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+_FPV Quadcopter with GPS mast_
+
+
+* INAV does NOT have a complete resource mapping feature. But it does support timer output mapping for motors and servo's.
+* INAV supports DShot ESC protocol, but not to the same level as BetaFlight. DShot 150, 300 or 600 is more than enough for a reliable flight. Faster protocols will reduce the reliability on larger copters, due to ESC signal interference on long wire runs.
+* INAV supports loop frequencies up to 4kHz without i2C devices. Although, for reliable navigation performance its should be limited to 2kHz with i2C devices.
+* DShot telemetry and beeper is supported, but not Bi-directional. Only single-wire telemetry.
+
+### Most important settings you should take a look at before your first flight
+
+* `set nav_mc_hover_thr` # Is the base throttle value your copter will use for holding altitude while hovering. Must be set for Poshold operation.
+* `set max_angle_inclination_rll = 600` # Maximum bank angle allowed in ANGLE mode, in decidegrees (for roll)
+* `set max_angle_inclination_pit = 450` # Maximum bank angle allowed in ANGLE mode, in decidegrees (for pitch)
+* `set nav_mc_bank_angle = 27` # Max bank angle that the aircraft will command in automated or position control modes, in degrees. (constrained by max_angle_inclination_rll and max_angle_inclination_pit)
+* `set throttle_idle = 5` # Set the minimal motor speed (in percent). The default is 15, which can be high for modern ESCs.
+* `set small_angle = 180` # Let aircraft arm in any angle
+* `set gps_ublox_use_galileo = ON` # Let GNSS module use galileo satellites if it is supported (check local constellation availability)
+* `set nav_extra_arming_safety = ALLOW_BYPASS` # Let aircraft arm without GPS 3D fix (Caution: RTH position will not be recorded)
+* `set nav_wp_radius = 500` # Radius in centimeters to consider a waypoint reached.
+* `set nav_wp_safe_distance = 400` # If the first waypoint of a loaded mission is further than this value (in meters).
+* `set nav_auto_speed = 2000` # Maximum copter ground speed in automated modes (in centimeters per second)
+* `set nav_auto_climb_rate = 600` # Aircraft vertical speed on automatic modes (centimeters per second)
+* `set nav_rth_allow_landing = ALWAYS` # Allow copter to land by itself after RTH or FS.
+* `set nav_rth_altitude = 5000` # Altitude that aircraft will try to reach when doing RTH (in centimeters)
+* `set nav_rth_alt_mode = AT_LEAST` # Allow aircraft to come home descending to the RTH altitude. It saves energy by trading altitude for speed.
+
+
+
+_Linear descend demonstration graphic_
diff --git a/versioned_docs/version-8.0.1/advanced/Legacy-target----ChebuzzF3.md b/versioned_docs/version-8.0.1/advanced/Legacy-target----ChebuzzF3.md
new file mode 100644
index 0000000..19cafd2
--- /dev/null
+++ b/versioned_docs/version-8.0.1/advanced/Legacy-target----ChebuzzF3.md
@@ -0,0 +1,92 @@
+---
+title: Legacy Target ChebuzzF3
+---
+
+
+## Connections
+
+Board orientation.
+
+These notes assume that when the board is placed with the header pins facing up, the bottom right of the board is next to the 8 sets of INPUT pin headers.
+Inner means between the two rows of header sockets, outer means between the left/right board edges and the header sockets.
+
+
+### SPI2 / External SPI
+
+sclk GPIOB 13
+miso GPIOB 14
+mosi GPIOB 15
+
+
+There are 4 pins, labelled CS1-4 next to a label that reads Ext SPI. The 3rd pin is connected to the flash chip on
+the bottom right inner of the board. The other pins on the flash chip are wired up to PB3/4/5
+
+### SPI3 / SPI
+
+sclk GPIOB 3
+miso GPIOB 4
+mosi GPIOB 5
+
+ssel 1 GPIOB 10 / Ext SPI CS1
+ssel 2 GPIOB 11 / Ext SPI CS2
+ssel 3 GPIOB 12 / Ext SPI CS3 - wired up to Slave Select of M25P16 15MBitFlash chip
+ssel 4 GPIOB 13 / Ext SPI CS4 - not usable since it is used for SPI2 sclk
+
+### RC Input
+
+INPUT
+PA8 / CH1 - TIM1_CH1
+PB8 / CH2 - TIM16_CH1
+PB9 / CH3 - TIM17_CH1
+PC6 / CH4 - TIM8_CH1
+PC7 / CH5 - TIM8_CH2
+PC8 / CH6 - TIM8_CH3
+PF9 / CH7 - TIM15_CH1
+PF10 / CH8 - TIM15_CH2
+
+### PWM Outputs
+
+OUTPUT
+PD12 / CH1 - TIM4_CH1
+PD13 / CH2 - TIM4_CH2
+PD14 / CH3 - TIM4_CH3
+PD15 / CH4 - TIM4_CH4
+PA1 / CH5 - TIM2_CH2
+PA2 / CH6 - TIM2_CH3
+PA3 / CH7 - TIM2_CH4
+PB0 / CH8 - TIM3_CH3
+PB1 / CH9 - TIM3_CH4
+PA4 / CH10 - TIM3_CH2
+
+### Other ports
+
+There is space for a MS5611 pressure sensor at the top left inner of the board.
+
+There is an I2C socket on the left outer of the board which connects to a PCA9306 I2C level shifter directly opposite (inner).
+The PCA9306 is not populated on some boards and thus the I2C socket is unusable.
+
+There is a CAN socket on the top right outer of the board which connects to a MAX3015 CAN Tranceiver.
+The MAX3015 is not populated on some boards and thus the CAN socket is unusable.
+
+There are some solder pads labelled Ext 1-4 at the top right inner of the board.
+
+GPIOE 6 / PE6 / Ext 1
+GPIOD 3 / PD3 / Ext 2
+GPIOD 4 / PD4 / Ext 3
+GPIOB 3 / PB3 / Ext 4
+
+There are some solder pads labelled ADC0-3 & Diff Press at the top left inner of the board
+They are connected to the ADC socket at the top left outer of the board
+
+PC3 / Diff Press - ADC12_IN9 (Differential Pressure)
+PC2 / ADC2 - ADC12_IN8
+PC1 / ADC1 - ADC12_IN7
+PC0 / ADC0 - ADC12_IN6
+
+There is space for a MPXV5004/MPVZ5004 differential pressure sensor, if populated it's analog pin connects to PC3.
+
+There are sockets for 5 UARTs labelled USART1-5.
+
+There is a socket labelled RX_IN.
+
+GPIOD 2 / PD2 / RX_IN
diff --git a/versioned_docs/version-8.0.1/advanced/Lightweight-Telemetry-(LTM).md b/versioned_docs/version-8.0.1/advanced/Lightweight-Telemetry-(LTM).md
new file mode 100644
index 0000000..8e6f59d
--- /dev/null
+++ b/versioned_docs/version-8.0.1/advanced/Lightweight-Telemetry-(LTM).md
@@ -0,0 +1,248 @@
+---
+title: Lightweight Telemetry (LTM)
+---
+
+# Overview
+
+LTM was defined by "KipK" for the Ghetto Station antenna tracking project and originally implemented in Taulabs and Baseflight. It was adopted by INAV due to its excellent characteristics for low data rate / high update rate telemetry.
+
+Since its introduction to INAV, a number of extension have been added; these are documented below, in addition to the original frames.
+
+# Protocol Definition
+
+## Overview
+
+The LTM protocol starts with "$T", followed by a function byte, the payload and a simple CRC checksum. Its weakness is that there is no length parameter (so the receiver needs to know, apriori,the length for each function), and the single byte checksum is not as robust as the multi-byte checksum in for example the ublox GPS protocol. However, the high data rate ensures that good data should be delivered over occasional transmission errors. In practice, LTM is an excellent light weight telemetry solution.
+
+| Position | Byte |
+| -------- | ---- |
+| 0 | $ |
+| 1 | T |
+| 2 | G/A/S/O/N/X |
+| 3..n | n bytes payload |
+| n + 3 | CRC |
+
+LTM telemetry can be read by [Ghettostation](https://github.com/KipK/Ghettostation), [LTM Telemetry OLED ](https://github.com/sppnk/LTM-Telemetry-OLED) , [EZGUI](http://ez-gui.com/) , [MwpTools](https://github.com/stronnag/mwptools) and others.
+
+LTM can provide good telemetry down to 2400 (5Hz attitude updates). Due to restrictions in INAV 1.2 and earlier, 9600 was the lowest baud rate supported, which gives 10Hz attitude and 5Hz GPS data. More recently (INAV 1.7.0), LTM is available from 1200 baud and higher; the data transmission frequency is automatically determined from the baud rate, but can be overridden by the user where the baud rate can support the required update frequency. See the [INAV Telemetry documentation](https://github.com/iNavFlight/inav/blob/master/docs/Telemetry.md#lighttelemetry-ltm) and [below](#inav-cli-support) for CLI settings.
+
+The function consists of a single ASCII character, described below. Data is binary, little endian. The checksum is an XOR of the payload bytes.
+
+The follow telemetry frames are supported:
+
+| Function Byte | Usage | Frequency |
+| ------------- | ----- | ---- |
+| G | GPS Frame | 5Hz at > 2400 baud |
+| A | Attitude Frame | 10 Hz at > 2400 baud |
+| S | Status Frame | 5Hz at > 2400 baud |
+| O | Origin Frame | 1 Hz rate |
+| N | Navigation Frame (INAV extension) | ~4 Hz rate |
+| X | GPS eXended data (INAV extension) | 1 Hz rate |
+
+In addition, LTM was used by NRF24L01 / deviationtx INAV protocol, which defines an additional frame for in-TX tuning. This frame is not transmitted by INAV for telemetry.
+
+| Function Byte | Usage |
+| ------------- | ----- |
+| T | Tuning frame (radio testing extension) |
+
+## GPS Frame (G)
+
+The payload is 14 bytes.
+
+| Data | Format |
+| ----- | ------- |
+| Latitude | int32 decimal degrees * 10,000,000 (1E7) |
+| Longitude | int32 decimal degrees * 10,000,000 (1E7) |
+| Ground Speed | uchar m/s |
+| Altitude | (u)int32, cm (m / 100). In the original specification, this was unsigned. In INAV it is signed and should be so interpreted by consumers |
+| Sats | uchar. bits 0-1 : fix ; bits 2-7 : number of satellites |
+
+## Attitude Frame (A)
+
+The payload is 6 bytes
+
+| Data | Format |
+| ---- | ---- |
+| Pitch | int16, degrees |
+| Roll | int16, degrees |
+| Heading | int16, degrees. Course over ground |
+
+## Status Frame (S)
+
+The payload is 7 bytes
+
+| Data | Format |
+| ---- | ---- |
+| Vbat | uint16, mV |
+| Battery Consumption | uint16, mAh |
+| RSSI | uchar |
+| Airspeed | uchar, m/s |
+| Status | uchar |
+
+Airspeed (vice GPS ground speed in the G-frame) requires INAV 1.7.2 or later, with `PITOT` defined at build time, and a detected pitot sensor.
+
+The status byte is used as
+
+| Bit | Usage |
+| ---- | ---- |
+| 0 | armed |
+| 1 | failsafe |
+| 2 - 7 | status, as (shifted value): |
+| | Manual (0) |
+| | Rate (1) |
+| | Angle (2) |
+| | Horizon (3) |
+| | Acro (4) |
+| | Stabilised1 (5) |
+| | Stabilised2 (6) |
+| | Stabilised3 (7) |
+| | Altitude Hold (8) |
+| | GPS Hold (9) |
+| | Waypoints (10) |
+| | Head free (11) |
+| | Circle (12) |
+| | RTH (13) |
+| | Follow me (14) |
+| | Land (15) |
+| | Fly by wire A (16) |
+| | Fly by wire B (17) |
+| | Cruise (18) |
+| | Unknown (19) |
+| | Launch (20*) |
+| | Autotune (21*) |
+
+As a general purpose protocol, not all status can be mapped to INAV modes.
+
+(*) indicates INAV extension, post 2019-02-28
+
+## Origin Frame (O)
+
+The payload is 14 bytes
+
+| Data | Usage |
+| ---- | ---- |
+| Latitude | int32 decimal degrees * 10,000,000 (1E7) |
+| Longitude | int32 decimal degrees * 10,000,000 (1E7) |
+| Altitude | uint32, cm (m / 100) [always 0 in INAV] |
+| OSD on | uchar (always 1) |
+| Fix | uchar, home fix status (0 == no fix) |
+
+## Navigation Frame (N)
+
+The payload is 6 bytes. Note that this frame largely mirrors the Multiwii-nav `MSP_NAV_STATUS` message and this contains redundancies and values that are not used in INAV.
+
+| Data | Usage |
+| ---- | ---- |
+| GPS mode | uchar |
+| Nav mode | uchar |
+| Nav Action | uchar (not all used in inav) |
+| Waypoint number | uchar, target waypoint |
+| Nav Error | uchar |
+| Flags | uchar (to be defined) |
+
+where:
+
+| GPS mode | Enumeration |
+| ----------- | -------- |
+| 0 | None |
+| 1 | PosHold |
+| 2 | RTH |
+| 3 | Mission |
+
+| Nav mode | Enumeration |
+| ----------- | -------- |
+| 0 | None |
+| 1 | RTH Start |
+| 2 | RTH Enroute |
+| 3 | PosHold infinite |
+| 4 | PosHold timed |
+| 5 | WP Enroute |
+| 6 | Process next |
+| 7 | Jump |
+| 8 | Start Land |
+| 9 | Landing in Progress |
+| 10 | Landed |
+| 11 | Settling before landing |
+| 12 | Start descent |
+| 13 | Hover above home (INAV only) |
+| 14 | Emergency landing (INAV only) |
+| 15 | Critical GPS failure (yes 15, you never want to see this) |
+
+Note that these values were defined by Multiwii-nav and not all are applicable to INAV.
