1.9.1 Release notes

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!

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.

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)

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)

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)