4.3.0
版本发布时间: 2022-06-14 08:28:35
betaflight/betaflight最新发布版本:4.5.1(2024-07-27 10:22:27)
Introducing the much anticipated and patiently waited for: Betaflight 4.3.
IMPORTANT: Make sure you install and use the latest version of the Betaflight Configurator (10.8 or higher) from https://github.com/betaflight/betaflight-configurator/releases/tag/10.8.0 before updating your firmware.
Please read these important introductory notes:
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After updating to Betaflight 4.3, you MUST use the latest 10.8 Betaflight Configurator. Earlier 10.8 and 10.7 configurator versions will not work properly with 4.3.
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F4 processors should run a 4k PID loop. F411 users should use DShot300, not DShot600, and are blocked from an 8k PID loop. Most F411's should be overclocked to 120Mhz, though some will only tolerate 108Mhz.
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4.3 has a new Slider tuning approach and Presets. Due to parameter changes, do not paste in CLI ‘diff’ or ‘dumps’ from previous versions. A suitable Preset should give great results. The Sliders simplify making final 'tweaks' to your tune.
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Experienced users who want to use numeric data entry for tuning and filters MUST first disable their sliders. It's easiest to do that in Configurator.
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Check all your settings carefully before arming for the first time. Check PIDs, Filters, Rates, motor configuration and motor rotation. For the first flights, arm in a safe place, fly gently, and look out for any setup or build issues.
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We recommend using RPM based filtering for best performance**. Read about enabling and configuring rpm filtering here.
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250hz or 500hz radio link users MUST choose a suitable Preset. 500hz radio links must have
feedforward_smoothing
set to 65-70 with 2 point averaging. 250hz radio links needfeedforward_smoothing
set to 35-40 with 2 point averaging. -
CPU Usage is now reported as a much higher value than previously. This is OK, it's just a change to how we display it. Don't be concerned until it gets around 75%.
For more details and to get the best out of the flight performance improvements, please read the Tuning Notes.
If you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this in our Facebook group.
Betaflight also has a presence on the Discord messaging platform. Come and join us. Most developers hang out there, so this is a great place to talk about the things you are tinkering with in Betaflight, or get help with really complicated configuration problems.
Betaflight 4.3 brings the following updates:
What's Changed
Features
- Added IRC GHST protocol by @mikeller in https://github.com/betaflight/betaflight/pull/10274
- [H7] H7A3 support by @jflyper in https://github.com/betaflight/betaflight/pull/10318
- Implement tuning sliders, add to CMS, MSP by @IvoFPV in https://github.com/betaflight/betaflight/pull/9119
- Add support for OSD element type variants by @etracer65 in https://github.com/betaflight/betaflight/pull/10517
- Self-level modes expo by @etracer65 in https://github.com/betaflight/betaflight/pull/10516
- Multi Dynamic Notch Filter by @KarateBrot in https://github.com/betaflight/betaflight/pull/10554
- PT2 and PT3 filters, rc_Smoothing set to PT3 by default by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10650
- Add PT2 or PT3 lowpass filter options by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10727
- ICM42688-P Acc/Gyro sensor support by @hydra in https://github.com/betaflight/betaflight/pull/10706
- Perform SPI read of gyro/acc using DMA triggered by EXTI interrupt by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10573
- Add ledstrip_brightness to control LED strip brightness by percentage by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10972
- ExpressLRS over SPI - sx1280 and sx1276 support by @phobos- in https://github.com/betaflight/betaflight/pull/10788
- Fixed wrong altitude in DEFAULT (GPS + BARO) mode by @bakwc in https://github.com/betaflight/betaflight/pull/11312
Improvements
- Added dterm configurable expo curve to MSP by @IllusionFpv in https://github.com/betaflight/betaflight/pull/9475
- Add FF Interpolate options to MSP by @Asizon in https://github.com/betaflight/betaflight/pull/9465
- GPS Rescue: Add Configurable Buffer by @EggsBenedict in https://github.com/betaflight/betaflight/pull/9900
- Added vbat_sag_compensation to msp 1.44, revise dyn_idle by @Asizon in https://github.com/betaflight/betaflight/pull/9930
- Cleaned up 'getEstimatedVario()'. by @mikeller in https://github.com/betaflight/betaflight/pull/9867
- Cleaned up the output of the altitude estimation. by @mikeller in https://github.com/betaflight/betaflight/pull/9865
- Added metric for consumption in mAh to LTM telemetry. by @mikeller in https://github.com/betaflight/betaflight/pull/9756
- Removed the unused setting 'mag_declination'. by @mikeller in https://github.com/betaflight/betaflight/pull/9753
- Improved styling of error messages in CLI. by @mikeller in https://github.com/betaflight/betaflight/pull/9632
- H7 linker script cleanup by @hydra in https://github.com/betaflight/betaflight/pull/9641
- Only enable PINIOBOX task when needed by @etracer65 in https://github.com/betaflight/betaflight/pull/9682
- Correct gyro scaling factors by @etracer65 in https://github.com/betaflight/betaflight/pull/9724
- CMS over CRSF compression by @codecae in https://github.com/betaflight/betaflight/pull/9746
- Split initialization from pid.c for flash savings by @etracer65 in https://github.com/betaflight/betaflight/pull/9759
- Added the most common (reasonable) hardware settings to 'dump hardware'. by @mikeller in https://github.com/betaflight/betaflight/pull/9691
- Removed unneeded uppercasing of git revision. by @mikeller in https://github.com/betaflight/betaflight/pull/9752
- Add support for LSM6DSO gyro/acc by @etracer65 in https://github.com/betaflight/betaflight/pull/9767
- MAX7456: Support delayed initialization by @fiam in https://github.com/betaflight/betaflight/pull/9948
- Cleaned up rangefinder code, removed unsupported driver stubs. by @mikeller in https://github.com/betaflight/betaflight/pull/9936
- Refactor p_ratio to sample_rate (fraction of current PID loop frequency) by @fgiudice98 in https://github.com/betaflight/betaflight/pull/9803
- Barometer Infineon DPS310 support by @jflyper in https://github.com/betaflight/betaflight/pull/9957
- Spektrum SPI protocol improvements by @phobos- in https://github.com/betaflight/betaflight/pull/9960
- Removed unused 'io/motors.h' header file. by @mikeller in https://github.com/betaflight/betaflight/pull/9963
- Treat BME280 as BMP280 by @gereic in https://github.com/betaflight/betaflight/pull/9656
- [ADC] Remove MAX_ADC_SUPPORTED and related assertion by @jflyper in https://github.com/betaflight/betaflight/pull/9624
- Thrust linearisation changes by @ctzsnooze in https://github.com/betaflight/betaflight/pull/9740
- OSD: Move crosshair to active elements and not background by @McGiverGim in https://github.com/betaflight/betaflight/pull/9949
- Add DEBUG_D_LPF by @SteveCEvans in https://github.com/betaflight/betaflight/pull/9832
- Initial FrSky ACCST V2.1.x support by @MJ666 in https://github.com/betaflight/betaflight/pull/9697
- Show configuration status in CLI. by @mikeller in https://github.com/betaflight/betaflight/pull/9688
- Refactored assertion in 'settings.c'. by @mikeller in https://github.com/betaflight/betaflight/pull/9690
- Add blackbox fields selection by @fgiudice98 in https://github.com/betaflight/betaflight/pull/9726
- Remove vbat pid compensation by @mikeller in https://github.com/betaflight/betaflight/pull/9633
- Removed DTerm RPM filter. by @mikeller in https://github.com/betaflight/betaflight/pull/9984
- refactor Thrust Linear to initialise throttleCompensateAmount in pid_… by @ctzsnooze in https://github.com/betaflight/betaflight/pull/9990
- Added configurable minimum arming time for a flight to be counted in flight statistics. by @mikeller in https://github.com/betaflight/betaflight/pull/10011
- Added registration for bus devices. by @mikeller in https://github.com/betaflight/betaflight/pull/10000
- Fixed stack size monitoring. by @mikeller in https://github.com/betaflight/betaflight/pull/9998
