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