[](https://gitter.im/iNavFlight/inav?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge) 
Clean-code version of baseflight flight-controller with improved navigational capabilities - flight controllers are used to fly multi-rotor craft and fixed wing craft.
## 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
* 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
* 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)
* Outstanding navigation performance out of the box
* Oneshot ESC support.
* Position Hold, Altitude Hold, Return To Home and Missions
* Excellent support for fixed wing UAVs: airplanes, flying wings
* Support for additional targets that use the STM32F3 processors (baseflight only supports STM32F1).
* 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)
* 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 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
* 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).
* Lux's new PID (uses float values internally, resistant to looptime variation).
* Simultaneous Bluetooth configuration and OSD.
* Simultaneous Bluetooth configuration and OSD.
* Better PWM and PPM input and failsafe detection than baseflight.
* Better PWM and PPM input and failsafe detection than baseflight.
* Better FrSky Telemetry than baseflight.
* Better FrSky Telemetry than baseflight.
...
@@ -39,49 +24,40 @@ Starting at 22-06-2016 INAV uses the same scaling for PIDs as Cleanflight/Betafl
...
@@ -39,49 +24,40 @@ Starting at 22-06-2016 INAV uses the same scaling for PIDs as Cleanflight/Betafl
* OLED Displays - Display information on: Battery voltage, profile, rate profile, version, sensors, RC, etc.
* OLED Displays - Display information on: Battery voltage, profile, rate profile, version, sensors, RC, etc.
* In-flight manual PID tuning and rate adjustment.
* In-flight manual PID tuning and rate adjustment.
* Rate profiles and in-flight selection of them.
* Rate profiles and in-flight selection of them.
* Graupner PPM failsafe.
* Graupner HoTT telemetry.
* Multiple simultaneous telemetry providers.
* Multiple simultaneous telemetry providers.
* Configurable serial ports for Serial RX, Telemetry, MSP, GPS - Use most devices on any port, softserial too.
* Configurable serial ports for Serial RX, Telemetry, MSP, GPS - Use most devices on any port, softserial too.
* 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)
* PIDs from CF/BF can be used in INAV, no need to retune for INAV
* And many more minor bug fixes.
* And many more minor bug fixes.
For a list of features, changes and some discussion please review the thread on RCGroups forums and consult the documentation.
For a list of features, changes and some discussion please review the thread on RCGroups forums and consult the documentation.
There is lots of documentation here: https://github.com/iNavFlight/inav/tree/master/docs
If what you need is not covered then refer to the [Cleanflight documentation](https://github.com/cleanflight/cleanflight/tree/master/docs). If you still can't find what you need then visit the Gitter room or the IRC Channel at #inavflight
## Gitter Support and Developers Channel
### INAV Configurator
There's a dedicated Gitter room here:
Official too 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.
https://gitter.im/iNavFlight/inav
There's a dedicated INAV IRC channel on the Freenode IRC network. Users and some of the developers are there, and it is a helpful and friendly community - but there are two important things to keep in mind: First and most importantly, please go ahead and ask if you have questions, but make sure you wait around long enough for a reply. Next, sometimes people are out flying, asleep or at work and can't answer immediately, even though they are present in the channel. This is how IRC works: Many people stay logged in, even though they are not actively participating in the discussion all the time. Have a seat, grab a drink and hang around if it's a quiet time of day.
### INAV Blackbox Explorer
irc://irc.freenode.net/#inavflight
Tool for Blackbox logs analysis is available [here](https://github.com/iNavFlight/blackbox-log-viewer/releases)
## Configuration Tool
### Telemetry screen for OpenTX
To configure INAV you should use the [INAV-configurator GUI tool](https://chrome.google.com/webstore/detail/inav-configurator/fmaidjmgkdkpafmbnmigkpdnpdhopgel)(Windows/OSX/Linux).
Users of FrSky Taranis X9 and Q X7 can use INAV Lua Telemetry screen created by @teckel12 . Software and installation instruction are available here: [https://github.com/iNavFlight/LuaTelemetry](https://github.com/iNavFlight/LuaTelemetry)
The source for it is here:
https://github.com/iNavFlight/inav-configurator
## Installation
If you rather just want to use Cleanflight configurator you can download from here:
Users of FrSky Taranis X9 and Q X7 can use INAV Lua Telemetry screen created by @teckel12 . Software and installation instruction are available here: [https://github.com/iNavFlight/LuaTelemetry](https://github.com/iNavFlight/LuaTelemetry)
