iNavFlight · sensei-hacker · Feb 5, 2026 · Feb 5, 2026 · Feb 6, 2026 · Feb 6, 2026
diff --git a/.gitignore b/.gitignore
@@ -47,6 +47,10 @@ launch.json
 tokens.yaml
 *.ubx
 
+# Build output directories (catch-all for ad-hoc build dirs)
+/build_*/
+/build_hw/
+
 # Local development files
 .semgrepignore
 build_sitl/
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/Autotune - fixedwing.md b/docs/Autotune - fixedwing.md
@@ -6,27 +6,35 @@ Getting a good set of roll/pitch/yaw PIFF parameters for your aircraft is essent
 
 ## What AUTOTUNE does
 
-The AUTOTUNE mode is a flight mode that acts on top of normal ANGLE/HORIZON/ACRO mode and uses changes in flight attitude input by the pilot to learn the tuning values for roll, pitch and yaw tuning.
+AUTOTUNE is a modifier you enable on top of ANGLE, HORIZON or ACRO mode. It has no effect at all while flying in MANUAL mode - you can switch it on, but nothing will be tuned until you leave MANUAL. Where it is active, it uses the aircraft's response to your stick inputs to tune, for roll, pitch and yaw independently:
 
-In general pilot needs to activate AUTOTUNE mode while in the air and then fly the plane for a few minutes. While flying the pilot needs to input as many sharp attitude changes as possible so that the autotune code can learn how the aircraft responds and figure out PIFF gains.
+* **FeedForward (FF) gain** - in ANGLE, HORIZON or ACRO, whenever you give it enough hard stick input to learn from
+* **Rate** (`roll_rate`/`pitch_rate`/`yaw_rate`) - only while flying in ACRO or HORIZON, and only if `fw_autotune_rate_adjustment` is not set to `FIXED` (see below). Rate is never adjusted while flying in ANGLE mode.
+
+**AUTOTUNE never adjusts P or I gains, on any axis.** Tune P and I manually, either before or after using AUTOTUNE. This is a change from older INAV versions - if you're used to AUTOTUNE also setting P/I, that's no longer how it works.
+
+In general the pilot needs to activate AUTOTUNE while in the air and then fly the plane for a few minutes. While flying the pilot needs to input as many sharp attitude changes as possible, on all three axes, so that the autotune code can learn how the aircraft responds. An axis that isn't given hard stick input won't be tuned - it's easy to spend a whole flight on hard rolls and pitches and forget yaw entirely.
 
 ## Before flying with AUTOTUNE
 
 Before taking off you need to set up a few parameters for your airplane:
 
 parameter | explanation
 --------- | -----------
-roll_rate | Maximum roll rate limit for your ariplane. Must not exceed physical limit of your plane
-pitch_rate | Maximum pitch rate limit for your ariplane. Must not exceed physical limit of your plane
-yaw_rate | Maximum yaw rate limit for your ariplane. Must not exceed physical limit of your plane
+roll_rate | Starting roll rate for your airplane. Unless you set `fw_autotune_rate_adjustment` to `FIXED` (see below), AUTOTUNE will change this value while you fly - it's a starting point, not a ceiling it respects
+pitch_rate | Starting pitch rate for your airplane. Same caveat as `roll_rate`
+yaw_rate | Starting yaw rate for your airplane. Same caveat as `roll_rate`
+fw_autotune_rate_adjustment | Controls whether/how AUTOTUNE changes `roll_rate`/`pitch_rate`/`yaw_rate` while tuning. `AUTO` (default) raises or lowers rates to match what the plane can achieve. `LIMIT` only ever lowers them, never above what you started with. `FIXED` leaves rates untouched - use this if you want AUTOTUNE to tune FeedForward only
+fw_autotune_min_stick | Minimum stick deflection [%] (default 50) before AUTOTUNE starts recording a maneuver as tuning data
+fw_autotune_max_rate_deflection | Target servo/mixer deflection [%] (default 90) AUTOTUNE aims for when calculating an achievable rate in `AUTO`/`LIMIT`
 fw_p_level | Self-leveling strength. Bigger value means sharper response
 fw_i_level | Self-leveling filtering. Usual value for airplanes is 1-5 Hz
 max_angle_inclination_rll | Maximum roll angle in [0.1 deg] units
 max_angle_inclination_pit | Maximum pitch angle in [0.1 deg] units
 tpa_breakpoint | Cruise throttle (expected throttle that you would be flying most of the time)
 tpa_rate | Amount of TPS curve to apply (usually should be in range 50-80 for most airplanes)
 
