iNavFlight · sensei-hacker · Jun 6, 2026 · Jan 14, 2026 · Jan 12, 2026 · Jan 17, 2026
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -52,7 +52,7 @@ else()
 endif()
 
 
-project(INAV VERSION 9.0.1)
+project(INAV VERSION 9.1.0)
 
 
 enable_language(ASM)

diff --git a/cmake/pg_struct_sizes.reference.db b/cmake/pg_struct_sizes.reference.db
@@ -47,3 +47,4 @@ telemetryConfig_t               58 8
 timeConfig_t                     4 1
 vtxConfig_t                     55 4
 vtxSettingsConfig_t             12 2
+pinioBoxConfig_t                 4 1
diff --git a/cmake/stm32.cmake b/cmake/stm32.cmake
@@ -285,7 +285,7 @@ function(target_stm32)
     cmake_parse_arguments(
         args
         # Boolean arguments
-        "DISABLE_MSC;BOOTLOADER"
+        "DISABLE_MSC;BOOTLOADER;NO_BOOTLOADER"
         # Single value arguments
         "HSE_MHZ;LINKER_SCRIPT;NAME;OPENOCD_TARGET;OPTIMIZATION;STARTUP;SVD"
         # Multi-value arguments
@@ -377,7 +377,7 @@ function(target_stm32)
 
     setup_firmware_target(${main_target_name} ${name} ${ARGN})
 
-    if(args_BOOTLOADER)
+    if(args_BOOTLOADER AND NOT args_NO_BOOTLOADER)
         # Bootloader for the target
         set(bl_suffix _bl)
         add_stm32_executable(

diff --git a/docs/ADSB.md b/docs/ADSB.md
@@ -34,6 +34,7 @@ All ADSB receivers which can send Mavlink [ADSB_VEHICLE](https://mavlink.io/en/m
 * [PINGRX](https://uavionix.com/product/pingrx-pro/) (not tested)
 * [TT-SC1](https://www.aerobits.pl/product/aero/) (tested)
 * [ADSBee1090](https://pantsforbirds.com/adsbee-1090/) (tested)
+* [SoftRF](https://github.com/lyusupov/SoftRF/wiki/Nano-Edition) (tested)
 
 ## TT-SC1 settings
 * download software for ADSB TT-SC1 from https://www.aerobits.pl/product/aero/ , file Micro_ADSB_App-vX.XX.X_win_setup.zip and install it
@@ -63,3 +64,48 @@ AT+SETTINGS=SAVE
 * in INAV configurator ports TAB set telemetry MAVLINK, and baudrate 115200
 * https://pantsforbirds.com/adsbee-1090/quick-start/
 
