4.4.0

版本发布时间: 2023-01-29 07:32:35

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

Introducing: Betaflight 4.4.0

Our release notes for 4.4.0 are here: https://betaflight.com/docs/release/Betaflight-4.4-Release-Notes

IMPORTANT: Make sure you install and use the latest version of the Betaflight Configurator (10.9.0) before updating your firmware.

Please read these important introductory notes:

There is a new betaflight.com website that houses all the documentation and media for helping you get the best out of Betaflight. Well done to the team who have pulled that together. Check it out: http://www.betaflight.com.
If your target does not present the 4.4.0 releases in 10.9.0 of the configurator, then please flash 4.3.2 and then submit a support request from within the CLI tab. This should give us enough information to at least get your target up and running with 4.4.0. The reason it will be missing is the manufacturer or our flyers, have yet to provide the details needed about what hardware is on the board.
After updating to Betaflight 4.4.0, you MUST use the latest 10.9.0 Betaflight Configurator. Earlier configurator versions (e.g.10.8) will not work properly with 4.4 releases.
4.4 has a new Cloud Building System. This is design to extend the life of smaller flash sized MCUs (F411 and F722) based boards. You need to enable the various options in the build, before selecting "Load Firmware Online" within the configurator. It is super simple, but just be aware that unless you have selected the option for your firmware it will not be available once you flash the board. Don't stress, if you miss an option, just request a new build! :)
HD OSD support has been added. This is not currently supported by HD Zero, but some effort there is in the works so watch this space.
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.

Betaflight has a presence on the Discord messaging platform - and this is the primary location for support, questions and discussions. 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.

Alternatively, if you don't use Discord and you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this in our Facebook group.

What's Changed

Features

Add OSD_CRAFTNAME_MSGS to insert additional data into CraftName by @howels in https://github.com/betaflight/betaflight/pull/11771
Ghost MSP support by @daleckystepan in https://github.com/betaflight/betaflight/pull/11242
ExpressLRS 3.0 compatibility mode by @phobos- in https://github.com/betaflight/betaflight/pull/11783
VTX Device over MSP by @phobos- in https://github.com/betaflight/betaflight/pull/11705
Feature/dshot extended telemetry on unused ranges by @damosvil in https://github.com/betaflight/betaflight/pull/11694
Set PID profile count and RATE profile count to 4 by @haslinghuis in https://github.com/betaflight/betaflight/pull/11770
Implement battery continuation by @rvdveen in https://github.com/betaflight/betaflight/pull/11084
Watt Hours Drawn OSD Element and Post Flight Stat by @jonmahoney15 in https://github.com/betaflight/betaflight/pull/11843
CLOUD_BUILD enablement. Supporting the use of a cloud build server. by @blckmn in https://github.com/betaflight/betaflight/pull/11850
Add AUX channel value to OSD (e.g. for Pilot's Heart Rate) by @alexeystn in https://github.com/betaflight/betaflight/pull/10789
Ready Mode by @jonmahoney15 in https://github.com/betaflight/betaflight/pull/11886
Add support for getting/setting elrs uid via msp API by @jeffpearce in https://github.com/betaflight/betaflight/pull/11192
Rename 'display_name' to 'pilot_name'; rename 'name' to 'craft_name' ;Add the 'MSP2_GET_TEXT' and 'MSP2_SET_TEXT' MSP commands by @krasiyan in https://github.com/betaflight/betaflight/pull/11391
Add HD OSD support by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11964
MSP messages to get and set PID and rate profile names. by @qvasic in https://github.com/betaflight/betaflight/pull/12020
Show PID and rate profile names in OSD menu. by @qvasic in https://github.com/betaflight/betaflight/pull/11962

