4.5.0-RC1

版本发布时间: 2023-12-25 10:26:28

betaflight/betaflight最新发布版本:4.5.1(2024-07-27 10:22:27)

Introducing: Betaflight 4.5.0-RC1

Merry Christmas Flyers! This is our first Release Candidate for 4.5.0.

Release notes for 4.5.0 are here: https://betaflight.com/docs/wiki/release/Betaflight-4-5-Release-Notes

IMPORTANT: Make sure you install and use the latest version of the Betaflight Configurator (10.10.0-RC1) before updating your firmware.

Don't forget to check it out all the documentation on http://betaflight.com.

What's Changed

Features

OctoSPI and Memory Mapped Flash support by @hydra in https://github.com/betaflight/betaflight/pull/11825
Angle and Horizon Mode improvements by @ctzsnooze in https://github.com/betaflight/betaflight/pull/12231
Add rainbow effect to led strip by @ASDosjani in https://github.com/betaflight/betaflight/pull/12323
Add GPS Lap Timer by @SpencerGraffunder in https://github.com/betaflight/betaflight/pull/11856
RPM Limiter by @Tdogb in https://github.com/betaflight/betaflight/pull/12054
Add (e)RPM field to blackbox logs by @tbolin in https://github.com/betaflight/betaflight/pull/12823
Add support for IST8310 compass by @haslinghuis in https://github.com/betaflight/betaflight/pull/12917
Adding OSD quick menu by @limonspb in https://github.com/betaflight/betaflight/pull/12977
Added throttle flight statistics by @limonspb in https://github.com/betaflight/betaflight/pull/12978
Add support for MSP2_SENSOR_GPS message from RemoteID module by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13062
STMicro LSM6DSV16X IMU support by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13046
Additional TPA breakpoint for low Throttle by @pichim in https://github.com/betaflight/betaflight/pull/13006
STMicro LIS2MDL mag support by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13150
STMicro LPS22DF baro support by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13054
Throttlebased EzLanding by @tbolin in https://github.com/betaflight/betaflight/pull/12094

