betaflight

Maintenance Release

Please read the Betaflight 4.1 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 4.1.0.

We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.

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 in the Slack messaging platform. Register here, and then come join us in Slack. 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.

Safety Improvements:

• fixed disabling of dynamic idle when bidirectional Dshot is not enabled (#9719, #9728);
• fixed arming prevention when bidirectional Dshot is enabled but not working with bitbanged Dshot enabled (#9730).

Fixes:

• added exclusion of SWD pins from being initialised as pull up if unused (#9420);
• fixed bug in positioning of the OSD 'RSSI dBm' element (#9602);
• added re-initialisation of mixer elements when switching PID profiles (#9608);
• added missing definition of the SPI1_MOSI pin on H7 (#9610);
• fixed the display of the GPS based absolute altitude before arming (#9616);
• fixed the DMA options for ADC5 (#9625);
• fixed lockup when battery capacity set to 0 and 'battery usage' OSD element enabled (#9644);
• fixed lockup when sticks are completely centered in crash flip mode (#9647);
• fixed inconsistent line endings in CLI responses (#9657);
• added missing pin for I2C2 on F446 (#9662, #9695);
• fixed bug potentially causing a lockup when in MSC mode (#9672);
• added missing timer IRQ handlers for H7 (#9700);
• fixed a bug potentially causing a lockup when using a dashboard display (#9701);
• fixed inconsistency in gyroanalyse code (#9702);
• fix sending of Dshot commands with 'dshotprog' in CLI (#9712);
• fixed CMS over CRSF (#9720);
• fixed resetting of filters when switching between PID profiles (#9723).

Maintenance Release

Please read the Betaflight 4.1 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 4.1.0.

We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.

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 in the Slack messaging platform. Register here, and then come join us in Slack. 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.

Safety Improvements:

• added check to prevent Betaflight configurator from setting rc_smoothing_auto_factor to 100 (#9560).

Fixes:

• fixed inconsistency in DMA instance handling (#9490);
• changed OSD to require a reboot after battery settings changes where this is needed (#9518);
• fixed incorrect output voltages for camera control when overclocking is active (#9537);
• fixed the input validation for the led command in CLI (#9546, #9554);
• fixed bug in the FrSky SPI RX resulting in jitter (#9563);
• fixed a bug in the CRSF protocol breaking RSSI dBm reporting when RSSI reporting is not used (#9587).

Target Updates:

• added support for the QMC-5883 magnetometer to the SPRACINGH7EXTREME target (#9531).

Maintenance Release

Please read the Betaflight 4.1 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 4.1.0.

We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.

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 in the Slack messaging platform. Register here, and then come join us in Slack. 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.

Fixes:

• fixed skipping of labels in the CMS navigation (#9373);
• fixed initialisation of unused pins for STM32F7 and STM32H7 (#9398);
• fixed the 'max' time display in the CLI 'stats' command (#9402);
• fixed the definition of available pins on STM32F411 (#9418);
• fixed compile errors if USE_VTX_TABLE is not defined (#9421);
• fixed the function of 'gps_rescue_alt_mode' (#9433);
• fixed problems with 'sdcard_mode' defaulting to 'sdio' on targets without SD card reader (#9445).

Target Updates:

• added support for SDIO to Unified Targets (#9436).

Maintenance Release

Please read the Betaflight 4.1 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 4.1.0.

We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.

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 in the Slack messaging platform. Register here, and then come join us in Slack. 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.

Fixes:

• fixed bug resulting in very long time to get a GPS fix (#9308);
• fixed bug resulting in incorrect GPS satellite list in configurator (#9309);
• fixed bug in handling of external interrupts (#9311);
• fixed build errors in the SITL target (#9342);
• fixed detection of a MAX7456 chip when powered from USB (#9360);
• fixed ADC reading on H7 (#9367).

Maintenance Release

Please read the Betaflight 4.1 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 4.1.0.

We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.

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 in the Slack messaging platform. Register here, and then come join us in Slack. 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.

Fixes:

• fixed problem with ACC calibration (#9177);
• fixed detection of failsafe for Spektrum SRXL2 failsafe fix for newer receivers (#9189, #9291);
• fixed problem with errorneously dropped frames in CRSF (#9190);
• fixed problem with vtxtable command in CLI (#9197);
• fixed problem in the MAX7456 OSD driver (#9198);
• fixed problems with SPI RX and SD card on Unified Targets (#9218);
• fixed problem when setting board information (#9230);
• fixed problem with MSC mode under MacOS (#9252);
• fixed problems when building without flash chip support (#9253);
• fixed display problems with rc_smoothing command in CLI (#9289);
• fixed problem when building without MAG support (#9290);
• fixed off-by-one problem with vtx command in CLI (#9295).

Maintenance Release

Please read the Betaflight 4.1 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 4.1.0.

We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.

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 in the Slack messaging platform. Register here, and then come join us in Slack. 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.

Fixes:

• fixed bug in IBUS telemetry sending uninitialised values when no GPS is configured (#8925);
• fixed CLI task list header alignment (#9081);
• fixed overflow in blackbox logging when logging ESC_SENSOR data with more than 4 motors (#9087);
• fixed potential buffer overflow in blackbox logging to serial port (#9089);
• fixed bug in QUADSPI driver (#9100);
• fixed overflow in HDOP calculation in SmartPort telemetry (#9112);
• added check to disable IRC Tramp CMS menu if a different VTX is configured (#9134);
• fixed bug printing the wrong value for rc_smoothing_type in the blackbox header (#9140);
• fixed bug in adjustment ranges breaking cases where the activation range does not span the entire RX range for 'select' type adjustments (#9162).

Target Updates:

• enabled burst Dshot for target FLYWOOF411 (#9051);
• added driver for W25N01G flash chip to target ALIENFLIGHTNGF7 (#9053);
• moved the VTX power switch to USER1 mode for targets CLRACINGF4 and CLRACINGF7 (#9062);
• added flash tools to Unified Targets (#9064);
• added compass support for target EXF722DUAL (#9092).

We're already late, so let's keep this short!