+## SoftRF settings
+SoftRF supports only MAVLink version 1.
+```
+set mavlink_version = 1
+save
+```
+The baud rate for SoftRF is 57600. INAV provides minimal support for SoftRF and supports only 
+the mandatory MAVLink messages: `MAVLINK_MSG_ID_HEARTBEAT`, `MAVLINK_MSG_ID_SYSTEM_TIME`, and `MAVLINK_MSG_ID_GPS_RAW_INT`.
+
+The following messages are not supported: `MAVLINK_MSG_ID_SYS_STATUS`, `MAVLINK_MSG_ID_VFR_HUD`, and `MAVLINK_MSG_ID_ATTITUDE`.
+
+## Alert and Warning
+The ADS-B warning/alert system supports two operating modes, controlled by the parameter osd_adsb_calculation_use_cpa (ON or OFF).
+
+---
+
+### ADS-B Warning and Alert Messages (CPA Mode OFF)
+The ADS-B warning/alert system supports two operating modes, controlled by the parameter **osd_adsb_calculation_use_cpa** (ON or OFF).
+
+When **osd_adsb_calculation_use_cpa = OFF**, the system evaluates only the **current distance between the aircraft and the UAV**. The aircraft with the **shortest distance** is always selected for monitoring.
+
+- If the aircraft enters the **warning zone** (`adsb_distance_warning`), the corresponding **OSD element is displayed**.
+- If the aircraft enters the **alert zone** (`adsb_distance_alert`), the **OSD element starts blinking**, indicating a higher-priority alert.
+
+This mode therefore provides a simple proximity-based warning determined purely by real-time distance.
+
+---
+
+### ADS-B Warning and Alert Messages (CPA Mode ON)
+
+When **osd_adsb_calculation_use_cpa = ON**, the system evaluates aircraft using the **Closest Point of Approach (CPA)** and predicted trajectories, not only the current distance.
+
+1. **Aircraft already inside the alert zone**  
+   If one or more aircraft are currently inside the **alert zone** (`adsb_distance_alert`), the **closest aircraft** to the UAV is selected and the **OSD element blinks**.
+
+2. **Aircraft in the warning zone, none predicted to enter the alert zone**  
+   If aircraft are present in the **warning zone** (`adsb_distance_warning`), but none of them are predicted to enter the **alert zone** (their CPA distance is greater than `adsb_distance_alert`), the **closest aircraft to the UAV** is selected and the **OSD element remains steady** (no blinking).
+
+3. **Aircraft in the warning zone, one predicted to enter the alert zone**  
+   If at least one aircraft in the **warning zone** is predicted to enter the **alert zone**, that aircraft is selected and the **OSD element blinks**.
+
+4. **Aircraft in the warning zone, multiple predicted to enter the alert zone**  
+   If multiple aircraft are predicted to enter the **alert zone**, the system selects the aircraft that will **reach the alert zone first**, and the **OSD element blinks**.
+
+![ADSB CPA_ON](assets/images/adsb-CPA-on.png)
diff --git a/docs/Display.md b/docs/Display.md
@@ -44,6 +44,10 @@ Links to displays:
 
 The banggood.com display is the cheapest at the time of writing and will correctly send I2C ACK signals.
 
+### SSD1315 OLED displays
+
+SSD1315 is newer generation drop in replacement for SSD1306. Tested and working unit is bought from https://www.aliexpress.com/item/1005006901360788.html
+
 #### Crius CO-16
 
 This display is best avoided but will work if you modify it.

diff --git a/docs/Mixer.md b/docs/Mixer.md
@@ -82,7 +82,7 @@ Each servo mixing rule has the following parameters:
 | 26 | Stabilized PITCH-        | Clipped between -1000 and 0 |
 | 27 | Stabilized YAW+          | Clipped between 0 and 1000 |
 | 28 | Stabilized YAW-          | Clipped between -1000 and 0 |
-| 29 | MAX                      | Constant value of 500 |
+| 29 | FIXED-VALUE (MAX)        | Fixed percentage of total range |
 
 The `smix reset` command removes all the existing motor mixing rules.
 
@@ -103,4 +103,4 @@ Other usages can be:
 * automatic parachute deployment
 * VTOL and especially tail-sitters that require change in mixings during flight mode transition
 * crowbar airbrakes
-* any kind of servo mixings that should be changed during flight
+* any kind of servo mixings that should be changed during flight
diff --git a/docs/SITL/SITL.md b/docs/SITL/SITL.md
@@ -18,7 +18,7 @@ INAV SITL communicates for sensor data and control directly with the correspondi
 
 AS SITL is still an inav software, but running on PC, it is possible to use HITL interface for communication.
 
-INAV-X-Plane-HITL plugin https://github.com/RomanLut/INAV-X-Plane-HITL can be used with SITL.
+[INAV-X-Plane-HITL](https://github.com/RomanLut/INAV-X-Plane-HITL) or [INAV-X-Plane-XITL](https://github.com/Scavanger/INAV-X-Plane-XITL) plugin can be used with SITL.
 