Improvements

Add angle limit to OSD settings menu by @SpencerGraffunder in https://github.com/betaflight/betaflight/pull/11257
Adds blackbox fields_disabled_mask to msp by @fgiudice98 in https://github.com/betaflight/betaflight/pull/10054
Remove unused rxRefreshRate by @daleckystepan in https://github.com/betaflight/betaflight/pull/11668
Update GPS Rescue by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11579
Extract function toUpperCase for osd elements by @limonspb in https://github.com/betaflight/betaflight/pull/11670
Only write to FLASH once 64 bytes are buffered by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11697
Save flash: Replace CLI params for OSD stats and warnings with bitmasks by @limonspb in https://github.com/betaflight/betaflight/pull/11671
Use timed timeouts for USB HAL functions, not simple counts, as per H7 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11669
Use macros for power with integer exponents by @mathiasvr in https://github.com/betaflight/betaflight/pull/11126
Style: Use angle brackets with standard library headers by @mathiasvr in https://github.com/betaflight/betaflight/pull/11196
Remove USE_EXTI, USE_GYRO_EXTI and USE_MPU_DATA_READY_SIGNAL defines by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11585
MAX7456 cleanups 1 by @hydra in https://github.com/betaflight/betaflight/pull/11662
Refactoring IMU, ACC and small PID loop improvements by @daleckystepan in https://github.com/betaflight/betaflight/pull/11326
Move to Github Actions for PRs by @blckmn in https://github.com/betaflight/betaflight/pull/11723
Don't set sleepTime to ut_delay in BARO_STATE_PRESSURE_SAMPLE state by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11740
CLI: Raise upper limit of dyn_idle_min_rpm by @KarateBrot in https://github.com/betaflight/betaflight/pull/11769
Allow dyn_notch_min_hz as low as 20Hz by @bw1129 in https://github.com/betaflight/betaflight/pull/11795
Refactor barometer as floats with pt2 smoothing by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11775
Change Dynamic Notch Min Hz default to 100Hz by @SupaflyFPV in https://github.com/betaflight/betaflight/pull/11827
Unify all eRPM to RPM calculations into one single function by @damosvil in https://github.com/betaflight/betaflight/pull/11772
GPS Rescue smoothed with upsampled inputs, bug fixes by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11834
Cleanup some switch-case-s by @DusKing1 in https://github.com/betaflight/betaflight/pull/11810
Add MSP displayport sub-command definitions by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11864
Enhancements for ICM-426xx (gyro and acc) by @KarateBrot in https://github.com/betaflight/betaflight/pull/11866
Fix function brace style by @mathiasvr in https://github.com/betaflight/betaflight/pull/11191
ExpressLRS: Minor style fix and clean up by @mathiasvr in https://github.com/betaflight/betaflight/pull/11195
Use ARRAYLEN macro where applicable by @mathiasvr in https://github.com/betaflight/betaflight/pull/11190
Populate unified targets as separate target folders by @blckmn in https://github.com/betaflight/betaflight/pull/11885
Move TPA to PID profile by @haslinghuis in https://github.com/betaflight/betaflight/pull/11779
Use std abs() instead of ABS() macro by @mathiasvr in https://github.com/betaflight/betaflight/pull/11097
Use lrintf for explicit rounding of float to integer by @mathiasvr in https://github.com/betaflight/betaflight/pull/11102
Remove old style definitions by @KarateBrot in https://github.com/betaflight/betaflight/pull/11887
BMI160/270: Stronger acc anti-aliasing by @KarateBrot in https://github.com/betaflight/betaflight/pull/11895
Revert GPS satellite minimums to single gps_rescue_min_sats value by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11905
Removing 'UNIFIED_TARGET' by @blckmn in https://github.com/betaflight/betaflight/pull/11909
Remove duplicate DSHOT port configuration by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11915
Lock altitude task at 100Hz & fix baro calibration by @KarateBrot in https://github.com/betaflight/betaflight/pull/11911
use PWM_RANGE consistently by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11921
Enable MSP Displayport on a serial port using FUNCTION_MSP_DISPLAYPORT by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11913
Moving OSD to cloud build option by @blckmn in https://github.com/betaflight/betaflight/pull/11926
Final target clean up by @blckmn in https://github.com/betaflight/betaflight/pull/11925
Adding board scratch space. by @blckmn in https://github.com/betaflight/betaflight/pull/11920
Parse GPS DOP values by @KarateBrot in https://github.com/betaflight/betaflight/pull/11912
Dedicated task for GPS Rescue by @KarateBrot in https://github.com/betaflight/betaflight/pull/11972
Refactor RPM Filter by @KarateBrot in https://github.com/betaflight/betaflight/pull/11765
Add HD OSD system elements for VTX temp and goggle fan speed by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11999
Fix/enhance NMEA & Ublox message polling for GPS by @KarateBrot in https://github.com/betaflight/betaflight/pull/12022
NMEA ATGM336 - support 10Hz refresh rate by @krzysztofkuczek in https://github.com/betaflight/betaflight/pull/12008
Display FLASH JEDEC ID in status and flash_info by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12051
Extend error output by @haslinghuis in https://github.com/betaflight/betaflight/pull/12063
Cloud build option for 64 leds by @limonspb in https://github.com/betaflight/betaflight/pull/12064
Add support for Omron 2SMBP-02B barometer by @mluessi in https://github.com/betaflight/betaflight/pull/11173
Display OSD canvas size in status command by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12108
Improved SDFT windowing by @KarateBrot in https://github.com/betaflight/betaflight/pull/12117
Disarm on fail-safe when allow arming without fix is enabled and failsafe procedure is set to GPS-RESCUE by @haslinghuis in https://github.com/betaflight/betaflight/pull/12120
Flash M25P16: Add QSPI support by @mluessi in https://github.com/betaflight/betaflight/pull/12103
Add osd_canvas_width/height variables by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12164
Automatically apply HD settings if HD VTX is detected by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12184