As you've come to expect, we've packed this release with a whole lot of new flying goodness, new features, and support for a bunch of new targets.

For an extended list of new features see below.

To make sure you get the latest version of your target installed, head over to this page and make sure you have got the latest version of Betaflight configurator installed before updating your firmware.

To get the best out of the flight performance improvements, please read these tuning tips.

If you are upgrading from an earlier version of Betaflight, please read the following section containing a list of things that you might have to change in your configuration.

We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.

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 in the Slack messaging platform. Register here, and then come join us in Slack. 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.

Have fun

Important information when upgrading

• Betaflight 4.1 brings a fundamental change to how targets are downloaded and installed. The latest release of Betaflight configurator, 10.6.0, contains the changes necessary to support this. For this reason it is important that you update to the version 10.6.0 or newer of Betaflight Configurator (installation instructions here) in order to get the latest version of your targets installed;
• if you are using the Blackbox Explorer, there is an updated version 3.4.0 to go with Betaflight 4.1 (installation instructions here);
• version 1.4.0 of the Betaflight TX lua scripts has been released. This includes changes to go with Betaflight 4.1 (installation instructions here);
• bidirectional Dshot, which is the basis for RPM based filtering, has been improved and is now available with BLHeli_32 (from version 32.7 on) and on BLHeli_S hardware (by using the JESC firmware). Use these instructions to get it set up (#8554, #8779);
• as you have come to expect, there is a detailed Tuning Notes for Betaflight 4.1. Use them, or use the new tuning sliders in the Betaflight configurator 10.6.0 to get your craft tuned. Please do not paste tuning configurations from previous versions of the firmware. Some defaults have been changed, and some parameters are used in different ways, so previous tuning settings will not work well with Betaflight 4.1 (#8623, #8736);
• with the introduction of fully configurable VTX control (VTX tables), after flashing the firmware you now have to load a VTX tables appropriate for your VTX and for the country you are flying in before you can control your VTX through Betaflight. Support for loading VTX tables from files is integrated into Betaflight configurator from version 10.6.0 on. Please see the documentation in the new 'Video Transmitter' tab for instructions on how to find an appropriate VTX table and install it (#7251);
• some optimisations were made to the OSD fonts, and some characters were improved. In order to get a properly working OSD with Betaflight 4.1, the font loaded onto the OSD needs to be updated to the latest version (available in configurator 10.6.0 or newer) (#8390);
• as announced before the release of Betaflight 4.0, support for F3 based flight controllers has been removed from Betaflight 4.1.

Major features:

• new and improved feed forward 2.0 (#8623, #8736);
• reworked bidirectional Dshot (#8554, #8779);
• dynamic idle management using RPM telemetry (#8604);
• fully configurable VTX control with VTX tables (#7251).

Minor features:

• support for the Spektrum SRXL2 serial protocol (#8606);
• support for board-specific custom defaults (#8707);
• support for arbitrary gyro and mag alignment (#8474).

Changes from the previous Release Candidate:

Safety Improvements:

• prevent third party devices from enabling arming when connected to Betaflight configurator (#9040).

Fixes:

• fixed RX / telemetry port sharing for iBus (#9000);
• fixed incorrect comparisons in gyro overflow checking (#9009);
• fixed telemetry for FrSky X SPI (#9010);
• fixed targets with broken ADC DMA definition (#9017);
• fixed bug in arming prevention messages (#9022);
• set burst Dshot to off for some targets if bidirectional Dshot is used (#8978).

Important

This is a release candidate. It is intended for testing, and some things still need fixing and fine tuning. Please use it with caution and report back any issues at https://github.com/betaflight/betaflight/issues. Thank you.

Important information when upgrading

• A number of changes and improvements in this release require changes to the Betaflight configurator. These changes have been added to Betaflight configurator 10.6.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.6.0 (or newer) as soon as it is available, or use the CLI for now;
• if you are using the Blackbox Log Viewer, there will be an updated version 3.4.0 to go with Betaflight 4.1 (installation instructions here). Please update as soon as it becomes available;
• bidirectional Dshot, which is the basis for RPM based filtering, has been improved and is now available with BLHeli_32 (from version 32.7 on) and on BLHeli_S hardware (by using the JESC firmware). Use these instructions to get it set up (#8554, #8779);
• as you have come to expect, there is a detailed Tuning Notes for Betaflight 4.1. Use them, or use the new tuning sliders in the Betaflight configurator 10.6.0 to get your craft tuned. Please do not paste tuning configurations from previous versions of the firmware. Some defaults have been changed, and some parameters are used in different ways, so previous tuning settings will not work well with Betaflight 4.1 (#8623, #8736);
• with the introduction of fully configurable VTX control (VTX tables), after flashing the firmware you now have to load a VTX tables appropriate for your VTX and for the country you are flying in before you can control your VTX through Betaflight. Support for loading VTX tables from files will be integrated in the upcoming Betaflight configurator 10.6.0, for now you have to use CLI to set up the VTX tables, see here for details (#7251);
• some optimisations were made to the OSD fonts, and some characters were improved. In order to get a properly working OSD with Betaflight 4.1, the font loaded onto the OSD needs to be updated to the latest version (available in configurator 10.6.0 or newer) (#8390);
• as announced before the release of Betaflight 4.0, support for F3 based flight controllers has been removed from Betaflight 4.1.

Major features:

• new and improved feed forward 2.0 (#8623, #8736);
• reworked bidirectional Dshot (#8554, #8779);
• dynamic idle management using RPM telemetry (#8604);
• fully configurable VTX control with VTX tables (#7251).

Minor features:

• support for the Spektrum SRXL2 serial protocol (#8606);
• support for board-specific custom defaults (#8707);
• support for arbitrary gyro and mag alignment (#8474).

Changes from the previous Release Candidate:

Fixes:

• fixed bug in reset code for MPU6000 (#8952);
• fixed bidirectional Dshot on H7 (#8961);
• added bidirectional Dshot status to the blackbox header (#8992).

Target Updates:

• added new target TRANSTECF411 (#8955);
• added support for magnetometer and barometer for target AIRBOTF7 (#8956);
• added new target LUXMINIF7 (#8979).