Improvements

Default blackbox device to NONE on reset by @haslinghuis in https://github.com/betaflight/betaflight/pull/12221
Cleanup make by @blckmn in https://github.com/betaflight/betaflight/pull/12179
Add Octo X8 + to mixer defaults by @VirtualEnder in https://github.com/betaflight/betaflight/pull/12175
Add GYRO_CALIBRATION debug mode by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12241
Enable retrieval of the BUILD_KEY using MSP2 by @blckmn in https://github.com/betaflight/betaflight/pull/12264
Source file re-arrangement for better separation of MCU types by @blckmn in https://github.com/betaflight/betaflight/pull/12268
ELRS - Simplify deferred ISR by @hydra in https://github.com/betaflight/betaflight/pull/12303
NVIC - Update ELRS and SPI atomic_block usage to use appropriate priority levels. by @hydra in https://github.com/betaflight/betaflight/pull/12302
add thrust_linear to blackbox header by @nerdCopter in https://github.com/betaflight/betaflight/pull/12337
Method for adding defaults using defines for resources. by @blckmn in https://github.com/betaflight/betaflight/pull/12342
Refactor GPS state_position by @haslinghuis in https://github.com/betaflight/betaflight/pull/12330
Makefile Cleanup - further simplification of local building by @blckmn in https://github.com/betaflight/betaflight/pull/12354
timerHardware removal - all targets use fullTimerHardware now. by @blckmn in https://github.com/betaflight/betaflight/pull/12349
Simplified platform.h by @blckmn in https://github.com/betaflight/betaflight/pull/12355
Adding additional MOTOR pin mappings for defaults by @blckmn in https://github.com/betaflight/betaflight/pull/12364
Refactor I2C to use I2Cx_SCL_PIN and I2Cx_SDA_PIN by @blckmn in https://github.com/betaflight/betaflight/pull/12357
Remove USE_SWDIO, simply refer to DEBUG by @blckmn in https://github.com/betaflight/betaflight/pull/12361
Using SPI default pins by @blckmn in https://github.com/betaflight/betaflight/pull/12367
To enable display of pin mapping for config.h by @blckmn in https://github.com/betaflight/betaflight/pull/12363
Added SITL Gazebo by @ahcorde in https://github.com/betaflight/betaflight/pull/12346
Move FLASH_PAGE_SIZE definition to CPU specific target.h files by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12394
Add CMS support on TX for ELRS by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12308
Auto generation of config.h from unified target repo by @blckmn in https://github.com/betaflight/betaflight/pull/12353
REFACTOR: moving timer definitions to MCU locations. by @blckmn in https://github.com/betaflight/betaflight/pull/12397
Enable cloud build features at runtime by @haslinghuis in https://github.com/betaflight/betaflight/pull/12388
Removing Custom Defaults by @blckmn in https://github.com/betaflight/betaflight/pull/12425
Rename ACC to ACC_REGS by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12429
AT32F435 BlackBox FLASH support by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12431
Rename MOSI and MISO to SDO and SDI by @haslinghuis in https://github.com/betaflight/betaflight/pull/12469
Removing Brushed ESC auto detect by @blckmn in https://github.com/betaflight/betaflight/pull/12479
Cleanup of USB drivers for AT32F4 by @blckmn in https://github.com/betaflight/betaflight/pull/12441
AT32 initial dshot support by @JBKingdon in https://github.com/betaflight/betaflight/pull/12464
FIX: If local config applied, do not include all drivers. by @blckmn in https://github.com/betaflight/betaflight/pull/12483
Make dyn idle startup increase configurable by @tbolin in https://github.com/betaflight/betaflight/pull/12432
FIX: SPI PIN defaults cleanup #2 by @blckmn in https://github.com/betaflight/betaflight/pull/12487
Debug 8 columns by @bw1129 in https://github.com/betaflight/betaflight/pull/12445
Remove SPEK1024 as the default RX (set to NONE) by @blckmn in https://github.com/betaflight/betaflight/pull/12500
Rename FAKE to VIRTUAL by @TheIsotopes in https://github.com/betaflight/betaflight/pull/12493
Add USB MSC support to AT32 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12481
Set DSHOT default by @haslinghuis in https://github.com/betaflight/betaflight/pull/12508
WORKFLOW: Adding call to create or update target list in API from config.h by @blckmn in https://github.com/betaflight/betaflight/pull/12540
Remove getRcStickDeflection and areSticksInApModePosition by @ctzsnooze in https://github.com/betaflight/betaflight/pull/12198
Update RSSI_DBM to include diversity antenna in OSD element (CRSF) by @haslinghuis in https://github.com/betaflight/betaflight/pull/12359
gyro_init.c remove duplicate include line for icm20689.h by @nerdCopter in https://github.com/betaflight/betaflight/pull/12582
Remove code comments using word retarded by @Quick-Flash in https://github.com/betaflight/betaflight/pull/12592
More efficient PTn gain calculation by @KarateBrot in https://github.com/betaflight/betaflight/pull/12610
Cleanup + led overlay expansion by @ASDosjani in https://github.com/betaflight/betaflight/pull/12554
add getCoreTemp by @HThuren in https://github.com/betaflight/betaflight/pull/12608
Add more info for sensor in (get) MSP_SENSOR_CONFIG by @HThuren in https://github.com/betaflight/betaflight/pull/12626
