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When I press I to activate the Insert Keyframe Menu (in the 3d-view/pose mode) a keyframe is created immediately instead of showing the menu.
This used to bring up the menu. I must have changed some setting but I have no idea which.
How do I get the menu back?
Seems like you've chosen some keying set in the timeline header.
You can clear this by pressing the X next to the name if the selected keying set.
One possibility, you may have unknowingly activated Automatic Keyframe feature and selecting a Keying Set. If this is the case, you need to deactivate the feature by toggling off the red "recording" button in Timeline window, and remove the keying set:
Interface for 2.8X and later will look as so:
In my case I had to select the object, ex. camera, if it is not selected pressing I doesn't work.
