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 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 2:

Fixes:

• Fixed LED_STRIP on F4 (#6141);
• Fixed negative GPS altitude handling (#6096);
• Fixed multiple issues in GPS Rescue (#6161, #6166, #6193, #6201);
• Fixed disabling of SOFTSERIAL in defaults (#6173);
• Added full support for CRSF update rate change to RC smoothing (#6194);
• Fixed bad input range 3d_deadband_throttle in CLI (#6195);
• Changed RunCam Split protocol to asynchronous processing (#6196);
• Fixed missing function in beeper diff / dump (#6199);
• Fixed missing GPS sensors in SmartPort (#6202).

Target updates:

• Added RC smoothing / Iterm reset to F3, dropped external OSD support instead (#6188).

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 10.3.0 (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);
• 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);
• 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 1:

Safety Improvements:

• Added OSD warning when arming is delayed due to Dshot beacon (#6104).

Fixes:

• Cleanups (#6106, #6124);
• Changed logging of current from unsigned to signed (#6082);
• Fixed issues with Dshot commands (#6108, #6113, #6130);
• Fixed detection of QMC5883L magnetometer (#6121);
• Improved the performance of GPS rescue status tracking (#6122);
• Reduced the Dshot beacon arming guard time to 1.2 seconds (#6123);
• Improved the performance of the PID loop (#6125, #6126, #6132);
• Fixed 'off by one day' error in RTC (#6127);
• Fixed LED_STRIP issues on F7 (#6131).

Target updates:

• Updated defaults for ALIENWHOOP (#6097).

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 10.3.0 (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);
• 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);
• 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).

Maintenance Release

Please read the Important information when upgrading from 3.2 to 3.3.

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 here.

This release contains bugfixes and target changes only. For a full list of new features see 3.3.0.

Important information when upgrading from an earlier version of 3.3

• Unfortunately some of the bugfixes have led to an increase in the firmware size, pushing it over the limit of the available flash space for some targets. As a result of this, some features had to be removed from the following targets: OMNIBUS (HoTT telemetry), SPRACINGF3NEO (XBus RX). (#5812);
• 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).

Safety Improvements:

Fixes:

• Fixed the constraint on the D-term transition upper bound (#5701);
• Fixed the symbols for GPS lat and lon in OSD (#5855);
• Fixed the heli 120 mixer (#5857).

Target Updates:

• Updated the target SPEEDYBEE F4 (#5787);
• Added new target STACKX (#5813);
• Added new targets AG3XF4 / AG3XF7 targets (Asgard32 F4 / F7) (#5816);
• Enabled Dshot burst for SPRACINGF4NEO (#5865);
• Enabled Dshot burst for CLRACINGF7(#5922);
• Added new target FOXEERF405 (#5950);
• Removed nonfunctional RX_SERIAL default feature from OMNIBUSF4 (#5987);
• Changed IMU support for KAKUTEF7 (#5796);
• Added OSD support for ALIENFLIGHTNGF7 (AFNG F7 Horus30 board) (#6002).

Maintenance Release

Please read the Important information when upgrading from 3.2 to 3.3.

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 here.

This release contains bugfixes and target changes only. For a full list of new features see 3.3.0.

Important information when upgrading from an earlier version of 3.3

• Unfortunately some of the bugfixes have led to an increase in the firmware size, pushing it over the limit of the available flash space for some targets. As a result of this, some features had to be removed from the following targets: OMNIBUS (HoTT telemetry), SPRACINGF3NEO (XBus RX). (#5812);
• 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).

Safety Improvements:

• Enabled USE_BRUSHED_ESC_AUTODETECT for all targets (#5637).

Fixes:

• Removed mixer gain halving in 3D mode (#5582);
• Resolved VTX Pit Mode control conflict between TX switch and Spektrum menu (#5621);
• Exposed battery voltage divider and multiplier parameters in CLI (#5641);
• Fixed blackbox P interval (#5645);
• Fixed help text for 'diff defaults' (#5668);
• Fixed broken BIDIR setting on PA9 (UART1 TX) for F4 (#5675);
• Fixed MSP FLASHFS command if flashfs isn't supported (#5684);
• Fixed setting of blackbox I interval to 32 ms even if PID denom isn't 1 (#5688);
• Enabled setting of report_cell_voltage without IBUS support (#5711);
• Fixed a typo in HMC5883L driver for F7 (#5714);
• Fixed D-term spikes (#5728);
• Fixed inconsistent handling of servos for USE_QUAD_MIXER_ONLY (#5747);
• Fixed handling of passive beeper in case of non-existent timer (#5758);
• Changed GPS speed and max speed to respect the units selection (#5765);
• Fixed potential overflow in combined ESC sensor data (#5768);
• Fixed I2C unstick (#5789);
• Fixed incorrect double increment in MAX7456 screen drawing (#5793).