Implement Stopwatch by @KarateBrot in https://github.com/betaflight/betaflight/pull/12623
Make UBLOX models more configurable by @ASDosjani in https://github.com/betaflight/betaflight/pull/12587
Obtain HSE_VALUE from config.h where provided. by @blckmn in https://github.com/betaflight/betaflight/pull/12632
UBLOX Full Power mode + default STATIONARY model by @ASDosjani in https://github.com/betaflight/betaflight/pull/12659
Optimise DSHOT cache management loops by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12672
Send motor data and then immediately decode prior telemetry data for bitbanged DSHOT by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12685
Lead-Lag Compensator by @KarateBrot in https://github.com/betaflight/betaflight/pull/12730
Add GPS Status Line to CLI Status Output by @ZzyzxTek in https://github.com/betaflight/betaflight/pull/12769
Minor pid.c refactoring by @ctzsnooze in https://github.com/betaflight/betaflight/pull/12722
TPA optimisations by @ctzsnooze in https://github.com/betaflight/betaflight/pull/12721
DShot bitbang decode - simple refactor by @ctzsnooze in https://github.com/betaflight/betaflight/pull/12688
Allow custom H7 HSE freqs. Allow H7 HSI. Limit H723 speed to 520Mhz by @David-OConnor in https://github.com/betaflight/betaflight/pull/12291
Add NMEA Custom commands by @ASDosjani in https://github.com/betaflight/betaflight/pull/12591
Thrust linear code optimisations by @ctzsnooze in https://github.com/betaflight/betaflight/pull/12720
Improve behaviour when GPS Rescue is initiated close to home by @ctzsnooze in https://github.com/betaflight/betaflight/pull/12715
Removing Timer Usage Flags by @blckmn in https://github.com/betaflight/betaflight/pull/12862
Enables retrieval of the RELEASE_NAME using MSP2 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12878
GPIO alternate function initialisation removal for HAL. by @blckmn in https://github.com/betaflight/betaflight/pull/12888
Separate resources for SOFTSERIAL_TX & SOFTSERIAL_RX by @DieHertz in https://github.com/betaflight/betaflight/pull/11786
IMU - increase gain on large Course over ground error by @ledvinap in https://github.com/betaflight/betaflight/pull/12792
Refactor imuCalcKpGain by @ledvinap in https://github.com/betaflight/betaflight/pull/12859
Add unfiltered gyro black box field by @tbolin in https://github.com/betaflight/betaflight/pull/12907
add uart 6 and 7 by @freasy in https://github.com/betaflight/betaflight/pull/12928
AT32F435 camera control by @freasy in https://github.com/betaflight/betaflight/pull/12913
Add default port settings for serial port functions by @haslinghuis in https://github.com/betaflight/betaflight/pull/12986
Use coloured fonts if supported by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13005
M10 ValSet support, GPS connection stability by @freasy in https://github.com/betaflight/betaflight/pull/12799
Added dynamic expo factors to blackbox header by @pichim in https://github.com/betaflight/betaflight/pull/13004
Add LED strip config values to MSP by @ASDosjani in https://github.com/betaflight/betaflight/pull/12995
Add magnetic heading as debug and magnetic declination for the Mahony filter by @pichim in https://github.com/betaflight/betaflight/pull/13073
rearrange rescue phase enum and keep Mag during landing by @ctzsnooze in https://github.com/betaflight/betaflight/pull/13072
Dimmable RPM harmonics by @KarateBrot in https://github.com/betaflight/betaflight/pull/12838
Remove back-and-forth float to int to float conversion in acceleration calculation by @tbolin in https://github.com/betaflight/betaflight/pull/13158
Improved Magnetometer / Compass Bias Estimator by @pichim in https://github.com/betaflight/betaflight/pull/12998
Make AT32 I2C accesses fully interrupt driven by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13171
Add OSD Link Quality alarm value to the MSP by @McGiverGim in https://github.com/betaflight/betaflight/pull/13121
Add additional timers for AT32F4 by @blckmn in https://github.com/betaflight/betaflight/pull/12548
Dshot RPM Telemetry Refactoring by @KarateBrot in https://github.com/betaflight/betaflight/pull/13012
at32: add PA0/PA1 as i2c pins by @bkleiner in https://github.com/betaflight/betaflight/pull/13187
Set serial duplex mode by @haslinghuis in https://github.com/betaflight/betaflight/pull/12909
Encapsulate LSM6DSV16X driver specific macros by @KarateBrot in https://github.com/betaflight/betaflight/pull/13196
Renamed tpa....lower to tpa_low_..., + tpa_low_always = OFF by default by @limonspb in https://github.com/betaflight/betaflight/pull/13206
Make lookupTableThrottleLimitType an extern variable by @limonspb in https://github.com/betaflight/betaflight/pull/13204
at32: add mux 3 for tmr9 on port c by @bkleiner in https://github.com/betaflight/betaflight/pull/13222
Add gyro jitter analysis to DEBUG_SCHEDULER_DETERMINISM by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13230
Revive MSP message for mag declination by @haslinghuis in https://github.com/betaflight/betaflight/pull/13232
Add hardware LPF1 options for lsm6dsv16x gyro by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13234
Revised LPF1+LPF2 filter cutoff bandwidths from STMicro by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13239