Fixes

Fix compilation error when USE_RX_MSP_OVERRIDE is defined without USE_RX_MSP. by @hydra in https://github.com/betaflight/betaflight/pull/11661
IRC Ghost protocol improvements by @daleckystepan in https://github.com/betaflight/betaflight/pull/10801
Ghost jitter fix by @daleckystepan in https://github.com/betaflight/betaflight/pull/11234
Fixing segmentation fault of SITL. by @xuhao1 in https://github.com/betaflight/betaflight/pull/11302
Fix mcu types by @daleckystepan in https://github.com/betaflight/betaflight/pull/11716
Add support for BMI160 gyro for unified targets where TARGET_FLASH_SIZE > 512 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11707
Make sure to write dshot stop cmd to all other motors when targeting … by @RoarFPV in https://github.com/betaflight/betaflight/pull/11672
Fix debug mode D_LPF by @KarateBrot in https://github.com/betaflight/betaflight/pull/11721
Fix data overwriting in VCP_DataTx on F4 by @daleckystepan in https://github.com/betaflight/betaflight/pull/11713
Fix cli unit test on Clang 13 by @daleckystepan in https://github.com/betaflight/betaflight/pull/11184
Flashfs: Add support for asynchronous complete erase by @mluessi in https://github.com/betaflight/betaflight/pull/11719
Revert b6e2790f as this broke FrSky SPI by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11750
Remove superfluous double ; by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11761
Lower max CraftName length to avoid ugly truncation errors by @howels in https://github.com/betaflight/betaflight/pull/11801
Gps rescue - default to Ublox, fix landing phase criteria, fix level mode offsets by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11756
Maintain previous MSP GPS Heading resolution by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11814
MSC - Fix MSC on H7. by @hydra in https://github.com/betaflight/betaflight/pull/11804
Fix SD card initialisation by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11839
Hide accel related modes if accel disabled by @mituritsyn in https://github.com/betaflight/betaflight/pull/11665
Negate CS at end of SPI accesses by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11845
Fix for old telemetry sent to RPM filter during a re-arming sequence by @damosvil in https://github.com/betaflight/betaflight/pull/11847
Restore iTerm Windup to all axes, active by default by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11806
Fix the normal airmode mixer by @Quick-Flash in https://github.com/betaflight/betaflight/pull/11857
Fixes for maxAlt and gpsTrust bugs by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11841
Defer DSHOT telemetry calculations to avoid overload on F411 MCUs by @damosvil in https://github.com/betaflight/betaflight/pull/11851
Ensure that airmode off to on always has a smooth transition by @Quick-Flash in https://github.com/betaflight/betaflight/pull/11867
Fix MSP removed parameter comment by @klutvott123 in https://github.com/betaflight/betaflight/pull/11873
Fix CMS anti gravity gain by @klutvott123 in https://github.com/betaflight/betaflight/pull/11872
Make anti-windup affect the gain from Anti Gravity by @tbolin in https://github.com/betaflight/betaflight/pull/11878
Use SPI DMA for single segments if negateCS false on end marker by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11883
ICM-426xx AAF bugfix & refactoring by @KarateBrot in https://github.com/betaflight/betaflight/pull/11880
Add def for AKK/RDQ SmartAudio bug by @howels in https://github.com/betaflight/betaflight/pull/11891
Fix read of DPS310 coef C11 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11898
Beeper READY_BEEP when home fix is first achieved by @ctzsnooze in https://github.com/betaflight/betaflight/pull/11896
Fix chaining of FLASH SPI transactions by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11897
Fix osd_aux_channel range by @haslinghuis in https://github.com/betaflight/betaflight/pull/11902
Fixes for SITL - adding to the standard list of targets by @blckmn in https://github.com/betaflight/betaflight/pull/11910
