# INAV - navigation capable flight controller

![INAV](http://static.rcgroups.net/forums/attachments/6/1/0/3/7/6/a9088858-102-inav.png)

# INAV Community

* [INAV Discord Server](https://discord.gg/peg2hhbYwN)
* [INAV Official on Facebook](https://www.facebook.com/groups/INAVOfficial)
* [RC Groups Support](https://www.rcgroups.com/forums/showthread.php?2495732-Cleanflight-iNav-(navigation-rewrite)-project)
* [INAV Official on Telegram](https://t.me/INAVFlight)

## Features

* Runs on the most popular F4 and F7 flight controllers
* Outstanding performance out of the box
* Position Hold, Altitude Hold, Return To Home and Missions
* Excellent support for fixed wing UAVs: airplanes, flying wings 
* Fully configurable mixer that allows to run any hardware you want: multirotor, fixed wing, rovers, boats and other experimental devices
* Multiple sensor support: GPS, Pitot tube, sonar, lidar, temperature, ESC with BlHeli_32 telemetry
* SmartAudio and IRC Tramp VTX support
* Blackbox flight recorder logging
* On Screen Display (OSD) - both character and pixel style
* DJI OSD integration: all elements, system messages and warnings
* Telemetry: SmartPort, FPort, MAVlink, LTM
* Multi-color RGB LED Strip support
* Advanced gyro filtering: Matrix Filter and RPM filter
* Logic Conditions, Global Functions and Global Variables: you can program INAV with a GUI
* And many more!

For a list of features, changes and some discussion please review consult the releases [page](https://github.com/iNavFlight/inav/releases) and the documentation.

## Tools

### INAV Configurator

Official tool for INAV can be downloaded [here](https://github.com/iNavFlight/inav-configurator/releases). It can be run on Windows, MacOS and Linux machines and standalone application.  

### INAV Blackbox Explorer

Tool for Blackbox logs analysis is available [here](https://github.com/iNavFlight/blackbox-log-viewer/releases)

### Telemetry screen for OpenTX

Users of OpenTX radios (Taranis, Horus, Jumper, Radiomaster, Nirvana) can use INAV OpenTX Telemetry Widget screen. Software and installation instruction are available here: [https://github.com/iNavFlight/OpenTX-Telemetry-Widget](https://github.com/iNavFlight/OpenTX-Telemetry-Widget)

### INAV magnetometer alignment helper

[INAV Magnetometer Alignment helper](https://kernel-machine.github.io/INavMagAlignHelper/) allows to align INAV magnetometer despite position and orientation. This simplifies the process of INAV setup on multirotors with tilted GPS modules.

### OSD layout Copy, Move, or Replace helper tool

[Easy INAV OSD switcher tool](https://www.mrd-rc.com/tutorials-tools-and-testing/useful-tools/inav-osd-switcher-tool/) allows you to easily switch your OSD layouts around in iNav. Choose the from and to OSD layouts, and the method of transfering the layouts.

## Installation

See: https://github.com/iNavFlight/inav/blob/master/docs/Installation.md

## Documentation, support and learning resources
* [Target documentation](https://github.com/iNavFlight/inav/tree/master/docs/boards)
* [Fixed Wing Guide](docs/INAV_Fixed_Wing_Setup_Guide.pdf)
* [Autolaunch Guide](docs/INAV_Autolaunch.pdf)
* [Modes Guide](docs/INAV_Modes.pdf)
* [Wing Tuning Masterclass](docs/INAV_Wing_Tuning_Masterclass.pdf)
* [Official documentation](https://github.com/iNavFlight/inav/tree/master/docs)
* [Official Wiki](https://github.com/iNavFlight/inav/wiki)
* [Video series by Painless360](https://www.youtube.com/playlist?list=PLYsWjANuAm4qdXEGFSeUhOZ10-H8YTSnH)
* [Video series by Paweł Spychalski](https://www.youtube.com/playlist?list=PLOUQ8o2_nCLloACrA6f1_daCjhqY2x0fB)

## Contributing

Contributions are welcome and encouraged.  You can contribute in many ways:

* Documentation updates and corrections.
* How-To guides - received help?  help others!
* Bug fixes.
* New features.
* Telling us your ideas and suggestions.
* Buying your hardware from this [link](https://inavflight.com/shop/u/bg/)

A good place to start is Telegram channel or Facebook group. Drop in, say hi.

Github issue tracker is a good place to search for existing issues or report a new bug/feature request:

https://github.com/iNavFlight/inav/issues

https://github.com/iNavFlight/inav-configurator/issues

Before creating new issues please check to see if there is an existing one, search first otherwise you waste peoples time when they could be coding instead!

## Developers

Please refer to the development section in the [docs/development](https://github.com/iNavFlight/inav/tree/master/docs/development) folder.


## INAV Releases
https://github.com/iNavFlight/inav/releases