- Fix issue entering pitmode as well as general VTX IRC tramp improvements. by @pgreenland in https://github.com/betaflight/betaflight/pull/9638
- Cleaned up separation of CRSF test code. by @mikeller in https://github.com/betaflight/betaflight/pull/9863
- Refactored Dshot enabled checks. by @mikeller in https://github.com/betaflight/betaflight/pull/9937
- Add MSP override feature by @birktj in https://github.com/betaflight/betaflight/pull/9915
- Add hdop in MSP_RAW_GPS by @dev-fred in https://github.com/betaflight/betaflight/pull/10064
- Added board information to CMS 'firmware' menu. by @mikeller in https://github.com/betaflight/betaflight/pull/10071
- Motor output reordering feature for CLI and MSP (Firmware part) by @limonspb in https://github.com/betaflight/betaflight/pull/9946
- Added vbat_sag_compensation to Blackbox header by @Asizon in https://github.com/betaflight/betaflight/pull/10079
- Updated dynamic gyro lowpass curve by @IllusionFpv in https://github.com/betaflight/betaflight/pull/10086
- Speed up gyro device detection; fix MPU6000 initialization by @etracer65 in https://github.com/betaflight/betaflight/pull/10098
- Cleaned up handling of 'oldMinRps' in dynamic idle code. by @mikeller in https://github.com/betaflight/betaflight/pull/10105
- feat: add additional min/warn battery cell voltages to CMS by @knoopx in https://github.com/betaflight/betaflight/pull/10112
- add thrust linearization to CSM by @knoopx in https://github.com/betaflight/betaflight/pull/10114
- Add support for British units in OSD by @haslinghuis in https://github.com/betaflight/betaflight/pull/10080
- Rename macros used in FAST_RAM/DATA by @SJ-Innovation in https://github.com/betaflight/betaflight/pull/10128
- [G4] I2C Add I2C pins overloaded with SWD pins by @jflyper in https://github.com/betaflight/betaflight/pull/10137
- [G4] Camera control support by @jflyper in https://github.com/betaflight/betaflight/pull/10138
- Disable stick commands when HID is active and USB is connected by @dkustec in https://github.com/betaflight/betaflight/pull/10095
- Fix default baro handling and address for DPS310 by @jflyper in https://github.com/betaflight/betaflight/pull/10129
- Fix debug names not unique with only 12 chars by @haslinghuis in https://github.com/betaflight/betaflight/pull/10146
- Clean up linker script by @SJ-Innovation in https://github.com/betaflight/betaflight/pull/10126
- Replace peak clipping of FF boost with lowpass filter by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10164
- [G4] TIMER timer_def.h update by @jflyper in https://github.com/betaflight/betaflight/pull/10136
- Support MPU925x internal magnetometer over I2C by @krygacz in https://github.com/betaflight/betaflight/pull/10159
- Add late P boost to antigravity by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10163
- [G4] USB_HID_CDC support by @jflyper in https://github.com/betaflight/betaflight/pull/10178
- Add box mode to disable stick commands by @etracer65 in https://github.com/betaflight/betaflight/pull/10183
- Made stick command disable mode name consistent with other names. by @mikeller in https://github.com/betaflight/betaflight/pull/10199
- Show stopped motors in Motor Diagnostic OSD element by @Igorshp in https://github.com/betaflight/betaflight/pull/10191
- [G4] Add USB/VCP support by @jflyper in https://github.com/betaflight/betaflight/pull/10177
- [G4] BB-DSHOT support (TIM1/TIM8 limited version) by @jflyper in https://github.com/betaflight/betaflight/pull/10176
- add fc attitude request for rcdevice protocol by @azolyoung in https://github.com/betaflight/betaflight/pull/10214
- [G4] CLI and config changes for clock configuration by @jflyper in https://github.com/betaflight/betaflight/pull/10221
- Add compile-time option to enable MSP push messages over the VCP port by @etracer65 in https://github.com/betaflight/betaflight/pull/10230
- [G4][SYSTEM] Basic & build files by @jflyper in https://github.com/betaflight/betaflight/pull/10222
- [H7] BB-Dshot support (TIM1/TIM8 limited version) by @jflyper in https://github.com/betaflight/betaflight/pull/10224
- [H7] Migrate to FW V1.8.0 library by @jflyper in https://github.com/betaflight/betaflight/pull/10175
- Added vbat sag compensation in CMS by @IllusionFpv in https://github.com/betaflight/betaflight/pull/10245
- Add optional high framerate OSD by @alexeystn in https://github.com/betaflight/betaflight/pull/10243
- Added dlpf gyro expo curve in CMS by @IllusionFpv in https://github.com/betaflight/betaflight/pull/10238
- New feature 'Beeper mute' by @dkustec in https://github.com/betaflight/betaflight/pull/10225
- Fix H7 USB MSC library support by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10246
- Allow exit from VTX pitmode when arming craft by @pgreenland in https://github.com/betaflight/betaflight/pull/10166
- Add feedforward to OSD PID elements by @etracer65 in https://github.com/betaflight/betaflight/pull/10257
- Enabled gyro dlpf by default by @IllusionFpv in https://github.com/betaflight/betaflight/pull/10239
- Cleaned up Unified Target definition. by @mikeller in https://github.com/betaflight/betaflight/pull/10263
- Add Thrust Linearization to MSP by @klutvott123 in https://github.com/betaflight/betaflight/pull/10268
- Split mixer code into initialisation and runtime to reduce flash space usage. by @mikeller in https://github.com/betaflight/betaflight/pull/10261
- Improve CMS support of long lookup table names by @etracer65 in https://github.com/betaflight/betaflight/pull/10273
- Refactored mixer / servo init. by @mikeller in https://github.com/betaflight/betaflight/pull/10262
- Split acceleration code into init and runtime to save flash space by @etracer65 in https://github.com/betaflight/betaflight/pull/10279
- Changed optimisation on F7X2 targets to '-O2' to save flash space. by @mikeller in https://github.com/betaflight/betaflight/pull/10287
- Total flights stats for OSD (firmware part) by @limonspb in https://github.com/betaflight/betaflight/pull/10300
- Fix SPI FLASH speed and cycle time impact by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10303
- bump SDK to latest Update by @TheIsotopes in https://github.com/betaflight/betaflight/pull/10306
- Moved parameter group defaults into main flash for STM32F722. by @mikeller in https://github.com/betaflight/betaflight/pull/10305
- Added the dynamic idle throttle offset to the blackbox header to fix the motor output display. by @mikeller in https://github.com/betaflight/betaflight/pull/10307
- Added persistent stats to CMS by @limonspb in https://github.com/betaflight/betaflight/pull/10310
- Include gyro_to_use in blackbox header by @atomgomba in https://github.com/betaflight/betaflight/pull/10315
- Quick rates expo on rc command by @IllusionFpv in https://github.com/betaflight/betaflight/pull/10316
- Add USB MSC support for H7 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10247
- Improved the naming of the digital idle offset getter. by @mikeller in https://github.com/betaflight/betaflight/pull/10317
- [H7] H723/H725 support by @jflyper in https://github.com/betaflight/betaflight/pull/10325
- Remove unused SRAM2 define. by @mikeller in https://github.com/betaflight/betaflight/pull/10319
- Enabled SPI Transaction support for F4 and F7. by @mikeller in https://github.com/betaflight/betaflight/pull/10333
- Implement RSSI (dBm and Pct), LQ, in GHST driver by @mikeller in https://github.com/betaflight/betaflight/pull/10360
- Dynamic idle and idle related mixer changes by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10294
- Dshot commands via MSP by @limonspb in https://github.com/betaflight/betaflight/pull/10372
- New linear mixer (credits to @tylercorleone) by @borisbstyle in https://github.com/betaflight/betaflight/pull/10370
- Optimize pin reconfiguration in DSHOT ISR for H7 by @mluessi in https://github.com/betaflight/betaflight/pull/10383
- H7 LED strip by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10378
- Removed deprecated Dshot commands to enable / disable bidirectional Dshot. by @mikeller in https://github.com/betaflight/betaflight/pull/10402
- Add debug support to GHST protocol driver by @tonycake in https://github.com/betaflight/betaflight/pull/10389
- Improve OSD blink timing logic by @etracer65 in https://github.com/betaflight/betaflight/pull/10424
- Cleaned up debug code in Dshot. by @mikeller in https://github.com/betaflight/betaflight/pull/10408