+
+| Nav Action | Enumeration |
+| ----------- | -------- |
+| 0 | UNASSIGNED |
+| 1 | WAYPOINT |
+| 2 | POSHOLD_UNLIM |
+| 3 | POSHOLD_TIME |
+| 4 | RTH |
+| 5 | SET_POI |
+| 6 | JUMP |
+| 7 | SET_HEAD |
+| 8 | LAND |
+
+| Nav Error | Enumeration |
+| ----------- | -------- |
+| 0 | Navigation system is working |
+| 1 | Next waypoint distance is more than the safety limit, aborting mission |
+| 2 | GPS reception is compromised - pausing mission |
+| 3 | Error while reading next waypoint from memory, aborting mission |
+| 4 | Mission Finished |
+| 5 | Waiting for timed position hold |
+| 6 | Invalid Jump target detected, aborting mission |
+| 7 | Invalid Mission Step Action code detected, aborting mission |
+| 8 | Waiting to reach return to home altitude |
+| 9 | GPS fix lost, mission aborted |
+| 10 | Disarmed, navigation engine disabled |
+| 11 | Landing is in progress, check attitude |
+
+## GPS Extra Frame (X)
+
+The payload is 6 bytes.
+
+| Data | Usage |
+| ---- | ---- |
+| HDOP | uint16 HDOP * 100 |
+| hw status | uint8 |
+| LTM_X_counter | uint8 |
+| Disarm Reason | uint8 |
+| (unused) | 1 byte |
+
+Note that hw status (hardware sensor status) is INAV 1.5 and later. If the value is non-zero, then a sensor has failed.
+A complementary update has been made to MSP_STATUS (https://github.com/iNavFlight/inav/wiki/INAV-MSP-frames-changelog).
+Thus, on disarming, the sensor status may be evinced from the MSP_STATUS/sensor field.
+
+The sensor hardware failure indication is backwards compatible with versions prior to 1.5 (and other Multiwii / Cleanflight derivatives).
+
+The LTM_X_counter value is incremented each transmission and rolls over (modulo 256). It is intended to enable consumers to estimate packet loss.
+
+# INAV CLI Support
+
+LTM is transmit only, and can work at any supported baud rate. It was designed to operate over 2400 baud and does not benefit from (much) higher rates. It is thus usable on soft serial. The extra frames later introduced by INAV means that 4800 baud is required for the highest update rate.
+
+A CLI variable `ltm_update_rate` may be used to configure the update rate and hence band-width used by LTM, with the following enumerations:
+
+* NORMAL: Legacy rate, currently 303 bytes/second (requires 4800 bps)
+* MEDIUM: 164 bytes/second (requires 2400 bps)
+* SLOW: 105 bytes/second (requires 1200 bps)
+
+For many telemetry devices, there is direction correlation between the air-speed of the radio link and range; thus a lower value may facilitate longer range links.
+
+# Sample Data
+
+A couple of data samples are available from the [mwptools](https://github.com/stronnag/mwptools) project. [Sample1](https://raw.githubusercontent.com/wiki/stronnag/mwptools/data/ltm_2015-11-08.tar.gz) and [Sample2](https://raw.githubusercontent.com/wiki/stronnag/mwptools/data/mwp_2015-12-12-LTM.tar.gz) include raw dumps, structured data logs and READMEs explaining usage.
+
+# Other
+
+## Checksum Calculation
+
+The checksum is a simple XOR over the payload. The following example (Python) illustrates the calculation of the checksum over the payload bytes:
+
+```
+def checksum(payload):
+ value = 0
+ for d in payload:
+ value ^= d
+ return value
+```
diff --git a/versioned_docs/version-8.0.1/advanced/MSP-Navigation-Messages.md b/versioned_docs/version-8.0.1/advanced/MSP-Navigation-Messages.md
new file mode 100644
index 0000000..b5a36e9
--- /dev/null
+++ b/versioned_docs/version-8.0.1/advanced/MSP-Navigation-Messages.md
@@ -0,0 +1,512 @@
+---
+title: MSP Navigation Messages
+---
+
+# MSP NAV Protocol and Types
+
+This document describes MSP navigation messages, their usage and implementation details. Both **INAV** and **Multiwii** implementations (which are largely the same) are documented in this article.
+
+Note that all binary values are little endian (MSP standard).
+
+# Implementation and versions
+
+This document should match the INAV 1.2 (and later) and Multiwii 2.5 flight controller firmware.
+
+Prior to INAV 3.0, the [inav-configurator](https://github.com/iNavFlight/inav-configurator) supported a subset of MSP Waypoint (WP) types; for INAV 3.0 it supports all WP types. In addition to the inav configurator, the messages described are implemented in [mwp](https://github.com/stronnag/mwptools) (Linux / FreeBSD / Windows (Cygwin,WSL)), ezgui (Android) mission planners / ground station applications and "drone helper" (Windows 10) mission planner. mwp and ezgui support both INAV and Multiwii; WinGui is a legacy Windows / Multiwii only mission planner that also supports this message set.
+
+# WayPoint and Action Attributes
+
+Each waypoint has a type and takes a number of parameters, as below. These are used in the MSP_WP message. The final column indicated if the message is implemented for INAV 1.2 (and later).
+
+| Value | Enum | P1 | P2 | P3 | Lat | Lon | Alt | INAV |
+| ---- | ---- | ---- | ---- | ---- | ---- | ---- | ---- | ---- |
+| 1 | WAYPOINT | Speed (cm/s) [1] (exception [6]) | | Altitude Mode & Actions [7] | ✔ | ✔ | ✔ | ✔ |
+| 2 | POSHOLD_UNLIM | | | | ✔ | ✔ | ✔ | ✘ [5] |
+| 3 | POSHOLD_TIME | Wait time (seconds) | [speed (cm/s](1)) | Altitude Mode & Actions [7] | ✔ | ✔ | ✔ | ✔ 2.5 and later |
+| 4 | RTH [4] | Land if non-zero | | | | | ✔ [2] | ✔ |
+| 5 | SET_POI [3] | | | | ✔ | ✔ | | ✔ 2.6 and later |
+| 6 | JUMP | Target WP# | No. of repeats (-1 = forever) | | | | | ✔ 2.5 and later |
+| 7 | SET_HEAD [3] | Heading (degrees) | | | | | | ✔ 2.6 and later |
+| 8 | LAND | Speed (cm/s) [1] | Elevation Adjustment (m) [8] | Altitude Mode & Actions [7] | ✔ | ✔ | ✔ | ✔ 2.5 and later |
+
+1. Leg speed is an INAV extension (for multi-rotors only). It is the speed on the leg terminated by the WP (so the speed for WP2 is used for the leg WP1 -> WP2) (cm/s).
+2. Not used by INAV
+3. Once SET_HEAD or SET_POI is invoked, it remains active until cleared by SET_HEAD with a P1 value of -1.
+4. If a mission contains multiple RTH stanzas, then for Multiwii, the mission terminates at the first RTH. For INAV, prior to c. 2.6, the mission would continue if RTH-LAND is not set, and valid waypoints follow.
+5. If the final entry in a mission is a WAYPOINT, the INAV treats it as POSHOLD_UNLIM.
+6. For INAV's "follow-me" mode (WP#255, POSHOLD engaged), P1 may be used to send an orientation heading (0-359 degrees).
+7. INAV 3.0 and later, P3 defines the altitude mode. 0 (default, legacy) = Relative to Home, 1 = Absolute (AMSL). Ignored for releases prior to 3.0. INAV 6.0 and later additionally define user "Actions" which may be invoked using the logic programming framework.
+8. INAV 3.0 and later, P2 defines the ground elevation (in metres) for the LAND WP. If the altitude mode is absolute, this is also absolute; for relative altitude, then it is the difference between the assumed home location and the LAND WP. Ignored for releases prior to 3.0.
+
+## P3 bitfield usage
+
+Since INAV 6.0, the usage of the P3 parameter is:
+
+| Bit | Usage |
+| ---- | ---- |
+| 0 | Relative (not set) or absolute (AMSL) (set) altitude reference |
+| 1 | User Action 1 |
+| 2 | User Action 2 |
+| 3 | User Action 3 |
+| 4 | User Action 4 |
+| 5-15 | Reserved |
+
+## Geospatial Units
+
+| Field | XML Mission File | MSP_WP binary message |
+| ----- | ---------------- | --------------------- |
+| Latitude, Longitude | Decimal degrees, WGS84 | Integer, WGS84 Degrees * 1E7 |
+| Altitude | Integer Metres | Centimetres |
+
+Note that INAV uses the GPS' "above mean sea level" (not "above WGS84 ellipsoid") elevation for navigation. Be aware of this distinction when using absolute rather than relative (to home) mission altitudes.
+
+## FlyBy Home Waypoints
+
+From INAV 4.0, "FlyBy Home" (FBH) waypoints are supported for WAYPOINT, POSHOLD_TIME and LAND. These WPs are designated by either (or both) of
+* The latitude and longitude is zero; or
+* The `flag` field is set to 0x48 (72d, 'H')
+
+FBH waypoints have no defined location until the mission is executed, when they assume the location of the **arming** home location (not affected by `safehome`). This is ephemeral and is reset on each arming. The location uploaded to the FC is irrelevant where `flag == 0x48`; in such cases a subsequent download from the FC will return the original WP latitude and longitude, not the home used for a particular instance.
+
+## Annotated Example
+The following example, using the [MW XML](#xml-mission-files) (INAV configurator, mwp, ez-gui) format, illustrates the WAYPOINT, JUMP, POSHOLD_TIME and LAND types:
+
+```
+
+| Name | +Type | +Usage | +
|---|---|---|
| gps_mode | +uchar | +None +PosHold +RTH +Mission |
+
| nav_state | +uchar | +None +RTH Start +RTH Enroute +PosHold infinite +PosHold timed +WP Enroute +Process next +Jump +Start Land +Land in Progress +Landed +Settling before land +Start descent +Hover above home +Emergency Landing |
+
| action | +uchar | +(last wp, next wp?) | +
| wp_number | +uchar | +(last wp, next wp?) | +
| nav_error | +uchar | +Navigation system is working +Next waypoint distance is more than the safety limit, aborting mission +GPS reception is compromised - pausing mission, COPTER IS ADRIFT! +Error while reading next waypoint from memory, aborting mission. +Mission Finished. +Waiting for timed position hold. +Invalid Jump target detected, aborting mission. +Invalid Mission Step Action code detected, aborting mission. +Waiting to reach return to home altitude. +GPS fix lost, mission aborted - COPTER IS ADRIFT! +Copter is disarmed, navigation engine disabled. +Landing is in progress, check attitude if possible. |
+
| target_bearing | +int16 | +(presumably to the next WP?) | +
| Name | +Type | +Usage | +
|---|---|---|
| flags1 | +uchar | +Bitmap of settings from MW config.h +b0 : GPS filtering +b1 : GPS Lead +b2 : Reset Home +b3 : Heading control +b4 : Tail first +b5 : RTH Head +b6 : Slow Nav +b7 : RTH Alt |
+
| flags2 | +uchar | +Bitmap of settings from MW config.h +b0 : Disable sticks +b1 : Baro takeover |
+
| wp_radius | +uint16 | +radius around which waypoint is reached (cm) | +
| safe_wp_distance | +uint16 | +Maximum permitted first leg of mission (m, assumed?) | +
| nav_max_altitude | +uint16 | +Maximum altitude for NAV (m) | +
| nav_speed_max | +uint16 | +maximum speed for NAV (cm/sec) | +
| nav_speed_min | +uint16 | +minimum speed for NAV (cm/s) | +
| crosstrack_gain | +uchar | +MW config.h value*100 | +
| nav_bank_max | +uint16 | +maximum bank ??? for NAV, MW config.h value*100 | +
| rth_altitude | +uint16 | +RTH altitude (m) | +
| land_speed | +uchar | +Governs the descent speed during landing. 100 ~= 50 cm/sec unknown units | +
| fence | +uint16 | +Distance beyond which forces RTH (m) | +
| max_wp_number | +uchar | +maximum number of waypoints possible (read only) | +
+
+* Servo and ESC/MOTOR. ( Keep in mind servos positive wire **should** go to an independent BEC instead of connecting to the flight controller itself. )
+
+ * Airplane
+ * Output 1 - Motor/ESC
+ * Output 2 - Empty / Or 2. motor
+ * Output 3 - Elevator
+ * Output 4 - Aileron
+ * Output 5 - Aileron
+ * Output 6 - Rudder
+
+ * Flying Wing
+ * Output 1 - Motor/ESC
+ * Output 2 - Empty / Or 2. motor
+ * Output 3 - Port Elevon
+ * Output 4 - Starboard Elevon
+
+An example if using SpracingF3:
+
+* If using GPS connect it to UART 2.
+* If using GPS setup UART2 for GPS at baud 57600 and enable GPS in configurations (if that doesn't work, try 115200).
+* If using Sbus connect it to UART 3 / or the uart which are dedicated for sbus on your board.