Fixes

Fix gating for USE_ACC_SPI_MPU9250 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12240
Fix Bug causing Dynamic Idle to fail if RPM filtering is turned off by @ctzsnooze in https://github.com/betaflight/betaflight/pull/12270
Fix max permissible CMS rows and up/down page arrows by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12277
SD - Use SDIO by default if target uses USE_SDCARD_SDIO. by @hydra in https://github.com/betaflight/betaflight/pull/12301
Don't enable all flash chips by default on EXST targets. by @hydra in https://github.com/betaflight/betaflight/pull/12300
Fix BMI160 accelerometer read in non-DMA SPI transfer by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12338
Fix blackboxdevice missing by @haslinghuis in https://github.com/betaflight/betaflight/pull/12324
FIX: Flash status compilation error by @blckmn in https://github.com/betaflight/betaflight/pull/12360
Enable SPI DMA receive before transmit on AT32 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12368
FIX: Poor performance due to platform movements. by @blckmn in https://github.com/betaflight/betaflight/pull/12373
Fix MPU6000 reset by @klutvott123 in https://github.com/betaflight/betaflight/pull/12371
FIX: Several build issues following configuration changes by @blckmn in https://github.com/betaflight/betaflight/pull/12389
FIX: Multi-gyro enabled but not configured at compile time. by @blckmn in https://github.com/betaflight/betaflight/pull/12404
FIX: LED is zero based index (variance to resource command), ADC pins incorrectly mapped. by @blckmn in https://github.com/betaflight/betaflight/pull/12405
FIX: Custom defaults - premature configuration by @blckmn in https://github.com/betaflight/betaflight/pull/12410
FIX: Legacy drivers required for STM32F411DISCOVERY target by @blckmn in https://github.com/betaflight/betaflight/pull/12411
increase FF smoothing max to suit elrs 1000hz link rate by @sugaarK in https://github.com/betaflight/betaflight/pull/12426
FIX: Autogeneration of config.h inadvertently used PNONE instead of NONE by @blckmn in https://github.com/betaflight/betaflight/pull/12430
H7 Fix frozen ADC values by @klutvott123 in https://github.com/betaflight/betaflight/pull/12439
FIX: Multi gyro and SDIO hard fault by @blckmn in https://github.com/betaflight/betaflight/pull/12446
FIX CONFIG: MATEKF405TEMINI SPI3 + CONFIG DEFAULT_VOLTAGE_METER_SCALE + SYSTEM_HSE_MHZ by @haslinghuis in https://github.com/betaflight/betaflight/pull/12468
Improve GPS Rescue Pitch smoothing and disarming by @ctzsnooze in https://github.com/betaflight/betaflight/pull/12343
added fake barometer sensor name to cli lookup table, fixes cli status crash for SITL by @AJ92 in https://github.com/betaflight/betaflight/pull/12474
FIX: SPI Pins, and I2C pins should be configured in config.h by @blckmn in https://github.com/betaflight/betaflight/pull/12484
FIX: RX SPI modules not correctly activating (incorrect CS pin definition) by @blckmn in https://github.com/betaflight/betaflight/pull/12482
CONFIG: Fix SDCARD CS by @haslinghuis in https://github.com/betaflight/betaflight/pull/12488
FIX: ESCSERIAL_PIN not mapped correctly by @blckmn in https://github.com/betaflight/betaflight/pull/12486
FIX: CRSF no active serial port and telem causing hardfault by @blckmn in https://github.com/betaflight/betaflight/pull/12496
Fix RX protocol config by @haslinghuis in https://github.com/betaflight/betaflight/pull/12497
CONFIG: Fix blackbox by @haslinghuis in https://github.com/betaflight/betaflight/pull/12511
Exclude MSP_OSD_CONFIG if USE_OSD not defined by @klutvott123 in https://github.com/betaflight/betaflight/pull/12513
Revert 12302 NVIC SPI Priority by @ctzsnooze in https://github.com/betaflight/betaflight/pull/12505
CONFIG: Fix VTX feature by @haslinghuis in https://github.com/betaflight/betaflight/pull/12512
CONFIG: Add CAMERA_CONTROL if PIN defined by @haslinghuis in https://github.com/betaflight/betaflight/pull/12516
Fixes #12521 Add separate AAF values for ICM-42605 by @tbolin in https://github.com/betaflight/betaflight/pull/12524
FIX: IBUS telemetry by @haslinghuis in https://github.com/betaflight/betaflight/pull/12541
Keep sending DShot 0 packets between beacon commands by @ctzsnooze in https://github.com/betaflight/betaflight/pull/12544
Restore DShot Beacon control for 4.5 by @ctzsnooze in https://github.com/betaflight/betaflight/pull/12558
Enable OSD feature if USE_OSD_SD or USE_OSD_HD is defined by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12563
Fix H7EXTREME by @haslinghuis in https://github.com/betaflight/betaflight/pull/12596
