请仔细阅读这些重要的介绍性说明/Please read these important introductory notes carefully

1. 本发布基于betaflight 4.3.1，请暂时使用这个版本的betaflight配置程序来设置飞控参数，相关参数设置请参阅betaflight 4.3.1。/ This release is based on betaflight 4.3.1, please temporarily use this nightly betaflight configurator to configure settings, please refer to betaflight 4.3.1 for related parameter settings
2. 我们的固件仅可用于基于AT32F435/7芯片的飞控，请勿尝试在基于STM32芯片的飞控上烧写本固件。强行刷入所造成的任何后果均与FlightNG团队无关。/ Our firmware can only be used for flight controllers based on AT32F435/7 chips, please do not try to flash this firmware on flight controllers based on STM32 chips. Any consequences caused by forced flashing have nothing to do with the FlightNG team.
3. 核心团队目前正在主持一个QQ群用于固件讨论，欢迎加入：428787190

• betaflight_4.3.2_EMSRPROTO2_212aa64.hex: LQFP100 AT32F435/7 VMT7 target
• betaflight_4.3.2_NEUTRONRCF435SE_212aa64.hex: LQFP64 NEUTRONRCF435SE target
• betaflight_4.3.2_NEUTRONRCF435MINI_212aa64.hex: QFN48 NEUTRONRCF435MINI target

改进/Improvements

• 将BMI270驱动从“Maximum Fifo”切换为“Normal” | Switched BMI270 driver from "Maximum Fifo" to "Normal"
• 添加了对LSM6DS3的支持 | Added support for LSM6DS3
• 添加了对LSM6DSL/LSM6DS3TR-C的支持 | Added support for LSM6DSL/LSM6DS3TR-C
• 启用BMI270的运行时偏差补偿 | Enabled IOC feature of BMI270
• 添加了史密斯预测器 | Added Smith Predictor

错误修复/Fixes

• 修复了DPS310驱动中错误的C11系数 | Fixed wrong C11 coef of DPS310 driver
• 修复了BMI270驱动中的的跨轴灵敏度补偿部分 | Fixed CAS part in BMI270 driver
• 修复了I2C超时时间过长导致卡住的错误 | Fixed wrong I2C timeout time
• 修复了BMI270驱动中的错误读写方式 | Fixed basic WR method in BMI270 driver
• 修复了编译阶段的警告错误 | Fixed compiling errors

目标更新/Target Updates

• 将所有AT32目标的1234舵机默认值更改为5678电机 | Modified all AT32's 1234 servo to motor 5678
• 规范化NEUTRONRC的固件定义及命名 | Unified NeutronRC targets name
• 添加了基于CGU7芯片的NEUTRONRCF435MINI目标 | Added NEUTRONRCF435MINI based on CGU7

贡献者/Contributors

@DusKing1 @shanggl @SteveCEvans