+* If using regular PPM connect it to IO 1 pin 1.
+* If using telemetry connect it with softserial. ( If using Smartport read [this](https://github.com/iNavFlight/inav/blob/master/docs/Board%20-%20Airbot%20F4%20and%20Flip32%20F4.md#frsky-smartport-using-softwareserial) )
+
+### Step 3: Set up Your Receiver
+
+Go to the Configuration tab and select your "Receiver Mode" for the receiver you have.
+
+If you are using a serial based receiver (like SBUS), go to the ports tab and and turn on "Serial RX" for the port that you connected it to. Other receiver types like MSP require other port setups.
+
+### Step 4: Setting up Your Remote, Endpoints and Reversing of Servos.
+
+Your transmitter should use **NO mixing at all** (so separate channels for Thr, Ail, Rud, Ele).
+
+Check that when moving the sticks, the right channels moves in the receiver window. Also everything should be centered at 1500us, and full stick movement should be 1000-2000us. Use sub trim and travel range on your TX to set this up.
+
+The correct way is:
+
+* Throttle stick push away - increased value
+* Yaw (Rudder) stick right - increased value
+* Pitch (Elevator) stick push away - increased value
+* Roll (Ailerons) stick right - increased value
+
+Next is checking that your servo moves as expected:
+
+1. Servo goes the right way when moving sticks. [Youtube help video](https://www.youtube.com/watch?v=Gf74geZyKYk&t=1s)
+1. The servo movement does not exceed wanted maximum deflection of control surfaces.
+1. The servo midpoint has control surfaces perfectly at center.
+
+**Note:** Check the following in Manual mode (formerly passthrough mode). In the other modes you won't see full deflection on the bench. If you don't know how to set up Manual mode, see https://www.youtube.com/watch?v=oJTPuEUZOAE
+
+In the "Output" Tab:
+
+* If they go reverse, turn on the "Reverse" switch.
+* If they exceed maximum wanted deflection reduce min/max
+* If control surfaces is not perfectly centered adjust servo midpoint. (This is after setting them up as close as possible mechanically )
+
+**Note:** You can change the servo mapping in the mixer tab.
+
+At this point everything should work as expected.
+
+1: When moving sticks on TX the control surfaces should move correctly, do an [High Five](https://www.youtube.com/watch?v=Gf74geZyKYk) test
+2: When moving the airplane in the air in angle mode control surfaces should counter-act movement correctly. The controls surfaces needs to move the same way as the airplane is moved to counteract and stabilize the airplane. You may need to **temporarily** triple the amount on P-gain on Roll, Pitch and Yaw axis in the "PID tuning" tab. (So its easy to see movement.)
+
+### Step 5, Replace Default Values
+
+* Type this and save in CLI to set the max roll and pitch angle in `ANGLE` mode to 60°:
+``set max_angle_inclination_rll = 600``
+``set max_angle_inclination_pit = 600``
+
+* Increase small angle (so INAV will let you arm in any position) type this and save in CLI:
+``set small_angle = 180``
+
+* If you wish for your fixed wing model to loiter instead of attempting a landing after RTH mode is selected & the model returning home, you can set the model to loiter by typing this and saving in CLI:
+``set nav_rth_allow_landing = NEVER``
+
+* In INAV when the RTH mode is enabled, the model will climb FIRST then return home. If you set this value below, the model will **turn and then climb** on it's way back to the home position:
+``set nav_rth_climb_first = OFF``
+(Generally the default would be more useful than possibly turning back into any scenery that caused the RTH)
+
+* In INAV the default RTH height is 10 metres (approx 32') which might be too low for flying sites with trees. You can change this to 70 metres (approx 230') by setting this value in the CLI tab and typing save afterwards:
+``set nav_rth_altitude = 7000``
+
+* If you intend to glide for more than 10 seconds it's suggested that you also set this value, so that the model doesn't "failsafe" by itself when using zero throttle during a glide: ``set failsafe_throttle_low_delay = 0``
+(This will only stop the low throttle "timed" safety Guard Failsafe and an RC Loss could still result in a DISARM when at low throttle) Stay current with latest iNAV FS options.
+
+* Setup `failsafe` mode. If you select your receiver to go to RTH mode in modes tab, it will not control throttle if throttle is zero.
+
+* Setup the right failsafe action. For most users it is advised to use ``set failsafe_procedure = RTH``.
+
+* Take a few minutes to read through how the different [Flight Modes](../features/Modes.md) affect the model in the air.
+
+* Have `manual` mode configured so if it happens anything with gyro / accelerometer in the air you can use manual control. This includes if your flight controller resets during flight because of example an brownout.
+
+* Read through the INAV [CLI commands](https://github.com/iNavFlight/inav/blob/master/docs/Cli.md), especially ALL marked with "**fw_ **" This will give you hints how the modes for fixed wings work.
+
+### Step 6: Optional, but Recommended:
+
+* [Tune your PIFF controller](../advanced/Tune-INAV-PIFF-controller-for-fixedwing.md) ( INAV versions 1.6 & later )
+
+* To make altitude hold smoother you can adjust ``set nav_fw_pos_z_p`` , ``set nav_fw_pos_z_i`` and ``set nav_fw_pos_z_d``. Good values to start are 30/10/10.
+
+* Use Airmode mode to get full stabilization and servo throw with no throttle applied.
+
+* [Setting up failsafe with return to home.](../features/Failsafe.md#setting-up-failsafe-with-return-to-home)
+
+* If your compass is not 100% properly setup just disable it instead. **A calibrated compass can cause orientation drift during flight that may not show up in the configurator** (especially built-in ones on your FC). Really consider disabling it unless you need it. INAV uses GPS heading normally, Only on ground before GPS speed has been high enough or if error between GPS heading and compass heading exceed 60deg will it use compass heading
+
+* Use ``feature MOTOR_STOP`` for more safety. Motor will not spin if just armed.
+
+* Use ``set tpa_rate`` and ``set tpa_breakpoint`` to optimise your PIFF for higher speeds. Good value to start is 40% at your cruise throttle position as breakpoint.
+
+* Servo speed limits the control rate of your FC. You can lower ``set gyro_hardware_lpf`` to 20
+
+* Adjust ``set roll_rate`` and ``set pitch_rate`` to the flight characteristics of your plane. For a race wing values like ``set roll_rate = 36`` and ``set pitch_rate = 18`` are a good starting point.
+
+* Set your [RTH mode](../features/Navigation-modes.md#rth-altitude-control-modes) to your liking
+
+* Increase ``set nav_fw_bank_angle`` for tighter turns.
+
+* ``set inav_reset_home = FIRST_ARM`` Unless you want your home position to be reset during mid air re-armings.
+
+### Last Step, a Test Flight!:
+
+* Double check following again:
+ * 3d model in configurator moves correctly when moving airplane by hand. And that the aircraft is showing leveled when your holding the aircraft leveled in air.
+ * Do the [High Five](https://youtu.be/Gf74geZyKYk) test in manual mode, verify everything is moving as expected.
+ * Enable `Angle` / `Horizon` mode and verify the control surfaces moves correctly when moving aircraft by hand and by sticks on TX
+
+* Arm and launch your aircraft using prefered mode, example `manual` for the maiden flight launch.
+ * If airplane is not flying leveled when in self leveling mode like `Horizon` you need to trim your [board aligment](./Sensor-calibration.md#board-orientation-and-level-calibration)
+ * If airplane flies leveled, do an [Servo Autotrim](../features/Modes.md#servo-autotrim)
+ * Tune your PIFF values, either manually or with [AUTOTUNE](../features/Modes.md#autotune)
+
+* For GPS features
+ * Test `NAV ALTHOLD` and see that it holds altitude.
+ * Test `NAV ALTHOLD` and `NAV POSHOLD` combined
+ * Test `RTH` flight mode
+ * Test [failsafe](../features/Failsafe.md)
+
+
+### Optional / Guides related to Fixed Wing:
+
+* Using a seperate BEC for servos to prevent the FC from restarting due to brownouts or interferences of the servos. [Example](http://www.rcgroups.com/forums/showpost.php?p=34254665&postcount=4006) INAV will not be able to function after an brownout, Pilot must switch into manual mode and fly manually and land the airplane.
+
+* [Using a minimosd](https://github.com/iNavFlight/inav/wiki/Howto:-CC3D-flight-controller,-minimOSD-and-GPS-for-fixed-wing#osd-setup)
+
+* Howto in flight trim servos. [Aileron example at rcgroups.com](http://www.rcgroups.com/forums/showpost.php?p=35059861&postcount=6741) [Fixed wing example](https://www.rcgroups.com/forums/showpost.php?p=36039077&postcount=8732)
+
+* Prefer using digital servos to analog ones. Digital servos are much faster. [Explanation](https://www.rcgroups.com/forums/showpost.php?p=36649528&postcount=10480)
+
+* Add an capacitor on the +5v powering servos to avoid issues. ( Especially with digital servos ) [Link explanation](http://www.vstabi.info/en/node/1422) [Example to buy](http://www.multiwiicopter.com/products/c1-anti-brownout-cap-for-rc-drone-servos)
+
+* [Why do I have limited servo throw-in-my airplane](./Why-do-I-have-limited-servo-throw-in-my-airplane.md)
diff --git a/versioned_docs/version-8.0.1/quickstart/Getting-started-with-iNav.md b/versioned_docs/version-8.0.1/quickstart/Getting-started-with-iNav.md
new file mode 100644
index 0000000..e776c16
--- /dev/null
+++ b/versioned_docs/version-8.0.1/quickstart/Getting-started-with-iNav.md
@@ -0,0 +1,66 @@
+---
+title: Getting Started with iNav
+---
+
+### Getting started
+
+## Where to download?!
+Install the latest version of [INAV Configurator](https://github.com/iNavFlight/inav-configurator/releases) and use it to download and flash the firmware. Note that the Chrome app is no longer supported by Google.
+
+Be aware on the first boot after a reflash, or clean erase, iNAV tries to auto detect MAG, BARO, and SPEED (Pitot-tube). If none of them are detected, it will indicate this with red icons on the sensor bar. It will also fail on `Hardware health` on the Pre-arming checks. To fix this, reboot the controller and it should be fine.
+
+Go through the index on the right side to find useful information.
+
+### Hardware needed for GPS assisted modes.
+
+* Multirotors: GPS, magnetometer, barometer.
+* Fixed wings: GPS. (Can also use magnetometer and barometer but not needed.)
+
+[Video showing how to edit and tailor INAV for you needs.](https://youtu.be/n3Z1fOQJAg8)
+
+## GPS
+INAV supports Ublox, DJI NAZA, NMEA (Removed in V7), multiwii's i2c-nav board and MultiWiiCopter's i2c-gps modules.
+
+M8N versions ( example [Ublox NEO-M8N](https://inavflight.com/shop/s/bg/1005394) and [Beitian BN-880](https://inavflight.com/shop/p/BN880) ) have been tested and are recommended, but both M6N and M7N should work.
+
+With the default INAV settings, INAV will configure the ublox GPS for you. There is no need to use software like u-center.
+
+Also be aware that some of our flight controllers can cause interference with the GPS, causing low satellites, or even no satellites at all. Keep the GPS as far away from the flight controller as possible. Either shield your GPS, or flight controller from any equipment that could cause interference.
+
+You can learn how to setup your GPS unit for use with INAV on [on this page](./GPS--and-Compass-setup.md).
+
+## Notes / Common issues
+
+* Old version of INAV configurator, verify that your on the latest version see [link](https://chrome.google.com/webstore/detail/inav-configurator/fmaidjmgkdkpafmbnmigkpdnpdhopgel). If it has failed to update, simply uninstall and re-install the configurator.
+
+* Unable to enable NAV related modes, see [Navigation-modes](../features/Navigation-modes.md) for possible reasons for why.
+
+* INAV does not show "GPS Signal Strength" for each satellite in the Cleanflight configurator. Instead, only the first one is used to show [HDOP](https://en.wikipedia.org/wiki/Dilution_of_precision_%28GPS%29)
+
+* INAV has only one PID controller called fp-pid.
+
+* INAV has an extra safety feature that prevents you from arming your aircraft if certain conditions are met, or not met. This is controlled by the CLI variable "Nav_extra_arming_safety", which is turned on by default.
+
+1. No valid GPS lock (needs 3d lock and more satelites than inav_gps_min_sats).
+1. Navigation modes are turned on while trying to arm.
+
+
+* INAV has GPS modes that differ from Cleanflight, or names them differently. Read [this wiki page](../features/Navigation-modes.md) for how to use them, and combine them, to get the wanted position hold.
+
+* If your copter is toilet-bowling, which means, in the beginning it holds its position and then starts to make bigger and bigger circles, you probably have your magnetometer calibrated incorrectly, or it’s seeing the magnetic field of power lines or the beeper.
+If you are using your FC onboard mag, try to place the the FC as far away as possible from the parts causing magnetic interference e.g. mounting it on/under the top plate on small racers.
+
+* No GPS lock after setting it up, and the GPS icon lights up green, are often due to electric noise from the flight controller or other equipment such as 1.2ghz video TX. Try putting the GPS on a mast. You can also shield the GPS or FC using aluminum foil or copper foil.
+
+* Barometer is held at 0 meter until the first time you arm. This is to ensure that it starts at 0 meter instead of 10 meters because of temperature drift (this is why raising your flight controller while connected to configurator shows increasing altitude, but then is dragged to 0 meter).
