What changed in INAV from 8 to 9

INAV 9.1.0

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:

INAV 9.1 is primarily a maintenance release focused on reliability improvements, safety fixes, and GPS accuracy. Since 9.0.1: 46 fixes and 76 new features/enhancements, including 19 new hardware targets. It contains no incompatible settings changes — your 9.0.x diff all will load cleanly.

For full PR-by-PR detail, see the wiki release notes.

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Upgrading from INAV 9.0.x

1. Download and install the new INAV 9.1 Configurator
2. Backup your configuration: CLI → diff all → save to file
3. Flash INAV 9.1.0 — Full Chip Erase is NOT required when upgrading from 9.0.x
4. Restore settings from CLI or use the Keep current settings option

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Upgrading from INAV 8.x

1. Download and install the new INAV 9.1 Configurator
2. Backup configuration: CLI → diff all → save to file
3. Flash INAV 9.1.0 WITH Full Chip Erase enabled
4. Load your 8.x diff into the CLI; note any settings shown in RED
5. Use the INAV CLI Update Tool or manually update incompatible settings from the 9.0.0 release notes
6. See Upgrading from an older version for full instructions

[!NOTE] The INAV 9.1 Configurator includes a settings migration tool in the CLI tab that can assist with upgrading from older versions.

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⚠️ Important Notes for 9.1

FLYINGRCF4WINGMINI alignment change

If you have the FLYINGRCF4WINGMINI, you will need to re-do the accelerometer alignment, as the gyro rotation has been corrected.

GPS Default Settings Changed

Two GPS defaults have changed. These only affect you if you never explicitly set them in your configuration (i.e., they are not in your diff all):

• gps_ublox_nav_hz default changed from 10 → 8 Hz. Lower rate allows more satellite constellations to be tracked for better accuracy, especially on M8/M9 modules. If you want to keep 10 Hz, add set gps_ublox_nav_hz = 10 to your diff.
• gps_ublox_use_galileo and gps_ublox_use_beidou now default to ON. More constellations generally improves position accuracy.

Position Estimator — Altitude Controller Gains

[!WARNING] If you have increased nav_mc_pos_z_p or nav_mc_vel_z_p above their default values since INAV 7.1, it is advisable to lower those gains or re-tune them to avoid possible throttle oscillations in navigation modes that control altitude (WP, Cruise, RTH, and forward-flight Poshold).

The improved position estimator relies more on accelerometer weighting, so ensure your multicopter or VTOL is free from propeller and motor vibrations. See Multirotor filter setup for tips.

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Highlights

GNSS Constellation and Update Rate

INAV now provides an optimized GPS update rate based on your hardware type (M8, M9, M10) and the number of active constellations. PR #11262

Multicopter Magless Heading

Pilots flying without a compass can now point the front of their multicopter or VTOL toward a known North heading before takeoff. PR #11529

Position Estimator Improvements

Several changes improve multicopter position hold accuracy when GPS signal is poor or fluctuating. #11270, #11322, #11387

OSD Improvements

Post-disarm stats, Multifunction mode expansion, toilet-bowl compass deviation warning, and Surface mode/Geozone message improvements. #11506, #11308, #10854

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New Hardware Support

New Sensors: ICM-45686 IMU, MS5525DSO airspeed sensor, SSD1315 OLED display, LSM6DSV16X/LSM6DSK320X accgyro

New Flash Storage: XT25F128F, MX35LF2G

19 New Targets: AIKONF4V2, AXISFLYINGH743PRO, BLADE_F4, BLUEBERRYH743, BLUEBERRYF405, Brahma H7, DAKEFPVH743_SLIM, FlyDragon Pro, FLYWOOF405HD, FLYWOOF405PRO, FRSKYF405, HAKRCH743, NEXUS (Original), PAURCF405V2, SDMODELH7V2, SimplyFly H7, SOLOGOODF722, TBS_LUCID_H7_OEM, TBS_LUCID_H7_V3