- Improve rate settings range checking by @etracer65 in https://github.com/betaflight/betaflight/pull/10430
- Simplified the OSD blink frequency calculation. by @mikeller in https://github.com/betaflight/betaflight/pull/10440
- Made fuel reporting for FrSky telemetry consistent. by @mikeller in https://github.com/betaflight/betaflight/pull/10441
- Refactor SD_Init() to return proper SD_Error_t code. by @tstibor in https://github.com/betaflight/betaflight/pull/10459
- Added vtx device status to MSP by @limonspb in https://github.com/betaflight/betaflight/pull/10413
- fixed problem msp_displayport send lost when serial port buffer full by @ligenxxxx in https://github.com/betaflight/betaflight/pull/10410
- [H7] Update power supply configuration by @jflyper in https://github.com/betaflight/betaflight/pull/10458
- Exclude yaw from AntiGravity generated P boost by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10462
- Altitude hold removal cleanup by @etracer65 in https://github.com/betaflight/betaflight/pull/10467
- Add option to display OSD menus over a solid gray background by @etracer65 in https://github.com/betaflight/betaflight/pull/10443
- Fix baro sample size minimum range by @etracer65 in https://github.com/betaflight/betaflight/pull/10472
- Reordered configuration validation to put custom target validation to the end. by @mikeller in https://github.com/betaflight/betaflight/pull/10479
- Add up/down page indicator to CMS menu display by @etracer65 in https://github.com/betaflight/betaflight/pull/10484
- Make MSP displayPort respect the NTSC/PAL setting by @etracer65 in https://github.com/betaflight/betaflight/pull/10485
- new dashboard OLED page for Black Box by @krzysztofkuczek in https://github.com/betaflight/betaflight/pull/10486
- Enable Up/Down reference for artificial horizon in OSD by @bobbycisneros in https://github.com/betaflight/betaflight/pull/10417
- Removed unneeded include from flash_w25n01g.c. by @mikeller in https://github.com/betaflight/betaflight/pull/10539
- Improved the naming of OSD_TYPE_MASK to be more concise. by @mikeller in https://github.com/betaflight/betaflight/pull/10542
- Separate OSD warnings from OSD task and make available via MSP by @etracer65 in https://github.com/betaflight/betaflight/pull/10540
- Add OSD element variants for altitude by @etracer65 in https://github.com/betaflight/betaflight/pull/10551
- Added option to show cell value instead of batt value at stats screen by @dkustec in https://github.com/betaflight/betaflight/pull/9878
- Add a common function used to print formatted floats in the OSD by @etracer65 in https://github.com/betaflight/betaflight/pull/10555
- Fix disabled disarm when Paralyze is activated in armed state by @alexeystn in https://github.com/betaflight/betaflight/pull/10559
- Improved tuning sliders calculation by @IllusionFpv in https://github.com/betaflight/betaflight/pull/10509
- setting simplified_dterm_filters to off by defaults by @TheIsotopes in https://github.com/betaflight/betaflight/pull/10565
- Improve I2C_TIMINGR register calculation by @klutvott123 in https://github.com/betaflight/betaflight/pull/10624
- Use non-blocking access to dps310 baro by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10611
- Fixed shoddy and non-compliant coding style in #10562. by @mikeller in https://github.com/betaflight/betaflight/pull/10630
- Fix RX processing impact on cycle time by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10609
- Add support for S25FL064L by @crteensy in https://github.com/betaflight/betaflight/pull/10640
- Display late execution stats in tasks command by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10605
- Remove non-required interpolated_sp parameters, simplify calling FF recalculation by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10626
- move simplified tuning parameters by 5pt by @IllusionFpv in https://github.com/betaflight/betaflight/pull/10589
- Made the displayport initialisation consistent for all telemetry protocols. by @mikeller in https://github.com/betaflight/betaflight/pull/10543
- New OSD element: Tx Uplink Power by @dkustec in https://github.com/betaflight/betaflight/pull/10582
- add W25Q64JVXGIM flash support by @azolyoung in https://github.com/betaflight/betaflight/pull/10698
- MSP add GPS min rescue dth by @klutvott123 in https://github.com/betaflight/betaflight/pull/10684
- Added Unified Target for STM32G4. by @mikeller in https://github.com/betaflight/betaflight/pull/10577
- Add GPS coordinates OSD elements display variants; add support for Open Location Code display by @etracer65 in https://github.com/betaflight/betaflight/pull/10566
- Preserve resolution of RC input by @klutvott123 in https://github.com/betaflight/betaflight/pull/10707
- reduce FF jitter from duplicates by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10670
- Remove unneeded library function 'powerf()'. by @mikeller in https://github.com/betaflight/betaflight/pull/10711
- default to Actual rates by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10724
- Fix STM32G474 RAM overflow by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10720
- Switched to 'maximum FIFO' version of the BMI270 microcode. by @mikeller in https://github.com/betaflight/betaflight/pull/10715
- Added MCU id / name for STM32G474. by @mikeller in https://github.com/betaflight/betaflight/pull/10714
- Cleaned up matrix rotation. by @mikeller in https://github.com/betaflight/betaflight/pull/10712
- Allow re-initialising dynamic notch by @klutvott123 in https://github.com/betaflight/betaflight/pull/10662
- OSD Fix: show hyphen when no sats by @TonyBlit in https://github.com/betaflight/betaflight/pull/10726
- add CRSF v3 support by @tbs-fpv in https://github.com/betaflight/betaflight/pull/10675
- Add W25Q128 QuadSPI support. by @hydra in https://github.com/betaflight/betaflight/pull/10579
- I2C configurable clockspeed by @klutvott123 in https://github.com/betaflight/betaflight/pull/10653
- Handle timing for gpsUpdate task by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10686
- Handle timing for ledStripUpdate task by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10687
- Allow FlightMode telemetry to be disabled on CRSF by @CapnBry in https://github.com/betaflight/betaflight/pull/10745
- Add GPS Telemetry support to GHST by @tonycake in https://github.com/betaflight/betaflight/pull/10744
- Moved some data into FLASH1 from FLASH to free up space. by @mikeller in https://github.com/betaflight/betaflight/pull/10743
- Small filter efficiency improvements by @KarateBrot in https://github.com/betaflight/betaflight/pull/10742
- Fixed coding style in GHST telemetry. by @mikeller in https://github.com/betaflight/betaflight/pull/10751
- New memory section types for DMA by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10747
- Fixed SPI access for SD cards for STM32G4 and STM32H7. by @mikeller in https://github.com/betaflight/betaflight/pull/10776
- Add UART9/10 support. by @hydra in https://github.com/betaflight/betaflight/pull/10704
- Dynamic notch changes by @KarateBrot in https://github.com/betaflight/betaflight/pull/10767
- Added resetting to defaults for individual parameter groups. by @mikeller in https://github.com/betaflight/betaflight/pull/10755
- Add biquad crossfeeding + RPM filter fix by @KarateBrot in https://github.com/betaflight/betaflight/pull/10757
- New SPI API supporting DMA by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10705
- Added optimised SPI DMA support for F4/F7/H7 access to FLASH for BB by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10525
- Crossfire RSNR used for RSSI calculation by @TonyBlit in https://github.com/betaflight/betaflight/pull/10725
- Default yaw lowpass to 100hz by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10841
- Added check to disable bidirectional Dshot when N-channel timers are used. by @mikeller in https://github.com/betaflight/betaflight/pull/10864
- Added indication for N-channel timers to 'resource show all'. by @mikeller in https://github.com/betaflight/betaflight/pull/10863
- Feedforward fix at centre and renaming by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10805
- Add motorPoleCount to log headers by @atomgomba in https://github.com/betaflight/betaflight/pull/10894
- Changed naming of SPI DMA resources to reflect the SPI bus number. by @mikeller in https://github.com/betaflight/betaflight/pull/10865
- Rearranged flash on targets >512 kB to keep first sector from overflowing. by @mikeller in https://github.com/betaflight/betaflight/pull/10890
