INAV 2.2 is almost ready. The list of changes is long, those are the most important ones

• STM32F7 optimizations. F7 flight controllers are now as fast as F4
• Better airmode handling for multirotors
• Betaflight D_min equivalent called D-Boost
• Iterm Relax
• Smart Audio 2.1
• New Mission Planner
• Continue mission on failsafe
• waypoints in CLI
• stick arming removed
• DSHOT compatibility fixes
• Blackbox servo logging
• Emergency arming
• G force in OSD
• OpFlow and Surface mode improvements
• Virtual airspeed (pitot) sensor