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Changes Since 9.1.0-RC1

• Fixed SDIO blocking delays and state management issues on problematic SD cards (#11674)
• Fixed WP JUMP and cross-track tracking issues in fixed-wing nav (#11640, #11648)
• Fixed a NULL-serial-port crash risk when the GPS provider is changed without reboot (#11634)
• Fixed ICM-42688P/42686P AAF frequency overflow (#11682)
• Added 3 new targets: DAKEFPVH743_SLIM, SOLOGOODF722, AXISFLYINGH743PRO
• Added LSM6DSV16X/LSM6DSK320X accgyro driver support (#11694)
• Allow UART pin swap on H7 targets (#11687)
• Several target-specific DMA/UART/telemetry fixes (AEDROXH7, JHEMCUF435, DAKEFPVH743PRO, DAKEFPVF405)

Full list: wiki release notes (see "Since 9.1.0-RC1" section)

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Full Changelog: https://github.com/iNavFlight/inav/compare/9.0.1...9.1.0 Wiki Release Notes: https://github.com/iNavFlight/inav/wiki/9.1.0-Release-Notes

INAV 9.0.1

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:

This is a patch release with bug fixes and new target support. No settings have been renamed or removed, so your 9.0.0 configuration will work without changes.

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Changes since 9.0.0

Bug Fixes

• CRSF frame length validation - Fix missing frame length verification when handling CRSF_FRAMETYPE_MSP_REQ/MSP_WRITE, preventing potential buffer issues (#11210, @VoodooChild99)
• Position estimator corrections - Fix position and velocity corrections for improved GPS hold and navigation accuracy. Addresses issues #10360, #10391, #10893, #11049 (#11270, @breadoven)
• Position estimator sanity limit - Relate correction sanity limit to loop rate for consistent behavior across different loop rates (#11270, @breadoven)
• STM32H7 DFU mode - Fix CLI dfu command on H743/H750 targets which would reboot as VCP instead of entering DFU mode (#11295, @sensei-hacker)
• DShot beeper arming loop - Fix feedback loop where DShot beeper confirmation prevents re-arming by resetting the guard timer on each attempt (#11306, @sensei-hacker)
• Surface mode Z velocity - Fix mathematical inconsistency where AGL velocity update used squared acceleration weight factor while altitude update used linear weight factor (#11255, @sensei-hacker)
• Terra Ranger Evo - Fix rangefinder driver for TeraRanger Evo sensors (#11311, @error414)

New Targets

• AIKONF4V3 - Aikon F405 V3 flight controller (#11284, @sensei-hacker)
• COREWINGF405WINGV2 - CoreWing F405 Wing V2 (#11291, @MakeSomeFakeNews)

Build & CI

• PG struct validation - Add build-time Parameter Group struct size validation to catch EEPROM-breaking changes before release (#11283, @sensei-hacker)

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Upgrading from INAV 9.0.0

1. Download and install the new INAV Configurator 9.0.1
2. Backup configuration with CLI diff all command
3. Flash INAV 9.0.1 - Full Chip Erase is not required when upgrading from 9.0.0
4. Restore your settings from CLI or select Keep current settings from the defaults pop-up

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⚠️ Important Upgrade Information (from INAV 8.x)

Flashing Notes

• Full chip erase REQUIRED when upgrading from 8.x
• Back up your configuration with diff all before flashing
• Review 9.0.0 Release Notes for breaking changes and incompatible settings

Upgrading from INAV 8.0

1. Download and install the new INAV Configurator 9.0.1
2. Backup configuration with CLI diff all command or use the Diff All and Save to file buttons.
3. Flash INAV 9.0.1 WITH Full Chip Erase option enabled
4. Load your 8.0 Diff settings in to the CLI. Then take a note or write down the incompatible settings changes marked in RED.
5. Then copy your 8.0 Diff file and rename it 9.0. And edit the old incompatible settings.
6. Go to CLI and load your edited INAV 9.0 Diff
7. Done

[!Tip] Concerning step 6. It can be a safer option to load your Diff All settings in two parts if you are using multiple Profiles. e.g. Control, Mixer or Battery. This can be done by copying and loading the Diff All text setting from the top, down to the bottom of the # master settings category. Then load that into the CLI and press enter. Once it has written, press the Save Settings button. Wait until it reboots and go back to the CLI tab again, then copy and load the rest of the Diff All text file. Starting from the # Control_profile 1 settings category, down to the bottom. Press enter. Once written, it will save by itself.

