iNavFlight · sensei-hacker · Jan 14, 2026 · Jan 12, 2026 · Jan 17, 2026 · Mar 13, 2026
diff --git a/cmake/stm32.cmake b/cmake/stm32.cmake
@@ -285,7 +285,7 @@ function(target_stm32)
     cmake_parse_arguments(
         args
         # Boolean arguments
-        "DISABLE_MSC;BOOTLOADER"
+        "DISABLE_MSC;BOOTLOADER;NO_BOOTLOADER"
         # Single value arguments
         "HSE_MHZ;LINKER_SCRIPT;NAME;OPENOCD_TARGET;OPTIMIZATION;STARTUP;SVD"
         # Multi-value arguments
@@ -377,7 +377,7 @@ function(target_stm32)
 
     setup_firmware_target(${main_target_name} ${name} ${ARGN})
 
-    if(args_BOOTLOADER)
+    if(args_BOOTLOADER AND NOT args_NO_BOOTLOADER)
         # Bootloader for the target
         set(bl_suffix _bl)
         add_stm32_executable(

diff --git a/docs/SITL/SITL.md b/docs/SITL/SITL.md
@@ -18,7 +18,7 @@ INAV SITL communicates for sensor data and control directly with the correspondi
 
 AS SITL is still an inav software, but running on PC, it is possible to use HITL interface for communication.
 
-INAV-X-Plane-HITL plugin https://github.com/RomanLut/INAV-X-Plane-HITL can be used with SITL.
+[INAV-X-Plane-HITL](https://github.com/RomanLut/INAV-X-Plane-HITL) or [INAV-X-Plane-XITL](https://github.com/Scavanger/INAV-X-Plane-XITL) plugin can be used with SITL.
 
 ## Sensors
 The following sensors are emulated:

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

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

diff --git a/docs/development/Building in Linux.md b/docs/development/Building in Linux.md
@@ -92,7 +92,7 @@ cmake -DCOMPILER_VERSION_CHECK=OFF ..
 
 `cmake` will generate a number of files in your `build` directory, including a cache of generated build settings `CMakeCache.txt` and a `Makefile`.
 
-## Bulding the firmware
+## Building the firmware
 
 Once `cmake` has generated the `build/Makefile`, this `Makfile` (with `make`) is used to build the firmware, again from the `build` directory. It is not necessary to re-run `cmake` unless the INAV cmake configuration is changed (i.e. a new release) or you wish to swap between the ARM SDK compiler and a distro or other external compiler.
 
@@ -101,7 +101,7 @@ The generated `Makefile` uses different a target selection mechanism from the ol
 Typically, to build a single target, just pass the target name to `make`; note that unlike earlier releases, `make` without a target specified will build **all** targets.
 
 ```
-# Build the MATEKF405 firmware
+# Build the MATEKF405 firmware (includes debug symbols by default)
 make MATEKF405
 ```
 
@@ -112,6 +112,31 @@ One can also build multiple targets from a single `make` command:
 make -j $(($(nproc)-1)) MATEKF405 MATEKF722
 ```
 
+### Building All Targets or Release Builds
+
+**⚠️ Important for CI or building many targets:** By default, INAV builds with `-DCMAKE_BUILD_TYPE=RelWithDebInfo`, which includes maximum debug symbols. When building all ~100 targets, this uses **~109 GB of disk space**. The debug symbols are automatically stripped from the final `.hex` files, so they provide no benefit for production builds.
+
+**For production builds, CI, or when building many targets, use Release mode:**
+
+```bash
+cd inav
+mkdir build-release
+cd build-release
+cmake -DCMAKE_BUILD_TYPE=Release ..
+
+# Build specific targets
+make MATEKF405
+
+# Or build all official release targets
+make release
+```
+
+**Disk usage comparison:**
+- `RelWithDebInfo` (default): ~109 GB for all targets
+- `Release`: ~4-6 GB for all targets (96% reduction)
+
+The final `.hex` and `.bin` files are identical in both cases.
+
 The resultant hex file are in the `build` directory.
 
 You can then use the INAV Configurator to flash the local `build/inav_x.y.z_TARGET.hex` file, or use `stm32flash` or `dfu-util` directly from the command line.

diff --git a/docs/development/Hardware In The Loop (HITL) plugin for X-Plane.md b/docs/development/Hardware In The Loop (HITL) plugin for X-Plane.md
@@ -8,4 +8,10 @@
 
 https://github.com/RomanLut/INAV-X-Plane-HITL
 
+or for latest HITL features (INAV >= 9.0)
+
+ **INAV-X-Plane-XITL** 
+
+ https://github.com/Scavanger/INAV-X-Plane-XITL
+
 HITL technique can be used to test features during development. Please check page above for installation instructions.
diff --git a/docs/development/release-create.md b/docs/development/release-create.md
@@ -379,6 +379,25 @@ gh release list --repo iNavFlight/inav-nightly --limit 5
 gh release download <nightly-tag> --repo iNavFlight/inav-nightly --pattern "*.hex"
 ```
 
+#### Building Firmware Locally (if needed)
+
+**⚠️ Important:** Always use Release mode when building firmware for releases to save disk space:
+
+```bash
+cd inav
+mkdir build-release
+cd build-release
+cmake -DCMAKE_BUILD_TYPE=Release ..
+
+# Build all official release targets
+make release
+
+# Or build specific targets
+make MATEKF405 MATEKF722
+```
+
+**Disk usage:** Release mode uses ~4-6 GB vs ~109 GB for default RelWithDebInfo mode (96% reduction). The debug symbols are stripped from final `.hex` files anyway, so Release mode produces identical output.
+
 #### Renaming Firmware Files
 
 Remove CI suffix and add RC number for RC releases: