in.

For the battery to be considered full the mean cell voltage of the battery needs to be above vbat_max_cell_voltage - 140mV (by default 4.1V). So a 3S battery will be considered full above 12.3V and a 4S battery above 16.24V. If the battery plugged in is not considered full the remaining battery capacity OSD item will show NF (Not Full).

For the remaining battery capacity and battery gauge to be the most precise (linear relative to throttle from full to empty) when using battery capacity monitoring users should use the milliWatt hour unit for the battery capacity settings. The battery capacity settings unit can be set using the battery_capacity_unit setting (see the CLI parameters table below).

CLI parameter renaming / new parameters

New parameters have been introduced. Some CLI parameters were renamed to support new features or to better reflect their meaning:

Name	Description
rangefinder_median_filter	Default is OFF
baro_median_filter	Default is ON
failsafe_lights	Enable or disable the lights when the FAILSAFE flight mode is enabled. The target needs to be compiled with USE_LIGHTS [ON/OFF]. Default is ON
failsafe_lights_flash_period	Time in milliseconds between two flashes when failsafe_lights is ON and FAILSAFE flight mode is enabled [40-65535]. Default is 1000ms.
failsafe_lights_flash_on_time	Flash lights ON time in milliseconds when failsafe_lights is ON and FAILSAFE flight mode is enabled. [20-65535]. Default is 100ms.
battery_capacity	Set the battery capacity in mAh or mWh (see battery_capacity_unit). Used to calculate the remaining battery capacity. Default is 0
battery_capacity_warning	If the remaining battery capacity goes below this threshold the beeper will emit short beeps and the relevant OSD items will blink. Default is 0
battery_capacity_critical	If the remaining battery capacity goes below this threshold the battery is considered empty and the beeper will emit long beeps. Default is 0
battery_capacity_unit	Unit used for battery_capacity, battery_capacity_warning and battery_capacity_critical [MAH/MWH] (milliAmpere hour / milliWatt hour). Default is MAH
manual_rc_expo	Exposition value used for the PITCH/ROLL axes by the MANUAL flight mode [0-100]. Default is 70
manual_rc_yaw_expo	Exposition value used for the YAW axis by the MANUAL flight mode. Default is 20
manual_pitch_rate	Servo travel multiplier for the PITCH axis in MANUAL flight mode [0-100]%. Default is 100%
manual_roll_rate	Servo travel multiplier for the ROLL axis in MANUAL flight mode [0-100]%. Default is 100%
manual_yaw_rate	Servo travel multiplier for the YAW axis in MANUAL flight mode [0-100]%. Default is 100%
gps_ublox_use_galileo	Enable use of Galileo satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires M8N and Ublox firmware 3.x (or later) [OFF/ON]. Default is OFF
smartport_fuel_unit	Unit of the value sent with the FUEL ID through the S.Port telemetry. Replaces the smartport_fuel_percent setting [PERCENT/MAH/MWH]. Default is PERCENT
osd_stats_energy_unit	Unit used for the drawn energy in the OSD stats [MAH/WH] (milliAmpere hour/ Watt hour). Default is MAH
osd_main_voltage_decimals	Number of decimals for the battery voltages displayed in the OSD [1-2]. Default is 1
osd_wh_drawn_pos
osd_bat_remaining_capacity_pos
osd_bat_remaining_percent_pos
osd_efficiency_mah_pos
osd_efficiency_wh_pos
display_force_sw_blink
mag_to_use	Allow to chose between built-in and external compass sensor if they are connected to separate buses. Currently only for REVO target
nav_fw_launch_min_time	Allow launch mode to execute at least this time (ms) and ignore stick movements [0-60000]. Default is 0
nav_fw_launch_max_altitude	Altitude (centimeters) at which LAUNCH mode will be turned off and regular flight mode will take over [0-60000]. Default is 0

New boards

• Betaflight F3
• Betaflight F4
• FuriousFPV F35 Lightning (former FuriousFPV WingF4)
• Matek F722
• Matek F405-CTR
• Holybro KAKUTE F4
• Holybro KAKUTE F4 V2
• Fortini F4

New features

• [COMPASS] Allow to chose between internal and external compass on REVO target ([@digitalentity], [#2522])
• [SYSTEM] Migrate to busDevice abstraction layer for better device access abstraction ([@digitalentity], [#2290])
• [SYSTEM] Create dedicated F427 startup file ([@digitalentity], [#2559])
• [MOTOLAB] Allow MOTOLAB target to be used for airplanes ([@shellixyz], [#2502])
• [GPS] Enables use of Galileo satellites for NEO-M8N GPS units ([@stronnag], [#2583])
• [CALIBRATION] Add API for Calibration tab in Configurator
• [OSD] Allow OSD mode to disable OSD ([@shellixyz], [#2676])
• [OSD] Increase odometer accuracy ([@digitalentity], [#2757])
• [OSD] Add more battery-related indicators (including efficiency)
• [LIGHTS] Add LIGHTS flight mode to enable/disable GPIO-driven equipment ([@shellixyz], [#2675])
• [LAUNCH] Allow LAUNCH mode to ignore sticks for certain amount of time ([@shellixyz], [#2677])
• [LAUNCH] Allow LAUNCH mode to be permanently enabled as FW_LAUNCH feature ([@giacomo892], [#2731])
• [MSP] API to support smix/mmix configuration via Configurator ([@DzikuVx], [#2693])
• [MSP] Add no-reply flag to allow MSP messages that don't need a response ([@digitalentity], [#2762])
• [COMPASS] Enable QMC5883, MAG3110 and IST8310 on most of the targets ([@digitalentity], [#2699])
• [AIRPLANE] Replace PASSTHROUGH with MANUAL flight mode ([@shellixyz], [#2661])
• [BATTERY] Improve battery monitoring and resolution ([@shellixyz], [#2705])
• [SYSTEM] Remove SoftSPI implementation since it's not used ([@DzikuVx], [#2726])
• [SYSTEM] Allow in-flight adjustments of board alignment, cruise throttle and pitch2thr ([@shellixyz], [#2768])
• [SYSTEM] Trace messages output for easier debugging ([@digitalentity], [#2691])

Bugfixes

• Fix flash overflow on F7 targets due to usage of flash_split ([@digitalentity], [#2535])
• Update BLHeli passthrough to support BLHeli_32
• Fix AK8963 compass support ([@digitalentity], [#2551])
• Fix timer clash between motors and servos on PIKOBLX ([@shellixyz], [#2513])
• Fix non-working UART7/8
• Fix non-booting OMNIBUSF4 (some variants with MPU6500-family gyro) ([@shellixyz], [#2575])
• Fix support for dataflash chips larger than 16MiB ([@digitalentity], [#2633])
• Fix VCP issues on F7 targets ([@digitalentity], [#2647])
• Fix potential buffer overflow in MSPv2 parsing ([@digitalentity], [#2689])
• Fix OSD statistics displaying issues on NTSC screens ([@krzysztofmatula], [#2721])
• Fix RCSplit not being detected...