INAV6 相比 INAV6 有不少改变，最大的两个改变如下：
第一个不同：
针对root后的大疆天空端，在端口选择界面，不能再选择“HDZero VTX”了（没有这个选项），这里要选择“MSP Displayport”，如下图：
之后要在OSD界面中选择“DJIWTF”（以前的HD选项也没有了）
第二个不同：
之前设置好GPS后，可以通过一行代码开启“无GPS卫星数也能解锁”功能。原来的代码是
set nav_extra_arming_safety=OFF
这个代码在INAV6中就失效了，需要改为以下代码：
set nav_extra_arming_safety=ALLOW_BYPASS
这里的 ALLOW_BYPASS 据INAV 手册（点我移步查看），相关文字解说如下：
When armed, the aircraft is ready to fly and the motors will spin when throttle is applied. With multirotors, the motors will spin at a slow speed when armed (this feature may be disabled by setting MOTOR_STOP, but for safety reasons, that is not recommended).
Arming and disarming is done using a switch, set up on the modes page. (NOTE: Stick arming was removed in INAV 2.2)
YAW STICK ARMING OVERRIDE: Arming is disabled when Nav modes are configured and no GPS lock is available or if a WP mission is loaded but the first WP is farther than the
nav_wp_safe_distancesetting. This Arming block can be bypassed if need be by settingnav_extra_arming_safetytoALLOW_BYPASSand moving the Yaw stick to the high position when the Arm switch is used. This bypasses GPS Arm blocking pre INAV 4.0.0 and both GPS and “First WP too far” Arm blocking from INAV 4.0.0.
根据手册，要实现“无GPS卫星数也能解锁”，除了要输入上述代码之外，解锁时需要先将油门摇杆拉带最低，再将油门摇杆打到最右边，即解锁时油门摇杆打到右下角。这时候再拨动解锁开关，飞机就能解锁了。