Important

This is a release candidate. It is intended for testing, and some things still need fixing and fine tuning. Please use it with caution and report back any issues at https://github.com/betaflight/betaflight/issues. Thank you.

Important information when upgrading

• A number of changes and improvements in this release require changes to the Betaflight configurator. These changes have been added to Betaflight configurator 10.6.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.6.0 (or newer) as soon as it is available, or use the CLI for now;
• if you are using the Blackbox Log Viewer, there will be an updated version 3.4.0 to go with Betaflight 4.1 (installation instructions here). Please update as soon as it becomes available;
• bidirectional Dshot, which is the basis for RPM based filtering, has been improved and is now available with BLHeli_32 (from version 32.7 on) and on BLHeli_S hardware (by using the JESC firmware). Use these instructions to get it set up (#8554, #8779);
• as you have come to expect, there is a detailed Tuning Notes for Betaflight 4.1. Use them, or use the new tuning sliders in the Betaflight configurator 10.6.0 to get your craft tuned. Please do not paste tuning configurations from previous versions of the firmware. Some defaults have been changed, and some parameters are used in different ways, so previous tuning settings will not work well with Betaflight 4.1 (#8623, #8736);
• with the introduction of fully configurable VTX control (VTX tables), after flashing the firmware you now have to load a VTX tables appropriate for your VTX and for the country you are flying in before you can control your VTX through Betaflight. Support for loading VTX tables from files will be integrated in the upcoming Betaflight configurator 10.6.0, for now you have to use CLI to set up the VTX tables, see here for details (#7251);
• some optimisations were made to the OSD fonts, and some characters were improved. In order to get a properly working OSD with Betaflight 4.1, the font loaded onto the OSD needs to be updated to the latest version (available in configurator 10.6.0 or newer) (#8390);
• as announced before the release of Betaflight 4.0, support for F3 based flight controllers has been removed from Betaflight 4.1.

Major features:

• new and improved feed forward 2.0 (#8623, #8736);
• reworked bidirectional Dshot (#8554, #8779);
• dynamic idle management using RPM telemetry (#8604);
• fully configurable VTX control with VTX tables (#7251).

Minor features:

• support for the Spektrum SRXL2 serial protocol (#8606);
• support for board-specific custom defaults (#8707);
• support for arbitrary gyro and mag alignment (#8474).

Changes from the previous Release Candidate:

Fixes:

• fixed issue with yaw being included in ff_max_rate_limit limiting (#8926);
• fixed issue preventing ESC initialisation when ESC beacon active at startup (#8927);
• fixed compile errors when USE_DSHOT is not defined (#8928);
• fixed the power level for vtx_low_power_disarm on Unified Targets (#8936);
• added information about Unified Target manufacturer / board name / custom defaults to the diff header to facilitate debugging (#8937);
• fixed pit mode for SmartAudio 2.1 devices (#8940);
• fixed application of custom defaults with missing trailing newline (#8942);
• fixed possible lockup on defaults nosave when RX_SERIAL is enabled (#8946).

Important

This is a release candidate. It is intended for testing, and some things still need fixing and fine tuning. Please use it with caution and report back any issues at https://github.com/betaflight/betaflight/issues. Thank you.

Important information when upgrading

• A number of changes and improvements in this release require changes to the Betaflight configurator. These changes have been added to Betaflight configurator 10.6.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.6.0 (or newer) as soon as it is available, or use the CLI for now;
• if you are using the Blackbox Log Viewer, there will be an updated version 3.4.0 to go with Betaflight 4.1 (installation instructions here). Please update as soon as it becomes available;
• bidirectional Dshot, which is the basis for RPM based filtering, has been improved and is now available with BLHeli_32 (from version 32.7 on) and on BLHeli_S hardware (by using the JESC firmware). Use these instructions to get it set up (#8554, #8779);
• as you have come to expect, there is a detailed Tuning Notes for Betaflight 4.1. Use them, or use the new tuning sliders in the Betaflight configurator 10.6.0 to get your craft tuned. Please do not paste tuning configurations from previous versions of the firmware. Some defaults have been changed, and some parameters are used in different ways, so previous tuning settings will not work well with Betaflight 4.1 (#8623, #8736);
• with the introduction of fully configurable VTX control (VTX tables), after flashing the firmware you now have to load a VTX tables appropriate for your VTX and for the country you are flying in before you can control your VTX through Betaflight. Support for loading VTX tables from files will be integrated in the upcoming Betaflight configurator 10.6.0, for now you have to use CLI to set up the VTX tables, see here for details (#7251);
• some optimisations were made to the OSD fonts, and some characters were improved. In order to get a properly working OSD with Betaflight 4.1, the font loaded onto the OSD needs to be updated to the latest version (available in configurator 10.6.0 or newer) (#8390);
• as announced before the release of Betaflight 4.0, support for F3 based flight controllers has been removed from Betaflight 4.1.

Major features:

• new and improved feed forward 2.0 (#8623, #8736);
• reworked bidirectional Dshot (#8554, #8779);
• dynamic idle management using RPM telemetry (#8604);
• fully configurable VTX control with VTX tables (#7251).

Minor features:

• support for the Spektrum SRXL2 serial protocol (#8606);
• support for board-specific custom defaults (#8707);
• support for arbitrary gyro and mag alignment (#8474).

Changes from the previous Release Candidate:

Fixes:

• fixed potential resource conflict with bitbanged Dshot (#8893);
• fixed bug in Dshot code (#8897);
• fixed problem causing lockups of VTX control with some VTX (#8903);
• fixed problems with setting power on IRC Tramp VTX (#8907);
• fixed bug causing lockups in the STM32F745 target (#8914);
• added missing definition for SPI5 on STM32H7 (#8920);
• fixed UART DMA for F4 (#8924).

Target Updates:

• added new target AIRF7 (#8748);
• added new target IFLIGHT_H7_TWING (#8896).

Important

This is a release candidate. It is intended for testing, and some things still need fixing and fine tuning. Please use it with caution and report back any issues at https://github.com/betaflight/betaflight/issues. Thank you.