 ## Sensors
 The following sensors are emulated:

diff --git a/docs/SITL/X-Plane.md b/docs/SITL/X-Plane.md
@@ -7,6 +7,9 @@ X-Plane is not a model flight simulator, but is based on real world data and is
 ## Aircraft
 It is recommended to use the "AR Wing" of the INAV HITL project: https://github.com/RomanLut/INAV-X-Plane-HITL
 
+## INAV Plugin
+For advanced SITL features (like OSD, virtual RX, simulated hardware failures, power train simulation) you can use the [INAV-X-Plane-XITL plugin](https://github.com/Scavanger/INAV-X-Plane-XITL)
+
 ## General settings
 In Settings / Network select "Accept incoming connections".
 The port can be found under "UDP PORTS", "Port we receive on". If no connection is established, the port can be changed.

diff --git a/docs/Settings.md b/docs/Settings.md
@@ -6052,16 +6052,6 @@ When feature SERIALRX is enabled, this allows connection to several receivers wh
 
 ---
 
-### servo_autotrim_iterm_rate_limit
-
-Maximum I-term rate of change (units/sec) for autotrim to be applied. Prevents trim updates during maneuver transitions when I-term is changing rapidly. Only applies when using `feature FW_AUTOTRIM`.
-
-| Default | Min | Max |
-| --- | --- | --- |
-| 2 | 0 | 50 |
-
----
-
 ### servo_autotrim_rotation_limit
 
 Servo midpoints are only updated when total aircraft rotation is less than this threshold [deg/s]. Only applies when using `feature FW_AUTOTRIM`.

diff --git a/docs/VTOL.md b/docs/VTOL.md
@@ -133,7 +133,7 @@ save
 
 ![Alt text](Screenshots/mixerprofile_fw_mixer.png)
 
-You must also assign the tilting servos values using the MAX values.  If you don't do this the motors will point in the direction assigned by the transition mode.
+You must also assign the tilting servos values using the Fixed Value values (formerly called "MAX").  If you don't do this the motors will point in the direction assigned by the transition mode.
 
 # STEP 2: Configuring as a Multi-Copter in Profile 2
 
@@ -149,7 +149,7 @@ You must also assign the tilting servos values using the MAX values.  If you don
 
 2. **Configure the Multicopter/tricopter:**
    - Set up your multi-copter/fixed-wing as usual, this time for mixer_profile 2 and control_profile 2.
-   - Utilize the 'MAX' input in the servo mixer to tilt the motors without altering the servo midpoint.
+   - Utilize the Fixed Value values (formerly called "MAX") input in the servo mixer to tilt the motors without altering the servo midpoint.
    - At this stage, focus on configuring profile-specific settings. You can streamline this process by copying and pasting the default PID settings.
    - you can set -1 in motor mixer throttle as a place holder: this will disable that motor but will load following the motor rules
    - compass is required to enable navigation modes for multi-rotor profile.
@@ -199,7 +199,7 @@ The steps below describe how you can fine-tune the tilting servos to obtian the
 2. **Switch to Multicopter/Tricopter:**
    - Assuming that you have set up your mixer similar to STEP1 and STEP2, you can now switch to the tricopter/multicopter mode and your servos should be tilting the motors upwards. If this is not the case, reverse the servo(s) in the Outputs tab such that the servo(s) is/are pointed upwards.
    - It is OK for the servos not to point exactly 90 degrees upwards, but they should be as close as possible to that position.
-   - Also, ensure that your MAX values in the Mixer tab are at 100 and -100, so that your servo will move to the maximum position, as shown in the screenshots in STEP1 and STEP2.
+   - Also, ensure that your Fixed Value values (formerly called "MAX") values in the Mixer tab are at 100 and -100, so that your servo will move to the maximum position, as shown in the screenshots in STEP1 and STEP2.
 