+
+* When installing or upgrading INAV on a board with OSD, always load one OSD font from the configurator OSD tab. iNAV uses its own OSD fonts and usually every release adds new characters or icons.
+
+* Do not use Serial RX over a software serial. It cannot reliably handle SBUS or IBUS for instance.
+
+**Checklist if you're having an issue with something:**
+1. Join our Telegram group following this [link](https://t.me/INAVFlight)
+2. Try and look through the wiki regarding the issue you have. You can also search the Wiki.
+3. Read the first post at [rcgroups Cleanflight INAV thread](http://www.rcgroups.com/forums/showthread.php?t=2495732). Also read the last 5 pages in the thread to see if someone else has already mentioned it. Also try and search in the thread.
+4. Explain your issue, include CLI dump and blackbox log if you have a logger. Mention what you have tried, and also if it's working as intended in stock Cleanflight / Earlier versions of INAV
+5. [Template for asking for help](http://www.rcgroups.com/forums/showpost.php?p=35637535&postcount=7930)
diff --git a/versioned_docs/version-8.0.1/quickstart/Howto:-CC3D-flight-controller,-minimOSD,-GPS-and-LTM-telemetry-for-fixed-wing.md b/versioned_docs/version-8.0.1/quickstart/Howto:-CC3D-flight-controller,-minimOSD,-GPS-and-LTM-telemetry-for-fixed-wing.md
new file mode 100644
index 0000000..8506640
--- /dev/null
+++ b/versioned_docs/version-8.0.1/quickstart/Howto:-CC3D-flight-controller,-minimOSD,-GPS-and-LTM-telemetry-for-fixed-wing.md
@@ -0,0 +1,251 @@
+---
+title: "Howto: CC3D Flight Controller, MinimOSD, GPS and LTM Telemetry for Fixed Wing"
+---
+
+# HOWTO setup iNAV for fixed wing
+
+## Index
+1. Features
+
+2. What is needed
+
+3. Flashing iNAV firmware to CC3D.
+
+4. Basic settings
+
+Flight controller orientation.
+
+Port settings
+
+Configuration
+
+Failsafe
+
+Telemetry (LTM)
+
+Transmitter setup
+
+Motors
+
+Servo setup
+
+Recommended power layout
+
+OSD setup
+
+
+
+## 1. Features
+- Stabilization (Angle, Horizon modes)
+- RTH (baro and mag are not needed for fixed wing)
+- Waypoint missions (with EZGUI android apk).
+- Battery monitoring
+- RSSI monitoring
+- Failsafe
+- Telemetry
+- etc
+
+## 2. What is needed
+- Flight controller (one from the list, this guide shows how to setup CC3D)
+- OSD (minimOSD or any other that supports Cleanflight)
+- RX with telemetry support (just in case you want also telemetry). And a telemetry capable ground system.
+- GPS receiver (any that supports at least 5Hz update)
+- FPV hardware, airframe, RC
+
+## 3. Flashing iNAV firmware to CC3D.
+First you need to download a precompiled firmware for the board [here](https://github.com/iNavFlight/inav/releases). Select one of the releases precompiled for CC3D:
+- _inav_x.x.x_CC3D.hex_
+- _inav_x.x.x_CC3D_PPM1.hex_ (for PPM input on Pin 3 and RSSI_ADC on Pin 8. See Board_CC3D document in /docs)
+
+You only can flash cc3d through FTDI and MainPort (USART1). Not usb, neither FlexiPort.
+
+Next, you can check [numerous guides](https://www.youtube.com/watch?v=eClp-YBeSms&t=0s) how to flash CC3D with third party firmware (Attention, you'll need a FTDI adapter for the purpose). Of course you need to specify the previously downloaded firmware for the flashing.
+
+## 4. Basic settings
+
+### Port settings
+It is done using Ports tab .
+
+- UART1 - leave default value. You'll connect here either OSD or FTDI to setup the FC. If you want telemetry select it in Inav configurator, so you can have telemetry when the aircraft is armed. In this case, your OSD should be capable to read LTM, in order to mantain working OSD and telemetry at the same time. You have to connect the TX line from CC3D to both OSD and RX telemetry capable receiver (as openlrsng systems). MWOSD can read both MSP and LTM telemetry.
+- UART3 - for GPS. Switch on the option and select the correct port speed (38400 or 57600). Please pay attention that when using a ublox GPS receiver family 6-8 you don't need to make any configurations in the u-center. The flight controller under iNAV will do everything what is needed.
+
+### Configuration
+On the Configuration tab in the Mixer group select the Airplane or Flying Wing depending on the airframe you are using.
+
+Do not pay attention on the servo numbering! It will be described later.
+Now you need to make the accelerometer calibration. It is mandatory to fulfill it and it is better to do it before installing the FC into airframe. Please follow the [instructions](./Sensor-calibration.md) to perform the 6 point accelerometer calibration.
+Do not activate "enable motor and servo otput" until you are sure the kind of airplane has been selected correctly. Otherwise, servos can receive high frecuencies (as for ESCs) and burn.
+
+### Flight controller orientation.
+After the calibration is done you may select the sutable board orientation
+
+If you need to install your FC board into airplane such a way that the forward arrow points to some other direction, you need to change the FC orientation. This can be done or in the iNAV GUI or from CLI. I prefer doing it from GUI. Follow the Configuration tab and Board and sensor Alignment. If you want to mount the CC3D flight controller with USB plug to the left you need to set the Yaw Degrees parameter to 90. If you are going to mount the FC with USB plug facing right, then the Yaw Degrees = 270, etc.
+
+Now you are ready to connect your hardware according to the schemes:
+
+Parallel PWM Receiver ([click here](http://s8.hostingkartinok.com/uploads/images/2016/02/a47fb019c7783371053239a3d23a8d46.jpg) to see the real hardware photo)
+
+
+
+PPM Receiver
+
+
+
+Of course, according to the receiver used you need to use the aproppriate firmware for CC3D - inav_1.6.0_CC3D.hex for parallel PWM or inav_1.6.0_CC3D_PPM1.hex PPM receiver. For more information about CC3D pinout check the [CC3D](https://github.com/iNavFlight/inav/blob/master/docs/Board%20-%20CC3D.md) page
+
+I usually don't like the motor rotation on arm, so I switch on the "Don't spin motors when armed" feature.
+
+The new iNAV firmware has all PWM outputs disable until you switch on the "Enable motor and servo output"
+
+Switch on the GPS feature, and select the protocol.
+
+
+If your GPS receiver have enough satellites visible you'll be able to check the 3D fix in GPS tab
+![3D fix] (http://s8.hostingkartinok.com/uploads/images/2017/02/2db676b5f03d436480919b1cbc945fb5.png)
+
+By default INAV won't arm without GPS fix if the GPS feature is ON. To disable it use CLI: "set nav_extra_arming_safety = OFF". And it is highly recomended to switch it back ON before real flights.
+
+If your receiver connection is other than Parallel PWM Receiver, then you'll be able to setup battery voltage, current, RSSI monitoring. It is very userful. So IMHO a PPM is a must for CC3D FC.
+
+On the Receiver tab set up the channel order and their correspondence to TX sticks movements.
+
+On the Modes tab set up the flight modes according to the position of the AUX channels. For example, if you have a 3pos switch for the AUX1 you can get at minimum the following:
+
+* minimum channel value - do not select any mode - only gyros will work. The hand launch take off in this mode is excellent.
+* middle value - Angle or Horizon.
+* maximum value - RTH. Automatic return home.
+
+
+
+### Failsafe
+
+Check [this link](../features/Failsafe.md) for RTH failsafe
+
+Starting from INAV 1.6 the Filesafe feature is very transparent and clear. For the failsafe to work you'll need:
+* Setup the receiver output no signal when your TX is off
+* OR assign the Failsafe mode to one of the channels and force it to trigger when your TX is off
+
+Set the desired Failsafe behavior. I prefer RTH.
+
+
+###Telemetry
+
+Connect your TX line and configure FC as explained above. Nowadays you can use several telemetry systems as [mwptools](https://github.com/stronnag/mwptools), [EZGUI](http://ez-gui.com/), [LTM Telemetry OLED](https://github.com/sppnk/LTM-Telemetry-OLED) and possibly others. The USART port can be shared with a OSD or used only for one of both features. For example, you can fly FPV w/o telemetry (just in your googles) or fly thermal soaring 3rd view w/o OSD. Or have both. Amazing you can do this with a simple cc3d, isnt it?.
+
+###Transmitter setup
+
+You should adjust (normal or reverse) on your transmitter so sticks correspond to below:
+
+In reciever tab:
+* Throttle stick push away - increased value
+* Yaw (Rudder) stick right - increased value
+* Pitch (Elevator) stick push away - increased value
+* Roll (Ailerons) stick right - increased value
+
+Also use subtrim to get center value of 1500us and use travel adjustment to get at lowest value 1000us and highest 2000us when moving sticks.
+
+
+### Motors
+
+After this follow to the Motors tab, rock your plane and notice what levels are moving depending on PITCH, ROLL and YAW angles. You can remember it or write it down. ROLL - 4,5; PITCH - 3, YAW - 6.
+
+
+
+Turn on your transmitter, switch to the Angle or Horizon flight mode and follow the Servos tab.
+
+### Servo setup
+
+
+
+Here you need to be very attentive. In this tab you set up endpoints, neutral, rates and reverse for stabilization modes. Servo numbering in the tab starts from 0!
+
+For the Elevator, tilt the plane's tail down, and the Elevator should go down. If the elevator goes up, then you need to set the Rate (the right-most drop down list) Servo 2 with negative sign.
+
+Tilt the left wing down. Left Aileron should go down and right one should go up. If it is not so, then put negative Rate values for Servo 3 and Servo 4 (if your ailerons are connected by means of Y-cable, than you can change the settings for only one Servo or connect the Y-cable to other Servo out).
+
+Turn the tail to the left, and the Rudder should go to the left. Otherwise switch the Servo 5 Rate to negative.
+
+After this stick movement should also move servos the correct way. (General rules: Elevator stick down - elevator goes up, Aileron stick to the left - left aileron is up, right aileron is down, Rudder stick to the left, rudder goes to the left)
+
+Attention! all the endpoints, neutrals, trimmers should be done on this tab, not in transmitter!
+
+### Recommended power layout
+
+To prevent brownout its wise to power servos with one BEC and the flight controller + other equipment with another BEC.
+
+This is one way to accomplish it:
+
+Glued a new row of pins onto the case of the flightcontroller, the must be connected together. (See the bottom of pins)
+
+All servos and ESC is connected to flightcontroller, except positive wire which goes to the new row. (This line gets its power from the BEC in the ESC)
+
+Another external BEC is connected at random positive and negativ pin on flight controller to power it, the receiver and GPS.
+
+This way if one servo get stuck and draws alot of amps you shouldnt risk your flight system to power down.
+
+
+
+
+### PID/PIFF Settings
+The default PID settings that are set using Presets tab are a good starting point but usually you may need to chnge them if you want yor plane to fly really stable.
+Here are my PIFF settings for a small 800mm flying wing - EPP Rainbow.
+
+
+DigitalEntity wrote about the PIFF controller setup procedure the following, I have nothing to add:
+
+If you have inflight adjustments - this will be easier for you. I tuned like this:
+
+0) Fly ANGLE mode, LOS, calm day. Started with these PIFFs: P=5, I=10, D/FF = 20
+
+1) Give hard roll command, watch how plane executes it. It should be smooth from start to finish, without (or with minimal) oscillation at the end of the roll, without much wobble. If it oscillates at the end of maneuver - reduce FF; if it starts fast, then slows down and after a moment pushes it further - that's indication of too low FF
+
+2) Repeat for pitch
+
+3) I dialed up FF as much as possible until I started to get oscillations at the end of maneuver and backed about 20%
+
+4) If it doesn't reach commanded angle - increase I-gain (best verifiable with OSD indication for roll/pitch angles
+
+5) Wait for some wind (to get some turbulence)
+
+6) Dial up P to fight turbulence better. In ANGLE mode I+FF will keep aircraft nice and level, but P will improve turbulence handling. WARNING - increasing P will cause much more active servos and reduce their life expectancy.
+
+### OSD setup
+I prefer using MW-OSD. It supports many protocols and also has native support of iNAV. Say you have a minimOSD or micro minimOSD. So first you need to upload [MWOSD](http://www.mwosd.com/) firmware to your minimOSD. You can find pretty straight forward install guide following the [link](https://github.com/ShikOfTheRa/scarab-osd/blob/master/OTHER/DOCUMENTATION/FirmwareFlashing.md). As usual you use Arduino IDE for global OSD config. All changes are done in the Config.h file. In our case we need to leave uncommented the following lines:
+
+OSD HARDWARE settings:
+
+`#define MINIMOSD`
+
+CONTROLLER SOFTWARE
+
+`#define iNAV`
+
+AIRCRAFT/INSTALLATION TYPE settings
+
+`#define FIXEDWING`
+
+TELEMETRY LTM settings
+
+`#define FORCE_MSP` // Uncomment to enable use of MSP as well as telemetry. Uses more memory
+
+`#define PROTOCOL_LTM` // To use LTM protocol instead of MSP
+
+`#define BAUDRATE 9600`
+
+
+Usualy it is enough.
+
+You may enable also rather helpful `#define MAPMODE` under FEATURES that allows you to see the map indication of relative positions of home and aircraft.
+
+Configure config.h allowing LTM if you want to share USART1 with your telemetry system, as explained above.