Important information when upgrading

• A number of changes and improvements in this release require changes to the Betaflight configurator. These changes have been added to Betaflight configurator 10.6.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.6.0 (or newer) as soon as it is available, or use the CLI for now;
• if you are using the Blackbox Log Viewer, there will be an updated version 3.4.0 to go with Betaflight 4.1 (installation instructions here). Please update as soon as it becomes available;
• bidirectional Dshot, which is the basis for RPM based filtering, has been improved and is now available with BLHeli_32 (from version 32.7 on) and on BLHeli_S hardware (by using the JESC firmware). Use these instructions to get it set up (#8554, #8779);
• as you have come to expect, there is a detailed Tuning Notes for Betaflight 4.1. Use them, or use the new tuning sliders in the Betaflight configurator 10.6.0 to get your craft tuned. Please do not paste tuning configurations from previous versions of the firmware. Some defaults have been changed, and some parameters are used in different ways, so previous tuning settings will not work well with Betaflight 4.1 (#8623, #8736);
• with the introduction of fully configurable VTX control (VTX tables), after flashing the firmware you now have to load a VTX tables appropriate for your VTX and for the country you are flying in before you can control your VTX through Betaflight. Support for loading VTX tables from files will be integrated in the upcoming Betaflight configurator 10.6.0, for now you have to use CLI to set up the VTX tables, see here for details (#7251);
• some optimisations were made to the OSD fonts, and some characters were improved. In order to get a properly working OSD with Betaflight 4.1, the font loaded onto the OSD needs to be updated to the latest version (available in configurator 10.6.0 or newer) (#8390);
• as announced before the release of Betaflight 4.0, support for F3 based flight controllers has been removed from Betaflight 4.1.

Major features:

• new and improved feed forward 2.0 (#8623, #8736);
• reworked bidirectional Dshot (#8554, #8779);
• dynamic idle management using RPM telemetry (#8604);
• fully configurable VTX control with VTX tables (#7251).

Minor features:

• support for the Spektrum SRXL2 serial protocol (#8606);
• support for board-specific custom defaults (#8707);
• support for arbitrary gyro and mag alignment (#8474).

Changes from the previous Release Candidate:

Fixes:

• fixed problematic parameter ranges for crash recovery (#8871);
• fixed bug in the altitude calculation (#8874);
• fixed bug causing lockups when enabling bidirectional Dshot (#8886).

Important

This is a release candidate. It is intended for testing, and some things still need fixing and fine tuning. Please use it with caution and report back any issues at https://github.com/betaflight/betaflight/issues. Thank you.

Important information when upgrading

• A number of changes and improvements in this release require changes to the Betaflight configurator. These changes have been added to Betaflight configurator 10.6.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.6.0 (or newer) as soon as it is available, or use the CLI for now;
• if you are using the Blackbox Log Viewer, there will be an updated version 3.4.0 to go with Betaflight 4.1 (installation instructions here). Please update as soon as it becomes available;
• bidirectional Dshot, which is the basis for RPM based filtering, has been improved and is now available with BLHeli_32 (from version 32.7 on) and on BLHeli_S hardware (by using the JESC firmware). Use these instructions to get it set up (#8554, #8779);
• as you have come to expect, there is a detailed Tuning Notes for Betaflight 4.1. Use them, or use the new tuning sliders in the Betaflight configurator 10.6.0 to get your craft tuned. Please do not paste tuning configurations from previous versions of the firmware. Some defaults have been changed, and some parameters are used in different ways, so previous tuning settings will not work well with Betaflight 4.1 (#8623, #8736);
• with the introduction of fully configurable VTX control (VTX tables), after flashing the firmware you now have to load a VTX tables appropriate for your VTX and for the country you are flying in before you can control your VTX through Betaflight. Support for loading VTX tables from files will be integrated in the upcoming Betaflight configurator 10.6.0, for now you have to use CLI to set up the VTX tables, see here for details (#7251);
• some optimisations were made to the OSD fonts, and some characters were improved. In order to get a properly working OSD with Betaflight 4.1, the font loaded onto the OSD needs to be updated to the latest version (available in configurator 10.6.0 or newer) (#8390);
• as announced before the release of Betaflight 4.0, support for F3 based flight controllers has been removed from Betaflight 4.1.

Major features:

• new and improved feed forward 2.0 (#8623, #8736);
• reworked bidirectional Dshot (#8554, #8779);
• dynamic idle management using RPM telemetry (#8604);
• fully configurable VTX control with VTX tables (#7251).

Minor features:

• support for the Spektrum SRXL2 serial protocol (#8606);
• support for board-specific custom defaults (#8707);
• support for aribtrary gyro and mag alignment (#8474).

Changes from the previous Release Candidate:

Fixes:

• fixed bug allowing dynamic notch to go into 'high' mode (#8796);
• fixed serial ESC feedback when bitbanged Dshot is enabled (#8828);
• fixed bug causing unused LEDs in an LED_STRIP to become 'stuck' after a configuration change (#8830);
• fixed bug in SPI bus driver code (#8835);
• fixed bug breaking Dshot commands when using bitbanged Dshot (#8839);
• fixed spike suppression in feedforward boost (#8842);
• fixed bitbanged Dshot for Dshot600 (#8843);
• fixed problem with "" as pre-existing manufacturer id (#8848);
• fixed 'sd_info' in CLI showing incorrect information when SD card support is not configured (#8849);
• fixed bug allowing multiple timer allocations with bitbanged Dshot (#8852);
• fixed problems with bitbanged Dshot on F411 targets (#8853);
• added missing labels for dynamic notch to the blackbox header (#8856);
• fixed timer selection on STM32F411 (#8860);
• fixed potential resource conflicts with bitbanged Dshot (#8861);
• fixed problems with feedforward boost on yaw (#8864);
• fixed incorrect timer allocation with bitbanged Dshot (#8865);
• fixed lockups when configuring VTX control port without a VTX table loaded (#8866);
• fixed random activation of VTX pit mode when configuring VTX in configurator (#8869);
• fixed problems with runaway takeoff prevention activating when GPS rescue is active (#8870).