- Allow feedforward in level, horizon and other flight modes by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10778
- Dmin high-pass changed from biquad to PT2 with cutoff optimisation by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10889
- Dynamic notch refactoring by @KarateBrot in https://github.com/betaflight/betaflight/pull/10835
- move transition to feedforward by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10777
- Fix typo in gps_conversion.c by @DusKing1 in https://github.com/betaflight/betaflight/pull/10904
- BV/BIT macro consolidation by @daleckystepan in https://github.com/betaflight/betaflight/pull/10806
- UART - Add generic pin swap functionality. by @hydra in https://github.com/betaflight/betaflight/pull/10940
- Suport for long range RC links with refresh rate lower than 33Hz down to 16Hz by @daleckystepan in https://github.com/betaflight/betaflight/pull/10832
- Add support for Zbit ZB25Q128 flash by @DusKing1 in https://github.com/betaflight/betaflight/pull/10812
- Change RPM Filter minHz limit / rename CLI commands and parameters by @KarateBrot in https://github.com/betaflight/betaflight/pull/10856
- New PID sliders and changed defaults by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10919
- Clarified the macro name for the resourceValue_t max index. by @mikeller in https://github.com/betaflight/betaflight/pull/10969
- Cleaned up UART pin swap. by @mikeller in https://github.com/betaflight/betaflight/pull/10960
- Fixed optimisation for board alignment. by @mikeller in https://github.com/betaflight/betaflight/pull/10959
- change lowpass filter CLI names by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10978
- Improved maintainability of the piniobox configuration. by @mikeller in https://github.com/betaflight/betaflight/pull/10923
- Fixed non-portable code. by @mikeller in https://github.com/betaflight/betaflight/pull/10947
- Removed softserial loopback. by @mikeller in https://github.com/betaflight/betaflight/pull/10949
- Cleanup of the bus switch functionality. by @mikeller in https://github.com/betaflight/betaflight/pull/10950
- Fixed instances of 'FAST_CODE FAST_CODE_NOINLINE'. by @mikeller in https://github.com/betaflight/betaflight/pull/10953
- Cleaned up the reset reason handling code a bit. by @mikeller in https://github.com/betaflight/betaflight/pull/10958
- Refactoring of rxFrameTimeUs by @daleckystepan in https://github.com/betaflight/betaflight/pull/10989
- set default iterm_windup to 85 for yaw by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10991
- Keeping debug naming in-line with existing function naming convention. by @blckmn in https://github.com/betaflight/betaflight/pull/10952
- Support dual gyros sharing a common SPI bus by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10997
- Changed the optimisation level for ITCM RAM code to free up some ITCM RAM space on F745. by @mikeller in https://github.com/betaflight/betaflight/pull/10988
- set feedforward max rate limit to 90 by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11008
- Apply CMS simplified tuning settings on exit if there are changes. by @JoeriCapens in https://github.com/betaflight/betaflight/pull/11001
- Added application of simplified tuning on reset. by @mikeller in https://github.com/betaflight/betaflight/pull/10987
- refactor feedforward to minimise recurrent duplicate problems by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11000
- Enabled custom USB product names for non-F4 boards. by @mikeller in https://github.com/betaflight/betaflight/pull/11013
- include gyro and dterm static lpf1 in simplified tuning by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11038
- Make deduplication explicit by @mikeller in https://github.com/betaflight/betaflight/pull/11061
- Add constant (i.e. string) deduplication, including at link time. by @mikeller in https://github.com/betaflight/betaflight/pull/11060
- Change filter slider by @haslinghuis in https://github.com/betaflight/betaflight/pull/11050
- Remove Dynamic Notch from "Features" by @KarateBrot in https://github.com/betaflight/betaflight/pull/10673
- Add 50 mW TX power level to CRSF protocol by @avsaase in https://github.com/betaflight/betaflight/pull/10930
- Dynamic idle - values retained, can be activated without RPM filtering, ignores DShot Idle percentage by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11043
- Allow selection of SPI MOSI/MISO DMA streams by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11007
- MSPv2 over telemetry by @Coolbash in https://github.com/betaflight/betaflight/pull/11112
- No space in sizeof() as per Betaflight coding standard by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11128
- Track state execution time for OSD, baro, rx and GPS tasks and inform scheduler of next state execution time by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10813
- Fix missing SPI5/6 configuration. by @hydra in https://github.com/betaflight/betaflight/pull/10694
- deduplicate more blackbox names by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11113
- Make CMS fields readonly when overridden by a slider and mark with an S by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11111
- Added m9n support by @TonyBlit in https://github.com/betaflight/betaflight/pull/10921
- Fix code aligning in osd_elements.c by @DusKing1 in https://github.com/betaflight/betaflight/pull/11099
- Dshot dshot_bitbang=AUTO behaviour change for non-F4 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11011
- add SK6812 RGBW 4-channel LEDs by @g3gg0 in https://github.com/betaflight/betaflight/pull/10762
- Allow H7 targets to specify an ADC device and channel by @hydra in https://github.com/betaflight/betaflight/pull/10613
- Steve's mashup of proposed PRs for RC2 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11198
- Only allocate DMA streams for SPI_MOSI 1/SPI_MISO 1 if enabled on F4 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11252
- Rename task id to task attr by @daleckystepan in https://github.com/betaflight/betaflight/pull/11261
- Vtx smartaudtio fix space by @daleckystepan in https://github.com/betaflight/betaflight/pull/11299
- Rename attr by @haslinghuis in https://github.com/betaflight/betaflight/pull/11270
- changed the min value for simplified filters to 10 by @limonspb in https://github.com/betaflight/betaflight/pull/11370
- Update to BMI gyros to use OSR4 mode to reduce gyro hardware lowpass filter cutoffs by @ChrisRosser in https://github.com/betaflight/betaflight/pull/11480
- Make negotiated baud configurable for CRSF by @klutvott123 in https://github.com/betaflight/betaflight/pull/11472
- Adding CLI min for failsafe_delay (value of '2' - 0.2s) by @limonspb in https://github.com/betaflight/betaflight/pull/11504
- Failsafe changes proposed for RC5 by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11509
- ELRS / NVIC cleanup by @hydra in https://github.com/betaflight/betaflight/pull/11461
- widening range of BLHeli/_S device id by @4712 in https://github.com/betaflight/betaflight/pull/11513
- Adding standard SIGN function by @blckmn in https://github.com/betaflight/betaflight/pull/11566
- Changes in "crash flip" OSD warning by @limonspb in https://github.com/betaflight/betaflight/pull/11621
Fixes
- Fix baroCalculateAltitude by @jflyper in https://github.com/betaflight/betaflight/pull/9951
- Refresh OSD background after MSP change to craft name by @etracer65 in https://github.com/betaflight/betaflight/pull/9967
- Fixed disabling of OSD feature when OSD is disabled. by @mikeller in https://github.com/betaflight/betaflight/pull/9985
- Fixed missing RPM filter update. by @mikeller in https://github.com/betaflight/betaflight/pull/9999
- Ignore GPS arming disabled when arming in crash flip mode by @etracer65 in https://github.com/betaflight/betaflight/pull/10005
- Prevent crash flip from setting WAS_EVER_ARMED arming flag by @etracer65 in https://github.com/betaflight/betaflight/pull/10006
- Fix build for statistics-disabled DSHOT telemetry by @Mimoja in https://github.com/betaflight/betaflight/pull/10031
- Fixed DEBUG builds. by @mikeller in https://github.com/betaflight/betaflight/pull/10022
- Fixed detection of BMP280 / BME280. by @mikeller in https://github.com/betaflight/betaflight/pull/9982
- Fixed the MAX7456 loop time problems introduced by #9948. by @mikeller in https://github.com/betaflight/betaflight/pull/9981
