betaflight

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 10.5.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.5.0 (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 3.3.0 to go with Betaflight 4.0 (installation instructions here). Please update as soon as it becomes available;
• 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 dterm filterig (#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);
• 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 5:

Fixes:

• fixed the gyro detection for multi gyro setups (#7914);
• fixed setting of non-working low pass defaults when Betaflight configurator 10.4 is used (#7918);
• fixed CMS over CRSF (#7919).

Target Updates:

• updated the configuration for target JHEF7DUAL for Betaflight 4.0 (#7906);
• updated the configuration for target SYNERGYF4 for Betaflight 4.0 (#7913).

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 10.5.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.5.0 (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 3.3.0 to go with Betaflight 4.0 (installation instructions here). Please update as soon as it becomes available;
• 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 dterm filterig (#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);
• 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 4:

Fixes:

• fixed inconsistencies in the display of some OSD elements and stats (#7877);
• fixed MCU type display for STM32F446 based boards (#7882);
• fixed PID calculation for GPS rescue altitude (#7884);
• fixed the output of the CLI 'timer' command (#7885);
• fixed the defaults and validation for lowpass filter parameters (#7888);
• added debug modes for absolute control (#7889);
• changed absolute control to be applied to yaw as well (#7890);
• fixed the PWM beeper (#7891);
• fixed validation to disable 'BOTH' gyro setting when the RPM filter is enabled (#7895);
• fixed ESCSERIAL serial port to ESC forwarding (#7898);
• disabled absolute control by default (#7901).

Target Updates:

• updated the configuration for target ELINF405 for Betaflight 4.0 (#7880);
• updated the configuration for target ELINF722 for Betaflight 4.0 (#7887).

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 10.5.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.5.0 (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 3.3.0 to go with Betaflight 4.0 (installation instructions here). Please update as soon as it becomes available;
• 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 dterm filterig (#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);
• 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 3:

Fixes:

• removed unneeded blackbox headers (#7851);
• fixed building of dual gyro support (#7864);
• fixed absolute control (#7866);
• added prevention of timing issues with bidirectional Dshot telemetry (#7865);
• fixed SmartAudio compatibility issues by removing support for the 'SmartAudio Lite' protocol (#7871).

Target Updates:

• added new target OMNIBUSF4NANOV7 (#7872).

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 10.5.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.5.0 (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 3.3.0 to go with Betaflight 4.0 (installation instructions here). Please update as soon as it becomes available;
• 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);
• 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 dterm filterig (#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);
• 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 2:

Safety Improvements:

• disabled arming if Dshot telemetry is enabled but not working (#7813).

Fixes:

• fixed barometer for Unified Targets (#7723);
• disabled Dshot telemetry if the motor protocol is not Dshot or Proshot (#7795);
• added missing 'timer ' CLI command (#7804);
• added periodic retries for Dshot telemetry if it is enabled but not working (#7815);
• fixed bug causing excessive descent distance in GPS rescue (#7816);
• added 'blackbox_device' to the 'diff hardware' / 'dump hardware' CLI command (#7821);
• fixed bug in Dshot motor command processing (#7824);
• added D_min, dynamic filter, absolute control, and integrated yaw parameters to the blackbox headers (#7826, #7827, #7831);
• changed 'iterm_relax' debug mode to include 'acCorrection' instead of 'acError' (#7847);
• fixed bug in SUMD V3 channel count handling (#7853).

Target Updates:

• added support for M25 NOR flash to target CLRACINGF7 (#7779);
• fixed problems with UART3 on target CLRACINGF7 (#7799);
• removed features from MIDELICF3, RMDO, and SPRACINGF3 to make the firmware fit into the available flash space (#7829);
• removed more features from RMDO, and SPRACINGF3 to make the firmware fit into the available flash space (#7842).

Maintenance Release

Please read the Betaflight 3.5 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 3.5.0.

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.

We also have a Facebook Group: If you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this here.

Important information when upgrading from an earlier version of 3.5

• a number of users reported issues with the firmware hanging during a diff or dump. The root cause of this was identified as a bug in the MSP protocol causing corrupted configurations. This was fixed in 3.5.1. If you are using 3.5.0, it is recommended that you upgrade to at least 3.5.1, to eliminate the risk of experiencing lockups during diff or dump caused by this bug (#6696);
• 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, FRSKYF3, IMPULSERCF3, RACEBASE, RG_SSD_F3, RMDO, SPRACINGF3, SPRACINGF3MINI, SPRACINGF3NEO, STM32F3DISCOVERY, and ZCOREF3 (#6815, #6887, #6994, #7239, #7241, #7362, #7527).

Fixes:

• added a fix for custom target builds with only SPI RX as an RX (#6399);
• fixed 'looping' issue in SmartAudio when setting the frequency (#7157);
• fixed potential issue with custom builds (#7596);
• fixed Spektrum telemetry ignoring report_cell_voltage (#7599);
• made USB detect pin work more reliably (#7675);
• fixed ADC issues on F7 (#7687, #7702);
• fixed parsing of vtx command in CLI (#7714);
• fixed output of beacon in CLI dump (#7747).

Target Updates:

• added ACC support to the KIWIF4, KIWIF4V2 and PLUMF4 targets (#7660);
• added new target FLYWOOF411 (#7662);
• added new target SYNERGYF4 target (#7690);
• add a new target KAKUTEF7MINI (#7715);
• added new target ELINF722 (#7724);
• added camera control and softserial support to the ELINF405 target (#7734);
• added support for onboard flash to the CLRACINGF7 target (#7779).