Diff update tool

Rather than steps 4 and 5 above. You can try this diff update tool. This is a work in progress. Currently it will try to update version 7 or later diffs to version 8 or later. Just paste your full diff all (not dump) in to the tool. Select the INAV version you're upgrading to. Then press the button. It will create a new diff for you and give you warnings about anything you should check.

INAV CLI Update Tool

Upgrading from older versions

Please follow the instructions on this page.

• Check the 9.0.0 Release Notes Wiki for further information

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Major Changes in INAV 9.x Since 8.0.1

JavaScript Logic Conditions

Navigation & Flight Control

• Improved fixed-wing altitude control with two selectable methods
• Enhanced position estimator Z velocity accuracy
• Position estimator corrections fix for improved GPS hold accuracy
• Temperature compensation for accelerometers and barometers
• Improved VTOL tilt-rotor support with servo speed filtering
• Enhanced magless multicopter yaw estimation
• Improved fixed-wing flight detection for auto-disarm
• Airspeed based PID Attenuation (APA)
• GPS-based pitot sensor validation with automatic fallback to virtual airspeed on sensor failure

OSD & Telemetry

• Rebranded "Vario" as Vertical Speed Indicator
• Enhanced ADSB aircraft warnings with extended OSD glyphs
• New vertical digital throttle gauge display
• Barometer altitude integrated into CRSF telemetry
• New OSD elements: VERTICAL_SPEED_INDICATOR, ADSB_WARNING, ADSB_INFO, THROTTLE_GAUGE, NAV_MIN_GROUND_SPEED
• Increased flexibility for fixedwing minimum ground speed settings
• SmartPort telemetry: Configure sensors for OpenTX widgets and ETHOS dashboards

Maps & Mission Planning

• Bing Maps replaced with Esri World Imagery (no API key needed)
• Better imagery quality and reliability

Programming & Logic

• Programming Framework enables dynamic minimum ground speed adjustment
• Extended MSP override capability to 32-bit channels
• Add MSP2_INAV_SET_GVAR command for global variable manipulation
• Add MSP2_INAV_LOGIC_CONDITIONS_CONFIGURED command for optimized loading

Hardware Support

• New Targets (34+ additional flight controller targets including):
  • AIKONF4V3: Aikon F405 V3
  • COREWINGF405WINGV2: CoreWing F405 Wing V2
  • VANTAC_RF007: FrSky/Rotorflight Vantac RF007 with magnetometer support
  • OMNIBUSF4V3_ICM: New target variant
  • BLUEBERRYF435WING target added
  • RADIOLINKF722: Add W25Q128 flash chip support
• New Sensors:
  • QMC5883P magnetometer driver
  • Puya PY25Q128HA flash chip support (16MB SPI NOR)

Bug Fixes

• USB MSC (Mass Storage): Fix H743 USB MSC regression, add timeout protection and retry logic for SD card access
• Power Limiting: Fix power limiting treating 0 (disabled) as less than continuous current
• CRSF Telemetry: Fix buffer overflow and dashboard sizeof bug
• CRSF MSP: Fix missing frame length verification for CRSF MSP requests
• Logic Conditions: Guard against increasing max conditions beyond 64
• Critical Bugs: Fix integer overflow and buffer overrun issues (cppcheck)
• Blackbox: Fix MOTORS condition mismatch causing null byte padding in logs
• STM32H7 DFU: Fix CLI dfu command on H743/H750 targets
• DShot Beeper: Fix arming feedback loop caused by DShot beeper guard timer
• AGL Velocity Estimation: Fix squared acceleration weight factor inconsistency in AGL velocity update
• Terra Ranger Evo: Fix rangefinder driver for TeraRanger Evo sensors
• Mission control waypoint landing functionality fixes
• Servo mixer overflow issues fixed
• Fixedwing level pitch trim accuracy improvements

Performance & Improvements

• Flight counter addition to statistics tracking
• Airspeed TPA: Add pitch angle aware TPA with airspeed support
• Raise pitot_lpf_milli_hz default for better pitot performance
• MSP_REBOOT DFU mode parameter for entering bootloader via MSP