If DSHOT telemetry is still being received, wait by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12612
Fix PG initialization of DMA defaults for TIMUP configuration by @blckmn in https://github.com/betaflight/betaflight/pull/12633
Position: Remove 15 m/s limit on estimated vario by @mluessi in https://github.com/betaflight/betaflight/pull/12669
Fix flash M25P16 ID with QUADSPI by @mluessi in https://github.com/betaflight/betaflight/pull/12670
fix bootloader jump for g4 mcu by @freasy in https://github.com/betaflight/betaflight/pull/12675
Fix missing cfg_pms.version by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12695
Fix Softserial by @haslinghuis in https://github.com/betaflight/betaflight/pull/12679
Increment parameter group version of GPS config by @KarateBrot in https://github.com/betaflight/betaflight/pull/12681
Fix handling of attribute byte by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12701
Refactor Feedforward Angle and RC Smoothing - mashup of 12578 and 12594 by @ctzsnooze in https://github.com/betaflight/betaflight/pull/12605
Detect if no motor GPIO is specified during DSHOT intialisation by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12745
Tri-state USART TX output if load due to powered down peripheral is detected by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12760
If CS is asserted between transfers then consider bus to be busy for all but owning device by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12604
Converge IMU faster at higher groundspeed during GPS Rescue by @ctzsnooze in https://github.com/betaflight/betaflight/pull/12738
Fix GNSS new data by @haslinghuis in https://github.com/betaflight/betaflight/pull/12725
Fix bidirectional dshot on F7 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12796
fixes not working Ghost on F4xx by @TheIsotopes in https://github.com/betaflight/betaflight/pull/12809
GPS Rescue Bugfix to ensure IMU adaptation to GPS course over ground by @ctzsnooze in https://github.com/betaflight/betaflight/pull/12789
Handle invalid baro pressure values by @haslinghuis in https://github.com/betaflight/betaflight/pull/12815
GPS rescue IMU adaptation 0.2 by @ctzsnooze in https://github.com/betaflight/betaflight/pull/12841
Fix wrong test for BOXMSPOVERRIDE channel by @ledvinap in https://github.com/betaflight/betaflight/pull/12857
Call updateInit() before writing motor command data by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12865
Fix MAG redefines by @haslinghuis in https://github.com/betaflight/betaflight/pull/12882
G4 LPUART rework by @DieHertz in https://github.com/betaflight/betaflight/pull/11821
fix led strip for h7 by @freasy in https://github.com/betaflight/betaflight/pull/12890
Fix g force calculation by @Schuwi in https://github.com/betaflight/betaflight/pull/12892
Fix rcSmoothing warning beeper by @haslinghuis in https://github.com/betaflight/betaflight/pull/12893
Fix rcSmoothing warning OSD by @haslinghuis in https://github.com/betaflight/betaflight/pull/12898
Platform target evaluation fix by @ASDosjani in https://github.com/betaflight/betaflight/pull/12904
Fix Serial USB COM port by @freasy in https://github.com/betaflight/betaflight/pull/12911
Handle USART TX pulldown by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12929
GPS rescue IMU, velocity iTerm and other fixes by @ctzsnooze in https://github.com/betaflight/betaflight/pull/12900
Revert 12577 change for F4 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12969
Rename flight mode by @haslinghuis in https://github.com/betaflight/betaflight/pull/12983
Fix MSP_DISPLAYPORT_UART assignment by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13000
Remove cs lock device by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12999
Fix escserial for HAL targets. by @hydra in https://github.com/betaflight/betaflight/pull/12992
Fix: disable sag compensation if RPM limit is active by @limonspb in https://github.com/betaflight/betaflight/pull/12918
Enable/disable the UART TX before changing the TX pin mode by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13017
UART enable disable f4 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13019
Allow for F7 UART idle preamble to be sent on startup by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13021
AT32F43x: make sure the SRAM configuration is valid by @cruwaller in https://github.com/betaflight/betaflight/pull/13031
Fix MAX7456 clock configuration by @haslinghuis in https://github.com/betaflight/betaflight/pull/13030
Fix AT32 UART 7 and 8 by @haslinghuis in https://github.com/betaflight/betaflight/pull/13027
Fix debug_gps_altitude values by @ctzsnooze in https://github.com/betaflight/betaflight/pull/12803