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 10.5.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.5.0 (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 3.3.0 to go with Betaflight 4.0 (installation instructions here). Please update as soon as it becomes available;
• 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 dam 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);
• 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);
• 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 dterm filterig (#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);
• 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 1:

Fixes:

• added a fix for custom target builds with only SPI RX as an RX (#6399);
• fixed misleading warnings for GPS rescue (#7730);
• fixed invalid dump output for beacon (#7747);
• added the bare modifier to CLI diff and dump commands (#7751);
• fixed timer option list for F7 (#7753);
• made it possible to use dshot_burst with motor pins without a DMA assignment (#7754);
• fixed insufficient lower limit for Spektrum telemetry RPM sensor (#7757);
• fixed hanging on reboot for some F7 boards (#7760).

Target Updates:

• added a camera control pin to the ELINF405 target (#7734);
• added support for the WINBOND W25Q128 DTR flash chip (#7743).

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 10.5.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.5.0 (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 3.3.0 to go with Betaflight 4.0 (installation instructions here). Please update as soon as it becomes available;
• 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, the dead zone was essentially doubled. In order 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). For users who have set a very small dead zone, this might lead to the dead zone never being reached with the fixed version, not allowing them to arm with a 'THROTTLE' reason even if throttle is at minimum - if you are getting this, increase your min_check (#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 a consolidation of the CLI commands used to manage resources, the resource list subcommand was renamed into resource show. This aligns it with the new dam show and timer show commands (#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);
• 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);
• 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 dterm filterig (#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);
• 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).

Maintenance Release

Please read the Betaflight 3.5 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 3.5.0.

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.

We also have a Facebook Group: If you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this here.

Important information when upgrading from an earlier version of 3.5

• a number of users reported issues with the firmware hanging during a diff or dump. The root cause of this was identified as a bug in the MSP protocol causing corrupted configurations. This was fixed in 3.5.1. If you are using 3.5.0, it is recommended that you upgrade to at least 3.5.1, to eliminate the risk of experiencing lockups during diff or dump caused by this bug (#6696);
• 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, FRSKYF3, IMPULSERCF3, RACEBASE, RG_SSD_F3, RMDO, SPRACINGF3, SPRACINGF3MINI, SPRACINGF3NEO, STM32F3DISCOVERY, and ZCOREF3 (#6815, #6887, #6994, #7239, #7241, #7362, #7527).

Fixes:

• Fixed build errors when building without support for blackbox (#7399);
• Added validation for the existence of the selected blackbox device (#7400);
• Fixed build errors when building without support for the 4 way ESC boot loader (#7409);
• Made OSD available when building without support for CMS (#7410, #7576);
• Fixed bug in serial driver on F4 (#7431);
• Fixed the color range for the LED_STRIP when displaying battery voltage or RSSI (#7460);
• Fixed bug in onboard flash initialisation (#7470);
• Fixed bug in pinio initialisation causing the first switching event to be ignored (#7492);
• Added error message when attempting to set invalid PID / rate profile in CLI (#7519);
• Added support for connecting to SmartAudio 2.1 devices (#7461);
• Fixed bug in USB driver on F7 (#7563).

Target Updates:

• Added new target JHEF7DUAL (#7398);
• Added new target HAKRCF411 (#7425);
• Fixed flash overflow on AIORACERF3 (#7527);
• Added support for the Airbot Omnibus NanoV7 to the OMNIBUSF4V6 target (#7545).

Maintenance Release

Please read the Betaflight 3.5 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 3.5.0.

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.

We also have a Facebook Group: If you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this here.

Important information when upgrading from an earlier version of 3.5

• a number of users reported issues with the firmware hanging during a diff or dump. The root cause of this was identified as a bug in the MSP protocol causing corrupted configurations. This was fixed in 3.5.1. If you are using 3.5.0, it is recommended that you upgrade to at least 3.5.1, to eliminate the risk of experiencing lockups during diff or dump caused by this bug (#6696);
• 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, FRSKYF3, IMPULSERCF3, RACEBASE, RG_SSD_F3, RMDO, SPRACINGF3, SPRACINGF3MINI, SPRACINGF3NEO, STM32F3DISCOVERY, and ZCOREF3 (#6815, #6887, #6994, #7239, #7241, #7362).

Safety Improvements:

• Made the most important OSD warning show with highest priority (#7276);
• Fixed the behaviour of the 'auto' failsafe setting for throttle when 3D is used (#7352).

Fixes:

• Fixed OSD temperature display for negative temperatures (#6973);
• Fixed switching of PID profiles with stick commands (#7218);
• Fixed potential error when printing configurations in CLI (#7232);
• Added resetting of the GPS rescue maximum altitude and distance on arming (#7244);
• Fixed a problem with the sanity checks in GPS rescue causing sporadic disarms (#7254, #7265));
• Fixed on-board flash MSC emulation for MacOS on F7 (#7266);
• Fixed sporadic twitching in FrSky X SPI when sending failsafe values from the TX side (#7345);
• Hide stale altitude and vario in OSD when GPS fix is lost (#7368);
• Check that a MSC capable storage device is selected for blackbox before rebooting into MSC emulation mode from CLI (#7380);
• Fixed a boot loop if rebooting into MSC emulation mode and the storage device is not ready (#7382).

Target Updates:

• Fixed the pin assignment for the softserial 'TLM' pad on KISSCC (#7149);
• Fixed a flash overflow on IMPULSERCF3 (#7239);
• Updated STM32F3DISCOVERY to support the on-board gyro and acc (#7241);
• Added a CAMERA_CONTROL_PIN on DALRCF722DUAL (#7248);
• Added support for on-board flash on MATEKF722SE (#7257);
• Added new targets CRAZYBEEF4FR, CRAZYBEEF4FS, and CRAZYBEEF4DX (#7263);
• Added new target STM32F411DISCOVERY (#7289);
• Added new target ELINF405 (#7296);
• Added new target RUSHCORE7 (#7338);
• Added new target FF_RACEPIT (#7344);
• Added pin for pinio use on PYRODRONEF4 (#7389).

Maintenance Release

Please read the Betaflight 3.5 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 3.5.0.

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.

We also have a Facebook Group: If you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this here.