Target Updates:

• added missing MAG support for FURYF4 and FURYF4OSD targets (#8834).

Important

This is a release candidate. It is intended for testing, and some things still need fixing and fine tuning. Please use it with caution and report back any issues at https://github.com/betaflight/betaflight/issues. Thank you.

Important information when upgrading

• A number of changes and improvements in this release require changes to the Betaflight configurator. These changes have been added to Betaflight configurator 10.6.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.6.0 (or newer) as soon as it is available, or use the CLI for now;
• if you are using the Blackbox Log Viewer, there will be an updated version 3.4.0 to go with Betaflight 4.1 (installation instructions here). Please update as soon as it becomes available;
• with the introduction of fully configurable VTX control (VTX tables), after flashing the firmware you now have to load a VTX tables appropriate for your VTX and for the country you are flying in before you can control your VTX through Betaflight. Support for loading VTX tables from files will be integrated in the upcoming Betaflight configurator 10.6.0, for now you have to use CLI to set up the VTX tables: https://github.com/betaflight/betaflight/wiki/VTX-Tables (#7251);
• some optimisations were made to the OSD fonts, and some characters were improved. In order to get a properly working OSD with Betaflight 4.1, the font loaded onto the OSD needs to be updated to the latest version (available in configurator 10.6.0 or newer) (#8390);
• as announced before the release of Betaflight 4.0, support for F3 based flight controllers has been removed from Betaflight 4.1.

Major features:

• new and improved feed forward 2.0 (#8623, #8736);
• reworked bidirectional Dshot (#8554, #8779);
• dynamic idle management using RPM telemetry (#8604);
• fully configurable VTX control with VTX tables (#7251).

Minor features:

• support for the Spektrum SRXL2 serial protocol (#8606);
• support for board-specific custom defaults (#8707);
• support for aribtrary gyro and mag alignment (#8474).

Maintenance Release

Please read the Betaflight 4.0 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 4.0.0.

We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.

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 in the Slack messaging platform. Register here, and then come join us in Slack. 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.

Important information when upgrading from an earlier version of 4.0

• a number of users reported issues with their craft taking off with throttle at idle when running on Betaflight 4.0.0's default settings. It was identified that the default settings did not have enough filtering for setups with a lot of vibrations. More filtering was added to the defaults in 4.0.1. It is recommended that you upgrade directly to 4.0.1 or newer, to eliminate the risk of unintended flyaways introduced by this problem (#8043);
• Betaflight 4.0.1 has a bug that is affecting all F3 based flight controllers, stopping them from working. A fix for this bug is included in 4.0.2. Users with F3 based flight controllers should upgrade directly to 4.0.2 or newer (#8148);
• the format of the CLI timer command that is used to configure a timer has been changed. It now uses the alternate function index that is also used in the hardware manufacturer's reference documentation: timer <pin> af<alternate function>. The format that was introduced with Betaflight 4.0.0 that used an arbitrary option number (timer <pin> <option>) is deprecated and will be dropped in Betaflight 4.1 (#8305, #8306, #8320);
• unfortunately, bugfixes in the flight controller core functionality have led to an increase of the firmware size, causing it to overflow the available space on a number of F3 based flight controllers. As a result, some features have had to be removed from a number of F3 based flight controllers in order to make the firmware fit into flash. The following targets are affected: AIORACERF3 (#8178).

Fixes:

• fixed formatting and help text of vtxtable in CLI (#8646, #8663);
• made SD card report as 'not supported' on targets with no configured SD card slot (#8656);
• fixed the UART pin definitions for STM32F411 (#8659);
• fixed compilation errors if USE_ABSOLUTE_CONTROL if defined but USE_ITERM_RELAX is not (#8683);
• fixed incorrect reporting of SD card capacity (#8703);
• fixed lockups in FrSky SPI RX when using SmartPort telemetry (#8702);
• fixed lockup when trying to use Dshot with missing DMA assignments (#8705);
• fixed display of date / time when no valid time is set (#8731);
• fixed compilation warning when USE_TASK_STATISTICS is not defined (#8765, #8782).

Target Updates:

• added new targets MERAKRCF405 and MERAKRCF722 (#8621);
• added new target MAMBAF411 (#8644);
• added target HAKRCF411 to Betaflight 4.0 (#8655);
• added barometer support for target FURYF4OSD (#8771);
• added new target TMOTORF7 (#8776).

Maintenance Release

Please read the Betaflight 4.0 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 4.0.0.

We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.

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 in the Slack messaging platform. Register here, and then come join us in Slack. 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.

Important information when upgrading from an earlier version of 4.0

• a number of users reported issues with their craft taking off with throttle at idle when running on Betaflight 4.0.0's default settings. It was identified that the default settings did not have enough filtering for setups with a lot of vibrations. More filtering was added to the defaults in 4.0.1. It is recommended that you upgrade directly to 4.0.1 or newer, to eliminate the risk of unintended flyaways introduced by this problem (#8043);
• Betaflight 4.0.1 has a bug that is affecting all F3 based flight controllers, stopping them from working. A fix for this bug is included in 4.0.2. Users with F3 based flight controllers should upgrade directly to 4.0.2 or newer (#8148);
• the format of the CLI timer command that is used to configure a timer has been changed. It now uses the alternate function index that is also used in the hardware manufacturer's reference documentation: timer <pin> af<alternate function>. The format that was introduced with Betaflight 4.0.0 that used an arbitrary option number (timer <pin> <option>) is deprecated and will be dropped in Betaflight 4.1 (#8305, #8306, #8320);
• unfortunately, bugfixes in the flight controller core functionality have led to an increase of the firmware size, causing it to overflow the available space on a number of F3 based flight controllers. As a result, some features have had to be removed from a number of F3 based flight controllers in order to make the firmware fit into flash. The following targets are affected: AIORACERF3 (#8178).

Fixes:

• fixed calibration of the ADC and made (#8427, #8594);
• added enforcement of upper limits for filter frequencies (#8512);
• fixed bind button support for SPI RX (#8543);
• fixed default setting for gyro 2 (#8544);
• fixed potential problem with the detection of SD cards (#8557);
• fixed multiple reset after the reset button was used (#8619).