Fix OSD VTX band/channel info when direct frequency is used by @cruwaller in https://github.com/betaflight/betaflight/pull/13032
Fix GPS Rescue parameters confusion by @haslinghuis in https://github.com/betaflight/betaflight/pull/13047
Only allow arming when valid Rx signals are received by @ctzsnooze in https://github.com/betaflight/betaflight/pull/13033
GPS Lap Timer: Fix best 3 not being calculated by @SpencerGraffunder in https://github.com/betaflight/betaflight/pull/13065
Remove dshot_telemetry_start_margin setting and auto-tune instead by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13075
Fix circling behaviour during GPS Rescue descent phase by @ctzsnooze in https://github.com/betaflight/betaflight/pull/13091
Fix missing target define by @haslinghuis in https://github.com/betaflight/betaflight/pull/13078
Fix marking of softserial port usage by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13097
fix ARTERY UART4 pin 'PH2&PH3' by @BAYCKRC in https://github.com/betaflight/betaflight/pull/13108
Removed SITL hardcoded state port number by @JacopoPan in https://github.com/betaflight/betaflight/pull/13117
Fix buffer overflow in JETIEXBUS character reception by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13130
Disable ICM426XX AFSR feature to prevent stalls by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13132
Check tx on MSP and GPS only by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13100
Remove Special Chars from eRPM Blackbox Field by @KarateBrot in https://github.com/betaflight/betaflight/pull/13123
Fix compass loop time by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13125
Update esc_sensor.h to support higher esc telemetry voltage display by @AlexRice13 in https://github.com/betaflight/betaflight/pull/13115
Increase PG version for rpm_filter by @haslinghuis in https://github.com/betaflight/betaflight/pull/13172
Fix Dshot telemetry by @haslinghuis in https://github.com/betaflight/betaflight/pull/13140
Mag scheduling improvements by @ctzsnooze in https://github.com/betaflight/betaflight/pull/13166
Fix disabling sensor configuration (when device needs battery power) by @haslinghuis in https://github.com/betaflight/betaflight/pull/13177
Fix: ledstrip vtx freq based color selection in RACE mode by @cruwaller in https://github.com/betaflight/betaflight/pull/13096
Fix default PID DENOM by @haslinghuis in https://github.com/betaflight/betaflight/pull/12509
Allow CRSF RX binding via cli by @Auster in https://github.com/betaflight/betaflight/pull/13119
Fixed incorrect accelerometer scaling in MSP by @flaviopinzarrone in https://github.com/betaflight/betaflight/pull/13026
Fix #12908 Add ICM-42688-P IMU to list of IMUs with overflow protection by @tbolin in https://github.com/betaflight/betaflight/pull/13013
Keep I-terms at zero throttle for fixed wings by @limonspb in https://github.com/betaflight/betaflight/pull/13127
Add RPM Limiter to baseline build by @KarateBrot in https://github.com/betaflight/betaflight/pull/13190
Fix # 12991 Change LSM6DSO gyro scaling to 70 mdps/LSB by @tbolin in https://github.com/betaflight/betaflight/pull/13014
Add LPS22DF to core build by @KarateBrot in https://github.com/betaflight/betaflight/pull/13197
Add ICM-42605 to list of gyros with overflow protection by @tbolin in https://github.com/betaflight/betaflight/pull/13194
Rpm limiter initial throttle cap prediction fix by @Tdogb in https://github.com/betaflight/betaflight/pull/13039
fix iterm bug introduced in PR13127 by @ctzsnooze in https://github.com/betaflight/betaflight/pull/13201
Fix OSD Quick Menu by @haslinghuis in https://github.com/betaflight/betaflight/pull/13211
Fix jumpy baro debug by @haslinghuis in https://github.com/betaflight/betaflight/pull/13217
Fix: RPM Limit - reset I-term at arm by @limonspb in https://github.com/betaflight/betaflight/pull/13214
Break LED_STRIP update into 20us chunks by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13218
Added d_min for PID osd elements by @limonspb in https://github.com/betaflight/betaflight/pull/13227
Remove custom defaults and enable features on boot by @haslinghuis in https://github.com/betaflight/betaflight/pull/13216
Fix dma pin list by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13233
Change MAX7456 AUTO default to PAL by @haslinghuis in https://github.com/betaflight/betaflight/pull/13235
Fix builds when PWM motor protocol is used by @haslinghuis in https://github.com/betaflight/betaflight/pull/13236
Add MSP request for UBLOX SatInfo and disable SatInfo on ARMING. by @haslinghuis in https://github.com/betaflight/betaflight/pull/13240