Important information when upgrading from an earlier version of 3.5

• a number of users reported issues with the firmware hanging during a diff or dump. The root cause of this was identified as a bug in the MSP protocol causing corrupted configurations. This was fixed in 3.5.1. If you are using 3.5.0, it is recommended that you upgrade to at least 3.5.1, to eliminate the risk of experiencing lockups during diff or dump caused by this bug (#6696);
• 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, FRSKYF3, RACEBASE, RMDO, SPRACINGF3, SPRACINGF3MINI, SPRACINGF3NEO, and ZCOREF3 (#6815, #6887, #6994).

Fixes:

• Fixed MSC mode issues affecting MacOS (#7145);
• Fixed issues with retry after save in SmartPort / FPort lua scripts (#7182);
• Fixed order of magnitude in GPS altitude reporting in SmartPort / FPort (#7200).

Target Updates:

• Added new target FLYWOOF7DUAL (#7098);
• Added I2C support, removed non-working blackbox flash support on target CLRACINGF7 (#7175);
• Added new target OMNIBUSF4V6 (#7129, #7230);
• Added new target EXF722DUAL (#7184).

Maintenance Release

Please read the Betaflight 3.5 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 3.5.0.

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.

We also have a Facebook Group: If you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this here.

Important information when upgrading from an earlier version of 3.5

• a number of users reported issues with the firmware hanging during a diff or dump. The root cause of this was identified as a bug in the MSP protocol causing corrupted configurations. This was fixed in 3.5.1. If you are using 3.5.0, it is recommended that you upgrade to at least 3.5.1, to eliminate the risk of experiencing lockups during diff or dump caused by this bug (#6696);
• 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, FRSKYF3, RACEBASE, RMDO, SPRACINGF3, SPRACINGF3MINI, SPRACINGF3NEO, and ZCOREF3 (#6815, #6887, #6994).

Fixes:

• Fixed problematic configuration settings for OSD causing malfunctions (#6971, #6974);
• Fixed problem with MOTOR_STOP and auto-disarm activating when GPS Rescue is active (#6979);
• Fixed incorrect throttle offset in airmode (#6981);
• Fixed build error when USE_CMS is not defined (#7007);
• Fixed garbled 'map' command defaults output in CLI (#7023);
• Fixed smartport timeout issue (#7051);
• Fixed error in flash detection when no flash chip is found (#7080);
• Fixed bug when OSD and dashboard are both enabled (#7086).

Target Updates:

• Fixed SD card configuration for target F4BY (#6951);
• Removed USE_LED_STRIP from individual targets (#6953);
• Fixed camera control and LED_STRIP pin configuration for target FORTINIF4 (#6961);
• Fixed motor and PWM pins for target HAKRCF722 (#6968);
• Added MPU6000 support for target SKYZONEF405 (#6972);
• Added new target FOXEERF722DUAL (#6976);
• Fixed flash overflow for targets AIORACERF3, FRSKYF3, RMDO, SPRACINGF3, SPRACINGF3MINI, and ZCOREF3 (#6994);
• Added new target MATEKF722SE (#7025);
• Added new target HAKRCF405 (#7053);
• Added new target PIRXF4 (#7020).

Maintenance Release

Please read the Betaflight 3.5 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 3.5.0.

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.

We also have a Facebook Group: If you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this here.

Important information when upgrading from an earlier version of 3.5

• a number of users reported issues with the firmware hanging during a diff or dump. The root cause of this was identified as a bug in the MSP protocol causing corrupted configurations. This was fixed in 3.5.1. If you are using 3.5.0, it is recommended that you upgrade to at least 3.5.1, to eliminate the risk of experiencing lockups during diff or dump caused by this bug (#6696);
• 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: RACEBASE, SPRACINGF3MINI, SPRACINGF3NEO (#6815, #6887).

Safety Improvements

• Added HEADFREE indicator to the OSD flight mode and warnings display elements (#6877).

Fixes:

• Fixed bug in anti windup protection (#6721);
• Fixed bug in iterm relax (#6726);
• Fixed Spektrum SRXL bug (#6743, #6899);
• Fixed zero throttle deadband when using switched 3D modes (#6798);
• Fixed bug causing an inactive telemetry port to be registered as a displayport (#6764);
• Fixed bug in RSSI settings logging (#6806);
• Fixed RunCam device support (#6810);
• Fixed bugs in dual gyro support (#6844);
• Fixed bug in XN297 driver (#6863);
• Fixed bug in gyro overflow / yaw-spin logic (#6864);
• Fixed bug causing lockups when an inserted SD card is not ready (#6882);
• Cleanup of receiver protocols (#6905);
• Fixed build warning in SmartPort code (#6907);
• Fixed bug in CLI causing lockups (#6913);
• Cleanup of telemetry protocols (#6918);
• Fixed bug affecting stick arming (#6934).

Target Updates:

• Fixed MAG orientation on YUPIF7 (#6720);
• Added camera control pin on DALRCF722DUAL (#6765);
• Moved default for battery meter source to board config on STM32F7X2 (#6774);
• Added new target SPEDIXF4 (#6779);
• Added new target UAVPNG030MINI (#6781);
• Added new target CRAZYBEEF3DX, updated CRAZYBEEF3FR, CRAZYBEEF3FS (#6790);
• Fixed broken settings on AG3X, UAVPNG030MINI (#6794);
• Added camera control pin on SPRACINGF7DUAL (#6800);
• Fixed broken RSSI input pin on multiple targets (#6813);
• Fixed broken ESC serial driver on WORMFC (#6819);
• Fixed broken ESC serial driver on STM32F4DISCOVERY (#6820);
• Fixed broken ESC serial driver on NOX (#6821);
• Fixed broken ESC serial driver on MIDELICF3 (#6824);
• Fixed missing default voltage meter source on KISSFCV2F7, MOTOLABF4 (#6827);
• Fixed list of available pins on OMNIBUSF4FW (#6890);
• Fixed broken I2C pins on FLYWOOF405 (#6912);
• Re-added removed features on multiple targets (#6930).