Target Updates:

• added new target TMOTORF4 (#8533);
• fixed LED_STRIP on target BEEROTORF4 (#8540);
• fixed bug in GPS over BST support on target COLIBRI_RACE (#8555).

Maintenance Release

Please read the Betaflight 4.0 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 4.0.0.

We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.

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 in the Slack messaging platform. Register here, and then come join us in Slack. 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.

Important information when upgrading from an earlier version of 4.0

• a number of users reported issues with their craft taking off with throttle at idle when running on Betaflight 4.0.0's default settings. It was identified that the default settings did not have enough filtering for setups with a lot of vibrations. More filtering was added to the defaults in 4.0.1. It is recommended that you upgrade directly to 4.0.1 or newer, to eliminate the risk of unintended flyaways introduced by this problem (#8043);
• Betaflight 4.0.1 has a bug that is affecting all F3 based flight controllers, stopping them from working. A fix for this bug is included in 4.0.2. Users with F3 based flight controllers should upgrade directly to 4.0.2 or newer (#8148);
• the format of the CLI timer command that is used to configure a timer has been changed. It now uses the alternate function index that is also used in the hardware manufacturer's reference documentation: timer <pin> af<alternate function>. The format that was introduced with Betaflight 4.0.0 that used an arbitrary option number (timer <pin> <option>) is deprecated and will be dropped in Betaflight 4.1 (#8305, #8306, #8320);
• unfortunately, bugfixes in the flight controller core functionality have led to an increase of the firmware size, causing it to overflow the available space on a number of F3 based flight controllers. As a result, some features have had to be removed from a number of F3 based flight controllers in order to make the firmware fit into flash. The following targets are affected: AIORACERF3 (#8178).

Fixes:

• fixed a typo in CLI help (#8365);
• fixed OSD display of negative GPS coordinates (#8374);
• fixed bug in adjustment ranges when failsafe is active (#8386);
• fixed resource display of UARTs in CLI (#8392);
• fixed build error on targets without ESC sensor support (#8403);
• added missing osd_esc_rpm_freq_pos parameter in CLI (#8404);
• fixed bug affecting SmartAudio 2.1 (#8438);
• fixed bug affecting the detection of FrSky SPI RX (#8441);
• fixed invalid upper limit for filters (#8475);
• fixed MAX7456 OSD support for Unified Targets (#8504);
• fixed return of MAX7456 detection result over MSP (#8505);
• fixed build for targets without support for Dshot, LED_STRIP, and transponder (#8506).

Target Updates:

• removed unneeded configuration for barometer and compass from target SPRACINGF3NEO (#8332);
• added support for MPU6000 gyroscope to target KAKUTEF7 (#8375);
• added support for RacePIT mini to target FF_RACEPIT (#8387);
• fixed bug in gyroscope configuration and added PINIOBOX defaults to target EXF722DUAL (#8449);
• updated defaults and added PINIOBOX defaults to target CLRACINGF4 (#8463);
• updated the hardware configuration for target CLRACINGF7 (#8479).

Maintenance Release

Please read the Betaflight 4.0 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 4.0.0.

We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.

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 in the Slack messaging platform. Register here, and then come join us in Slack. 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.

Important information when upgrading from an earlier version of 4.0

• a number of users reported issues with their craft taking off with throttle at idle when running on Betaflight 4.0.0's default settings. It was identified that the default settings did not have enough filtering for setups with a lot of vibrations. More filtering was added to the defaults in 4.0.1. It is recommended that you upgrade directly to 4.0.1 or newer, to eliminate the risk of unintended flyaways introduced by this problem (#8043);
• Betaflight 4.0.1 has a bug that is affecting all F3 based flight controllers, stopping them from working. A fix for this bug is included in 4.0.2. Users with F3 based flight controllers should upgrade directly to 4.0.2 or newer (#8148);
• the format of the CLI timer command that is used to configure a timer has been changed. It now uses the alternate function index that is also used in the hardware manufacturer's reference documentation: timer <pin> af<alternate function>. The format that was introduced with Betaflight 4.0.0 that used an arbitrary option number (timer <pin> <option>) is deprecated and will be dropped in Betaflight 4.1 (#8305, #8306, #8320);
• unfortunately, bugfixes in the flight controller core functionality have led to an increase of the firmware size, causing it to overflow the available space on a number of F3 based flight controllers. As a result, some features have had to be removed from a number of F3 based flight controllers in order to make the firmware fit into flash. The following targets are affected: AIORACERF3 (#8178).

Fixes:

• fixed inconsistency in the D_min configuration (#8167);
• fixed USB ID pin support (#8170);
• fixed crash in CMS (#8222);
• fixed flash initialisation (#8238);
• fixed bug causing blackbox header corruption (#8284);
• fixed setting / printing of 32 bit values in CLI (#8302);
• fixed printing of DMA options in CLI 'diff' (#8303);
• changed CLI 'timer' command to use alternate functions (#8305, #8306, #8320);
• removed RTC6705 VTX clock hack (#8322);
• fixed bug affecting copying of profiles (#8331);
• fixed bug corrupting the configuration when setting VTX frequency directly (#8338);
• fixed bug in flash erasing (#8342);
• fixed bug allowing distance for descent to go negative in GPS rescue (#8356).

Target Updates:

• added gyro support for the Viva F4 AIO board to the DALRCF405 target (#8097, #8349);
• added new target MAMBAF722 (#8182);
• removed the FURYF7 target (#8205);
• added new target AIRBOTF7 (#8208, #8328);
• added new target XILOF4 (#8209);
• added new target OMNIBUSF7NANOV7 (#8210);
• removed unneeded pin definition on NUCLEOF722 target (#8220);
• added new target TRANSTECF7 (#8243);
• added new target VGOODRCF4 (#8249);
• added camera control pin to FURYF4 target (#8264);
• added support for multi gyro on OMNIBUSF4NANOV7 target (#8267);
• removed deprecated use of USE_MULTI_GYRO (#8281);
• removed deprecated ACC_x_ALIGN defines (#8287);
• added barometer support to SPRACINGF3NEO target (#8321);
• added barometer, flash, softserial to EXF722DUAL target (#8333);
• fixed barometer support for SPARKY2 target (#8346).