+
+All other settings are done in MWOSD configurator. Everything you need is to select the font you like, OSD indicators' positions. As iNAV takes care of voltage/current/rssi monitoring you'll need to ask the MWOSD to take these values from the FC (see the fig)
+
+The screenshot of the MWOSD configuration is shown below:
+
+
+Watch this demo video of the iNAV flight and RTH function:
+
+[](https://www.youtube.com/watch?v=GYd7mxGxNL8)
+
+Good luck!
diff --git a/versioned_docs/version-8.0.1/quickstart/Howto:-CC3D-flight-controller,-minimOSD-,-telemetry-and-GPS-for-fixed-wing.md b/versioned_docs/version-8.0.1/quickstart/Howto:-CC3D-flight-controller,-minimOSD-,-telemetry-and-GPS-for-fixed-wing.md
new file mode 100644
index 0000000..1ab452d
--- /dev/null
+++ b/versioned_docs/version-8.0.1/quickstart/Howto:-CC3D-flight-controller,-minimOSD-,-telemetry-and-GPS-for-fixed-wing.md
@@ -0,0 +1,237 @@
+---
+title: "Howto: CC3D Flight Controller, MinimOSD , Telemetry and GPS for Fixed Wing"
+---
+
+# HOWTO setup iNAV for fixed wing
+
+## Index
+1. Features
+
+2. What is needed
+
+3. Flashing iNAV firmware to CC3D.
+
+4. Basic settings
+
+Flight controller orientation.
+
+Port settings
+
+Configuration
+
+Failsafe
+
+Transmitter setup
+
+Motors
+
+Servo setup
+
+Recommended power layout
+
+OSD setup
+
+
+
+## 1. Features
+- Stabilization (Angle, Horizon modes)
+- RTH (baro and mag are not needed for fixed wing)
+- Waypoint missions (with EZGUI android apk).
+- Battery monitoring
+- RSSI monitoring
+- Failsafe
+- Telemetry
+- etc
+
+## 2. What is needed
+- Flight controller (one from the list, this guide shows how to setup CC3D)
+- OSD (minimOSD or any other that supports Cleanflight)
+- RX with telemetry support (just in case you want also telemetry). And a telemetry capable ground system.
+- GPS receiver (any that supports at least 5Hz update)
+- FPV hardware, airframe, RC
+
+## 3. Flashing iNAV firmware to CC3D.
+First you need to download a precompiled firmware for the board [here](https://github.com/iNavFlight/inav/releases). Select one of the releases precompiled for CC3D:
+- _inav_x.x.x_CC3D.hex_ for PWM receiver
+- _inav_x.x.x_CC3D_PPM1.hex_ for PPM receiver
+
+Next, you can check [numerous guides](https://www.youtube.com/watch?v=eClp-YBeSms&t=0s) how to flash CC3D with third party firmware (Attention, you'll need a FTDI adapter for the purpose). Of course you need to specify the previously downloaded firmware for the flashing. For now, if you have servos, it is not advisable to flash with them attached, because there is high frequency sent with default configuration, and you can burn them (the way -for now- is flash, configure plane and then attach servos).
+
+## 4. Basic settings
+
+### Port settings
+It is done using Ports tab .
+
+- UART1 - leave default value. You'll connect here either OSD or FTDI to setup the FC. If you want telemetry select it in Inav configurator, so you can have telemetry when the aircraft is armed. In this case, your OSD should be capable to read LTM, in order to mantain working OSD and telemetry at the same time. You have to connect the TX line from CC3D to both OSD and RX telemetry capable receiver (as openlrsng systems). MWOSD can read both MSP and LTM telemetry.
+- UART3 - for GPS. Switch on the option and select the correct port speed (38400 or 57600). Please pay attention that when using a ublox GPS receiver family 6-8 you don't need to make any configurations in the u-center. The flight controller under iNAV will do everything what is needed.
+
+### Configuration
+On the Configuration tab in the Mixer group select the Airplane or Flying Wing depending on the airframe you are using.
+
+Do not pay attention on the servo numbering! It will be described later.
+Now you need to make the accelerometer calibration. It is mandatory to fulfill it and it is better to do it before installing the FC into airframe. Please follow the [instructions](./Sensor-calibration.md) to perform the 6 point accelerometer calibration.
+
+### Flight controller orientation.
+After the calibration is done you may select the sutable board orientation
+
+If you need to install your FC board into airplane such a way that the forward arrow points to some other direction, you need to change the FC orientation. This can be done or in the iNAV GUI or from CLI. I prefer doing it from GUI. Follow the Configuration tab and Board and sensor Alignment. If you want to mount the CC3D flight controller with USB plug to the left you need to set the Yaw Degrees parameter to 90. If you are going to mount the FC with USB plug facing right, then the Yaw Degrees = 270, etc.
+
+Now you are ready to connect your hardware according to the schemes:
+
+Parallel PWM Receiver ([click here](http://s8.hostingkartinok.com/uploads/images/2016/02/a47fb019c7783371053239a3d23a8d46.jpg) to see the real hardware photo)
+
+
+
+PPM Receiver
+
+
+
+Of course, according to the receiver used you need to use the aproppriate firmware for CC3D - inav_1.6.0_CC3D.hex for parallel PWM or inav_1.6.0_CC3D_PPM1.hex PPM receiver. For more information about CC3D pinout check the [CC3D](https://github.com/iNavFlight/inav/blob/master/docs/Board%20-%20CC3D.md) page
+
+I usually don't like the motor rotation on arm, so I switch on the "Don't spin motors when armed" feature.
+
+The new INAV firmware has all PWM outputs disable until you switch on the "Enable motor and servo output"
+
+Switch on the GPS feature, and select the protocol.
+
+
+If your GPS receiver have enough satellites visible you'll be able to check the 3D fix in GPS tab
+![3D fix] (http://s8.hostingkartinok.com/uploads/images/2017/02/2db676b5f03d436480919b1cbc945fb5.png)
+
+By default INAV won't arm without GPS fix if the GPS feature is ON. To disable it use CLI: "set nav_extra_arming_safety = OFF". And it is highly recomended to switch it back ON before real flights.
+
+If your receiver connection is other than Parallel PWM Receiver, then you'll be able to setup battery voltage, current, RSSI monitoring. It is very userful. So IMHO a PPM is a must for CC3D FC.
+
+On the Receiver tab set up the channel order and their correspondence to TX sticks movements.
+
+On the Modes tab set up the flight modes according to the position of the AUX channels. For example, if you have a 3pos switch for the AUX1 you can get at minimum the following:
+
+* minimum channel value - do not select any mode - only gyros will work. The hand launch take off in this mode is excellent.
+* middle value - Angle or Horizon.
+* maximum value - RTH. Automatic return home.
+
+
+
+### Failsafe
+
+Check [this link](../features/Failsafe.md) for RTH failsafe
+
+Starting from iNav 1.6 the Filesafe feature is very transparent and clear. For the failsafe to work you'll need:
+* Setup the receiver output no signal when your TX is off
+* OR assign the Failsafe mode to one of the channels and force it to trigger when your TX is off
+
+Set the desired Failsafe behavior. I prefer RTH.
+
+
+###Telemetry
+
+Connect your TX line and configure FC as explained above. Nowadays you can use several telemetry systems as [mwptools](https://github.com/stronnag/mwptools), [EZGUI](http://ez-gui.com/), [LTM Telemetry OLED](https://github.com/sppnk/LTM-Telemetry-OLED) and possibly others. The USART port can be shared with a OSD or used only for one of both features. For example, you can fly FPV w/o telemetry (just in your googles) or fly thermal soaring 3rd view w/o OSD. Or have both. Amazing you can do this with a simple cc3d, isnt it?.
+
+###Transmitter setup
+
+You should adjust (normal or reverse) on your transmitter so sticks correspond to below:
+
+In reciever tab:
+* Throttle stick push away - increased value
+* Yaw (Rudder) stick right - increased value
+* Pitch (Elevator) stick push away - increased value
+* Roll (Ailerons) stick right - increased value
+
+Also use subtrim to get center value of 1500us and use travel adjustment to get at lowest value 1000us and highest 2000us when moving sticks.
+
+
+### Motors
+
+After this follow to the Motors tab, rock your plane and notice what levels are moving depending on PITCH, ROLL and YAW angles. You can remember it or write it down. ROLL - 4,5; PITCH - 3, YAW - 6.
+
+
+
+Turn on your transmitter, switch to the Angle or Horizon flight mode and follow the Servos tab.
+
+### Servo setup
+
+
+
+Here you need to be very attentive. In this tab you set up endpoints, neutral, rates and reverse for stabilization modes. Servo numbering in the tab starts from 0!
+
+For the Elevator, tilt the plane's tail down, and the Elevator should go down. If the elevator goes up, then you need to set the Rate (the right-most drop down list) Servo 2 with negative sign.
+
+Tilt the left wing down. Left Aileron should go down and right one should go up. If it is not so, then put negative Rate values for Servo 3 and Servo 4 (if your ailerons are connected by means of Y-cable, than you can change the settings for only one Servo or connect the Y-cable to other Servo out).
+
+Turn the tail to the left, and the Rudder should go to the left. Otherwise switch the Servo 5 Rate to negative.
+
+After this stick movement should also move servos the correct way. (General rules: Elevator stick down - elevator goes up, Aileron stick to the left - left aileron is up, right aileron is down, Rudder stick to the left, rudder goes to the left)
+
+Attention! all the endpoints, neutrals, trimmers should be done on this tab, not in transmitter!
+
+### Recommended power layout
+
+To prevent brownout its wise to power servos with one BEC and the flight controller + other equipment with another BEC.
+
+This is one way to accomplish it:
+
+Glued a new row of pins onto the case of the flightcontroller, the must be connected together. (See the bottom of pins)
+
+All servos and ESC is connected to flightcontroller, except positive wire which goes to the new row. (This line gets its power from the BEC in the ESC)
+
+Another external BEC is connected at random positive and negativ pin on flight controller to power it, the receiver and GPS.
+
+This way if one servo get stuck and draws alot of amps you shouldnt risk your flight system to power down.
+
+
+
+
+### PID/PIFF Settings
+The default PID settings that are set using Presets tab are a good starting point but usually you may need to chnge them if you want yor plane to fly really stable.
+Here are my PIFF settings for a small 800mm flying wing - EPP Rainbow.
+
+
+DigitalEntity wrote about the PIFF controller setup procedure the following, I have nothing to add:
+
+If you have inflight adjustments - this will be easier for you. I tuned like this:
+
+0) Fly ANGLE mode, LOS, calm day. Started with these PIFFs: P=5, I=10, D/FF = 20
+
+1) Give hard roll command, watch how plane executes it. It should be smooth from start to finish, without (or with minimal) oscillation at the end of the roll, without much wobble. If it oscillates at the end of maneuver - reduce FF; if it starts fast, then slows down and after a moment pushes it further - that's indication of too low FF
+
+2) Repeat for pitch
+
+3) I dialed up FF as much as possible until I started to get oscillations at the end of maneuver and backed about 20%
+
+4) If it doesn't reach commanded angle - increase I-gain (best verifiable with OSD indication for roll/pitch angles
+
+5) Wait for some wind (to get some turbulence)
+
+6) Dial up P to fight turbulence better. In ANGLE mode I+FF will keep aircraft nice and level, but P will improve turbulence handling. WARNING - increasing P will cause much more active servos and reduce their life expectancy.
+
+### OSD setup
+I prefer using MW-OSD. It supports many protocols and also has native support of iNAV. Say you have a minimOSD or micro minimOSD. So first you need to upload [MWOSD](http://www.mwosd.com/) firmware to your minimOSD. You can find pretty straight forward install guide following the [link](https://github.com/ShikOfTheRa/scarab-osd/blob/master/OTHER/DOCUMENTATION/FirmwareFlashing.md). As usual you use Arduino IDE for global OSD config. All changes are done in the Config.h file. In our case we need to leave uncommented the following lines:
+
+OSD HARDWARE settings:
+
+`#define MINIMOSD`
+
+CONTROLLER SOFTWARE
+
+`#define iNAV`
+
+AIRCRAFT/INSTALLATION TYPE settings
+
+`#define FIXEDWING`
+
+Usualy it is enough.
+
+You may enable also rather helpful '#define MAPMODE' under FEATURES that allows you to see the map indication of relative positions of home and aircraft.
+
+Configure config.h allowing LTM if you want to share USART1 with your telemetry system, as explained above.
+
+All other settings are done in MWOSD configurator. Everything you need is to select the font you like, OSD indicators' positions. As iNAV takes care of voltage/current/rssi monitoring you'll need to ask the MWOSD to take these values from the FC (see the fig)
+
+The screenshot of the MWOSD configuration is shown below:
+
+
+Watch this demo video of the iNAV flight and RTH function:
+
+[](https://www.youtube.com/watch?v=GYd7mxGxNL8)
+
+Good luck!
diff --git a/versioned_docs/version-8.0.1/quickstart/Multirotor-guide.md b/versioned_docs/version-8.0.1/quickstart/Multirotor-guide.md
new file mode 100644
index 0000000..70e78de
--- /dev/null
+++ b/versioned_docs/version-8.0.1/quickstart/Multirotor-guide.md
@@ -0,0 +1,48 @@
+---
+title: Multirotor Guide
+---
+
+## 0. Setup hardware
+
+* Balance props and motors, install FC on a vibration-damping mount if possible.
+
+## 1. Getting your flight controller ready.