- Disable GPS RESCUE if mixer is fixed-wing type by @etracer65 in https://github.com/betaflight/betaflight/pull/10057
- Fixed crsf-cms by @haslinghuis in https://github.com/betaflight/betaflight/pull/10075
- Fixed lockup when entering CMS. by @mikeller in https://github.com/betaflight/betaflight/pull/10062
- Fixed bug in FrSky X SPI code affecting RX range. by @mikeller in https://github.com/betaflight/betaflight/pull/10091
- Fix CLI range check error message formatting by @etracer65 in https://github.com/betaflight/betaflight/pull/10092
- Fix a format/argument mismatch in a call to tfp_sprintf() by @SJChannel in https://github.com/betaflight/betaflight/pull/10082
- Fix underflow in channel based RSSI calculations for out of range values by @etracer65 in https://github.com/betaflight/betaflight/pull/10097
- Added missing 'USE_BOARD_INFO' conditionals in cms.c. by @mikeller in https://github.com/betaflight/betaflight/pull/10101
- Fix bug that causes uartTotalRxBytesWaiting() to return incorrect value when DMA is used by @SJChannel in https://github.com/betaflight/betaflight/pull/10118
- Fixed broken tests after #10080. by @mikeller in https://github.com/betaflight/betaflight/pull/10134
- Fixed motorOutputLimitLow in blackbox and OSD. by @mikeller in https://github.com/betaflight/betaflight/pull/10106
- update low rssi error of spektrum by @githubDLG in https://github.com/betaflight/betaflight/pull/10121
- Remap and fix HID_MOUSE_ReportDesc (as part of #10150) by @dkustec in https://github.com/betaflight/betaflight/pull/10153
- Fixed misaligned report 'usages' and added more channels to HID joystick by @dkustec in https://github.com/betaflight/betaflight/pull/10150
- Revert "Clean up linker script" by @mikeller in https://github.com/betaflight/betaflight/pull/10200
- Remove unnecessary drawScreen() calls for MSP displayPort OSD by @etracer65 in https://github.com/betaflight/betaflight/pull/10229
- [H7][ADC] Batch call DeInit() for all used devices by @jflyper in https://github.com/betaflight/betaflight/pull/10232
- [G4] Add missing TIMUP_TIMERS (TIM20) by @jflyper in https://github.com/betaflight/betaflight/pull/10236
- [G4][ADC] Batch call DeInit() for all used devices by @jflyper in https://github.com/betaflight/betaflight/pull/10226
- Fix Dshot range by @haslinghuis in https://github.com/betaflight/betaflight/pull/10223
- Fix dmaopt peripheral numbering for TIMUP by @jflyper in https://github.com/betaflight/betaflight/pull/10237
- Improve custom builds by @knoopx in https://github.com/betaflight/betaflight/pull/10113
- cc2500_common.c: Modify (fix) outer level conditional to cover till the end by @jflyper in https://github.com/betaflight/betaflight/pull/10260
- [H7] Remove USB_USB_ID from target.h by @jflyper in https://github.com/betaflight/betaflight/pull/10286
- Fixed overly high RX task invocation caused by GHST telemetry. by @mikeller in https://github.com/betaflight/betaflight/pull/10282
- Sets antigravity gain to 0 when the user wants none. by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10291
- Update serial-4way-if to v20005 by @4712 in https://github.com/betaflight/betaflight/pull/10290
- Disable HEADFREE flight mode when GPS Rescue is active by @etracer65 in https://github.com/betaflight/betaflight/pull/10309
- Fix cc2500_common define block by @etracer65 in https://github.com/betaflight/betaflight/pull/10326
- [H7] H723/H725 support addition (usbd_conf_stm32h7xx.c) by @jflyper in https://github.com/betaflight/betaflight/pull/10357
- Fixed compiler warnings in FrSky OSD code. by @mikeller in https://github.com/betaflight/betaflight/pull/10363
- Handle H7 RESET_MSC_REQUEST reset case by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10352
- Fix DShot cache clean/invalidate by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10359
- Fix SCB_CleanDCache_by_Addr to be based on portOutputBuffer by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10369
- Fix BIDIR UART issue #10220 by @tonycake in https://github.com/betaflight/betaflight/pull/10388
- Fix VTX tramp protocol for all by @pgreenland in https://github.com/betaflight/betaflight/pull/10348
- Added missing CLI parameter for RSSI dBm. by @mikeller in https://github.com/betaflight/betaflight/pull/10405
- Fixed RAM overflow on NUCLEOH743_RAMBASED. by @mikeller in https://github.com/betaflight/betaflight/pull/10409
- Fixed problem when sending blocking Dshot commands with bitbanged Dshot enabled. by @mikeller in https://github.com/betaflight/betaflight/pull/10406
- Fix multiple div-by-zero related to battery cell count by @etracer65 in https://github.com/betaflight/betaflight/pull/10425
- Fixed MSP command to send Dshot commands. by @mikeller in https://github.com/betaflight/betaflight/pull/10407
- Fix logic error for RACEFLIGHT and KISS rates range checks by @etracer65 in https://github.com/betaflight/betaflight/pull/10429
- Disabled voltage sag compensation in crash flip mode by @phobos- in https://github.com/betaflight/betaflight/pull/10442
- Added missing GUI box for MSP override. by @mikeller in https://github.com/betaflight/betaflight/pull/10454
- Fixed CLI parameter for simplified gyro filters. by @mikeller in https://github.com/betaflight/betaflight/pull/10461
- Fix compile errors for ak8975 magnetometer driver by @etracer65 in https://github.com/betaflight/betaflight/pull/10464
- Fixed unit tests. by @mikeller in https://github.com/betaflight/betaflight/pull/10469
- Fix possible div-by-zero in current meter by @etracer65 in https://github.com/betaflight/betaflight/pull/10471
- Only register CMS displayPort for SRXL and CRSF when appropriate by @etracer65 in https://github.com/betaflight/betaflight/pull/10448
- Validate that the battery min cell voltage is less than the max cell voltage by @etracer65 in https://github.com/betaflight/betaflight/pull/10473
- fix SPI FRSKY_X/FRSKY_X_LBT after adding ACCST 2.1 support by @ilya-epifanov in https://github.com/betaflight/betaflight/pull/10532
- Fixed incorrect parameter value for barometer sample count. by @mikeller in https://github.com/betaflight/betaflight/pull/10481
- Removed unused settings when building without MAX7456 support. by @mikeller in https://github.com/betaflight/betaflight/pull/10487
- Revert default dyn_lpf_expo_curve value for gyro by @IllusionFpv in https://github.com/betaflight/betaflight/pull/10507
- dyn_lpf_curve_expo is uint8, not uint16 by @IllusionFpv in https://github.com/betaflight/betaflight/pull/10508
- Fixed detection of CC2500 with SPI transactions enabled. by @mikeller in https://github.com/betaflight/betaflight/pull/10534
- Fix compiler warning by @haslinghuis in https://github.com/betaflight/betaflight/pull/10537
- Fix mspSerialPush() selected serial port logic by @etracer65 in https://github.com/betaflight/betaflight/pull/10490
- Fix incorrect displayport_msp_serial default and add validation by @etracer65 in https://github.com/betaflight/betaflight/pull/10489
- Fix out of range in serialPortIdentifier_e enumeration by @etracer65 in https://github.com/betaflight/betaflight/pull/10550
- Fixed use of an enum type in a parameter group. by @mikeller in https://github.com/betaflight/betaflight/pull/10552
- Fix vbat_hysteresis docs and potential calculation underflow by @etracer65 in https://github.com/betaflight/betaflight/pull/10563
- Fix G473 AF5 Timers by @kc10kevin in https://github.com/betaflight/betaflight/pull/10567
- Fixed incorrect timer mapping for STM32G4. by @mikeller in https://github.com/betaflight/betaflight/pull/10576
- STM32H7/G4 - Fix failure to allow all ADC instances. by @hydra in https://github.com/betaflight/betaflight/pull/10612
- Modify serial drivers to add a workaround for SmartAudio by @tonycake in https://github.com/betaflight/betaflight/pull/10562
- Fix I2C timeout by @klutvott123 in https://github.com/betaflight/betaflight/pull/10631
- Fixed initialisation of DPS310 when used over I2C. by @mikeller in https://github.com/betaflight/betaflight/pull/10578
- Fixed RX task check. by @mikeller in https://github.com/betaflight/betaflight/pull/10649
- Fix CMS RSSI dBm alarm data type and range by @etracer65 in https://github.com/betaflight/betaflight/pull/10603
- Fix infinite loop in SD card initialisation failure when CONFIG_IN_SDCARD is used. by @hydra in https://github.com/betaflight/betaflight/pull/10696
- [H7][LIB] Remove duplicate definition of assert_param from LL spi by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10663