Fix SITL build by @haslinghuis in https://github.com/betaflight/betaflight/pull/11917
Fix for OSD Aux Value channel selection by @haslinghuis in https://github.com/betaflight/betaflight/pull/11919
Set GPIOs to GPIO_SPEED_FREQ_LOW for timer based DSHOT by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11916
Add case for MSP OSD device detection by @haslinghuis in https://github.com/betaflight/betaflight/pull/11931
Allow serial port to share all MSP functions at once by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11950
Fix debug GPS_DOP by @KarateBrot in https://github.com/betaflight/betaflight/pull/11956
Enable Instruction and Data cache and prefetch on G4 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11973
Added RSNR to the OSD by @TonyBlit in https://github.com/betaflight/betaflight/pull/11062
Fix ATTITUDE task rate by @KarateBrot in https://github.com/betaflight/betaflight/pull/11975
Fix RPM Filter copy instructions by @KarateBrot in https://github.com/betaflight/betaflight/pull/11988
Fix compatibility for name field by @haslinghuis in https://github.com/betaflight/betaflight/pull/11980
Revert RPM Filter copy instructions to old method by @KarateBrot in https://github.com/betaflight/betaflight/pull/11994
Add missing gyro check by @ASDosjani in https://github.com/betaflight/betaflight/pull/12000
Fix msp API_VERSION_MINOR by @KarateBrot in https://github.com/betaflight/betaflight/pull/12001
Fix OSD_X macro to correctly load the high bit by @bri3d in https://github.com/betaflight/betaflight/pull/12038
Gps Rescue: Fix "velocityD" filtering by @KarateBrot in https://github.com/betaflight/betaflight/pull/12042
Use USE_DMA_SPEC without preconditions by @haslinghuis in https://github.com/betaflight/betaflight/pull/12050
Fix ELRS gating issues. by @hydra in https://github.com/betaflight/betaflight/pull/12055
Center logo and CMS display for HD OSD by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12056
Small fix for msp vtx over crsf framing by @phobos- in https://github.com/betaflight/betaflight/pull/12059
Fixed edt telemetry initial value assignation by @damosvil in https://github.com/betaflight/betaflight/pull/12074
FIX: USE_RX_CC2500 was not gating correctly by @blckmn in https://github.com/betaflight/betaflight/pull/12083
Center ARMED message and stats by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12086
FIX: MSP Displayport now has dependency on OSD config by @blckmn in https://github.com/betaflight/betaflight/pull/12106
FIX: CC2500 not building due to undefined pins. by @blckmn in https://github.com/betaflight/betaflight/pull/12125
FIX: SPI_DPS310 not gated correctly by @blckmn in https://github.com/betaflight/betaflight/pull/12131
Ensure OSD elements are on canvas by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12144
Fix reset PG behaviour and configurator interactions based on USE_OSD_SD and USE_OSD_HD definitions by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12152
Avoid debugging other data than RPM telemetry when decoding DSHOT RPM by @damosvil in https://github.com/betaflight/betaflight/pull/12166
Improve performance for ELRS SX1280 SPI callbacks and SPI/ELRS handlers. by @hydra in https://github.com/betaflight/betaflight/pull/11460
FIX: Hard fault on dump of settings if no OSD selected by @blckmn in https://github.com/betaflight/betaflight/pull/12171
Fixed getDshotAverageRpm function by @damosvil in https://github.com/betaflight/betaflight/pull/12178
Minor fixes for Dyn Notch & SDFT by @KarateBrot in https://github.com/betaflight/betaflight/pull/12199
GPS Rescue Bugfix, add a failsafe debug, refactor stick deflection by @ctzsnooze in https://github.com/betaflight/betaflight/pull/12195
Include MSP over telemetry for ghost by @klutvott123 in https://github.com/betaflight/betaflight/pull/12208
Fix DEBUG_ALTITUDE by @KarateBrot in https://github.com/betaflight/betaflight/pull/12213
Fix SITL by @haslinghuis in https://github.com/betaflight/betaflight/pull/12217
Fix SDFT batch process by @KarateBrot in https://github.com/betaflight/betaflight/pull/12218
fix SITL by @ykeuter in https://github.com/betaflight/betaflight/pull/12220