+
+* Download latest configurator from [here](https://github.com/iNavFlight/inav-configurator/releases)
+* Flash newest INAV with full chip erase option selected
+* Do the advanced 6-point [sensor calibration](./Sensor-calibration.md)
+* Select your Mixer. Most common ones are already available as presets. For exotic setups, see [Custom mixes for exotic setups](../advanced/Custom-mixes-for-exotic-setups.md#setups-that-can-be-implemented-with-custom-mixer); if you don't do this, you will not see any motors in the motors tab.
+* Be sure the model moves on the configurator as it is moving on the bench. If not, adjust board alignment from the Configuration tab
+* If you have a magnetometer, you may need to attach a battery for magnetometer calibration. Rotate the quadcopter 360 degrees on all 3 axes.
+
+## 2. Configure your TX
+
+No special mixers have to be applied on the TX. Just bypass all the channels as they are to the FC.
+Set trim on your TX to zero. Use subtrim to adjust your TX midpoints to be precisely 1500 when Roll/Pitch/Yaw sticks are centered. You can check the input values in the Receiver tab in INAV configurator. All values should be in the range 1000-2000uS.
+
+## 3. Tune your copter's Pitch/Roll/Yaw/Level PIDs and other values
+
+Many presets are available on the specific configurator tab and they mostly represent a good starting point.
+Be sure to load the correct present and double check the applied configuration.
+
+[Default values for different type of aircrafts](../legacyinfo/Default-values-for-different-type-of-aircrafts.md)
+
+## 4. Trim copter to level flight
+DO NOT USE TRIM on your Transmitter to stop your copter drifting. Use board alignment settings or accelerometer trim stick combos.
+You can use RX stick combination to trim the quadcopter: [Controls](https://github.com/iNavFlight/inav/blob/master/docs/Controls.md)
+
+## 5. Check your sensors
+* If any, be sure the baro readings are correct and be sure the barometer is shielded with some foam to avoid to be disturbed by the air pushed on it by the propellers.
+* If a magnetometer is in use, be sure to check it is providing the correct heading information. After having calibrated it (outside, far away from buildings and parking lots) be sure that when you point the multirotor nose to the north the heading is 0 and it still is around 0 even if you tilt the multirotor a bit on pitch and roll axis. Be also sure that the magnetometer is placed reasonably away from interference sources (such as power wires).
+Having a good compass reading is **crucial** for navigation function to work correctly.
+
+## 6. Setup and verify failsafe on TX and INAV
+[Guide for setting up failsafe](../features/Failsafe.md#setting-up-failsafe-with-return-to-home)
+
+## 7. Determine and set hover throttle
+To let the altitude hold controller work correctly, you need to input your hover throttle (the throttle you need to apply to make the multirotor hover) into the **nav_mc_hover_thr** CLI variable or just set it via the configurator configuration tab.
+If your copter jumps/rises when you activate altitude hold, reduce your nav_mc_hover_thr a bit. If your copter falls, increase it a bit; fine tune until there is no jump or fall when activating altitude hold.
+
+
+## 8. Get to know the CLI values.
+INAV offers a lot of customization through CLI variables. It is strongly recommended to read through [INAV CLI variables](../advanced/iNav-CLI-variables.md) and [available CLI variables](https://github.com/iNavFlight/inav/blob/master/docs/Cli.md)
diff --git a/versioned_docs/version-8.0.1/quickstart/Something-is-disabled----Reasons.md b/versioned_docs/version-8.0.1/quickstart/Something-is-disabled----Reasons.md
new file mode 100644
index 0000000..7857445
--- /dev/null
+++ b/versioned_docs/version-8.0.1/quickstart/Something-is-disabled----Reasons.md
@@ -0,0 +1,116 @@
+---
+title: "\"Something\" Is Disabled Reasons"
+---
+
+## Something is disabled
+
+INAV may fail to perform some action as expected, typically arming or engaging waypoints. This articles documents the reasons for some of these events.
+
+## Arming disabled reasons
+
+INAV will refuse to arm for the following reasons (e.g. from cli `status`):
+
+| Reason (CLI Mnemonic) | Bit Mask (Hex) | Explanation |
+| ------ | ----- | ----------- |
+| `FS` | `00000080` | The RX is not recognised as providing a valid signal |
+| `ANGLE` | `00000100` | The vehicle is not level as defined by the CLI `small_angle` setting |
+| `CAL` | `00000200` | The pre-arm sensor calibration has not completed. The barometer is somewhat susceptible to lengthy calibration, which may be mitigated by the CLI setting `baro_cal_tolerance`, e.g. `set baro_cal_tolerance = 500` (find a suitable value by experimentation). |
+| `OVRLD` | `00000400` | The CPU load is excessive. May be caused by too an aggressive loop time setting. |
+| `NAV` | `00000800` | Where the CLI setting `nav_extra_arming_safety = ON` is used, this may be caused by reasons shown in the [table below](#navigation-unsafe-reasons) |
+| `COMPASS` | `00001000` | The compass is not calibrated. Perform the calibration procedure |
+| `ACC` | `00002000` | The accelerometer is not calibrated. Perform the 6 point calibration procedure |
+| `ARMSW` | `00004000` | The arm switch was engaged as the FC booted |
+| `HWFAIL` | `00008000`| A required hardware device (Gyro, Accelerometer, Baro, Compass, RangeFinder, Pitot, GPS or OpticalFlow) has failed / is not recognized |
+| `BOXFS` | `00010000` | A failsafe switch is engaged |
+| `KILLSW` | `00020000` | A kill switch is engaged |
+| `RX` | `00040000` | The RC link is not detected (RX not detected) |
+| `THR` | `00080000` | The throttle setting is not a minimum |
+| `CLI` | `00100000` | The CLI is active (note: you will always /unavoidably see this when in the CLI) |
+| `CMS` | `00200000` | The CMS menu is active |
+| `OSD` | `00400000` | The OSD menu is active |
+| `ROLL/PITCH` | `00800000` | Roll and/or pitch is not centred |
+| `AUTOTRIM` | `01000000` | Servo autotrim is engaged |
+| `OOM ` | `02000000` | The FC is out of memory |
+| `SETTINGFAIL` | `04000000` | A CLI setting is out of range. The erroneous setting should be indicated in a CLI `dump`. If you can't then reset the offending setting, reflash with full chip erase and reapplying settings from scratch may help.|
+| `PWMOUT` | `08000000` | PWM output error. Motor or servo output initialisation failed. |
+| `NOPREARM` | `10000000` | PREARM is enabled and timed out |
+| `DSHOTBEEPER` | `20000000` | DSHOTBEEPER is enabled and is active |
+| `LANDED` | `40000000` | Landing detected. |
+
+Note: On older processors, just the bitmask is shown, which can be decoded by the numeric values in the table. A numeric value may be a combination of conditions, for example:
+
+```
+0x184000 = 00100000 + 00080000 + 00004000 (CLI active, throttle not at minimum, arm engaged)
+```
+The values are correct for INAV 6.1.0 as of 2023-04.
+
+### Navigation Unsafe reasons
+
+Requires that a navigation mode (which includes failsafe RTH) is configured
+
+| Navigation Unsafe |
+| ------------------ |
+| The GPS has insufficient satellites (this is checked even if you disable GPS, but have a NAV mode configured in Modes tab) |
+| A navigation switch is engaged (e.g.PH, WP, RTH) |
+| First WP distance exceeded |
+| Sensor quality is unacceptable: EPH/EPV > 10m (note the limit in the CLI `inav_max_eph_epv` is in cm, default 1000). Check also `inav_baro_epv` |
+| The WP mission contains an invalid JUMP sequence |
+| The first waypoint is beyond the distance defined by the CLI setting: INAV 5.1 and below uses `nav_wp_safe_distance`. From INAV 6.0 use `nav_wp_max_safe_distance` |
+
+* `nav_wp_safe_distance` : The default is 100m (10000cm, as the value is entered in cm), 0 disables this check.
+
+ ```
+ # get nav_wp_safe_distance
+ nav_wp_safe_distance = 10000
+ Allowed range: 0 - 65000
+ ```
+* `nav_wp_max_safe_distance` : The default is 100m, 0 disables this check. This setting is entered in metres.
+
+ ```
+ # get nav_wp_safe_distance
+ nav_wp_safe_distance = 100
+ Allowed range: 0 - 1500
+ ```
+* Invalid JUMP.
+ - First item can't be JUMP (can't calculate 1st WP distance, impossible for backward jumps)
+ - Can't jump to immediately adjacent WPs (pointless)
+ - Can't jump beyond WP list (undefined behaviour)
+ - Can only jump to geo-referenced WPs (otherwise, undefined behaviour)
+
+## Waypoints will not execute
+
+The pilot *thinks* that they have loaded a waypoint mission, but the mission will not execute when the assigned switch is engaged.
+
+* No mission is actually loaded into the FC. Note that waypints have to be in volatile memory (that is cleared on powercycle), not in EEPROM. If waypoints have been saved to EEPROM it is necessary to restore the WPs to volatile memory before the mission can be executed.
+
+* The Fixed Wing aircraft is in `MANUAL` / `PASSTHROUGH` mode.
+
+* The craft is currently executing RTH
+
+## RTH fails to engage
+
+* The GPS signal is degraded (eph / epv exceed, CLI setting `inav_max_eph_epv`)
+
+## Diagnostics
+
+Diagnosing arming failure and WP execution failure often requires the use of a tool external to the FC; the following may help:
+
+* The INAV configurator displays reasons for arming failure
+* A blackbox log provides post event diagnostics
+* The INAV CLI (available from a terminal, the configurator and many ground-stations) displays arming disabled reasons:
+
+ ```
+ # status
+ ...
+ Arming disabled flags: NAV HWFAIL RX CLI
+ ```
+* A ground station may provide diagnostics, for example [mwp](https://github.com/stronnag/mwptools) provides an 'Arming Disabled' alert icon with 'popover' description / explanation, mission upload validation checks and 'first WP distance' exceeded warnings.
+* Video explanation via https://quadmeup.com/troubleshooting-inav-why-inav-is-not-arming/
+* **Your favourite diagnostic tool / technique goes here**
+
+## Postscript
+
+For 'Navigation is unsafe', you may, of course `set nav_extra_arming_safety = ALLOW_BYPASS`; however there is a clue is in the name.
+**Arming with `ALLOW_BYPASS` is performed by holding full right yaw whilst switch arming.**
+
+Prior to INAV 6.0, there is also `nav_extra_arming_safety = OFF`, which is not recommended. At least with `ALLOW_BYPASS` you know you've done something potentially dangerous.
diff --git a/versioned_docs/version-8.0.1/quickstart/TROUBLESHOOTING.md b/versioned_docs/version-8.0.1/quickstart/TROUBLESHOOTING.md
new file mode 100644
index 0000000..a609278
--- /dev/null
+++ b/versioned_docs/version-8.0.1/quickstart/TROUBLESHOOTING.md
@@ -0,0 +1,24 @@
+---
+title: TROUBLESHOOTING
+---
+
+# UAV won't arm
+1. Verify that it is level. You can bypass this requirement by typing "set Small_angle=180" then "save" in the CLI.
+2. Run-time calibration not completed. Put the UAV flat and immobile on a surface and wait 10 seconds.
+3. GPS doesn't have a lock. Move to an area with no sky obstruction or interference and wait. If lock still doesn't happen after a minute, relocate your GPS far from on-board electrics or shield the bottom part with [copper tape](https://www.ebay.com/itm/Copper-Foil-Tape-2-X-10ft-EMI-Conductive-Adhesive-Ship-from-USA/152118807659?hash=item236afccc6b:g:q2IAAOSwpdpVaIrt:rk:3:pf:0).
+4. Compass not calibrated. Start compass calibration from configurator or stick control and, within 30 seconds, face all 6 face of the UAV to the ground.
+If none of the above work, verify in your goggles or CLI "status" command the cause. Hardware malfunction might be the cause.
+
+# UAV shakes
+1. Verify that frame & motors are solidly bolted together, on an H-frame double up the bottom plate.
+2. lower P on Roll and Pitch from configurator, adjustments or stick control
+3. drop PID to 1,1,1 for Pitch and Roll and do a PID tuning from scrartch https://youtu.be/4sjXJ5HoU_c or https://youtu.be/ehyXLsvaEhw
+
+# POS HOLD drifting
+(moving in circle a.k.a Toilet bowling or running away)
+1. SETTINGS: go inside configuration and verify that your MAG alignment is [set properly](./GPS--and-Compass-setup.md)
+2. CALIBRATION: redo MAG calibration
+3. TEST MAG INSULATION: on the bench, add headings to OSD then props off, connect battery, motor tabs rev up your motors and see in your goggles if the headings changes. If it changes you have bad insulation so move the mag away from your quad's electricals or apply copper tape between mag and main power lines. If you want to test this with flight condition current, fly your quad outside in ACRO, doing punch-through with no yaw movement.
+
+# Transition to ALT HOLD is bad
+1. Get your UAV in a stable hover in ACRO or ANGLE mode, find the amount of throttle required (openTX>Output>Throttle number at the top). Dial this number in configurator>Advanced Tuning tab>Hover Throttle. Note: if the value you find is >1700, your motors are underpowered to lift your quad, consider different props and motor combination.
diff --git a/versioned_docs/version-8.0.1/quickstart/Upgrading-from-an-older-version-of-INAV-to-the-current-version.md b/versioned_docs/version-8.0.1/quickstart/Upgrading-from-an-older-version-of-INAV-to-the-current-version.md
new file mode 100644
index 0000000..ba30efa
--- /dev/null
+++ b/versioned_docs/version-8.0.1/quickstart/Upgrading-from-an-older-version-of-INAV-to-the-current-version.md
@@ -0,0 +1,173 @@
+---
+title: Upgrading from an Older Version of iNav to the Current Version
+---
+
+
+
+This page is intended to make it easy for you to upgrade your INAV older version to the current INAV version. The process is straightforward as long as you follow the instructions detailed here.