Targets

AT32 development, introduction of AT32F435 target by @blckmn in https://github.com/betaflight/betaflight/pull/12247
Enable DMA on AT32F435 SPI by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12327
Define USE_LATE_TASK_STATISTICS for AT32 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12328
Simplified Local Build using Permanent Config by @blckmn in https://github.com/betaflight/betaflight/pull/12341
NEW TARGET: AT32 debug targets, ATSTARTF435 and REVO-AT by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12392
Require explicit usage of firmware partition for EXST targets. by @hydra in https://github.com/betaflight/betaflight/pull/12299
Adding VMA address to config.h by @blckmn in https://github.com/betaflight/betaflight/pull/12386
Adding last of the settings in unified targets by @blckmn in https://github.com/betaflight/betaflight/pull/12414
Add AT32F435 I2C support by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12423
OSD is always enabled for SPRACINGH7RF and comments in config fix by @blckmn in https://github.com/betaflight/betaflight/pull/12440
Fix Matek H743 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12447
Fix Config by @haslinghuis in https://github.com/betaflight/betaflight/pull/12448
Adding SERIAL provider defaults. Removing auto-generation comment by @blckmn in https://github.com/betaflight/betaflight/pull/12449
FIX CONFIG: Further config.h mappings - CURR, BATT, BARO and BLACKBOX by @blckmn in https://github.com/betaflight/betaflight/pull/12453
FIX CONFIG: Enabling DSHOT BURST by @blckmn in https://github.com/betaflight/betaflight/pull/12457
FIX: update & clean configuration by @haslinghuis in https://github.com/betaflight/betaflight/pull/12451
FIX CONFIG: ESC and NONE for current meters by @blckmn in https://github.com/betaflight/betaflight/pull/12458
FIX CONFIG: LED INVERSION by @blckmn in https://github.com/betaflight/betaflight/pull/12459
Add configuration by @haslinghuis in https://github.com/betaflight/betaflight/pull/12463
FIX CONFIG: PIN IO CONFIG, PIN IO BOX by @blckmn in https://github.com/betaflight/betaflight/pull/12467
FIX CONFIG: Dashboard I2C bus instance by @blckmn in https://github.com/betaflight/betaflight/pull/12470
FIX CONFIG: Adding DSHOT default settings by @blckmn in https://github.com/betaflight/betaflight/pull/12473
FIX CONFIG: GYRO by @haslinghuis in https://github.com/betaflight/betaflight/pull/12475
FIX CONFIG: BARO by @haslinghuis in https://github.com/betaflight/betaflight/pull/12476
FIX CONFIG: SDCARD Inversion by @blckmn in https://github.com/betaflight/betaflight/pull/12478
FIX CONFIG: Incorrect inverter pin definition by @blckmn in https://github.com/betaflight/betaflight/pull/12485
FIX CONFIG by @haslinghuis in https://github.com/betaflight/betaflight/pull/12480
Add 42688p gyro to JHEF411 by @howels in https://github.com/betaflight/betaflight/pull/12490
CONFIG: Add BMP280 to GEPRCF722 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12491
FIX CONFIG: MATEKF405TE /MINI by @TheIsotopes in https://github.com/betaflight/betaflight/pull/12492
FIX CONFIG: Adding USE_FLASH as a permanent fixture for those targets with flash by @blckmn in https://github.com/betaflight/betaflight/pull/12498
Prevent SPRACINGH7RF accidentally using external storage for logging when required for EXST by @howels in https://github.com/betaflight/betaflight/pull/12495
CONFIG: Update FOXEERH743 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12494
CONFIG: add BMP280 to SKYSTARSH7HD by @nerdCopter in https://github.com/betaflight/betaflight/pull/12518
CONFIG: Add FLASH_W25Q128FV to BETAFPVF722 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12515
CONFIG: Add BMP280 to FLYWOOF411V2 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12514
CONFIG: Add BMP280 to GEPRCF405 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12532
CONFIG: Add BMP280 to SPEEDYBEE_F745_AIO by @haslinghuis in https://github.com/betaflight/betaflight/pull/12530
Add NEUTRONRCF435 support including AT32F435RGT7 1M FLASH by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12534
CONFIG: define W25Q128FV for OMNIBUSF4 by @nerdCopter in https://github.com/betaflight/betaflight/pull/12547
CONFIG: define BMI270 for ATOMRCF405 by @nerdCopter in https://github.com/betaflight/betaflight/pull/12536
CONFIG: Register defaults for align-board by @haslinghuis in https://github.com/betaflight/betaflight/pull/12539
CONFIG: Update TODO by @haslinghuis in https://github.com/betaflight/betaflight/pull/12542
Fix NEUTRONRCG4AIO config file by @ctzsnooze in https://github.com/betaflight/betaflight/pull/12535
AT32: Add AIRBOTF435 REV1.0 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12510
Remove USE_VIRTUAL_GYRO defintion for AT32F435 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12571
AIRBOTF435 has AT32F435RMT7 processor by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12570
CONFIG: Add BMP280 to TMOTORF7 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12528
Enable AIRBOTF435 MAX7456 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12584
CONFIG: Add ICM42688P to CRAZYBEEF4FS by @haslinghuis in https://github.com/betaflight/betaflight/pull/12579
CONFIG: Add RUSHF7AIO by @haslinghuis in https://github.com/betaflight/betaflight/pull/12564
CONFIG: Add W25Q128FV to RUSHCORE7 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12586
Add missing rx_spi_bus config to SX1280 targets by @ot0tot in https://github.com/betaflight/betaflight/pull/12567
Add FLASH_W25M512 to EMAX_BABYHAWK_II_HD by @haslinghuis in https://github.com/betaflight/betaflight/pull/12556
Fix NEUTRONRCF7AIO Target Defines by @benjamind2 in https://github.com/betaflight/betaflight/pull/12588
Add MERCURYG4 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12461
CONFIG: Add AOCODARCF722_AIO by @haslinghuis in https://github.com/betaflight/betaflight/pull/12489
Add missing LUXF4OSD flash define by @ot0tot in https://github.com/betaflight/betaflight/pull/12609
CONFIG: Add W25Q128FV to LUXMINIF7 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12603
CONFIG: Add BMI270 to SPEEDYBEEF7MINI by @haslinghuis in https://github.com/betaflight/betaflight/pull/12602
CONFIG: Add SUB250F411 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12593
Fix F411 PA10 Motor DMA Assignment by @ot0tot in https://github.com/betaflight/betaflight/pull/12561
Add SPRO-SPRACINGH7NANO.config by @theojalba in https://github.com/betaflight/betaflight/pull/12575
CONFIG: Fix TMotor F7 BMP280 baro by @dawr68 in https://github.com/betaflight/betaflight/pull/12639
CONFIG: Fix TODO MAG & I2C by @haslinghuis in https://github.com/betaflight/betaflight/pull/12545
CONFIG: Add W25Q128FV to OMNINXT4 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12652
CONFIG: Add BMP280 + W25Q128FV to AIRF7 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12630
CONFIG: Add BARO_SPI_BMP280 to FRSKYF4 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12649
CONFIG: Add BARO_BMP280 to FLYWOOF411 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12650
CONFIG: Add W25Q128FV to REVOLTOSD by @haslinghuis in https://github.com/betaflight/betaflight/pull/12651
CONFIG: Add ICM42688P to AIKONF7 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12627
Fix Mercury G4 and fix TODO for PID_PROCESS_DENOM for all targets by @haslinghuis in https://github.com/betaflight/betaflight/pull/12611
CONFIG: Add FLASH_W25Q128FV to SYNERGYF4 by @haslinghuis in https://github.com/betaflight/betaflight/pull/12660
CONFIG: New Target FOXEERF745V4_AIO by @blckmn in https://github.com/betaflight/betaflight/pull/12677
CONFIG: AOCODAF722MINI Add missing motor 8 output by @dawr68 in https://github.com/betaflight/betaflight/pull/12690
[CONFIG] Updates from master-config and more by @haslinghuis in https://github.com/betaflight/betaflight/pull/12741
[CONFIG] Add NUCLEOF446 Development Board by @haslinghuis in https://github.com/betaflight/betaflight/pull/12678
Implement DShot bit bang for AT32 by @freasy in https://github.com/betaflight/betaflight/pull/12577
[AT32] Change evaluation order by @ASDosjani in https://github.com/betaflight/betaflight/pull/12903
Add H725 target support by @haslinghuis in https://github.com/betaflight/betaflight/pull/12951