Target Updates:

• Added new target BeeStorm (#5662, #5717);
• Fixed timer definition for REVOLTOSD (#5665);
• Added timer for PA3 (PPM in) for OMNIBUSF7 (#5716);
• Added onboard flash support for OMNIBUSF4SD (#5721);
• Added onboard flash support for AlienWhoop (#5723);
• Added new target OMNIBUSF4 Fireworks (#5749);
• Changed barometer to be on I2C bus 3 for Revonano (#5757);
• Added new target OmniNXT F4/F7 (#5769);
• Changed motor output pins for YupiF4 (#5798);
• Fixed firmware size overflow for OMNIBUS and SPRACINGF3NEO (#5812).

Maintenance Release

Please read the Important information when upgrading from 3.2 to 3.3.

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 here.

This release contains bugfixes and target changes only. For a full list of new features see 3.3.0.

Important information when upgrading from an earlier version of 3.3

• 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;
• 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.

Fixes:

• Fixed build issues with legacy targets (F1) (#5359);
• Unified enabling of EXTI for gyro on F7 with other architectures (#5364);
• Fixed diff support for array data types (#5366);
• Enabled disabling of acceleration rate limits (#5367);
• Fixed possibility of getting stuck in F7 bootloader mode (#5370);
• Changed the OSD statistics screen to be hidden in case of a runaway takeoff prevention triggered disarm (#5402);
• Fixed build issue with MAG and GPS features (#5414);
• Added correct rounding to MSP_RAW_IMU (#5417, #5451);
• Fixed VTX power element in OSD (#5423);
• Fixed saving / resetting of OSD slave settings (#5424);
• Re-enabled VTX frequency selection mode in CLI (#5465);
• Increased the range of ibata_offset to accommodate certain Hall effect sensors (#5467);
• Fixed glitches of Dterm setpoint transition when going through stick center position (#5484, #5509);
• Fixed inconsistency in the SD card parameter group (#5537);
• Fixed potential buffer overrun in the OSD warning field (#5533);
• Fixed naming inconsistency with the OSD elements osd_crosshairs_pos and osd_ah_sbar_pos(#5534);
• Fix MSP data inconsistency in MSP_VOLTAGE_METERS and MSP_CURRENT_METERS (#5547, #5554);
• Fixed the accelerometer initialization for MPU6000 and MPU9250 to use 16G range (#5559);
• Fixed clearning of the crash flip mode flag on disarming (#5566);
• Added default telemetry settings for iBus (#5570);
• Fixed assignment of array parameters in CLI (#5589);
• Fixed issue with PWM RX causing 100% CPU load (#5606);
• Fixed arming state in IBUS telemetry (#5613).

Target Updates:

• Fixed SPI initialisation for SPRACINGF3OSD (#5352);
• Added new target AIKONF4 (#5355);
• Enabled Dshot burst by default for DALRCF405 (#5362);
• Fixed FPVM_BETAFLIGHTF7 and OMNIBUSF7V2 gyro and accelerometer alignment (#5375);
• Fixed TBS BST implementation on COLIBRI_RACE (#5409);
• Added new target CRAZYBEEF3FR (#5420);
• Added new target STM32F4DISCOVERY (#5442);
• Moved ADC to DMA2_Stream0 to avoid conflict on KAKUTEF4 (#5481);
• Added new target CRAZYBEEF3FS (#5495, #5590);
• Added new target SPEEDYBEEF4 (#5552, #5590);
• Added UART2 TX pin definition to FPVM_BETAFLIGHTF7 target (#5562);
• Added new target REVOLTOSD (#5557);
• Fixed LED inversion on NUCLEOF7 (#5602).

Betaflight v3.3.0

Welcome to version 3.3 of Betaflight!

There are no revolutionary new features in this release, but we've worked hard to make your flying experience even better, and make it easier and safer for new pilots to get into the hobby. We've ironed out some kinks, and we've added Runaway Takeoff Prevention to stay safe in those dodgy moments when your craft isn't set up the way you think it is. We've improved connectivity by adding support for configuring your craft from Spektrum transmitters, and adding the FrSky FPort protocol that gives you RC control, RSSI, and telemetry over just one wire.