Maintenance Release

Please read the Betaflight 4.0 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 4.0.0.

We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.

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 in the Slack messaging platform. Register here, and then come join us in Slack. 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.

Important information when upgrading from an earlier version of 4.0

• a number of users reported issues with their craft taking off with throttle at idle when running on Betaflight 4.0.0's default settings. It was identified that the default settings did not have enough filtering for setups with a lot of vibrations. More filtering was added to the defaults in 4.0.1. It is recommended that you upgrade directly to 4.0.1 or newer, to eliminate the risk of unintended flyaways introduced by this problem (#8043);
• Betaflight 4.0.1 has a bug that is affecting all F3 based flight controllers, stopping them from working. A fix for this bug is included in 4.0.2. Users with F3 based flight controllers should upgrade directly to 4.0.2 or newer (#8148).
• unfortunately, bugfixes in the flight controller core functionality have led to an increase of the firmware size, causing it to overflow the available space on a number of F3 based flight controllers. As a result, some features have had to be removed from a number of F3 based flight controllers in order to make the firmware fit into flash. The following targets are affected: AIORACERF3 (#8178).

Fixes:

• fixed problems when using AND conditions to configure modes (#8130);
• fixed build problem if no barometer is configured (#8133);
• fixed problems with output pins on F3 (#8148);
• fixed freeze when enabling LED_STRIP without a pin defined (#8157);
• fixed incorrect confirmation when changing timer from 'NONE' in CLI (#8165).

Target Updates:

• fixed motor assignment for target PIKOF4OSD (#8049);
• removed features from target AIORACERF3 to fix flash overflow (#8178).

Important

Betaflight 4.0.1 has a bug that is affecting all F3 based flight controllers, stopping them from working. A fix for this bug will be included in 4.0.2 (#8148). Until the release of 4.0.2, 4.0.0 should be used on F3 based flight controllers.

Maintenance Release

Please read the Betaflight 4.0 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 4.0.0.

We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.

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 in the Slack messaging platform. Register here, and then come join us in Slack. 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.

Safety Improvements:

• changed the default filter settings to reduce the risk of flyaways (#8043).

Fixes:

• fixed gyro initialisation for setups with multiple MPU6000 / MPU9250 (#7950);
• lowered the minimum frequency for dynamic notch filters to 60hz (#7984);
• fixed OSD crash when enabling vario display on targets without barometer (#7993);
• fixed excessive return speed with GPS rescue in edge cases (#8007);
• fixed display of failsafe flight mode in OSD (#8010);
• added overflow checking for OSD timers (#8016);
• fixed gyro detection code code for multi gyro setups (#8033);
• added detection for screen overflow in OSD (#8063);
• fixed problem with power level display for SmartAudio in OSD (#8064);
• fixed writing of debug mode into the blackbox log header (#8089);
• fixed problem with timers when using pins with no defined timers (#8093);
• fixed inconsistency in the active gyro configuration (#8102);
• fixed incorrect application of motor output limits when changing profiles (#8108);
• fixed resource configuration for CC2500 based SPI RX (#8120);
• fixed build problems on targets without barometer / magnetometer support (#8121);
• fixed problem with incorrectly reporting barometer / magnetometer as present for targets built without support for them (#8135);
• fixed GPS rescue problem for builds without barometer support (#8136).

Target Updates:

• updates to target FF_RACEPIT (#8046);
• re-added some features to target BETAFLIGHTF3 (#8068);
• changed the default configuration for target CLRACINGF7 (#8078);
• removed unneeded barometer default from target SPRACINGF3NEO (#8129).

Important

A number of users reported issues with their craft taking off with throttle at idle when running on Betaflight 4.0.0's default settings. It was identified that the default settings did not have enough filtering for setups with a lot of vibrations. More filtering was added to the defaults in 4.0.1. It is recommended that you upgrade directly to 4.0.1, to eliminate the risk of unintended flyaways introduced by this problem (#8043).

It took us a long time, but now it’s here, and it’s got so many new things!

When we released 3.5 in August last year, the number of different targets supported by Betaflight had reached 150, and maintaining them was becoming a major effort and taking up a lot of our time. It became clear that we had to do something. We had been working on changing the architecture of Betaflight to make it possible to use the same firmware for different flight controllers for some time, and so we decided to complete this change before releasing the next version, and that because of this fundamental change the next version would be 4.0.

As we approached the originally set release date for Betaflight 4.0, we realised that we were not quite ready, and we decided to take another three months, in order to be able to complete the work we had started.

So now, here we are, ‘Unified Targets’, as we called the new ‘one firmware for many flight controllers’ technology, is now a reality in Betaflight 4.0. There is still some work left to be done to add support for flashing Unified Targets with their configurations to Betaflight configurator, but once this is done, we will be able to allow manufacturers to make firmware for any number of boards, or RTF products, available directly in configurator.

As you have come to expect from Betaflight, we have picked up a number of new and exciting improvements to the flight performance, like ESC RPM based filtering, D term management with D_min, and throttle based dynamic gyro and D term filtering.

And, again as expected we have added some more, non flight related new features like launch control, OSD profiles, and support for on-board SPI attached RX.

For an extended list of new features see below.

To get the best out of the flight performance improvements, please read these tuning tips.

If you are upgrading from an earlier version of Betaflight, please read the following section containing a list of things that you might have to change in your configuration.

We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.

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 in the Slack messaging platform. Register here, and then come join us in Slack. 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.