Maintenance Release

Please read the Betaflight 3.5 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 3.5.0.

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.

We also have a Facebook Group: If you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this here.

Important information when upgrading from an earlier version of 3.5

• a number of users reported issues with the firmware hanging during a diff or dump. The root cause of this was identified as a bug in the MSP protocol causing corrupted configurations. This was fixed in 3.5.1. If you are using 3.5.0, it is recommended that you upgrade to 3.5.1, to eliminate the risk of experiencing lockups during diff or dump caused by this bug (#6696).

Fixes:

• Fixed bug in dispatcher causing lockup when consumers are double-scheduling the same entry (#6560);
• Fixed overriding of GPS RESCUE mode information by other modes in OSD (#6580);
• Fixed bug preventing copying of rate profile 6 (#6612);
• Fixed double scheduling issue in Spektrum SRXL telemetry (#6670);
• Fixed initialisation problem for timers assigned to servos (#6679);
• Fixed problem with crash recovery acting slow (#6682);
• Fixed range of 'iterm_windup' parameter (#6686);
• Fixed issue in FPort causing 'Retrying...' messages when saving settings in lua (#6688);
• Fixed MSP protocol issue causing lockups on 'diff' / 'dump' (#6696).

Target Updates:

• Added new board HAKRCF722 (#6631);
• Changed default value for 'gyroMovementCalibrationThreshold' on DALRCF722DUAL (#6643).

Important

A number of users reported issues with the firmware hanging during a diff or dump. The root cause of this was identified as a bug in the MSP protocol causing corrupted configurations. This was fixed in 3.5.1. It is recommended that you upgrade directly to 3.5.1, to eliminate the risk of experiencing lockups during diff or dump caused by this bug (#6696).

Wait, there is one more thing we can do to make it better!

This is what we realised about two months ago, as we were preparing for the release of Betaflight 3.4.0. And this is what led to the 'Feed Forward PID controller' being born. But when we came up with it it was already too late to add it to 3.4.0, and it needed some more refinement before it was ready to go out anyway. So we decided to do Betaflight 3.5.0, a release that focuses on more flight improvements. We put the Feed Forward PID controller into it, we have made the dynamic notch filter a whole lot more awesome, and we made improvements to how anti gravity works. Man, all of these improvements show when you fly it!

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.

We also have a Facebook Group: If you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this here.

Happy Props!

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 10.4.0 (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 3.2.0 to go with Betaflight 3.5 (installation instructions here). Please update to at least version 3.2.0;
• a new 'Feed Forward PID' algorithm has been implemented, replacing setpoint weight (#6355). In addition to this, the dynamic notch filter (#6411) and anti-gravity (#6220) have been optimised for improved flight performance. For all of these changes, default values have been chosen that should result in good flight characteristics for most setups. It is recommended to start testing with default settings, incorporating tuned settings from previous versions if needed, where needed. For more in-depth instructions for tuning Betaflight 3.5, please consult these notes.
• 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: CRAZYBEEF3FR, CRAZYBEEF3FS, FRSKYF3, FURYF3, FURYF3OSD, OMNIBUS, SPRACINGF3, SPRACINGF3EVO, SPRACINGF3MINI, SPRACINGF3NEO (#6497, #6501);

Major features:

• Added support for feed forward to the PID controller (#6355);
• Improved the performance of the dynamic notch filter (#6411).

Minor features:

• Improved the performance of anti-gravity (#6220);
• Added support for linking of modes (#6335);
• Added support for dynamic filter in dual gyro mode (#6428).

Changes from Release Candidate 2:

Fixes:

• Fixed altitude display in CRSF telemetry (#6513);
• Fixed reporting of extended ESC sensor data in SmartPort (#6516);
• Fixed error in barometer QMP6988 driver (#6523);
• Fixed detection of crash flip activation when arming is delayed (#6525);
• Fixed bug on targets without PWM input support (#6549).

Target Updates:

• Added new target FLYWOOF405 (#6526);
• Removed target SPRACINGF3OSD (#6529);
• Changed voltage scaling for DALRCF722DUAL (#6538);
• Added camera control pin for FF_FORTINIF4_REV03 (#6540).

Maintenance Release

Please read the Betaflight 3.4 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 3.4.0.

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.

We now also have a Facebook Group. If you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this by joining our Facebook Group.

Important information when upgrading from an earlier version of 3.4

• 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: CRAZYBEEF3FR, CRAZYBEEF3FS, FRSKYF3, FURYF3, FURYF3OSD, OMNIBUS, SPRACINGF3, SPRACINGF3EVO, SPRACINGF3MINI, SPRACINGF3NEO (#6444, #6449, #6497);

Fixes:

• Fixed the reliability of telemetry on FPort with newer RX firmware (#6098);
• Fixed the display of warnings when the ESC sensor is enabled (#6339);
• Fixed task statistics in CLI (#6344);
• Fixed display corruption in OSD (#6359);
• Enabled support for the ICM20601 gyro and fixed the output scaling in its driver (#6377, #6475);
• Fixed problem with unreliable SmartPort telemetry (#6382);
• Fix early disarming with GPS rescue when sanity checks are enabled (#6392);
• Fixed compilation error for custom built targets (#6419);
• Fixed A-Tail mixer (#6423, #6465);
• Fixed bug in OSD initialisation causing various crashes (#6439);
• Fixed incorrect disabling of telemetry when Jeti XBUS or Spektrum SRXL are disabled (#6442);
• Fixed incorrect voltage and current sensor filter frequencies (#6452, #6466);
• Fixed the loop time calculation when 32 kHz gyro ouptut is used (#6481);
• Disabled DYNAMIC_FILTER feature if the gyro loop frequency is less than 2 kHz (#6484).