Localization

• Ukrainian language now available
• Expanded language support across configurator

Build/CI & Development

• Include cygwin1.dll in Windows SITL artifact (fixes Windows SITL)
• Build-time Parameter Group struct size validation
• Add maintenance-9.x to nightly build workflow
• MSP Protocol: Deprecate MSP command 8226, add enum parsing improvements
• Add maintenance branch workflow documentation
• Add release creation guide

Documentation

• Add Power and Current Limiting documentation
• Update JavaScript Programming documentation for namespaced syntax
• Improve DEBUG mode documentation
• Add prominent configurator download links to README
• Update OSD element documentation
• Fix Settings.md documentation to match settings.yaml definitions
• Update LedStrip.md documentation

---

Full Changelog (since 9.0.0): https://github.com/iNavFlight/inav/compare/9.0.0...9.0.1 Full Changelog (since 8.0.1): https://github.com/iNavFlight/inav/compare/8.0.1...9.0.1 Wiki Release Notes: https://github.com/iNavFlight/inav/wiki/9.0.0-Release-Notes

INAV 9.0.0

Hello and welcome to INAV 9.0.0

Stable Release

This is the stable 9.0.0 release. For a complete list of changes since 8.0.1, please see the 9.0.0 Release Notes Wiki.

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⚠️ Important Upgrade Information

Flashing Notes

• Full chip erase REQUIRED when upgrading from 8.x
• Back up your configuration with diff all before flashing
• Review 9.0.0 Release Notes for breaking changes and incompatible settings

Upgrading from INAV 8.0

1. Download and install the new INAV Configurator 9.0
2. Backup configuration with CLI diff all command or use the Diff All and Save to file buttons.
3. Flash INAV 9.0 WITH Full Chip Erase option enabled
4. Load your 8.0 Diff settings in to the CLI. Then take a note or write down the incompatible settings changes marked in RED.
5. Then copy your 8.0 Diff file and rename it 9.0. And edit the old incompatible settings.
6. Go to CLI and load your edited INAV 9.0 Diff
7. Done

[!Tip] Concerning step 6.
It can be a safer option to load your Diff All settings in two parts if you are using multiple Profiles. e.g. Control, Mixer or Battery.
This can be done by copying and loading the Diff All text setting from the top, down to the bottom of the # master settings category. Then load that into the CLI and press enter. Once it has written, press the Save Settings button.
Wait until it reboots and go back to the CLI tab again, then copy and load the rest of the Diff All text file. Starting from the # Control_profile 1 settings category, down to the bottom. Press enter. Once written, it will save by itself.

Diff update tool

Rather than steps 4 and 5 above. You can try this diff update tool. This is a work in progress. Currently it will try to update version 7 or later diffs to version 8 or later. Just paste your full diff all (not dump) in to the tool. Select the INAV version you're upgrading to. Then press the button. It will create a new diff for you and give you warnings about anything you should check.

INAV CLI Update Tool

Upgrading from older versions

Please follow the instructions on this page.

• Check the 9.0.0 Release Notes Wiki for further information

---

Changes in 9.0.0 (since RC4)

New Features

• Pitot Sensor Validation: GPS-based pitot sensor validation with automatic fallback to virtual airspeed on sensor failure (#11222)
  • Adds defensive airspeed clamping to prevent division issues
  • Improves safety for fixed-wing aircraft with pitot sensors
• MSP_REBOOT DFU Mode: Add optional DFU mode parameter to MSP_REBOOT command for entering bootloader (#11238)
  • Adds payload size validation for command safety

Bug Fixes

• Blackbox: Fix MOTORS condition mismatch causing null byte padding in logs (#11220)
• APA (Airspeed Pitch Assist): Improve safety by reducing I-term scaling and maximum gain limits
• Airspeed TPA: Adjust TPA parameters for better fixed-wing aircraft performance
• Documentation: Fix Settings.md documentation to match settings.yaml definitions

Target Changes

• VANTAC_RF007: Add new FrSky/Rotorflight Vantac RF007 target with magnetometer support (#11082)
• RADIOLINKF722: Add W25Q128 flash chip support (#11232)