+
+**The current version of INAV is 2.6** (as the time this document was been last updated).
+
+> Note that INAV version numbers has a pattern: There are three numbers separated by dots (2.6.0).
+> - The first number is the major version. This number changes only when BIG changes are made on INAV.
+> - The second number is the minor version. This number changes only when SMALL changes are made on INAV.
+> - The third number is the revision number. This number changes only when some bug is fixed on INAV and no new functionality is added.
+>
+> To determine the version, only the first two numbers are important.
+
+In general, all comes to the following steps:
+* Get the latest configurator.
+* Get the current settings from your flight controller board
+* Determine the current version and the TARGET of INAV firmware flashed to your flight controller board.
+* Check which values has changed over the newer versions, and adjust your settings as necessary
+* Flash the latest INAV firmware on your flight controller board
+* Paste the adjusted settings on the Command Line Interface (CLI)
+* Upload your preferred font to the OSD chip
+* Take additional upgrading actions (if needed)
+
+**Note about F1 and F3 microcontrollers**: Flight controller boards with STM32**F1** chips (like NAZE32 or CC3D) will only work up to the 1.7.3 version. Flight controller boards with STM32**F3** chips (like SPRACINGF3 or OMNIBUS) will only work up to the 2.6.0 version. We do recommend that you use a F4, F7 or H7 based Flight Controller board for new setups.
+
+## Get the latest INAV configurator
+
+Download and install (on your computer) the latest configurator at the [INAV Configurator Releases page](https://github.com/iNavFlight/inav-configurator/releases).
+
+## Get all the current settings from your flight controller board
+
+1. Open the configurator program on your computer.
+2. Connect the flight controller board to the USB port on PC, then click connect button on the configurator.
+3. Go to the CLI tab and type `diff all`. It should return a big text with all your settings.
+4. Copy this text and paste it on your favorite text editor (like Notepad), then save it as a backup.
+
+## Determine your current INAV firmware version and target
+
+On your settings file, just at the beginning, you should have something like this:
+
+```
+# version
+# INAV/MATEKF405 2.2.1 Jul 3 2019 / 22:31:06 (a6d847482)
+# GCC-8.2.1 20181213 (release) [gcc-8-branch revision 267074]
+```
+
+Take note of the TARGET which is just after the `INAV/` and VERSION number which is just after the target
+(In this case, TARGET is **MATEKF405** and VERSION is **2.2.1**)
+
+## Check which values has changed over the newer versions, and adjust as necessary
+
+Now it's time to change your settings file so it becomes compatible with the latest INAV firmware. Follow your specific version instructions.
+
+### From 2.5 to 2.6
+* If you are using Home Offset feature (lines with `nav_rth_home_offset_`), then you should remove this lines and use the `safehome` function instead.
+* If you are using Override Motor Stop feature (`nav_overrides_motor_stop` setting), you need to change the value of this setting by one of the new possible values, which are `OFF`, `AUTO_ONLY` or `ALL_NAV`.
+* Remove this deprecated settings if present: `gyro_notch1_hz`, `gyro_notch2_hz`, `gyro_notch1_cutoff`, `gyro_notch2_cutoff`, `use_dterm_fir_filter`, `dterm_setpoint_weight`, `dterm_notch_hz`, `dterm_notch_cutoff`, `mc_iterm_relax_type`
+
+### From 2.4 to 2.6
+* `aux` lines needs to be changed. Use [this tool](https://box2perm.vercel.app/) to migrate your `aux` lines.
+* Replace `yaw_motor_direction` by `motor_direction_inverted` if present
+* Replace `telemetry_uart_unidir` by `telemetry_halfduplex` if present
+* Remove this deprecated settings if present: `dyn_notch_width_percent`, `dyn_notch_range`, `dyn_notch_q`, `dyn_notch_min_hz`, `rpm_dterm_filter_enabled`, `dterm_gyro_harmonic`, `rpm_dterm_min_hz`, `rpm_dterm_q`, `vtx_freq`, `gyro_notch1_hz`, `gyro_notch2_hz`, `gyro_notch1_cutoff`, `gyro_notch2_cutoff`, `use_dterm_fir_filter`, `dterm_setpoint_weight`, `dterm_notch_hz`, `dterm_notch_cutoff`, `mc_iterm_relax_type`
+* If you are using Home Offset feature (lines with `nav_rth_home_offset_`), then you should remove this lines and use the `safehome` function instead.
+* If you are using Override Motor Stop feature (`nav_overrides_motor_stop` setting), you need to change the value of this setting by one of the new possible values, which are `OFF`, `AUTO_ONLY` or `ALL_NAV`.
+
+### From 2.2 or 2.3 to 2.6
+* Find `min_throttle` line, and replace it by `throttle_idle`, setting the percentage of the idle throttle. The default is 15.
+* `aux` lines needs to be changed. Use [this tool](https://box2perm.vercel.app/) to migrate your `aux` lines.
+* Replace `yaw_motor_direction` by `motor_direction_inverted` if present
+* Replace `telemetry_uart_unidir` by `telemetry_halfduplex` if present
+* Remove this deprecated settings if present: `dyn_notch_width_percent`, `dyn_notch_range`, `dyn_notch_q`, `dyn_notch_min_hz`, `rpm_dterm_filter_enabled`, `dterm_gyro_harmonic`, `rpm_dterm_min_hz`, `rpm_dterm_q`, `vtx_freq`, `gyro_notch1_hz`, `gyro_notch2_hz`, `gyro_notch1_cutoff`, `gyro_notch2_cutoff`, `use_dterm_fir_filter`, `dterm_setpoint_weight`, `dterm_notch_hz`, `dterm_notch_cutoff`, `mc_iterm_relax_type`
+
+### From 2.0 or 2.1 to 2.6
+* Find `min_throttle` line, and replace it by `throttle_idle`, setting the percentage of the idle throttle. The default is 15.
+* If you are upgrading a multi rotor, POS XY PID I and D have now specific settings, respectively `nav_mc_pos_deceleration_time` and `nav_mc_pos_expo` . So if you don't use defaults, when restoring, move yours to the new settings.
+* `aux` lines needs to be changed. Use [this tool](https://box2perm.vercel.app/) to migrate your `aux` lines.
+* Replace `yaw_motor_direction` by `motor_direction_inverted` if present
+* Replace `telemetry_uart_unidir` by `telemetry_halfduplex` if present
+* Remove this deprecated setting if present: `vtx_freq`, `gyro_notch1_hz`, `gyro_notch2_hz`, `gyro_notch1_cutoff`, `gyro_notch2_cutoff`, `use_dterm_fir_filter`, `dterm_setpoint_weight`, `dterm_notch_hz`, `dterm_notch_cutoff`, `mc_iterm_relax_type`
+
+### From 1.9 to 2.6
+* Find `min_throttle` line, and replace it by `throttle_idle`, setting the percentage of the idle throttle. The default is 15.
+* If you are upgrading a multi rotor, POS XY PID I and D have now specific settings, respectively `nav_mc_pos_deceleration_time` and `nav_mc_pos_expo` . So if you don't use defaults, when restoring, move yours to the new settings.
+* Delete all lines starting with: mixer acczero accgain magzero osd.
+* `aux` lines needs to be changed. Use [this tool](https://box2perm.vercel.app/) to migrate your `aux` lines.
+* Replace `yaw_motor_direction` by `motor_direction_inverted` if present
+* Replace `telemetry_uart_unidir` by `telemetry_halfduplex` if present
+* Remove this deprecated setting if present: `vtx_freq`
+
+### From 1.7 or 1.8 to 2.6
+* Find `min_throttle` line, and replace it by `throttle_idle`, setting the percentage of the idle throttle. The default is 15.
+* If you are upgrading a multi rotor, POS XY PID I and D have now specific settings, respectively `nav_mc_pos_deceleration_time` and `nav_mc_pos_expo` . So if you don't use defaults, when restoring, move yours to the new settings.
+* Delete all lines starting with: mixer acczero accgain magzero osd.
+* Find `vbat_scale`, `vbat_max_cell_voltage`, `vbat_warning_cell_voltage` and `vbat_min_cell_voltage` values on your settings, and multiply their values by 10.
+* `aux` lines needs to be changed. Use [this tool](https://box2perm.vercel.app/) to migrate your `aux` lines.
+* Replace `yaw_motor_direction` by `motor_direction_inverted` if present
+* Replace `telemetry_uart_unidir` by `telemetry_halfduplex` if present
+* Remove this deprecated setting if present: `vtx_freq`
+
+### From 1.6 to 2.6
+* Find `min_throttle` line, and replace it by `throttle_idle`, setting the percentage of the idle throttle. The default is 15.
+* If you are upgrading a multi rotor, POS XY PID I and D have now specific settings, respectively `nav_mc_pos_deceleration_time` and `nav_mc_pos_expo` . So if you don't use defaults, when restoring, move yours to the new settings.
+* Delete all lines starting with: mixer acczero accgain magzero osd.
+* Find `vbat_scale`, `vbat_max_cell_voltage`, `vbat_warning_cell_voltage` and `vbat_min_cell_voltage` values on your settings, and multiply their values by 10.
+* Find `mag_hold_rate_limit` and replace by `heading_hold_rate_limit` (renamed parameter).
+* Find `nav_max_speed` and replace by `nav_auto_speed` (renamed parameter).
+* Find `nav_max_climb_rate` and replace by `nav_auto_climb_rate` (renamed parameter).
+* Remove this deprecated settinsg if present: `vtx_freq`, `nav_fw_roll2pitch`
+* `aux` lines needs to be changed. Use [this tool](https://box2perm.vercel.app/) to migrate your `aux` lines.
+* Replace `yaw_motor_direction` by `motor_direction_inverted` if present
+* Replace `telemetry_uart_unidir` by `telemetry_halfduplex` if present
+* Find all lines starting with `servo`, and remove the fifth and the sixth arguments of the parameter.
+
+Example: `servo 3 1070 1950 1500 90 90 -80 -1`
+
+Will become: `servo 3 1070 1950 1500 -80 -1`
+
+### From 1.5 or earlier versions
+
+Your version is A LOT outdated. We really recommend you to set everything up from scratch. Your current settings will not be as much as useful. But don't worry, INAV became much easier to set up since this version.
+
+## Flash the lastest INAV firmware to your board
+Now it's time to flash the lastest INAV firmware to your flight controller board..
+* On INAV Configurator, go to the "Firmware Flasher" tab.
+* Select the proper TARGET of the flight controller board.
+* Make sure that the "Full Erase" option is ENABLED.
+* Click "Load Firmware (Online)" button, and then after it loads the online firmware, click "Flash Firmware" button.
+* Wait for the completion of the process.
+
+## Paste the adjusted settings on the CLI
+* Click the "Connect" button on INAV configurator.
+* Go to the CLI tab.
+* Copy all the settings text from your adjusted text file and paste on the CLI input text box, then press ENTER.
+* Wait for all the settings to be typed on the output text box.
+* If no errors occurred, Flight controller should save the settings and reboot by itself.
+
+## Upload your preferred font to the OSD chip
+The font file changes between versions! That's why you need to update the font stored on the OSD chip every time you upgrade INAV version in order to OSD work properly.
+* Go to the OSD Tab on the Configurator.
+* In the bottom right corner, there's a "Font" button. Click it.
+* Select the font that best pleases you, and then click "Upload" button.
+* Wait for the process to complete. Flight Controller will reboot automatically.
+
+## If you are upgrading from version 2.5 or earlier
+* If you have a compass, it has to be recalibrated!
+* Do not migrate Multirotor PID and filter settings from previous releases of INAV. Use Multirotor default preset (3"-7") instead and make required changes on top of that
+
+## If you are upgrading from version 1
+There was a big update from 1.9 to 2.0, there's a new mixer framework, a new OSD framework and new calibration scales for accelerometer and magnetometer. For that reason, you'll need to set this up again and the previous settings will not work.
+
+* Go to the Mixer tab and load and apply your desired mixer.
+* Calibrate the accelerometer following the steps in the dedicated tab. Only first two steps need to be made in the right order.
+* Calibration of the magnetometer should be done at the field. The magnetic field indoors can be distorted and led to a bad calibration.
+* Restore manually your OSD layout using the screenshot and upload the font you like using the dedicated button.
+
+## Check if everything is working as it should
+
+* Carefully check all the configuration and check on the bench without installed propellers if everything looks good. In particular, check if the model preview behaves correctly when you are moving your model and check surfaces movements for an airplane.
+* Arming with sticks command is not supported anymore, so if you were using sticks commands for arming, don't forget to add an arming switch in the Modes tab on the configurator.
+
+## Enjoy the lastest INAV version!
+
+If you done everything right, now your aircraft should be flying ok.
+
+INAV adds lots of new features at every new version! This guide helped you to make your aircraft fly with the newer version as good as it was flying before, but now it's time learn all the new tricks that INAV can do!
+Check [this page](../advanced/New-features-over-versions-log.md) to see everything that the newer versions of INAV can do!