Target Updates:

• Added new target IRCSYNERGYF3 (#6342);
• Added support for DShot beacon on AG3X (#6394);
• Fixed motor 3 and 4 Dshot output on KAKUTEF7 (#6436);
• Removed features from F3 to make the firmware fit into flash (#6444, #6449, #6497);
• Fixed I2C support on YUPIF7 (#6446);
• Renamed the SKYF405 target to SKYZONEF405 (#6458);
• Fixed the LED pins for KISSFCV2F7 (#6459);
• Fixed the feature list for OMNIBUSF4 variants (#6486);
• Added new target DALRCF722DUAL (#6489).

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 10.4.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.4.0 or better, or use the CLI for now;
• if you are using the Blackbox Log Viewer, there will be an updated version 3.2.0 to go with Betaflight 3.5 (installation instructions here). Please update as soon as it becomes available;
• a new 'Feed Forward PID' algorithm has been implemented, replacing setpoint weight (#6355). In addition to this, the dynamic notch filter (#6411) and anti-gravity (#6220) have been optimised for improved flight performance. For all of these changes, default values have been chosen that should result in good flight characteristics for most setups. It is recommended to start testing with default settings, incorporating tuned settings from previous versions if needed, where needed. For more in-depth instructions for tuning Betaflight 3.5, please consult these notes.
• 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: CRAZYBEEF3FR, CRAZYBEEF3FS, FRSKYF3, FURYF3, FURYF3OSD, OMNIBUS, SPRACINGF3, SPRACINGF3EVO, SPRACINGF3MINI, SPRACINGF3NEO (#6497, #6501);

Major features:

• Added support for feed forward to the PID controller (#6355);
• Improved the performance of the dynamic notch filter (#6411).

Minor features:

• Improved the performance of anti-gravity (#6220);
• Added support for linking of modes (#6335);
• Added support for dynamic filter in dual gyro mode (#6428).

Changes from Release Candidate 1:

Fixes:

• Fixed incorrect voltage and current sensor filter frequencies (#6452, #6466);
• Fixed check for anti gravity being enabled (#6461);
• Fixed A-Tail mixer (#6465);
• Enabled support for the ICM20601 gyro and fixed the output scaling in its driver (#6475);
• Fixed the loop time calculation when 32 kHz gyro ouptut is used (#6481);
• Changed the default gyro loop frequency to 2.67 kHz for targets with I2C gyro (#6483);
• Disabled DYNAMIC_FILTER feature if the gyro loop frequency is less than 2 kHz (#6484);
• Fixed the parameters for dynamic filter for gyro loop frequencies less than 4 kHz (#6485);
• Enabled configuration of throttle boost in CMS (#6496, #6503).

Target Updates:

• Renamed the SKYF405 target to SKYZONEF405 (#6458);
• Fixed the LED pins for KISSFCV2F7 (#6459);
• Enabled SDIO on NUCLEOF722 (#6473);
• Fixed the feature list for OMNIBUSF4 variants (#6486);
• Added new target DALRCF722DUAL (#6489);
• Removed features from F3 to make the firmware fit into flash (#6497, #6501).

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 10.4.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.4.0 or better, or use the CLI for now;
• if you are using the Blackbox Log Viewer, there will be an updated version 3.2.0 to go with Betaflight 3.5 (installation instructions here). Please update as soon as it becomes available;
• a new 'Feed Forward PID' algorithm has been implemented, replacing setpoint weight (#6355). In addition to this, the dynamic notch filter (#6411) and anti-gravity (#6220) have been optimised for improved flight performance. For all of these changes, default values have been chosen that should result in good flight characteristics for most setups. It is recommended to start testing with default settings, incorporating tuned settings from previous versions if needed, where needed. For more in-depth instructions for tuning Betaflight 3.5, please consult these notes.

Major features:

• Added support for feed forward to the PID controller (#6355);
• Improved the performance of the dynamic notch filter (#6411).

Minor features:

• Improved the performance of anti-gravity (#6220);
• Added support for linking of modes (#6335);
• Added support for dynamic filter in dual gyro mode (#6428).

Version 3.4.0: The best Betaflight ever!

We recognise that most of our users just want to two things with new firmware: Install it, and then go fly it. That's why we have spent a lot of time on working out default settings that fly great on most quads. Just install it and try for yourself! To make your craft fly even better, we've added a brand-new, experimental mode to improve the response to stick input by filtering it instead of interpolating. For more info on setting up 3.4 to optimise flight performance, read these notes.

We've also put a lot of effort into optimising the performance of the firmware, especially for boards with an F7 MCU. Now you can go and buy that shiny new F7 board, while your friends still struggle with their boards with F3 and F4. 😉

For pilots who are into long range flying, we have added the brand new 'GPS Rescue' mode. It is a simplified version of the 'return to home' mode that exists in other, more navigation oriented firmware, and the great news is that all it needs to work is a GPS, no fiddling to make a compass work required!

Last but not least, we've also added a bunch of new features to improve the convenience of using Betaflight: You can now copy / paste your logs from an SD card or the on board flash chip by mounting the flight controller as a storage device, and you can use your flight controller / TX to emulate a joystick with no extra hardware needed, in order to fly on a simulator.

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.

We now also have a Facebook Group. If you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this by joining our Facebook Group.

Happy Props!