Documentation

• Blackbox DEBUG: Improve DEBUG mode documentation (#11239)
• README: Add prominent configurator download links (#11221)
• OSD Elements: Update OSD element documentation

Build/CI

• Nightly Builds: Add maintenance-9.x to nightly build workflow (#11204)
• MSP Protocol: Deprecate MSP command 8226, add enum parsing improvements (#11185)

---

Major Changes in 9.0 Since 8.0.1

JavaScript Logic Conditions

Navigation & Flight Control

• Improved fixed-wing altitude control with two selectable methods
• Enhanced position estimator Z velocity accuracy
• Temperature compensation for accelerometers and barometers
• Improved VTOL tilt-rotor support with servo speed filtering
• Enhanced magless multicopter yaw estimation
• Improved fixed-wing flight detection for auto-disarm
• Airspeed based PID Attenuation (APA)

OSD & Telemetry

• Rebranded "Vario" as Vertical Speed Indicator
• Enhanced ADSB aircraft warnings with extended OSD glyphs
• New vertical digital throttle gauge display
• Barometer altitude integrated into CRSF telemetry
• New OSD elements: VERTICAL_SPEED_INDICATOR, ADSB_WARNING, ADSB_INFO, THROTTLE_GAUGE, NAV_MIN_GROUND_SPEED
• Increased flexibility for fixedwing minimum ground speed settings
• SmartPort telemetry: Configure sensors for OpenTX widgets and ETHOS dashboards

Maps & Mission Planning

• Bing Maps replaced with Esri World Imagery (no API key needed)
• Better imagery quality and reliability

Programming & Logic

• Programming Framework enables dynamic minimum ground speed adjustment
• Extended MSP override capability to 32-bit channels
• Add MSP2_INAV_SET_GVAR command for global variable manipulation
• Add MSP2_INAV_LOGIC_CONDITIONS_CONFIGURED command for optimized loading

Hardware Support

• New Targets (32+ additional flight controller targets including):
  • VANTAC_RF007: New FrSky/Rotorflight Vantac RF007 target with magnetometer support
  • OMNIBUSF4V3_ICM: New target variant
  • BLUEBERRYF435WING target added
  • RADIOLINKF722: Add W25Q128 flash chip support
• New Sensors:
  • QMC5883P magnetometer driver
  • Puya PY25Q128HA flash chip support (16MB SPI NOR)

Bug Fixes

• USB MSC (Mass Storage): Fix H743 USB MSC regression, add timeout protection and retry logic for SD card access
• Power Limiting: Fix power limiting treating 0 (disabled) as less than continuous current
• CRSF Telemetry: Fix buffer overflow and dashboard sizeof bug
• Logic Conditions: Guard against increasing max conditions beyond 64
• Critical Bugs: Fix integer overflow and buffer overrun issues (cppcheck)
• Blackbox: Fix MOTORS condition mismatch causing null byte padding in logs
• Mission control waypoint landing functionality fixes
• Servo mixer overflow issues fixed
• Fixedwing level pitch trim accuracy improvements

Performance & Improvements

• Flight counter addition to statistics tracking
• Airspeed TPA: Add pitch angle aware TPA with airspeed support
• Raise pitot_lpf_milli_hz default for better pitot performance

Localization

• Ukrainian language now available
• Expanded language support across configurator

Build/CI & Development

• Include cygwin1.dll in Windows SITL artifact (fixes Windows SITL)
• Add maintenance-9.x to nightly build workflow
• MSP Protocol: Deprecate MSP command 8226, add enum parsing improvements
• Add maintenance branch workflow documentation
• Add release creation guide

Documentation

• Add Power and Current Limiting documentation
• Update JavaScript Programming documentation for namespaced syntax
• Improve DEBUG mode documentation
• Add prominent configurator download links to README
• Update OSD element documentation
• Fix Settings.md documentation to match settings.yaml definitions
• Update LedStrip.md documentation

---

Full Changelog: https://github.com/iNavFlight/inav/compare/8.0.1...9.0.0

Wiki Release Notes: https://github.com/iNavFlight/inav/wiki/9.0.0-Release-Notes