After 3 month from previous release, INAV is preparing for a new version. INAV 1.2 will be quite massive, with a lot of new features and improvements. Full change list is available here. I will only describe the most important and “visible” changes.
- Rates are no longer stored in arbitrary units like 0.4. Who knows what 0.4 means? How fast UAV should rotate when this rate is set? Is 0.8 twice as fast as 0.4? (The answer to that question is “No”) To solve this problem, INAV uses degrees per second [dps] to define maximum rotation speeds. INAV Configurator provides nice and simple user interface for that. The ones who uses CLI has to remember, that INAV stores rates in dps divided by 10. So,
set roll_rate=72means that roll rate equals 720dps. GitHub INAV Wiki has a page that describes how to convert INAV 1.1 rates to new system. Also, RC Rate setting, as obsolete, has been removed.
- FP-PID has been rescaled to match LuxFloat and MWRewrite PID controllers. That means, if you have tuned drone in either Cleanflight or Betaflight, you can just use the same PID settings in INAV now, without a need to retune. That also means, that tunes from INAV 1.1 will not work in 1.2. This page or this Google Docs Spreadsheet can be used to convert INAV 1.1 PID to INAV 1.2
- Just like latest Betaflight 3.0, INAV 1.2 has a feature that allows to limit angular acceleration. This might be very useful when tuning big and heavy frames with a lot of inertia. They are just not capable of angular acceleration that operator might require from them even with stick movements. If frame oscillates/shakes during stops, that means that it is unable to satisfy required acceleration/deceleration, Iterm winds up and as a result, frame overshoots target only to try to correct that fractions of a second later. To get rid of that effect
rate_accel_limit_yawCLI variables can be used. They represent maximum angular acceleration/deceleration in degress-per-second^2 [dps2] UAV operator can request. By default it is disabled for roll and pitch and set to 10000dps2 for yaw.
- Improved MAGHOLD controller that results in much smoother yaw movements in RTH and WAYPOINT flight modes. New
mag_hold_rate_limitsetting limits yaw rotation rate MAGHOLD controller can request. Default of 90dps is enough for agile UAVs. For slow, cinematic, turns, value of 25dps generates good results. I already described this improvement here
- Flaperon flight mode. Available only on fixed wing (not on flying wing) platforms. When enabled, both ailerons will be deployed down to act as flaps. Flaperon behavior is driven by 2 CLI variables:
flaperon_throw_offsetdetermines how far ailerons will be deployed
flaperon_throw_invertedallows to invert aileron throw in Flaperon mode. Can be used to create spoilerons instead of flaperons
- Greatly improved GPS performance
- Maximum climb/descend rate in WAYPOINT mission flight mode is now limited by
nav_max_climb_ratesetting (in centimeters per second)
- More precise expo curve resulting in smoother UAV behavior near sticks center positions
- Greatly improved landing detection mechanism that can effectiveness detect landing and disarm motors in RTH mode
- Just like Betaflight, INAV saves configuration (PIDs, rates, etc.) with Blackbox logs. Both Betaflight and INAV blackbox viewers can be used to get config from logs. Great for tuning, since log contains both flight data and configuration used to obtain this data
- Turn assistant flight mode – when enabled, yaw movement will be done in parallel to ground plane, not UAV plane
- Full stick range is now used in ANGLE and HORIZON flight modes
- More data reported via LTM protocol
- Initial MAVLink support. It is far from completed, but MAVLink enabled ground stations should be able to receive telemetry from INAV.
- Support for nRF24L01 transceivers. Fly Naze32 with Syma radio? Now it will be doable
- Multiple bugfixes and other improvements