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 10.3.1 (installation instructions here). Please update your Betaflight configurator to version 10.3.1. If you are using the Blackbox Log Viewer, there is an updated version 3.1.0 to go with Betaflight 3.4 (installation instructions here);
• as part of the overhaul of the various filter stages, and improvements to the PID loop, the default settings have been re-evaluated and updated. The new default values are designed to make optimal use of the new filtering and improved PID loop, and be flyable with (almost) any hardware. Even if your current set up is working ok, it is probably worthwhile to try and only restore the non-filtering / PID loop settings, and have a go with the new default values (store your old diff in a safe place, just in case you don't like the new values 😉). (#6036);
• also as part of the filtering overhaul, the names of the debug modes available to log filtering / tuning data have been improved NOTCH (gyro data after scaling, before filtering) is now GYRO_SCALED, GYRO (gyro data after all filtering has been applied) is now GYRO_FILTERED (#6059);
• the upper limit of dterm_setpoint_weight has been increased to 2000 (corresponding to a value of 20 for 'D Setpoint Weight' in Betaflight configurator). This means that pilots wanting a more 'locked in' stick feeling can increase this value beyond the previous maximum of 254. At the same time, an undocumented scaling change was reverted, and the scale is now again how it is described in the Betaflight configurator. If you are using a custom setting for dterm_setpoint_weight, divide your value by 1.27 to get the new value that will give you the same feeling as between 3.1.6 and 3.4.0 (#5945, #6052);
• Dshot beacon configuraton has been changed. Now the beacon CLI command can be used analogous to how the beeper command is used. This allows for the Dshot beacon to be disabled individually for the conditions that are supported by it (RX_SET and RX_LOST at the moment). The old way of disabling the Dshot beacon by setting beeper_dshot_beacon_tone to 0 is no longer supported. The Dshot beacon is disabled for all conditions by default, if you want to enable it, use beacon <condition name|ALL> in CLI (#5891, #6070);
• in previous versions of the firmware, there was a race condition that could cause Dshot commands (e.g. activation of crash flip) to be ignored by the ESC when the Dshot beacon was active. To prevent this, a timeout has been added to the Dshot beacon that prevents arming for 1.2 seconds after the Dshot beacon was active (#6079);
• validation has been added for the RSSI configuration. Unlike in previous versions, it is no longer possible to have multiple sources for RSSI configured simultaneously, since only one can be active at any one time. If you have got more than one of the supported RSSI sources (frame error count / ADC / RX channel) configured, all but the first on this list will be disabled (#5644);
• scaling has been added to all RSSI sources. If the RSSI mechanism that you are using does not give you the output range that you want for RSSI, you can now use the rssi_scale / rssi_offset CLI variables to set the scale and offset for RSSI (#6001, #6032);
• the functionality of the crash flip mode has been improved: In addition to the existing front / back / left / right spinning of 2 propellers, it now supports spinning only 1 propeller (by moving the roll / pitch stick diagonally), and spinning 2 props that are diagonally opposite (by moving yaw), in order to yaw the overturned craft. The largest stick deflection in any of these directions determines which properllers are spun (#5163);
• the setting moron_threshold for the acceptable noise limit during gyro calibration was renamed to gyro_calib_noise_limit. Additionally, a new setting gyro_calib_duration was added. This allows users to configure a longer minimum gyro calibration duration (in 1/10ths of seconds, default: 125). Using a larger setting here will result in reduced gyro drift, which is helpful when flying line of sight (#5932);
• unfortunately bugfixes and improvements 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: BETAFLIGHTF3, COLIBRI_RACE, FRSKYF3, FURYF3OSD, LUX_RACE, MIDELICF3, OMNIBUS, RCEXPLORERF3, RG_SSD_F3, SPRACINGF3EVO, SPRACINGF3NEO;
• the OSD elements osd_crosshairs (crosshairs) and osd_ah_sbar (artificial horizon sidebar) have been renamed in CLI to osd_crosshairs_pos and osd_ah_sbar_pos to make them consistent with the naming of OSD elements. If you are using these elements, please manually change the names in your backup before restoring (#5534);
• the range of the vtx_band parameter in CLI was extended to start at 0 instead of 1. Setting vtx_band = 0 allows users of VTX using the SmartPort or Tramp protocols to set the desired frequency directly via the vtx_freq parameter. Since direct frequency setting is not supported by the RTC6705 (onboard) VTX driver vtx_band = 0 does not work for these VTX, and should not be used (#5465).

Major features:

• Overhauled and improved filtering (#5391, #5458);
• Optimised and massively improved the performance on F7 (#5674);
• Added GPS rescue mode (#5753, #5764);
• Added support for accessing SD card / onboard flash as USB mass storage device (MSC) (#5443, #5629, #5650);
• Added support for reading RC input as USB joystick (HID) (#5478, #5596);
• Added support for CMS configuration over CRSF (#5743);
• Added support for experimental filter based RC channel smoothing (#6017).

Minor features:

• Added acro trainer mode (#5970);
• Added throttle boost mode (#5508);
• Added support for throttle limiting (#5608);
• Added PID loop improvements (#5968, #5963, #5962);
• Added support for accelerated yaw spin recovery (#5706);
• Added support for direct adjustment of PID values through an RC channel (#5584);
• Added support for multiple overclocking speeds (#5193);
• Added MCU temperature monitoring (#5322);
• Added paralyse mode (#5851);
• Added support for QMC5883L compass (#5309);
• Added support for W25M flash chips (#5722).

New targets:

• Added SPRACINGF7DUAL with dual gyro support (#5264).

Changes from Release Candidate 5:

Fixes:

• Fixed Frsky D SPI RX frame rate detection (#6279);
• Fixed lockup in CLI on 'smix reverse' (#6280);
• Fixed lockup in CMS menu for CRSF (#6286);
• Fixed immediate rearming after landing / abort in 'GPS_RESCUE' mode (#6291);
• Fixed problem with initialisation of telemetry data if ESC sensor is unavailable (#6292);
• Added a warning if rc smoothing initialization has not completed when arming (#6299);
• Fixed frame received detection logic for SmartPort (#6300).

Target updates:

• Fixed target YUPIF7 (6271).