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've tried to make this release as bug free as possible. If you still find a bug, please open an issue here. Thank you.

Happy Props!

Important information when upgrading

• To get optimal support for configuration and tuning of the firmware, please use the latest version of the Betaflight configurator (10.2.0 at the time of this release), available here;
• If you are using OpenTX and the Betaflight lua scripts, please also make sure to use the latest version of these, available here;
• This release is introducing Runaway Takeoff Prevention (#4935). This feature will prevent uncontrollable acceleration ('tasmanian devil') when the craft is armed with misconfigured motor outputs or props on the wrong way, by disarming the craft if such a configuration is detected. It will also cause disarms when throttling up quickly on the bench with props off. If you get unwanted disarms right after arming, use the parameters (runaway_takeoff_deactivate_delay, runaway_takeoff_deactivate_throttle_percent) to tune the function to work for you, and please report back your working configuration. See the wiki article for details.
• The orientation of the AK8963 magnetometer has been changed, to make it match the orientation it has when it comes integrated in the MPU9250 gyro / accelerometer / magnetometer chip. If you are using an external AK8963 magnetometer, check your orientation to make sure it is still correct. If not, use the align_mag to configure the correct orientation;
• More possible reasons for arming to be disabled have been added. Because of this, and because counting the 'arming disabled' beep indications was becoming difficult, the method of how the arming disabled reason is indicated has been changed. See the wiki article for details.
• Arming is now disabled when the flight controller is connected to the Betaflight configurator. This was added in order to keep users from accidentally arming their craft when testing their RX / mode switches with a battery connected. In order to enable arming for bench testing, go to the 'Motors' tab and enable the 'Motor test mode' switch (REMOVE ALL PROPELLERS FIRST);
• The parameter sbus_inversion has been changed into serialrx_inverted, and the way it is applied has been changed as follows: It now applies to all RX protocols, not just SBus, and instead of switching the UART to normal when off and inverted when on, 'off' now means that the port is set to whatever the default is for the selected protocol (i.e. inverted for SBus, not inverted for SUMD), and 'on' means that the port is inverted from default (i.e. not inverted for SBus, inverted for SUMD);
• The way that rates are configured has been changed (#4973). Betaflight now supports independent rates settings for roll / pitch / yaw. When updating from an older version of the firmware, make sure to convert your settings to the new parameters as follows: rc_rate becomes roll_rc_rate and pitch_rc_rate, rc_rate_yaw becomes yaw_rc_rate, rc_expo becomes roll_expo and pitch_expo, and rc_expo_yaw becomes yaw_expo. The same change also makes 'RaceFlight' type rate settings available. Set rates_type = raceflight. After this, 'rc_rate_' is RaceFlight 'rate' (scaled down by a factor of 10), <axis>_expo is RaceFlight 'expo', and <axis>_srate is RaceFlight 'acro+';
• The DISABLE 3D mode is now called DISABLE / SWITCH 3D (#5179). In default configuration it works in the same way it used to work before. With 3d_switched_mode = on, 'switched 3d mode' is enabled: With the 3D switch on, the throttle goes from forward thrust idle (min) to forward thrust full (max), which is the same as with 3d_switched_mode = off. With the 3D switch off, the throttle goes from reversed thrust idle (min) to reversed thrust full (max). This allows the pilot to fly 3d by using the full throttle range in normal / reversed position, by switching motor directions with the switch when flipping over;
• The disarm_kill_switch function that allowed (switch) disarming to be set up to be only possible on low throttle has been removed. There is no use case that requires it, and having it enabled introduces the safety risk of not being able to reliably disarm in an emergency;
• The SmartAudio protocol implementation has been updated to be fully compliant with the SmartAudio specification. First generation AKK / RDQ VTX devices have a bug in their SmartAudio protocol implementation, causing them to fail to work with the SmartAudio protocol as implemented by Betaflight 3.3 (and KISS / RaceFlight). In order to not leave the owners of these VTX devices stranded, a branch off the Betaflight 3.3 maintenance branch has been created with a fix for these devices in it. This branch will be updated for all 3.3 patch releases. If you own one of these first generation AKK / RDQ VTX devices and are affected by this bug, please go to this website to download a Betaflight 3.3 version that works with your VTX device. (Go back to this page to download the latest version whenever a new version of Betaflight 3.3 has been released.)