- MSP fix bytes remaining check by @klutvott123 in https://github.com/betaflight/betaflight/pull/10661
- Fix SPI timeout by @klutvott123 in https://github.com/betaflight/betaflight/pull/10657
- ICM42605 fixes. by @hydra in https://github.com/betaflight/betaflight/pull/10693
- Fix name clashes in FAT filesystem by @hexfet in https://github.com/betaflight/betaflight/pull/10739
- Fix tasks reporting of rate/Hz by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10659
- msp and other small fixes to bring 10727 up to date with 10723 by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10761
- SD Card fixes by @hydra in https://github.com/betaflight/betaflight/pull/10730
- Fixed bugs in UART configuration introduced by #10704. by @mikeller in https://github.com/betaflight/betaflight/pull/10790
- Determine valid SPI clock if USE_OVERCLOCK is not defined by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10869
- Fix chipID decode by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10867
- Fix bitbang dshot by @hydra in https://github.com/betaflight/betaflight/pull/10875
- fix fpv camera angle code error by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10860
- fix: compile error when USE_FEEDFORWARD is undefined by @knoopx in https://github.com/betaflight/betaflight/pull/10848
- fix: linking error when USE_GPS is undefined by @knoopx in https://github.com/betaflight/betaflight/pull/10847
- small error in horizon code by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10781
- fix forgotten entry in #10863 by @TheIsotopes in https://github.com/betaflight/betaflight/pull/10884
- Fix crsf unit test by @klutvott123 in https://github.com/betaflight/betaflight/pull/10876
- cli: fix baudrate reconfigure based on USB VCP baudrate by @cruwaller in https://github.com/betaflight/betaflight/pull/10765
- bug fix - stop feedforward oscillation and improve noise when ADC filter is on by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10893
- Fix non working Frsky OSD by @Asizon in https://github.com/betaflight/betaflight/pull/10816
- Use static definition for ClassData to support USB MSC DMA on G4 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10926
- G4 SPI DMA support by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10909
- Fix pg_resetdata location in FLASH by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10927
- restore rc smoothing to level and horizon modes by @ctzsnooze in https://github.com/betaflight/betaflight/pull/10774
- Fix TIM15_CH2 IO assignment by @mluessi in https://github.com/betaflight/betaflight/pull/10845
- Fixed missing include in SITL file. by @mikeller in https://github.com/betaflight/betaflight/pull/10886
- Fix the RESET_FORCED case not being used. by @hydra in https://github.com/betaflight/betaflight/pull/10766
- MavLink RSSI Range by @JulioCesarMatias in https://github.com/betaflight/betaflight/pull/10785
- hide DMIN RATIO unless USE_D_MIN by @knoopx in https://github.com/betaflight/betaflight/pull/10585
- Fix: CRSFv3 uplink RSSI percentage scaling to match internal 0...1023… by @cruwaller in https://github.com/betaflight/betaflight/pull/10768
- Fix memory corruption caused by MSP_BOXNAMES buffer overflow. by @hydra in https://github.com/betaflight/betaflight/pull/10897
- STM32H7 - Fix SPI5 DMA RX mapping. by @hydra in https://github.com/betaflight/betaflight/pull/10879
- RTC6705SOFTSPI - Fix null pointer de-reference caused by 87c8847c13d7f759548c2384e400d2bc387b159a by @hydra in https://github.com/betaflight/betaflight/pull/10873
- Tidy up SPI sequence indexing and advance write address in m25p16_pageProgramContinue() by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10877
- Fix UART/USART mismatch for USART10. by @hydra in https://github.com/betaflight/betaflight/pull/10818
- SDCard fixes 2 by @hydra in https://github.com/betaflight/betaflight/pull/10799
- Fixed 'timer show' for bitbanged Dshot timers. by @mikeller in https://github.com/betaflight/betaflight/pull/10970
- Cleaned up the debug code. by @mikeller in https://github.com/betaflight/betaflight/pull/10948
- Added resource allocation for DMA. by @mikeller in https://github.com/betaflight/betaflight/pull/10895
- Fixed header declaration for 'resetPidProfile()'. by @mikeller in https://github.com/betaflight/betaflight/pull/10986
- Uprev PG config since 4.2.9 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/10976
- Fix simplified_dterm_filter_multiplier range by @daleckystepan in https://github.com/betaflight/betaflight/pull/10993
- Remove redundant check representing same value by @tstibor in https://github.com/betaflight/betaflight/pull/10962
- Fix h743 board identifier by @DusKing1 in https://github.com/betaflight/betaflight/pull/10985
- Fix ITM unlock by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11006
- Fixed SPI SD card support on H7 targets with SDIO support enabled. by @mikeller in https://github.com/betaflight/betaflight/pull/10998
- Fixed ADC on STM32H7 Unified Targets. by @mikeller in https://github.com/betaflight/betaflight/pull/11014
- Fix W25N01G FLASH writes by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11023
- Force F7 reset after flashing by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11030
- Fixed burst Dshot. by @mikeller in https://github.com/betaflight/betaflight/pull/11053
- Fix BMI270 gyro sync on H743 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11056
- Fix dma compile error by @qubic in https://github.com/betaflight/betaflight/pull/11042
- Fix crsf msp over telemetry by @klutvott123 in https://github.com/betaflight/betaflight/pull/11059
- Fix yaw value bug in CRSF telemetry frame by @tbs-fpv in https://github.com/betaflight/betaflight/pull/11049
- Fix thrust_linear and transient_throttle_limit value type in CLI by @klutvott123 in https://github.com/betaflight/betaflight/pull/11083
- Fix to CRSFv3 uplink debug information and corrects the variable channels amount calculation by @cruwaller in https://github.com/betaflight/betaflight/pull/10764
- Rename cms PITCH PI GAIN by @klutvott123 in https://github.com/betaflight/betaflight/pull/11016
- Check for bus number 0 in spiSetBusInstance() by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11088
- Debug modes cleanup by @daleckystepan in https://github.com/betaflight/betaflight/pull/11101
- Only call sdCardAndFSInit() when SD card is in use by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11122
- Fix FrSky D8 protocol bind issues by @MJ666 in https://github.com/betaflight/betaflight/pull/11129
- Fix SDFT batch size by @KarateBrot in https://github.com/betaflight/betaflight/pull/11116
- Fix dynamic notch PT1 gain by @KarateBrot in https://github.com/betaflight/betaflight/pull/11123
- Fix telemetry displayport initialisation by @klutvott123 in https://github.com/betaflight/betaflight/pull/11103
- Remove shared MSP buffer by @klutvott123 in https://github.com/betaflight/betaflight/pull/11131
- If GPS serial data remains, reschedule task to run again after 1ms by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11135
- MSP commands for calculating/requesting but not setting simplified tuning/values by @limonspb in https://github.com/betaflight/betaflight/pull/11114
- Enhance SDFT noise floor by @KarateBrot in https://github.com/betaflight/betaflight/pull/11143
- Fix use of floating point math functions by @mathiasvr in https://github.com/betaflight/betaflight/pull/11096
- Disable GYRO_EXTI on boards with Gyro and OSD on same SPI channel by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11141
- fix for gps coordinates not shown on OSD by @TonyBlit in https://github.com/betaflight/betaflight/pull/11168
- SPI: fix compilation on F4 when DSHOT_BITBANG is not used by @mluessi in https://github.com/betaflight/betaflight/pull/11179
- Reduce number of OSD bytes transferred in polled mode by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11169
- fix for gps time by @TonyBlit in https://github.com/betaflight/betaflight/pull/11208
- wrong variable for heading by @TonyBlit in https://github.com/betaflight/betaflight/pull/11211
- ExpressLRS - Fix compilation of unit test. by @hydra in https://github.com/betaflight/betaflight/pull/11223
- Ignore UART pins which are not defined by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11220
- Move telemetry displayport init and cms device registering by @klutvott123 in https://github.com/betaflight/betaflight/pull/11189