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 any bugs you find back to us by opening an issue 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 10.3.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.3.0 or better, or use the CLI for now;
• as part of the overhaul of the various filter stages, and improvements to the PID loop, the default settings have been re-evaluated and updated. The new default values are designed to make optimal use of the new filtering and improved PID loop, and be flyable with (almost) any hardware. Even if your current set up is working ok, it is probably worthwhile to try and only restore the non-filtering / PID loop settings, and have a go with the new default values (store your old diff in a safe place, just in case you don't like the new values 😉). More detailed tips for tuning 3.4 can be found here (#6036);
• also as part of the filtering overhaul, the names of the debug modes available to log filtering / tuning data have been improved NOTCH (gyro data after scaling, before filtering) is now GYRO_SCALED, GYRO (gyro data after all filtering has been applied) is now GYRO_FILTERED (#6059);
• the upper limit of dterm_setpoint_weight has been increased to 2000 (corresponding to a value of 20 for 'D Setpoint Weight' in Betaflight configurator). This means that pilots wanting a more 'locked in' stick feeling can increase this value beyond the previous maximum of 254. At the same time, an undocumented scaling change was reverted, and the scale is now again how it is described in the Betaflight configurator. If you are using a custom setting for dterm_setpoint_weight, divide your value by 1.27 to get the new value that will give you the same feeling as between 3.1.6 and 3.4.0 (#5945, #6052);
• Dshot beacon configuraton has been changed. Now the beacon CLI command can be used analogous to how the beeper command is used. This allows for the Dshot beacon to be disabled individually for the conditions that are supported by it (RX_SET and RX_LOST at the moment). The old way of disabling the Dshot beacon by setting beeper_dshot_beacon_tone to 0 is no longer supported. The Dshot beacon is disabled for all conditions by default, if you want to enable it, use beacon <condition name|ALL> in CLI (#5891, #6070);
• in previous versions of the firmware, there was a race condition that could cause Dshot commands (e.g. activation of crash flip) to be ignored by the ESC when the Dshot beacon was active. To prevent this, a timeout has been added to the Dshot beacon that prevents arming for 2 seconds after the Dshot beacon was active (#6079);
• validation has been added for the RSSI configuration. Unlike in previous versions, it is no longer possible to have multiple sources for RSSI configured simultaneously, since only one can be active at any one time. If you have got more than one of the supported RSSI sources (frame error count / ADC / RX channel) configured, all but the first on this list will be disabled (#5644);
• scaling has been added to all RSSI sources. If the RSSI mechanism that you are using does not give you the output range that you want for RSSI, you can now use the rssi_scale / rssi_offset CLI variables to set the scale and offset for RSSI (#6001, #6032);
• the functionality of the crash flip mode has been improved: In addition to the existing front / back / left / right spinning of 2 propellers, it now supports spinning only 1 propeller (by moving the roll / pitch stick diagonally), and spinning 2 props that are diagonally opposite (by moving yaw), in order to yaw the overturned craft. The largest stick deflection in any of these directions determines which properllers are spun (#5163);
• the setting moron_threshold for the acceptable noise limit during gyro calibration was renamed to gyro_calib_noise_limit. Additionally, a new setting gyro_calib_duration was added. This allows users to configure a longer minimum gyro calibration duration (in 1/109ths of seconds, default: 125). Using a larger setting here will result in reduced gyro drift, which is helpful when flying line of sight (#5932);
• unfortunately bugfixes and improvements 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: BETAFLIGHTF3, COLIBRI_RACE, FRSKYF3, FURYF3OSD, LUX_RACE, MIDELICF3, OMNIBUS, RCEXPLORERF3, RG_SSD_F3, SPRACINGF3EVO, SPRACINGF3NEO;
• the OSD elements osd_crosshairs (crosshairs) and osd_ah_sbar (artificial horizon sidebar) have been renamed in CLI to osd_crosshairs_pos and osd_ah_sbar_pos to make them consistent with the naming of OSD elements. If you are using these elements, please manually change the names in your backup before restoring (#5534);
• the range of the vtx_band parameter in CLI was extended to start at 0 instead of 1. Setting vtx_band = 0 allows users of VTX using the SmartPort or Tramp protocols to set the desired frequency directly via the vtx_freq parameter. Since direct frequency setting is not supported by the RTC6705 (onboard) VTX driver vtx_band = 0 does not work for these VTX, and should not be used (#5465).

Major features:

• Overhauled and improved filtering (#5391, #5458);
• Optimised and massively improved the performance on F7 (#5674);
• Added GPS rescue mode (#5753, #5764);
• Added support for accessing SD card / onboard flash as USB mass storage device (MSC) (#5443, #5629, #5650);
• Added support for reading RC input as USB joystick (HID) (#5478, #5596);
• Added support for CMS configuration over CRSF (#5743);
• Added support for experimental filter based RC channel smoothing (#6017).

Minor features:

• Added acro trainer mode (#5970);
• Added throttle boost mode (#5508);
• Added support for throttle limiting (#5608);
• Added PID loop improvements (#5968, #5963, #5962);
• Added support for accelerated yaw spin recovery (#5706);
• Added support for direct adjustment of PID values through an RC channel (#5584);
• Added support for multiple overclocking speeds (#5193);
• Added MCU temperature monitoring (#5322);
• Added paralyse mode (#5851);
• Added support for QMC5883L compass (#5309);
• Added support for W25M flash chips (#5722).

New targets:

• Added SPRACINGF7DUAL with dual gyro support (#5264).

Changes from Release Candidate 4:

Fixes:

• Fixed RC smoothing issues with slow protocols (PPM), and RC filtering issues with Crossfire (#6259);
• Fixed issues with lock ups on the OSD statistics screen for boards without a flash chip (#6261).