 3. **Adjust the maximum throws for the Multicopter/Tricopter mode:**
    - While in tricopter mode, navigate to the Outputs tab and adjust the MIN and MAX endpoint values to position the motors slightly backward.
@@ -214,7 +214,7 @@ The steps below describe how you can fine-tune the tilting servos to obtian the
 
 5. **Adjsut the vertival position of the tilt servos:**
    - Switch back to multicopter/tricopter mode and open the Mixer tab.
-   - Start adjusting the `MAX` mixer lines from STEP2 such that the servos are pointed exactly upwards. In other words, start reducing the values of 100 and -100 to something like 80 and -80 until the motors are are pointed exaxctly upwards.
+   - Start adjusting the `Fixed Value` mixer lines from STEP2 such that the servos are pointed exactly upwards. In other words, start reducing the values of 100 and -100 to something like 80 and -80 until the motors are are pointed exaxctly upwards.
    - You will have to `Save & reboot` for adjustement for the changes to take effect, so be patient, take your time and don't forget to `Save & reboot`.
    - Move the YAW stick to either extreme position and ensure that the servos are tilting the motors both forwards and backwards.
    - NOTE: When yawing fully left, the left motor should tilt backwards and the right motor should tilt forwards. 

diff --git a/docs/boards/FlyingRC F4Wing Mini.md b/docs/boards/FlyingRC F4Wing Mini.md
@@ -1,19 +1,21 @@
-# Board - FLYINGRCF4WINGMINI_NOT_RECOMMENDED
+# Board - FLYINGRCF4WINGMINI
 
-This is a cheap flight controller (prices range from $16US to $40US) from an unknown company. Many of the components on this FC are likely to have high tollerances due to the low cost. They sold this FC as compatible with INAV without reaching out to the team or having an official target made. The target only exists thanks to a community contributor (dixi83).
+This is a budget-friendly flight controller. Component tolerances and quality control may vary compared with higher-cost hardware, so users should test critical functions carefully before flying. The board has been advertised as INAV-compatible, but it was not originally submitted through the official INAV target process; current support exists thanks to community work, especially the contribution from dixi83.
 
-Hardware issues have been reported on these flight controllers. They are also missing many features. Unlike most other _wing_ flight controllers. This is not an all in one solution. It requires an external power source for servos. So is not as small or light as it first appears.
+The manufaturer, FlyingRC, now has a GitHub available: https://github.com/FlyingRC-Official
+
+Hardware issues have been reported on these flight controllers. They are also missing many features. Unlike most other _wing_ flight controllers, this is not an all-in-one solution. It requires an external power source for servos, so is not as small or light as it first appears.
 
 > [!WARNING]
-> We recommend you only use this flight controller on very light aircraft that you will keep within line-of-sight distances. Reliability of the hardware is far from guaranteed. So fitting to a larger, heavier aircraft adds unneccesary safety risks. Also, there are essential features missing for other types of flights. Please keep this for small park fliers only, if used at all.
+> We recommend you only use this flight controller on very light aircraft that you will keep within line-of-sight distances. Reliability of the hardware is far from guaranteed. So fitting to a larger, heavier aircraft adds unnecessary safety risks. Also, there are essential features missing for other types of flights. Please keep this for small park fliers only.
 >
-> Also, if you insist on buying one of these. Make sure it's from a somewhere selling it at $16US. Spending $40US on this is a waste of money. You can get better FCs for around that money.
+> Also, if you choose to buy one of these, compare pricing carefully. At around US$40 there are more capable flight controllers available.
 
 ## Specifications
 | | |
 |-----|-----|
 | MCU | STM32F405RTG6 |
-| Gyro | ICM-42605 |
+| Gyro | ICM-42605 / BMI270 |
 | Baro | SPL06 |
 | UARTS | 1, 2 (RX only - SBUS), 4 (DJI), 5 |
 | PWM | Six + One (S12 used for LED control) |
@@ -22,7 +24,7 @@ Hardware issues have been reported on these flight controllers. They are also mi
 | Weight | 2.8g |
 
 > [!NOTE]
-> There is conflicting information for the power this FC can handle. There are 2 specs providied:
+> There is conflicting information for the power this FC can handle. There are 2 specs provided:
 > | | |
 > |---|---| 
 > | Voltmeter | 2.5-30V |
@@ -31,12 +33,10 @@ Hardware issues have been reported on these flight controllers. They are also mi
 > There is no ADC for "voltmeter" input. So potentially this FC can run at 1S to 6S. However there are only 2 LDO regulators on the FC itself. 
 