- Fix bugs found by cppcheck by @daleckystepan in https://github.com/betaflight/betaflight/pull/11183
- Fix SPI sequencing in spiInternalReadWriteBufPolled for H7 by @mluessi in https://github.com/betaflight/betaflight/pull/11172
- Fix MSP over CRSF for larger read and writes by @AlessandroAU in https://github.com/betaflight/betaflight/pull/11218
- Fix max7456ConfigMutable()->clockConfig for OMNIBUSF4 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11247
- Fix rangefinder.c compiler warning by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11253
- Received build errors when linking KISSFCV2F7 by @blckmn in https://github.com/betaflight/betaflight/pull/11254
- Don't define USE_DEBUG_PIN for NUCLEOF722 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11255
- Fix gyro SpiDetect routines by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11256
- Set CAMCTL task priority to TASK_PRIORITY_LOW by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11263
- Bring back F405 bidirectional DSHOT600 by @klutvott123 in https://github.com/betaflight/betaflight/pull/11272
- Ignore duration of calcActiveAdjustmentRanges() and optimize RX_TASK_DECAY_SHIFT by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11269
- [WIP ]Add rounding to proper display dshot values by @daleckystepan in https://github.com/betaflight/betaflight/pull/11289
- revert 11141 re-enable gyro exti sync by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11294
- If barometer read is still in progress ignore state execution time as it is short by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11297
- Fix issues impacting RX_STATE_MODES state duration and add DEBUG_RX_STATE_TIME by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11274
- ExpressLRS - fixed slow initial connection by @phobos- in https://github.com/betaflight/betaflight/pull/11229
- Add scheduler_relax_rx and scheduler_relax_osd variables by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11319
- Remove LPUART1 from STM32G4 and SMT32H7 if no resource configured by @haslinghuis in https://github.com/betaflight/betaflight/pull/11323
- Fix RX loss caused by OSD stats display. by @hydra in https://github.com/betaflight/betaflight/pull/11330
- Use Throttle Setpoint, not rcDATA, for TPA by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11335
- Fix ELRS link failures where link is unrecoverable. by @hydra in https://github.com/betaflight/betaflight/pull/11350
- Only prioritise a task if there's time to run it by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11354
- OSD - Use async screen clear in OSD_STATE_UPDATE_CANVAS. by @hydra in https://github.com/betaflight/betaflight/pull/11351
- Increase number of element groups and use peak hold task estimation for OSD by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11340
- Fix visual beeper by @alexeystn in https://github.com/betaflight/betaflight/pull/11359
- Fix position_alt_*_sats by @ledvinap in https://github.com/betaflight/betaflight/pull/11373
- Update for Battery Efficiency Fix Issue #11277 by @bobbycisneros in https://github.com/betaflight/betaflight/pull/11361
- Fix non DSHOT protocols by @klutvott123 in https://github.com/betaflight/betaflight/pull/11429
- Fix USE_DSHOT_TELEMETRY & USE_DSHOT_BITBANG define compilation issues by @justinflipflops in https://github.com/betaflight/betaflight/pull/11420
- Exploratory concept for ELRS interrupt/busy handling by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11380
- Fix SDFT windowing by @KarateBrot in https://github.com/betaflight/betaflight/pull/11406
- Perform compass reads in the background by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11439
- Fix EXTI issues by @hydra in https://github.com/betaflight/betaflight/pull/11456
- Report true average task execution time in tasks report by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11446
- Fix ELRS issues by @hydra in https://github.com/betaflight/betaflight/pull/11457
- Save not set for VTX osd settings by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11442
- Fix compilation without RC smoothing enabled by @daleckystepan in https://github.com/betaflight/betaflight/pull/11468
- Failsafe timing by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11459
- Fix ELRS lost connection race condition by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11483
- Fix [Bidirectional] DShot issues on G4, F7 and H7 by reducing GPIO speed by @haslinghuis in https://github.com/betaflight/betaflight/pull/11494
- fix for failsafe to apply throttle, aux and recovery delay settings by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11497
- DSHOT/Bitbang - Hold the line at idle for 1 extra bit period. by @hydra in https://github.com/betaflight/betaflight/pull/11469
- Prevent false failsafe / rx loss on eeprom write for all RX protocols by @klutvott123 in https://github.com/betaflight/betaflight/pull/11524
- Remove duplicate line in unit test by @haslinghuis in https://github.com/betaflight/betaflight/pull/11523
- Initialize tasks data earlier by @klutvott123 in https://github.com/betaflight/betaflight/pull/11533
- fix for GPS Return failure in RC4 and RC5 by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11530
- Fix READY_BEEP by @klutvott123 in https://github.com/betaflight/betaflight/pull/11521
- Fix SPI LL Segment Repetition by @mluessi in https://github.com/betaflight/betaflight/pull/11534
- Fix OSD visual beeper by @klutvott123 in https://github.com/betaflight/betaflight/pull/11538
- Add Winbond 25Q128 flash driver by @haslinghuis in https://github.com/betaflight/betaflight/pull/11537
- Improve failsafe handling for Rx's that send bad channel information. by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11541
- Fix CRSF baud negotiation by @klutvott123 in https://github.com/betaflight/betaflight/pull/11500
- Frsky range check issues by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11536
- W25X32 FLASH support by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11550
- Reorder SPI_MOSI 1 and SPI_MISO 1 stream options by @haslinghuis in https://github.com/betaflight/betaflight/pull/11561
- BMI270 driver was reading 1 byte too many by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11568
- CRSF use persistent object to retain baudrate by @klutvott123 in https://github.com/betaflight/betaflight/pull/11564
- Fix ICM-20689 initialisation by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11584
- Change ACC Trim step to 1 (for stick commands) by @limonspb in https://github.com/betaflight/betaflight/pull/11588
- Revert BMI270 read length change, but keep typo fix by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11609
- Fix SPI4 DMA assignment by @haslinghuis in https://github.com/betaflight/betaflight/pull/11604
- Add gyro lock/dma support to BMI160 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11549
- ELRS SPI Fix eeprom write and reboot for msp over telemetry by @klutvott123 in https://github.com/betaflight/betaflight/pull/11573
- Add CRCs to EEPROM PG records to enable check for dirty config by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11597
- Simplify SPI CLK speed setting during gyro detection by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11613
- failsafe by switch aux channel hold change by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11628
Targets
- Add target IFLIGHT_H743_AIO support. by @Linjieqiang in https://github.com/betaflight/betaflight/pull/10181
- Moved config for IFLIGHT_H7_TWING into internal flash. by @mikeller in https://github.com/betaflight/betaflight/pull/10174
- Enable BMP085/BMP180 for F405 and F745 unified targets by @etracer65 in https://github.com/betaflight/betaflight/pull/10258
- Make the MPU6050 (I2C) driver only build on Unified Targets with 1MB flash. by @mikeller in https://github.com/betaflight/betaflight/pull/10277
- [Target] Add target MATEKH743 by @MATEKSYS in https://github.com/betaflight/betaflight/pull/10337
- [H7] Nucleo-H7A3ZI target by @jflyper in https://github.com/betaflight/betaflight/pull/10324
- [H7] NUCLEOH723ZG target by @jflyper in https://github.com/betaflight/betaflight/pull/10355
- [H7] NUCLEOH725ZG target by @jflyper in https://github.com/betaflight/betaflight/pull/10356
- Add more flash chip support for IFLIGHT_H743_AIO board. by @Linjieqiang in https://github.com/betaflight/betaflight/pull/10419
- Add more feature for iFlight_H743_AIO support. by @Linjieqiang in https://github.com/betaflight/betaflight/pull/10451