Targets

Add STM32F411SX1280 unified target by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11648
Add ICM42688P for all unified builds by @SteveCEvans in https://github.com/betaflight/betaflight/pull/11664
Change DEFAULT_RX_FEATURE by @haslinghuis in https://github.com/betaflight/betaflight/pull/11708
Removing all legacy targets (cloud build / embedded config) by @blckmn in https://github.com/betaflight/betaflight/pull/11884
STM32H750 as a standard target by @blckmn in https://github.com/betaflight/betaflight/pull/11957
FIX: Include the legacy drivers (gated) by @blckmn in https://github.com/betaflight/betaflight/pull/12069
Fix STM32H750 target support by @hydra in https://github.com/betaflight/betaflight/pull/12091
STM32H730 base target support. by @hydra in https://github.com/betaflight/betaflight/pull/12093

Known Issues

FIX: Using OSD config when USE_OSD not defined. by @blckmn in https://github.com/betaflight/betaflight/pull/11963

New Contributors

@SpencerGraffunder made their first contribution in https://github.com/betaflight/betaflight/pull/11257
@xuhao1 made their first contribution in https://github.com/betaflight/betaflight/pull/11302
@VitroidFPV made their first contribution in https://github.com/betaflight/betaflight/pull/11714
@RoarFPV made their first contribution in https://github.com/betaflight/betaflight/pull/11672
@howels made their first contribution in https://github.com/betaflight/betaflight/pull/11771
@bw1129 made their first contribution in https://github.com/betaflight/betaflight/pull/11795
@MARCO-E5 made their first contribution in https://github.com/betaflight/betaflight/pull/11793
@damosvil made their first contribution in https://github.com/betaflight/betaflight/pull/11694
@P-I-Engineer made their first contribution in https://github.com/betaflight/betaflight/pull/11275
@jonmahoney15 made their first contribution in https://github.com/betaflight/betaflight/pull/11843
@Quick-Flash made their first contribution in https://github.com/betaflight/betaflight/pull/11857
@tbolin made their first contribution in https://github.com/betaflight/betaflight/pull/11878
@jeffpearce made their first contribution in https://github.com/betaflight/betaflight/pull/11192
@krasiyan made their first contribution in https://github.com/betaflight/betaflight/pull/11391
@HThuren made their first contribution in https://github.com/betaflight/betaflight/pull/11918
@atomic-7 made their first contribution in https://github.com/betaflight/betaflight/pull/11942
@ASDosjani made their first contribution in https://github.com/betaflight/betaflight/pull/12000
@benjamind2 made their first contribution in https://github.com/betaflight/betaflight/pull/12016
@qvasic made their first contribution in https://github.com/betaflight/betaflight/pull/12020
@bri3d made their first contribution in https://github.com/betaflight/betaflight/pull/12038
@sugaarK made their first contribution in https://github.com/betaflight/betaflight/pull/12044
@ykeuter made their first contribution in https://github.com/betaflight/betaflight/pull/12220

Full Changelog: https://github.com/betaflight/betaflight/compare/4.3.0...4.4.0

相关地址：原始地址下载(tar) 下载(zip)

1、 betaflight_4.4.0_SITL.hex 796.86KB

2、 betaflight_4.4.0_STM32F405.hex 1.49MB

3、 betaflight_4.4.0_STM32F411.hex 1.19MB

4、 betaflight_4.4.0_STM32F745.hex 1.5MB

5、 betaflight_4.4.0_STM32F7X2.hex 1.19MB

6、 betaflight_4.4.0_STM32G47X.hex 1.18MB

7、 betaflight_4.4.0_STM32H723.hex 1.59MB

8、 betaflight_4.4.0_STM32H730.hex 2.81MB

9、 betaflight_4.4.0_STM32H743.hex 1.59MB

10、 betaflight_4.4.0_STM32H750.hex 1.23MB

查看：2023-01-29发行的版本