 ## Notable missing features
-* Current sensor
+* Current sensor on earlier hardware revisions (V4 adds a backside ADC current-sensor pad)
 * Blackbox recording
 * Analogue OSD
 * PINIO (for VTX power switching etc)
-* ADCs (external current sensor, airspeed sensor, rssi, etc)
+* Additional ADCs (airspeed sensor, RSSI, etc)
 * On-board power rail for servos
 * Filtered power for video
-
-All the above can be found on the Matek F405-WMO. Which is a $45US flight controller. Which is 32 x 22 x 12.7 mm and 9g, and has a definite input voltage range of 2S to 6S, and able to handle up to 132A.
diff --git a/docs/development/Building in Linux.md b/docs/development/Building in Linux.md
@@ -92,7 +92,7 @@ cmake -DCOMPILER_VERSION_CHECK=OFF ..
 
 `cmake` will generate a number of files in your `build` directory, including a cache of generated build settings `CMakeCache.txt` and a `Makefile`.
 
-## Bulding the firmware
+## Building the firmware
 
 Once `cmake` has generated the `build/Makefile`, this `Makfile` (with `make`) is used to build the firmware, again from the `build` directory. It is not necessary to re-run `cmake` unless the INAV cmake configuration is changed (i.e. a new release) or you wish to swap between the ARM SDK compiler and a distro or other external compiler.
 
@@ -101,7 +101,7 @@ The generated `Makefile` uses different a target selection mechanism from the ol
 Typically, to build a single target, just pass the target name to `make`; note that unlike earlier releases, `make` without a target specified will build **all** targets.
 
 ```
-# Build the MATEKF405 firmware
+# Build the MATEKF405 firmware (includes debug symbols by default)
 make MATEKF405
 ```
 
@@ -112,6 +112,31 @@ One can also build multiple targets from a single `make` command:
 make -j $(($(nproc)-1)) MATEKF405 MATEKF722
 ```
 
+### Building All Targets or Release Builds
+
+**⚠️ Important for CI or building many targets:** By default, INAV builds with `-DCMAKE_BUILD_TYPE=RelWithDebInfo`, which includes maximum debug symbols. When building all ~100 targets, this uses **~109 GB of disk space**. The debug symbols are automatically stripped from the final `.hex` files, so they provide no benefit for production builds.
+
+**For production builds, CI, or when building many targets, use Release mode:**
+
+```bash
+cd inav
+mkdir build-release
+cd build-release
+cmake -DCMAKE_BUILD_TYPE=Release ..
+
+# Build specific targets
+make MATEKF405
+
+# Or build all official release targets
+make release
+```
+
+**Disk usage comparison:**
+- `RelWithDebInfo` (default): ~109 GB for all targets
+- `Release`: ~4-6 GB for all targets (96% reduction)
+
+The final `.hex` and `.bin` files are identical in both cases.
+
 The resultant hex file are in the `build` directory.
 
 You can then use the INAV Configurator to flash the local `build/inav_x.y.z_TARGET.hex` file, or use `stm32flash` or `dfu-util` directly from the command line.

diff --git a/docs/development/Hardware In The Loop (HITL) plugin for X-Plane.md b/docs/development/Hardware In The Loop (HITL) plugin for X-Plane.md
@@ -8,4 +8,10 @@
 
 https://github.com/RomanLut/INAV-X-Plane-HITL
 
+or for latest HITL features (INAV >= 9.0)
+
+ **INAV-X-Plane-XITL** 
+
+ https://github.com/Scavanger/INAV-X-Plane-XITL
+
 HITL technique can be used to test features during development. Please check page above for installation instructions.
-Original file line number
+Diff line change
@@ Expand Up / @@ -52,7 +52,7 @@ else() @@
     endif()
-    project(INAV VERSION 9.0.1)
+    project(INAV VERSION 9.1.0)
     enable_language(ASM)
@@ Expand Down @@