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# INAV
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![INAV](http://static.rcgroups.net/forums/attachments/6/1/0/3/7/6/a9088858-102-inav.png)
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Clean-code version of baseflight flight-controller - flight controllers are used to fly multi-rotor craft and fixed wing craft.

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## Important: PID values and scaling

Starting at 22-06-2016 INAV uses the same scaling for PIDs as Cleanflight/Betaflight LuxFloat and MWRewrite PID controllers. That means the following:

* PIDs from CF/BF can be used in INAV, no need to retune for INAV
* INAV uses the same PID defaults that Cleanflight and Betaflight
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* Current INAV tunes can be converted to new using [this guide](https://github.com/iNavFlight/inav/wiki/PID-conversion-from-pre-1.2-to-1.2). This applies to all INAV 1.1
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## Features
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* Multi-color RGB LED Strip support (each LED can be a different color using variable length WS2811 Addressable RGB strips - use for Orientation Indicators, Low Battery Warning, Flight Mode Status, etc)
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* Oneshot ESC support.
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* Blackbox flight recorder logging (to onboard flash or external SD card).
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* Support for additional targets that use the STM32F3 processors (baseflight only supports STM32F1).
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* Support for the Seriously Pro Racing F3 board (STM32F303, I2C sensors, large flash, excellent I/O.)
* Support for the TauLabs Sparky board (STM32F303, I2C sensors, based board with acc/gyro/compass and baro, ~$35)
* Support for the OpenPilot CC3D board. (STM32F103, board, SPI acc/gyro, ~$20)
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* Support for the CJMCU nano quadcopter board.
* Support for developer breakout boards: (Port103R, EUSTM32F103RC, Olimexino, STM32F3Discovery).
* Support for more than 8 RC channels - (e.g. 16 Channels via FrSky X4RSB SBus).
* Support for N-Position switches via flexible channel ranges - not just 3 like baseflight or 3/6 in MultiWii
* Lux's new PID (uses float values internally, resistant to looptime variation).
* Simultaneous Bluetooth configuration and OSD.
* Better PWM and PPM input and failsafe detection than baseflight.
* Better FrSky Telemetry than baseflight.
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* LTM Telemetry.
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* Smartport Telemetry.
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* RSSI via ADC - Uses ADC to read PWM RSSI signals, tested with FrSky D4R-II and X8R.
* OLED Displays - Display information on: Battery voltage, profile, rate profile, version, sensors, RC, etc.
* In-flight manual PID tuning and rate adjustment.
* Rate profiles and in-flight selection of them.
* Graupner PPM failsafe.
* Graupner HoTT telemetry.
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* Multiple simultaneous telemetry providers.
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* Configurable serial ports for Serial RX, Telemetry, MSP, GPS - Use most devices on any port, softserial too.
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* And many more minor bug fixes.
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For a list of features, changes and some discussion please review the thread on MultiWii forums and consult the documentation.
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http://www.multiwii.com/forum/viewtopic.php?f=23&t=5149

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## Installation

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See: https://github.com/iNavFlight/inav/blob/master/docs/Installation.md
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## Documentation
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There is lots of documentation here: https://github.com/iNavFlight/inav/tree/master/docs
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If what you need is not covered then refer to the baseflight documentation. If you still can't find what you need then visit the #cleanflight on the Freenode IRC network

## IRC Support and Developers Channel

There's a dedicated IRC channel here:

irc://irc.freenode.net/#cleanflight

If you are using windows and don't have an IRC client installed then take a look at HydraIRC - here: http://hydrairc.com/

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Etiquette: Don't ask to ask and please wait around long enough for a reply - sometimes people are out flying, asleep or at work and can't answer immediately.
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## Videos
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There is a dedicated INAV youtube channel which has progress update videos, flight demonstrations, instructions and other related videos.
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https://www.youtube.com/playlist?list=PL6H1fAj_XUNVBEcp8vbMH2DrllZAGWkt8

Please subscribe and '+1' the videos if you find them useful.

## Configuration Tool

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To configure INAV you should use the INAV-configurator GUI tool (Windows/OSX/Linux) that can be found here:
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https://chrome.google.com/webstore/detail/cleanflight-configurator/enacoimjcgeinfnnnpajinjgmkahmfgb

The source for it is here:
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https://github.com/cleanflight/cleanflight-configurator
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## Contributing
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Contributions are welcome and encouraged.  You can contribute in many ways:
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* Documentation updates and corrections.
* How-To guides - received help?  help others!
* Bug fixes.
* New features.
* Telling us your ideas and suggestions.

The best place to start is the IRC channel on freenode (see above), drop in, say hi. Next place is the github issue tracker:

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

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Please refer to the development section in the [docs/development](https://github.com/iNavFlight/inav/tree/master/docs/development) folder.
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TravisCI is used to run automatic builds
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https://travis-ci.org/cleanflight/cleanflight

[![Build Status](https://travis-ci.org/cleanflight/cleanflight.svg?branch=master)](https://travis-ci.org/cleanflight/cleanflight)

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