2.3.0 Release Notes
Hello and welcome to INAV 2.3.0 Release!
Please carefully read all of this document for the best possible experience and safety.
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Tested and suggested hardware can be found here
- Download and install the new configurator
- Save to a file the current diff all from the CLI.
- Upgrade to INAV 2.3 using the Full Erase option in the configurator.
- Upload your OSD font of choice from the OSD tab.
- Go the CLI again and paste the contents on the file you previously create and write save , press ENTER and done!
- You should be ready, explore new 2.3 features and enjoy!
- Please follow the upgrade guide to 2.2.0 and then step to the previous section.
| Setting | Description |
|---|---|
| dyn_notch_width_percent | Distance in % of the attenuated frequency for double dynamic filter notched. When set to 0 single dynamic notch filter is used |
| dyn_notch_range | Dynamic gyro filter range. Possible values LOW MEDIUM HIGH. MEDIUM should work best for 5-6" multirotors. LOW should work best with 7" and bigger. HIGH should work with everything below 4" |
| dyn_notch_q | Q factor for dynamic notches |
| dyn_notch_min_hz | Minimum frequency for dynamic notches. Default value of 150 works best with 5" multirors. Should be lowered with increased size of propellers. Values around 100 work fine on 7" drones. 10" can go down to 60 - 70
|
| throttle_scale | Throttle scaling factor. 1 means no throttle scaling. 0.5 means throttle scaled down by 50% |
| vbat_meter_type | Vbat voltage source. Possible values: NONE, ADC, ESC. ESC required ESC telemetry enebled and running |
| antigravity_gain | Max Antigravity gain. 1 means Antigravity is disabled, 2 means Iterm is allowed to double during rapid throttle movements |
| antigravity_accelerator | |
| antigravity_cutoff_lpf_hz | Antigravity cutoff frequenct for Throtte filter. Antigravity is based on the difference between actual and filtered throttle input. The bigger is the difference, the bigger Antigravity gain |
| sim_pin | PIN for GSM card module |
Dynamic Filters is a port of Betaflight dynamic filtering. It uses FFT analysis of gyro traces to locate noise peaks and double notch filters to attenuate them. By default, there are 6 notches, 2 per each axis: roll, pitch and yaw.
To enable Dynamic Filters, go to CLI and type
feature DYNAMIC_FILTERS
The default values are suited for 5" mini quads. Depending on the size of multirotor propellers, some adjustments might be required.
| Propeller size | dyn_notch_range |
dyn_notch_min_hz |
|---|---|---|
| Below 5" | HIGH |
200 or more |
| 5" |
HIGH or MEDIUM
|
150 or more |
| 7" | LOW |
100 or less |