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 any bugs you find back to us by opening an issue 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 10.3.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.3.0 or better, or use the CLI for now;
• as part of the overhaul of the various filter stages, and improvements to the PID loop, the default settings have been re-evaluated and updated. The new default values are designed to make optimal use of the new filtering and improved PID loop, and be flyable with (almost) any hardware. Even if your current set up is working ok, it is probably worthwhile to try and only restore the non-filtering / PID loop settings, and have a go with the new default values (store your old diff in a safe place, just in case you don't like the new values 😉). More detailed tips for tuning 3.4 can be found here (#6036);
• also as part of the filtering overhaul, the names of the debug modes available to log filtering / tuning data have been improved NOTCH (gyro data after scaling, before filtering) is now GYRO_SCALED, GYRO (gyro data after all filtering has been applied) is now GYRO_FILTERED (#6059);
• the upper limit of dterm_setpoint_weight has been increased to 2000 (corresponding to a value of 20 for 'D Setpoint Weight' in Betaflight configurator). This means that pilots wanting a more 'locked in' stick feeling can increase this value beyond the previous maximum of 254. At the same time, an undocumented scaling change was reverted, and the scale is now again how it is described in the Betaflight configurator. If you are using a custom setting for dterm_setpoint_weight, divide your value by 1.27 to get the new value that will give you the same feeling as between 3.1.6 and 3.4.0 (#5945, #6052);
• Dshot beacon configuraton has been changed. Now the beacon CLI command can be used analogous to how the beeper command is used. This allows for the Dshot beacon to be disabled individually for the conditions that are supported by it (RX_SET and RX_LOST at the moment). The old way of disabling the Dshot beacon by setting beeper_dshot_beacon_tone to 0 is no longer supported. The Dshot beacon is disabled for all conditions by default, if you want to enable it, use beacon <condition name|ALL> in CLI (#5891, #6070);
• in previous versions of the firmware, there was a race condition that could cause Dshot commands (e.g. activation of crash flip) to be ignored by the ESC when the Dshot beacon was active. To prevent this, a timeout has been added to the Dshot beacon that prevents arming for 2 seconds after the Dshot beacon was active (#6079);
• validation has been added for the RSSI configuration. Unlike in previous versions, it is no longer possible to have multiple sources for RSSI configured simultaneously, since only one can be active at any one time. If you have got more than one of the supported RSSI sources (frame error count / ADC / RX channel) configured, all but the first on this list will be disabled (#5644);
• scaling has been added to all RSSI sources. If the RSSI mechanism that you are using does not give you the output range that you want for RSSI, you can now use the rssi_scale / rssi_offset CLI variables to set the scale and offset for RSSI (#6001, #6032);
• the functionality of the crash flip mode has been improved: In addition to the existing front / back / left / right spinning of 2 propellers, it now supports spinning only 1 propeller (by moving the roll / pitch stick diagonally), and spinning 2 props that are diagonally opposite (by moving yaw), in order to yaw the overturned craft. The largest stick deflection in any of these directions determines which properllers are spun (#5163);
• the setting moron_threshold for the acceptable noise limit during gyro calibration was renamed to gyro_calib_noise_limit. Additionally, a new setting gyro_calib_duration was added. This allows users to configure a longer minimum gyro calibration duration (in 1/109ths of seconds, default: 125). Using a larger setting here will result in reduced gyro drift, which is helpful when flying line of sight (#5932);
• unfortunately bugfixes and improvements 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: BETAFLIGHTF3, COLIBRI_RACE, FRSKYF3, FURYF3OSD, LUX_RACE, MIDELICF3, OMNIBUS, RCEXPLORERF3, RG_SSD_F3, SPRACINGF3EVO, SPRACINGF3NEO;
• the OSD elements osd_crosshairs (crosshairs) and osd_ah_sbar (artificial horizon sidebar) have been renamed in CLI to osd_crosshairs_pos and osd_ah_sbar_pos to make them consistent with the naming of OSD elements. If you are using these elements, please manually change the names in your backup before restoring (#5534);
• the range of the vtx_band parameter in CLI was extended to start at 0 instead of 1. Setting vtx_band = 0 allows users of VTX using the SmartPort or Tramp protocols to set the desired frequency directly via the vtx_freq parameter. Since direct frequency setting is not supported by the RTC6705 (onboard) VTX driver vtx_band = 0 does not work for these VTX, and should not be used (#5465).

Major features:

• Overhauled and improved filtering (#5391, #5458);
• Optimised and massively improved the performance on F7 (#5674);
• Added GPS rescue mode (#5753, #5764);
• Added support for accessing SD card / onboard flash as USB mass storage device (MSC) (#5443, #5629, #5650);
• Added support for reading RC input as USB joystick (HID) (#5478, #5596);
• Added support for CMS configuration over CRSF (#5743);
• Added support for experimental filter based RC channel smoothing (#6017).

Minor features:

• Added acro trainer mode (#5970);
• Added throttle boost mode (#5508);
• Added support for throttle limiting (#5608);
• Added PID loop improvements (#5968, #5963, #5962);
• Added support for accelerated yaw spin recovery (#5706);
• Added support for direct adjustment of PID values through an RC channel (#5584);
• Added support for multiple overclocking speeds (#5193);
• Added MCU temperature monitoring (#5322);
• Added paralyse mode (#5851);
• Added support for QMC5883L compass (#5309);
• Added support for W25M flash chips (#5722).

New targets:

• Added SPRACINGF7DUAL with dual gyro support (#5264).

Changes from Release Candidate 3:

Safety Improvements:

• Added disabling of GPS_RESCUE when 3D mode is enabled (#6251).

Fixes:

• Fixed RunCam device initialisation (#6213);
• Fixed reboot into bootloader for F411 targets (#6221);
• Fixed yaw / throttle handling in GPS_RESCUE mode (#6227);
• Fixed and improved throttle correction (#6235);
• Set unused default to 0 (#6241);
• Fixed check for RC smoothing (#6250).

Target updates:

• Removed features from FURYF3OSD and STM32F3DISCOVERY to make the firmware fit into flash (#6242);
• Fixed board alignment for YUPIF7 (#6192).