Open Source Flight Controller Firmware
GPL-3.0 License
Bot releases are visible (Hide)
Published by mikeller over 5 years ago
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);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);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);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);p_level
=> angle_level_strength
, i_level
=> horizon_level_strength
, d_level
=> horizon_transition
(#6673);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);Published by mikeller over 5 years ago
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);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);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);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);p_level
=> angle_level_strength
, i_level
=> horizon_level_strength
, d_level
=> horizon_transition
(#6673);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);Published by mikeller over 5 years ago
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);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);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);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);p_level
=> angle_level_strength
, i_level
=> horizon_level_strength
, d_level
=> horizon_transition
(#6673);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);Published by mikeller over 5 years ago
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);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);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);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);p_level
=> angle_level_strength
, i_level
=> horizon_level_strength
, d_level
=> horizon_transition
(#6673);Published by mikeller over 5 years ago
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.
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);report_cell_voltage
(#7599);vtx
command in CLI (#7714);beacon
in CLI dump
(#7747).Published by mikeller over 5 years ago
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);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);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);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);p_level
=> angle_level_strength
, i_level
=> horizon_level_strength
, d_level
=> horizon_transition
(#6673);dump
output for beacon
(#7747);bare
modifier to CLI diff
and dump
commands (#7751);dshot_burst
with motor pins without a DMA assignment (#7754);Published by mikeller over 5 years ago
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);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);resource list
subcommand was renamed into resource show
. This aligns it with the new dam show
and timer show
commands (#7712);p_level
=> angle_level_strength
, i_level
=> horizon_level_strength
, d_level
=> horizon_transition
(#6673);Published by mikeller over 5 years ago
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.
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);Published by mikeller almost 6 years ago
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.
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);Published by mikeller almost 6 years ago
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.
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);Published by mikeller almost 6 years ago
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.
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);Published by mikeller about 6 years ago
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.
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);Published by mikeller about 6 years ago
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.
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).Published by mikeller about 6 years ago
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!
Published by mikeller about 6 years ago
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.
Published by mikeller about 6 years ago
Published by mikeller about 6 years ago
Published by mikeller over 6 years ago
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!
diff
in a safe place, just in case you don't like the new values 😉). (#6036);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);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);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);rssi_scale
/ rssi_offset
CLI variables to set the scale and offset for RSSI (#6001, #6032);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);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);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).Published by mikeller over 6 years ago
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);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);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);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);rssi_scale
/ rssi_offset
CLI variables to set the scale and offset for RSSI (#6001, #6032);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);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);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).Published by mikeller over 6 years ago
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);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);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);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);rssi_scale
/ rssi_offset
CLI variables to set the scale and offset for RSSI (#6001, #6032);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);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);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).