Major features:

• Added support for the FrSky FPort protocol (#4158);
• Added Spektrum VTX control (#4434);
• Added CMS configuration over Spektrum telemetry (#4545);
• Added FrSky X SPI RX protocol (#4683);
• Added fast Biquad RC+FIR2 filter (optimised version of Kalman gyro filter in #4890) (#4965);
• Added Runaway Takeoff Prevention (anti-taz) (#4935).

Minor features:

• Added CMS power menu (#3724);
• Added support for FlySky SPI receiver (#4060);
• Added use TIM_UP and DMAR for all timer channels with Dshot (#4073, #4843, #4852);
• Added '3D on a switch' mode (#4227);
• Added Dshot beacon activation to BEEPER_RX_LOST_LANDING (#4231);
• Added generic RunCam device protocol support (#4251);
• Added a reasonable default OSD layout (#4260);
• Added handling and display of date and time (#4289);
• Added MSP command to disable arming (#4320);
• Added support for Spektrum real RSSI from SRXL Rx and fake RSSI from both int and ext bound satellites (#4347);
• Changed after flight OSD statistics screen to only show when enabled (#4428);
• Added remaining time estimate based on flight used mAh rate to OSD (#4487, #4543, #4618);
• Added setting of RSSI value with MSP (#4507);
• Improved SmartAudio update frequency (make it QuietAudio) (#4532);
• Updated PID calculations to use actual deltaT (#4556);
• Added AND logic to modes (#4722);
• Add TCM support to F7 (#4757);
• Added Benewake TFmini/TF02 rangefinder support (#4793);
• Added selectable RaceFlight rates (#4973);
• Added KN (NRF24) SPI RX protocol (#4994);
• Added Spektrum VTX status via telemtry (#5081);
• Added PINIOBOX BOX to PINIO general purpose pin output mapper (#5110).

New targets:

• Added new target EachiWhoop (#4060);
• Added new target XRACERF4 (#4255);
• Added new target MATEKF411RX (#4937);
• Added new target FPVM_BETAFLIGHTF7 (#5307).

Changes from Release Candidate 3:

Safety improvements:

• Enhanced deactivation logic and removed unneeded parameters from Runaway Takeoff Prevention (#5337).

Fixes:

• Reverted power index change in vtx_common (#5313);
• Changed rx data processing to ensure updateArmingStatus() is called periodically (#5327);
• Fixed bug with negative core temperature (#5336);
• Added missing osd_stat_rtc_date_time to CLI (#5339);
• Removed conditional pidUpdateCountDown() from fc_core (#5343).

Target updates:

• Added camera control pin to DALRCF405 (#5294);
• Added new target FPVM_BETAFLIGHTF7 (#5307);
• Enabled DMAR and remapped LED_STRIP for FF_PIKOBLX (#5334).

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

• This release is introducing Runaway Takeoff Prevention (#4935). This feature will prevent uncontrollable acceleration ('tasmanian devil') when the craft is armed with misconfigured motor outputs or props on the wrong way, by disarming the craft if such a configuration is detected. It will also cause disarms when throttling up quickly on the bench with props off. If you get unwanted disarms right after arming, use the parameters (runaway_takeoff_threshold, runaway_takeoff_activate_delay, runaway_takeoff_deactivate_delay, runaway_takeoff_deactivate_throttle_percent) to tune the function to work for you, and please report back your working configuration;
• The orientation of the AK8963 magnetomerter has been changed, to make it match the orientation it has when it comes integrated in the MPU9250 gyro / accelerometer / magnetometer chip. If you are using an external AK8963 magnetometer, check your orientation to make sure it is still correct. If not, use the align_mag to configure the correct orientation;
• More possible reasons for arming to be disabled have been added. Because of this, and because counting the 'arming disabled' beep indications was becoming difficult, the method of how the arming disabled reason is indicated has been changed. See the wiki article for details.
• Arming is now disabled when the flight controller is connected to the Betaflight configurator. This was added in order to keep users from accidentally arming their craft when testing their RX / mode switches with a battery connected. In order to enable arming for bench testing, go to the 'Motors' tab and enable the 'Motor test mode' switch (REMOVE ALL PROPELLERS FIRST);
• The parameter sbus_inversion has been changed into serialrx_inverted, and the way it is applied has been changed as follows: It now applies to all RX protocols, not just SBus, and instead of switching the UART to normal when off and inverted when on, 'off' now means that the port is set to whatever the default is for the selected protocol (i.e. inverted for SBus, not inverted for SUMD), and 'on' means that the port is inverted from default (i.e. not inverted for SBus, inverted for SUMD);
• The way that rates are configured has been changed (#4973). Betaflight now supports independent rates settings for roll / pitch / yaw. When updating from an older version of the firmware, make sure to convert your settings to the new parameters as follows: rc_rate becomes roll_rc_rate and pitch_rc_rate, rc_rate_yaw becomes yaw_rc_rate, rc_expo becomes roll_expo and pitch_expo, and rc_expo_yaw becomes yaw_expo. The same change also makes 'RaceFlight' type rate settings available. Set rates_type = raceflight. After this, 'rc_rate_' is RaceFlight 'rate' (scaled down by a factor of 10), <axis>_expo is RaceFlight 'expo', and <axis>_srate is RaceFlight 'acro+';
• The DISABLE 3D mode is now called DISABLE / SWITCH 3D (#5179). In default configuration it works in the same way it used to work before. With 3d_switched_mode = on, 'switched 3d mode' is enabled: With the 3D switch on, the throttle goes from forward thrust idle (min) to forward thrust full (max), which is the same as with 3d_switched_mode = off. With the 3D switch off, the throttle goes from reversed thrust idle (min) to reversed thrust full (max). This allows the pilot to fly 3d by using the full throttle range in normal / reversed position, by switching motor directions with the switch when flipping over;
• The disarm_kill_switch function that allowed (switch) disarming to be set up to be only possible on low throttle has been removed. There is no use case that requires it, and having it enabled introduces the safety risk of not being able to reliably disarm in an emergency.