Kia kaha (stay strong)

Important information when upgrading

• A number of changes and improvements in this release require changes to the Betaflight configurator. These changes have been added to Betaflight configurator 10.5.1 (installation instructions here), please update your Betaflight configurator to at least this version;
• if you are using the Blackbox Log Viewer, there is an updated version 3.3.1 to go with Betaflight 4.0 (installation instructions here). Please update to at least this version;
• if you are using OpenTX and the Betaflight TX Lua scripts, please update them to at least version 1.2.0 in order to get support for the latest features introduced in Betaflight 4.0;
• there are a number of flight performance related improvements in Betaflight 4.0. Therefore, pasting back-ups of the tuning settings for older versions of Betaflight into Betaflight 4.0 will most likely result in poor flight performance! The default settings in Betaflight 4.0 should be reasonably well flyable for most hardware configurations, but users wanting to tune the performance of their craft should read the 4.0 Tuning Notes to learn everything they need to know about tuning Betaflight 4.0 (#6432, #6943, #7078, #7264, #7271, #7304, #7373, #7538);
• there was a fix to how the min_check 'zero throttle' dead zone is applied. Before the fix, there was an additional, undocumented deadband of the same size as the min_check range above the min_check range. The fix has not brought a change to the arming behaviour and throttle is still required to be below min_check for arming to be possible. However the extra unintended throttle deadband above min_check has been eliminated. This will result in more responsive throttle near minimum and a slight increase in throttle resolution. If you desire to retain the same range for the 'zero throttle' dead zone, you need to double the amount of dead zone configured in min_check (offset from 1000). Be aware that this will also double the throttle range within which the craft can be armed (#7463);
• there is a new 'Stick Overlay' OSD element that shows an overlay of the current stick positions. In order to use it, the font loaded onto the OSD needs to be updated to the latest version (available in configurator 10.5.0 or newer) (#7476);
• the functionality of the 'crash flip arrow' OSD element was extended to activate as well when the craft is not in crash flip mode, but small_angle is set, and the craft is unarmed and tilted more than small_angle. This is to show pilots that they won't be able to arm from the current orientation, and allow them to activate crash flip mode and then right their craft (#7250);
• As part of the introduction of Unified Targets, the existing resource command was complemented with two new commands for resource management: timer and dma. Just like resource can be used to assign pins to functions, timer can be used to assign timers to pins, and dma can be used to assign DMA streams to subsystems and pins (if they have a timer assigned). Important: Since DMA streams are linked to pins through timers, timer assignments for pins have to be made first, before dma assignments to these pins can be made (#5824, #6837, #7620);
• The syntax for the resource, timer, and dma commands was consolidated, and as part of this the resource list subcommand was renamed into resource show. This aligns it with the new dma show and timer show subcommands (#7712);
• the following parameters were renamed to more closely match their function: p_level => angle_level_strength, i_level => horizon_level_strength, d_level => horizon_transition (#6673);
• the gyro configuration was unified from being done by gyro hardware model to being generic for all gyro models. This means that for some targets that are used for multiple different boards that come with different gyro models that are mounted with different orientations, it is necessary from Betaflight 4.0 on to manually set gyro_1_sensor_align (and / or gyro_2_sensor_align for boards with a second gyro) to match the gyro orientation on the board that is used. See note #6761 for an explanation, and instructions for individual boards. This is a temporary workaround, per-board configurations with correct gyro alignment will be released as Unified Target configurations (#5868);
• unfortunately, bugfixes in the flight controller core functionality have led to an increase of the firmware size, causing it to overflow the available space on almost all F3 based flight controllers. As a result, features have had to be removed from all but a few of the currently supported F3 based flight controllers. Some of the affected targets are: AIORACERF3, BETAFLIGHTF3, CHEBUZZF3, CRAZYBEEF3FR, FURYF3, FURYF3OSD, IMPULSERCF3, LUX_RACE, LUXV2_RACE, MIDELICF3, OMNIBUS, RACEBASE, RMDO, SIRINFPV, SPRACINGF3, SPRACINGF3MINI, SPRACINGF3NEO, STM32F3DISCOVERY (#6900, #6955, #7037, #7038, #7045, #7306, #7381, #7392, #7402, #7421, #7501, #7508, #7518, #7829, #7842);
• in addition to the above point, the following features had to be removed from all F3 based flight controllers in order to make the firmware fit into flash: Smart Feedforward, support for flashing / configuration of SimonK based ESCs (#7272, #7274, #7391);
• support for status display through LED strips was removed from F3 based flight controllers, in order to be able to reclaim some flash space. In its place, LED Strip Profiles (except for the 'Status' profile which is not supported on F3) can be used to set LED strips to fixed colours. LED strip profiles are also available on F4 / F7, to enable simple configuration of the LED strip in OSD (#7485);
• since the above three measures proved to be insufficient to keep flash space from overflowing on F3 based flight controllers, a system of classifying F3 based flight controllers into a number of 'feature cut' levels, and removing features according from them according to their level were introduced. This was used to reduce the number of features built into most F3 based flight controllers even more (#7429).

Major features:

• real time ESC RPM feedback, and notch filtering based on motor RPM (#7264, #7271);
• D term management with D_min (#7373, #7538);
• throttle based dynamic gyro and D term filtering (#6943);
• launch control (#6992);
• switchable OSD profiles (#6714);
• SPI attached Spektrum RX (#7210);
• Unified Targets (#5824, #6837, #7620).

Minor features:

• cascaded dynamic notches (#7078);
• thrust linearisation (#7304);
• integrated yaw control (#6432);
• switchable LED_STRIP profiles (#7303);
• stick overlays in OSD (#7167);
• profile switching based on battery cell count (#7516);
• per profile limiting of maximum motor output (#7482);
• support for the Futaba SFHSS protocol on CC2500 (FrSky SPI) hardware (#6865);
• EU LBT mode for the FrSky SPI RX (#7339);
• support for STM32F765xx based flight controllers (#6669).
• configuration over HoTT telemetry (#6224).

Changes from Release Candidate 6:

Fixes:

• fixed potential problem when in crash flip mode with bidirectional Dshot enabled (#7929);
• added missing help text for CLI vtx command (#7934);
• fixed bug with altitude warning when disabled (#7937);
• fixed problem on F446 boards (#7942).

Target Updates:

• added target RUSHCORE7 to 4.0 (#7930);
• added target FF_RACEPIT to 4.0 (#7931);
• add target KAKUTEF7MINI to 4.0 (#7932);
• added target FLYWOOF411 to 4.0 (#7933);
• updated target OMNIBUSF4NANOV7 (#7939).