-For most hobby-sized airplanes roll/pitch rate limits should be in range 70-120 deg/s (7-12 for `roll_rate` and `pitch_rate` values). Small and agile flying wings can reach 180-200 deg/s.
+For most hobby-sized airplanes, starting roll/pitch rates in the range 70-120 deg/s (7-12 for `roll_rate` and `pitch_rate` values) work well. Small and agile flying wings can reach 180-200 deg/s. With the default `AUTO` setting, don't worry about getting this exactly right - AUTOTUNE will adjust it based on what your airplane actually does, down to a floor of 40 deg/s on roll/pitch and 10 deg/s on yaw, up to a ceiling of 720 deg/s.
 
 Other things to check:
 
@@ -38,15 +46,16 @@ Other things to check:
 
 Once you are all setup you can take off normally and switch to AUTOTUNE mode once you have gained altitude.
 
-When you engage AUTOTUNE mode a few things will happen:
+When you engage AUTOTUNE a few things will happen:
 
-* The autotune system will immediately setup some default values for your roll, pitch and yaw P and I gains
-* The autotune system will monitor requested roll and pitch rates (as determined by your transmitter stick movements). When the demanded roll or pitch rate exceeds certain threshold the autotune system will use the response of the aircraft to learn roll or pitch tuning values
-* Every 5 seconds the autotune system will store the snapshot of parameters you have. When you switch out of AUTOTUNE mode the last remembered parameters are restored
+* The autotune system will monitor requested roll, pitch and yaw rates (as determined by your transmitter stick movements, once deflection passes `fw_autotune_min_stick`). When the demanded rate on an axis exceeds that threshold the autotune system will use the response of the aircraft to learn FeedForward (and, depending on `fw_autotune_rate_adjustment` and mode, Rate) for that axis
+* Every 5 seconds the autotune system will store a snapshot of the current values. When you switch out of AUTOTUNE the last snapshot is restored - so if you exit within 5 seconds of enabling it, nothing changes
 * You may find the plane is quite sluggish when you first enter AUTOTUNE. You will find that as the tune progresses this will get better. Make sure your flight area has plenty of room for slow large-radius turns.
 * Don't land in AUTOTUNE mode - during landing airplane doesn't reach it full performance which may be read by autotune system as insufficient gains.
 
-The key to a successful autotune is to input rapid movements with the transmitter sticks. You should only do one of either roll or pitch at a time, and you should move the stick rapidly to the maximum deflection.
+The key to a successful autotune is to input rapid movements with the transmitter sticks. You should only exercise one of roll, pitch or yaw at a time, and you should move the stick rapidly to the maximum deflection. Don't neglect yaw - it's easy to spend the whole flight on rolls and pitches and leave yaw untuned.
+
+Fly in ACRO if you can - AUTOTUNE only learns Rate in modes where stick position maps directly to a commanded rotation rate (ACRO, and mostly HORIZON). In ANGLE mode the stick commands an angle instead, so AUTOTUNE will still tune FeedForward but will not touch Rate at all while you're in ANGLE. AUTOTUNE has no effect whatsoever in MANUAL mode - don't fly it there.
 
 ## Don't stop too early
 

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/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/lib/main/pico-sdk/lib/tinyusb/.idea/.gitignore b/lib/main/pico-sdk/lib/tinyusb/.idea/.gitignore