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INAV is a fork of cleanflight with focus on GPS features. It currently supports position hold, RTH with predefined climb height, waypoints and follow-me. Both with airplanes & multirotors.

INAV have some settings that are different than stock cleanflight, and simply restoring settings from older cleanflight won't work.

It is ABSOLUTELY mandatory to read these pages.

• Getting started with iNav

• Sensor calibration

• Multirotor guide if your going to use it in a multirotor.

• Fixed wing guide if your going to use it in a fixed wing.

• Rates conversion for INAV 1.2