INAV 8.0 → 9.0: CLI changes
INAV 9.0.1 against 8.0.1: 14 new settings, 1 removed,
3 renamed and 11 with a new range, value list or default.
A diff all from 8.0 pasted into 9.0 fails on every removed or renamed name below.
Renamed
| 8.0 | 9.0 | Note |
|---|---|---|
mixer_pid_profile_linking | mixer_control_profile_linking |
Same switch, renamed with the control profile: ON makes the control profile follow the mixer profile index. source |
osd_pan_servo_pwm2centideg | osd_pan_servo_range_decadegrees |
Same range -36 to 36 and the same typical value (18 for a 180-degree servo); the new name describes it as the servo's rotation in decadegrees. source |
controlrate_profile | use_control_profile |
INAV 9.0 merged the PID and rate profiles into one control profile; this battery-profile setting kept its range 0-3 and default 0. source |
A rename is listed only where the firmware's own change says the old and new name are the same setting. Every other name that disappeared is under “Removed”, even if a new one looks like its successor.
Rates, expo and TPA
New in 9.0
| Setting | Type | Range or values | Default |
|---|---|---|---|
apa_pow |
uint16 control profile |
0 to 200 | 0 |
tpa_pitch_compensation |
uint8 control profile |
0 to 20 | 8 |
Changed
| Setting | 8.0 → 9.0 |
|---|---|
fw_tpa_time_constant | default 1500 → 2000 |
tpa_rate | max 100 → 200 |
Fixed-wing navigation and launch
New in 9.0
| Setting | Type | Range or values | Default |
|---|---|---|---|
nav_fw_alt_use_position |
uint8 control profile |
OFF, ON | OFF |
Changed
| Setting | 8.0 → 9.0 |
|---|---|
nav_fw_pos_z_ff | default 10 → 30 |
Position estimator
Changed
| Setting | 8.0 → 9.0 |
|---|---|
inav_w_z_baro_v | default 0.1 → 0.35 |
inav_w_z_gps_p | default 0.2 → 0.35 |
inav_w_z_gps_v | default 0.1 → 0.35 |
Accelerometer, compass and other sensors
New in 9.0
| Setting | Type | Range or values | Default |
|---|---|---|---|
acc_temp_correction |
float global |
-50 to 51 | 0 |
baro_temp_correction |
float global |
-50 to 51 | 0 |
Changed
| Setting | 8.0 → 9.0 |
|---|---|
mag_hardware | new values QMC5883P |
pitot_lpf_milli_hz | max 10000 → 50000; default 350 → 3000 |
Receiver and RC input
New in 9.0
| Setting | Type | Range or values | Default |
|---|---|---|---|
msp_override_channels |
uint32 global |
0 to 4294967295 | 0 |
Mixer profiles
New in 9.0
| Setting | Type | Range or values | Default |
|---|---|---|---|
transition_pid_mmix_multiplier_pitch |
int16 mixer profile |
-5000 to 5000 | 1000 |
transition_pid_mmix_multiplier_roll |
int16 mixer profile |
-5000 to 5000 | 1000 |
transition_pid_mmix_multiplier_yaw |
int16 mixer profile |
-5000 to 5000 | 1000 |
Battery, current sensor and power limits
Changed
| Setting | 8.0 → 9.0 |
|---|---|
current_meter_type | new values SMARTPORT |
vbat_meter_type | new values SMARTPORT |
OSD
New in 9.0
| Setting | Type | Range or values | Default |
|---|---|---|---|
osd_adsb_warning_style |
uint8 global |
COMPACT, EXTENDED | COMPACT |
Changed
| Setting | 8.0 → 9.0 |
|---|---|
osd_snr_alarm | max 99 → 30 |
Telemetry
New in 9.0
| Setting | Type | Range or values | Default |
|---|---|---|---|
mavlink_autopilot_type |
uint8 global |
GENERIC, ARDUPILOT | GENERIC |
mavlink_sysid |
uint8 global |
1 to 255 | 1 |
Blackbox, logging and stats
New in 9.0
| Setting | Type | Range or values | Default |
|---|---|---|---|
blackbox_arm_control |
int8 global |
-1 to 60 | 0 |
stats_flight_count |
uint16 global |
0 to 65535 | 0 |
System
Removed in 9.0
Other releases: 9.0 → 9.1 · all INAV settings by section. Sources: 8.0.1 settings.yaml, 9.0.1 settings.yaml.