+
+Enjoy!
diff --git a/versioned_docs/version-8.0.1/quickstart/Welcome-to-INAV,-useful-links-and-products.md b/versioned_docs/version-8.0.1/quickstart/Welcome-to-INAV,-useful-links-and-products.md
new file mode 100644
index 0000000..b249b93
--- /dev/null
+++ b/versioned_docs/version-8.0.1/quickstart/Welcome-to-INAV,-useful-links-and-products.md
@@ -0,0 +1,82 @@
+---
+title: "Welcome to INAV, Useful Links and Products"
+---
+
+
+
+**Hello everyone and welcome to INAV!**
+
+We hope you will enjoy spending time in the chat (https://t.me/INAVFlight) and the Facebook Group (https://www.facebook.com/groups/INAVOfficial), following the rules of a quiet life, and indeed flying your machines with INAV.
+
+Before asking for help, please check if you can find the solution for your issue here:
+
+1) https://github.com/iNavFlight/inav/wiki
+
+2) https://github.com/iNavFlight/inav/tree/master/docs
+
+Any contribution to the above documentation is, indeed, highly appreciated.
+
+If you find any issues in the flight controller code please feel free to open an issue on our GitHub issue tracker at https://github.com/iNavFlight/inav/issues, if you find an issue with the configurator software open an issue here https://github.com/iNavFlight/inav-configurator/issues
+
+**Going to build a copter or a plane that will run INAV?**
+
+You are very welcome to ask for suggestions and tips in the chat!
+
+Buying from the following links will help in supporting more hardware, debugging and fixing bugs and expanding the functionalities of the flight controller. From every purchase you make, without any additional cost for you, a small commission will be given to INAV developers!
+
+If you are building a **plane**:
+
+https://github.com/iNavFlight/inav/wiki/Fixed-Wing-Guide
+
+## Recommended hardware
+
+### Flight controllers
+* [Matek H743-SLIM](https://inavflight.com/shop/s/bg/1755036)
+* [Speedybee F7 V2](https://inavflight.com/shop/s/bg/1839168)
+* [Matek F722-SE](https://inavflight.com/shop/p/MATEKF722SE)
+* [Matek F765-WSE](https://inavflight.com/shop/s/bg/1890404)
+* [Matek F722-MiniSE](https://inavflight.com/shop/s/bg/1707404)
+
+### Airplane models
+* [AR Wing Pro](https://inavflight.com/shop/s/bg/1756841)
+* [AtomRC Dolphin](https://inavflight.com/shop/s/bg/1758430)
+* [SonicModell Binary](https://inavflight.com/shop/s/bg/1473014)
+* [Volantex Ranger 2000](https://inavflight.com/shop/s/bg/1151700)
+* [Mini AR Wing](https://inavflight.com/shop/s/bg/1341528)
+
+### Radios
+* [Radiomaster TX16S](https://inavflight.com/shop/s/bg/1746075)
+* [FrSky Q X7](https://inavflight.com/shop/s/bg/1196246)
+* [FlySky FS-i6X](https://inavflight.com/shop/s/bg/1090406)
+
+### Long range radio systems
+* [Radiomaster TX16S + TBS Crossfire Starter Set](https://inavflight.com/shop/s/bg/1735618)
+* [ImmersionsRC Ghost](https://inavflight.com/shop/s/bg/1722555)
+* [FrSky R9M 2019 + R9MX](https://inavflight.com/shop/s/bg/1707906)
+
+### GPS & Sensors
+* [Beitian BN180 GPS](https://inavflight.com/shop/p/BN180)
+* [Beitian BN880Q GPS+COMPASS](https://inavflight.com/shop/s/bg/1450469)
+* [Beitian BN880 GPS+COMPASS ](https://inavflight.com/shop/p/BN880)
+* [Matek M8Q-5883](https://inavflight.com/shop/s/bg/1337288)
+* [Matek Lidar+OpFlow board](https://inavflight.com/shop/s/bg/1604930)
+* [Matek Digital Airspeed Sensor](https://inavflight.com/shop/s/bg/1710131)
+* [Benewake TFmini Lidar](https://inavflight.com/shop/s/bg/1449740)
+
+
+### FPV
+* [DJI FPV Goggles](https://inavflight.com/shop/s/bg/1800745)
+* [Caddx Air Unit](https://inavflight.com/shop/s/bg/1546926)
+* [Caddx Vista HD](https://inavflight.com/shop/s/bg/1625165)
+* [Foxeer T-Rex FPV camera](https://inavflight.com/shop/s/bg/1756536)
+* [RunCam Eagle 3 FPV camera](https://inavflight.com/shop/s/bg/1723926)
+* [Eachine Cobra X FPV goggles](https://inavflight.com/shop/s/bg/1778518)
+* [Skyzone SKY04X FPV goggles](https://inavflight.com/shop/s/bg/1755006)
+
+### Other
+* [ViFly ShortSaver 2](https://inavflight.com/shop/s/bg/1788341)
+* [ViFly Finer buzzer](https://inavflight.com/shop/s/bg/1329066)
+
+You can get more suggestions following this [link](./Welcome-to-INAV,-useful-links-and-products.md) too.
+
+_Thanks, and happy flying!_
diff --git a/versioned_docs/version-8.0.1/quickstart/Why-do-I-have-limited-servo-throw-in-my-airplane.md b/versioned_docs/version-8.0.1/quickstart/Why-do-I-have-limited-servo-throw-in-my-airplane.md
new file mode 100644
index 0000000..afcb134
--- /dev/null
+++ b/versioned_docs/version-8.0.1/quickstart/Why-do-I-have-limited-servo-throw-in-my-airplane.md
@@ -0,0 +1,50 @@
+---
+title: Why Do I Have Limited Servo Throw in My Airplane
+---
+
+# Explanation of why you have limited throw in any stabilisation mode. ( Including Rate / Acro )
+
+First basic PIFF controller:
+
+* P-gain will change your servo movement when it sees an error between wanted motion ( deg/s ) and actual motion ( deg/s )
+* I-gain will change your servo movement when it sees an error between wanted motion ( deg/s ) and actual motion ( deg/s ), however I-gain also knows the concept of time, and therefor will contuinue to increase servo movement until actual motion is the same as wanted motion.
+* FF-gain doesnt not care about actual motion, and does only move servos based on wanted motion.
+
+Also Angle mode itself have an P-gain to level the aircraft back to level.
+
+Also an sidenote is that I-gain is suppressed before takeoff and without throttle, EVEN with airmode enable you need to first have had some throttle to see the I-gain working, this is important to know if you want to "bench" test behavior.
+
+Passthrough bypasses all this an moves servos directly.
+
+In other words, the only thing that will limit passthrough servo limits and rates set up in the Servos tab.
+
+# What is stabilisation? And how do you as the pilot control the airplane in a stabilised mode?
+
+In passthrough everything is easy, you move sticks on radio, the FC does some mixing according to which airplane/flying wing you have, and then you move the servos directly.
+
+In stabiliation mode however you dont control the servos at **ALL**. Everything is controlled by actual motion, and wanted motion. When you move the sticks you are commanding motion, example 30deg/s roll.
+
+Then the P-gain will start working, the I-gain will start working and the FF-gain will start working, if tuned properly it will hit the wanted motion.
+
+So what does this have to do with limited servo throws?
+
+1. For actual testing on bench you will need to arm and apply throttle to see how much the servos actual moves in flight.
+
+2:
+
+An typical wing can example manage 500 deg/s, default rate values for INAV is 200deg/s.
+
+QUIZ: You command 100% right roll, which would be 200deg/s. What would happend if it did give you full servo throw?
+
+Yes, it would have hit 500deg/s instead and overshoot target motion.
+
+Sum up:
+
+You dont **need** full servo throw! It all depends how you want to [tune](../advanced/Tune-INAV-PIFF-controller-for-fixedwing.md) your airplane.
+
+IF you want full throw, your rate settings ( deg/s ) should match what your plane is able to do at full servo throw. Then in stabilitation mode you increase your P-gain or FF-gain untill you get full throw on servos.
+
+
+Sidenote: For older firmeware, If you want to calm your airplane in `passthrough` mode, you will need an programmable TX. Program it so when enabling `passthrough` on a switch, the switch also reduce channel range and adds expo.
+
+In modern firmware, with `manual` mode (which replaces `passthrough`), the FC imposes expo and rates.
diff --git a/versioned_docs/version-8.0.1/quickstart/YouTube-video-guides.md b/versioned_docs/version-8.0.1/quickstart/YouTube-video-guides.md
new file mode 100644
index 0000000..6bfb164
--- /dev/null
+++ b/versioned_docs/version-8.0.1/quickstart/YouTube-video-guides.md
@@ -0,0 +1,47 @@
+---
+title: YouTube Video Guides
+---
+
+# Must watch
+
+- [INAV 7 Ferocious Falcon](https://youtu.be/8Q8t_KwlSAQ)
+- [INAV on a flying wing video tutorial](https://www.youtube.com/playlist?list=PLOUQ8o2_nCLkZlulvqsX_vRMfXd5zM7Ha)
+- [INAV on multirotor drone tutorial](https://youtube.com/playlist?list=PLOUQ8o2_nCLkfcKsWobDLtBNIBzwlwRC8)
+- [Betaflight to INAV migration guide](https://www.youtube.com/watch?v=1hhsqyXeKew)
+- [Can I copy my tune from Betaflight?](https://youtu.be/jgqjhSxd9EA)
+- [How to use Autotune](https://youtu.be/Gsi1-0NXm0Y)
+- [How to use servo autotrim](https://youtu.be/BOy0d9-s6Uc)
+- [INAV on 7" FPV drones](https://youtu.be/phafJYNzTR0)
+- [What is Ez Tune?](https://youtu.be/94foP_mxBLk)
+- [INAV on a flying wing full tutorial](https://www.youtube.com/playlist?list=PLOUQ8o2_nCLkZlulvqsX_vRMfXd5zM7Ha)
+- [How to use Autotune](https://youtu.be/Gsi1-0NXm0Y)
+- [How to use servo autotrim](https://youtu.be/BOy0d9-s6Uc)
+- [INAV on 7" FPV drones](https://youtu.be/phafJYNzTR0)
+- [INAV from flash to flight for multirotor drones](https://youtube.com/playlist?list=PLOUQ8o2_nCLkfcKsWobDLtBNIBzwlwRC8)
+- [INAV Fixed Wing Tuning Guide](https://youtu.be/A45vc4OihgY)
+- [INAV Cruise Mode for multirotors](https://youtu.be/4pgDxexuSnU)
+- [Circular geofence with INAV](https://youtu.be/qxkhDCLynU4)
+- [Position Hold tutorial](https://youtu.be/a-pjXIXVkSU)
+- [What is Ez Tune?](https://youtu.be/94foP_mxBLk)
+- [Differential thrust for airplanes](https://youtu.be/UeroXOmn_8Y)
+
+## Troubleshooting videos
+
+* [Why it climbs in Altitude Hold](https://youtu.be/aE5oVbBtlig)
+* [Why motors are hot?](https://youtu.be/zukTkEER-24)
+* [Airmode problems](https://youtu.be/83BpUHay44k)
+* [Why INAV is not arming](https://www.youtube.com/watch?v=7MAdgGkBkXs)
+* [Why magnetometer is not working](https://www.youtube.com/watch?v=-zaIE-s8aHQ)
+* [Why not getting full servo throw on flying wing](https://www.youtube.com/watch?v=o2RwTeBbvos)
+* [Toilet bowling instead of Position Hold](https://www.youtube.com/watch?v=FlEm0-pXNf0)
+
+## Other
+
+* [INAV setup for tracked vehicles](https://youtu.be/9194OzsHOFc)
+* [INAV on a rover tutorial](https://youtu.be/obfc62VWhyw)
+* [Betaflight to INAV migration](https://youtu.be/1hhsqyXeKew)
+* [Painless360 INAV playlist](http://www.youtube.com/playlist?list=PLYsWjANuAm4qdXEGFSeUhOZ10-H8YTSnH)
+* [Can I copy my tune from Betaflight?](https://youtu.be/jgqjhSxd9EA)
+* [INAV channel forwarding](https://youtu.be/sjML2r4dcIw)
+* [Magnetometers are optional](https://youtu.be/uoSMMGpb9-o)
+* [Is GPS required?](https://youtu.be/6jIb0c2dlxE)
diff --git a/versioned_docs/version-8.0.1/quickstart/_category_.json b/versioned_docs/version-8.0.1/quickstart/_category_.json
new file mode 100644
index 0000000..d1ffbef
--- /dev/null
+++ b/versioned_docs/version-8.0.1/quickstart/_category_.json
@@ -0,0 +1,4 @@
+{
+ "label": "Quickstart",
+ "position": 1
+}
diff --git a/versioned_sidebars/version-8.0.1-sidebars.json b/versioned_sidebars/version-8.0.1-sidebars.json
new file mode 100644
index 0000000..5f41a72
--- /dev/null
+++ b/versioned_sidebars/version-8.0.1-sidebars.json
@@ -0,0 +1,8 @@
+{
+ "documentationSidebar": [
+ {
+ "type": "autogenerated",
+ "dirName": "."
+ }
+ ]
+}
diff --git a/versions.json b/versions.json
index 439e9fb..7c239ee 100644
--- a/versions.json
+++ b/versions.json
@@ -1,4 +1,5 @@
[
+ "8.0.1",
"7.1.2",
"6.1.1",
"5.1.0",