- Added AK8975 magnetometer driver to Unified Targets. by @mikeller in https://github.com/betaflight/betaflight/pull/10468
- Add support for board "IFLIGHT_H743_AIO_V2" by @Linjieqiang in https://github.com/betaflight/betaflight/pull/10616
- Added BMI270 driver to all Unified Targets. by @mikeller in https://github.com/betaflight/betaflight/pull/10713
- Added a Unified Target for STM32H743. by @mikeller in https://github.com/betaflight/betaflight/pull/10791
- Disable OLC on low flash targets to save around 2kB by @daleckystepan in https://github.com/betaflight/betaflight/pull/11134
- Initial STM32H730 CPU Support by @hydra in https://github.com/betaflight/betaflight/pull/10695
- Add support for ICM42605 and ICM42688P for unified targets except F411 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11305
- Add NEUTRONRCF411SX1280 target by @DusKing1 in https://github.com/betaflight/betaflight/pull/11301
- Set the target BETAFPVF4SX1280 dshot_bitbang to OFF by @betafpv-engineer in https://github.com/betaflight/betaflight/pull/11404
- Add more gyros for NeutronRCF411SX1280 target by @DusKing1 in https://github.com/betaflight/betaflight/pull/11545
- add EmaxModel STM32F411 SX1280 target by @EmaxModel in https://github.com/betaflight/betaflight/pull/11540
- Added BMI270 drivers to CRAZYBEEF4SX1280 target by @phobos- in https://github.com/betaflight/betaflight/pull/11627
New Contributors
- @bys1123 made their first contribution in https://github.com/betaflight/betaflight/pull/9909
- @EggsBenedict made their first contribution in https://github.com/betaflight/betaflight/pull/9900
- @supersidor made their first contribution in https://github.com/betaflight/betaflight/pull/9750
- @gereic made their first contribution in https://github.com/betaflight/betaflight/pull/9656
- @DusKing1 made their first contribution in https://github.com/betaflight/betaflight/pull/9975
- @haslinghuis made their first contribution in https://github.com/betaflight/betaflight/pull/9983
- @Mimoja made their first contribution in https://github.com/betaflight/betaflight/pull/10031
- @MarcBoettinger made their first contribution in https://github.com/betaflight/betaflight/pull/10026
- @pgreenland made their first contribution in https://github.com/betaflight/betaflight/pull/9638
- @birktj made their first contribution in https://github.com/betaflight/betaflight/pull/9915
- @dev-fred made their first contribution in https://github.com/betaflight/betaflight/pull/10064
- @limonspb made their first contribution in https://github.com/betaflight/betaflight/pull/9946
- @knoopx made their first contribution in https://github.com/betaflight/betaflight/pull/10112
- @SJ-Innovation made their first contribution in https://github.com/betaflight/betaflight/pull/10128
- @dkustec made their first contribution in https://github.com/betaflight/betaflight/pull/10095
- @skywinder made their first contribution in https://github.com/betaflight/betaflight/pull/10103
- @krygacz made their first contribution in https://github.com/betaflight/betaflight/pull/10159
- @Igorshp made their first contribution in https://github.com/betaflight/betaflight/pull/10191
- @jcg1541 made their first contribution in https://github.com/betaflight/betaflight/pull/10132
- @alexeystn made their first contribution in https://github.com/betaflight/betaflight/pull/10243
- @tonycake made their first contribution in https://github.com/betaflight/betaflight/pull/10388
- @ligenxxxx made their first contribution in https://github.com/betaflight/betaflight/pull/10410
- @dellch made their first contribution in https://github.com/betaflight/betaflight/pull/10505
- @ilya-epifanov made their first contribution in https://github.com/betaflight/betaflight/pull/10532
- @krzysztofkuczek made their first contribution in https://github.com/betaflight/betaflight/pull/10486
- @bobbycisneros made their first contribution in https://github.com/betaflight/betaflight/pull/10417
- @AlfredJKwack made their first contribution in https://github.com/betaflight/betaflight/pull/10622
- @KarateBrot made their first contribution in https://github.com/betaflight/betaflight/pull/10554
- @crteensy made their first contribution in https://github.com/betaflight/betaflight/pull/10640
- @Dishoungh made their first contribution in https://github.com/betaflight/betaflight/pull/10676
- @hexfet made their first contribution in https://github.com/betaflight/betaflight/pull/10739
- @tbs-fpv made their first contribution in https://github.com/betaflight/betaflight/pull/10675
- @CapnBry made their first contribution in https://github.com/betaflight/betaflight/pull/10745
- @cruwaller made their first contribution in https://github.com/betaflight/betaflight/pull/10765
- @woutput made their first contribution in https://github.com/betaflight/betaflight/pull/10861
- @dimag0g made their first contribution in https://github.com/betaflight/betaflight/pull/10800
- @daleckystepan made their first contribution in https://github.com/betaflight/betaflight/pull/10806
- @JulioCesarMatias made their first contribution in https://github.com/betaflight/betaflight/pull/10785
- @JoeriCapens made their first contribution in https://github.com/betaflight/betaflight/pull/11001
- @saloid made their first contribution in https://github.com/betaflight/betaflight/pull/11055
- @qubic made their first contribution in https://github.com/betaflight/betaflight/pull/11042
- @avsaase made their first contribution in https://github.com/betaflight/betaflight/pull/10930
- @Coolbash made their first contribution in https://github.com/betaflight/betaflight/pull/11112
- @g3gg0 made their first contribution in https://github.com/betaflight/betaflight/pull/10762
- @FrankPetrilli made their first contribution in https://github.com/betaflight/betaflight/pull/11243
- @bakwc made their first contribution in https://github.com/betaflight/betaflight/pull/11312
- @MrTucks made their first contribution in https://github.com/betaflight/betaflight/pull/11320
- @justinflipflops made their first contribution in https://github.com/betaflight/betaflight/pull/11420
- @FiorixF1 made their first contribution in https://github.com/betaflight/betaflight/pull/11403
- @nicovv44 made their first contribution in https://github.com/betaflight/betaflight/pull/11471
- @betafpv-engineer made their first contribution in https://github.com/betaflight/betaflight/pull/11404
- @SupaflyFPV made their first contribution in https://github.com/betaflight/betaflight/pull/11498
- @fahadshihab made their first contribution in https://github.com/betaflight/betaflight/pull/11476
- @David-OConnor made their first contribution in https://github.com/betaflight/betaflight/pull/11490
- @EmaxModel made their first contribution in https://github.com/betaflight/betaflight/pull/11540
- @mituritsyn made their first contribution in https://github.com/betaflight/betaflight/pull/11559
Full Changelog: https://github.com/betaflight/betaflight/compare/4.2.0...4.3.0
1、 betaflight_4.3.0_ALIENWHOOPF7.hex 1.02MB
2、 betaflight_4.3.0_BETAFPVF4SX1280.hex 1.13MB
3、 betaflight_4.3.0_COLIBRI_OPBL.hex 1.18MB
4、 betaflight_4.3.0_CRAZYBEEF4SX1280.hex 1.19MB
5、 betaflight_4.3.0_CRAZYFLIE2.hex 1.08MB
6、 betaflight_4.3.0_CRAZYFLIE2BQ.hex 1.1MB
7、 betaflight_4.3.0_EMAXF4SX1280.hex 1.16MB
8、 betaflight_4.3.0_IFLIGHT_H743_AIO.hex 1.32MB
9、 betaflight_4.3.0_IFLIGHT_H743_AIO_V2.hex 1.32MB
10、 betaflight_4.3.0_KISSFCV2F7.hex 961.65KB
11、 betaflight_4.3.0_MATEKH743.hex 1.31MB
12、 betaflight_4.3.0_NEUTRONRCF411SX1280.hex 1.2MB
13、 betaflight_4.3.0_NUCLEOF446RE.hex 1.11MB
14、 betaflight_4.3.0_NUCLEOF7.hex 1.24MB
15、 betaflight_4.3.0_NUCLEOH723ZG.hex 1.35MB
16、 betaflight_4.3.0_NUCLEOH725ZG.hex 1.35MB
17、 betaflight_4.3.0_NUCLEOH743.hex 1.37MB
18、 betaflight_4.3.0_NUCLEOH743_RAMBASED.hex 1.28MB
19、 betaflight_4.3.0_NUCLEOH7A3ZI.hex 1.35MB
20、 betaflight_4.3.0_REVO_OPBL.hex 1.2MB
21、 betaflight_4.3.0_SITL.hex 1.02MB
22、 betaflight_4.3.0_SPEKTRUMF400.hex 1.1MB
23、 betaflight_4.3.0_SPRACINGH7EXTREME.hex 1.23MB
24、 betaflight_4.3.0_SPRACINGH7NANO.hex 1.23MB
25、 betaflight_4.3.0_SPRACINGH7ZERO.hex 1.23MB
26、 betaflight_4.3.0_STM32F405.hex 1.43MB
27、 betaflight_4.3.0_STM32F411.hex 1.33MB
28、 betaflight_4.3.0_STM32F4DISCOVERY.hex 1.13MB
29、 betaflight_4.3.0_STM32F4DISCOVERY_DEBUG.hex 1.13MB
30、 betaflight_4.3.0_STM32F745.hex 1.45MB
31、 betaflight_4.3.0_STM32F7X2.hex 1.2MB
32、 betaflight_4.3.0_STM32G47X.hex 1.2MB
33、 betaflight_4.3.0_STM32H743.hex 1.53MB