Known Issues

BF - Fix QuadSPI include paths. by @hydra in https://github.com/betaflight/betaflight/pull/12298

New Contributors

@VirtualEnder made their first contribution in https://github.com/betaflight/betaflight/pull/12175
@cvetaevvitaliy made their first contribution in https://github.com/betaflight/betaflight/pull/12352
@JBKingdon made their first contribution in https://github.com/betaflight/betaflight/pull/12356
@ahcorde made their first contribution in https://github.com/betaflight/betaflight/pull/12346
@AJ92 made their first contribution in https://github.com/betaflight/betaflight/pull/12474
@ot0tot made their first contribution in https://github.com/betaflight/betaflight/pull/12567
@theojalba made their first contribution in https://github.com/betaflight/betaflight/pull/12575
@dawr68 made their first contribution in https://github.com/betaflight/betaflight/pull/12639
@freasy made their first contribution in https://github.com/betaflight/betaflight/pull/12675
@ZzyzxTek made their first contribution in https://github.com/betaflight/betaflight/pull/12769
@avida made their first contribution in https://github.com/betaflight/betaflight/pull/12880
@Schuwi made their first contribution in https://github.com/betaflight/betaflight/pull/12892
@pichim made their first contribution in https://github.com/betaflight/betaflight/pull/13004
@BAYCKRC made their first contribution in https://github.com/betaflight/betaflight/pull/13108
@JacopoPan made their first contribution in https://github.com/betaflight/betaflight/pull/13117
@valeriyvan made their first contribution in https://github.com/betaflight/betaflight/pull/13164
@AlexRice13 made their first contribution in https://github.com/betaflight/betaflight/pull/13115
@bkleiner made their first contribution in https://github.com/betaflight/betaflight/pull/13187
@Auster made their first contribution in https://github.com/betaflight/betaflight/pull/13119
@flaviopinzarrone made their first contribution in https://github.com/betaflight/betaflight/pull/13026
@mcengiz98 made their first contribution in https://github.com/betaflight/betaflight/pull/13231

Full Changelog: https://github.com/betaflight/betaflight/compare/4.4.0...4.5.0-RC1

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查看：2023-12-25发行的版本