To get optimal support for configuration and tuning of the firmware, please use the latest version of the Betaflight configurator (10.2.0 at the time of this release), available here.

Major features:

• Added support for the FrSky FPort protocol (#4158);
• Added Spektrum VTX control (#4434);
• Added CMS configuration over Spektrum telemetry (#4545);
• Added FrSky X SPI RX protocol (#4683);
• Added fast Biquad RC+FIR2 filter (optimised version of Kalman gyro filter in #4890) (#4965);
• Added Runaway Takeoff Prevention (anti-taz) (#4935).

Minor features:

• Added CMS power menu (#3724);
• Added support for FlySky SPI receiver (#4060);
• Added use TIM_UP and DMAR for all timer channels with Dshot (#4073, #4843, #4852);
• Added '3D on a switch' mode (#4227);
• Added Dshot beacon activation to BEEPER_RX_LOST_LANDING (#4231);
• Added generic RunCam device protocol support (#4251);
• Added a reasonable default OSD layout (#4260);
• Added handling and display of date and time (#4289);
• Added MSP command to disable arming (#4320);
• Added support for Spektrum real RSSI from SRXL Rx and fake RSSI from both int and ext bound satellites (#4347);
• Changed after flight OSD statistics screen to only show when enabled (#4428);
• Added remaining time estimate based on flight used mAh rate to OSD (#4487, #4543, #4618);
• Added setting of RSSI value with MSP (#4507);
• Improved SmartAudio update frequency (make it QuietAudio) (#4532);
• Updated PID calculations to use actual deltaT (#4556);
• Added AND logic to modes (#4722);
• Add TCM support to F7 (#4757);
• Added Benewake TFmini/TF02 rangefinder support (#4793);
• Added selectable RaceFlight rates (#4973);
• Added KN (NRF24) SPI RX protocol (#4994);
• Added Spektrum VTX status via telemtry (#5081);
• Added PINIOBOX BOX to PINIO general purpose pin output mapper (#5110).

New targets:

• Added new target EachiWhoop (#4060);
• Added new target XRACERF4 (#4255);
• Added new target MATEKF411RX (#4937).

Changes from Release Candidate 2:

Safety improvements:

• Added gyro rate checking to runaway takeoff activation to improve bench testing (#5236);
• Changed gyro_overflow_detect to use filtered instead of raw gyro data - 2nd try (#5284).

Fixes:

• Separated PINIOBOX boxId and permanentId (#5208);
• Fixed problem with craft name overwriting elements in OSD (#5222);
• Reordered arming disabled flags to give runaway takeoff a higher priority (#5239);
• Increased performance of Spektrum CMS over telemetry (#5242);
• Removed duplicate legacy gyro_lpf validation from msp.c (#5247);
• Changed crash-flip OSD message to track actual state rather than switch (#5253);
• Optimized LED_STRIP by disabling unassigned overlays (#5266);
• Fixed OSD warnings overlap to the right (#5268);
• Fixed efficiency of FPort protocol (#5269);
• Fixed incorrect ACC sensor name for ICM20608G (#5278);
• Changed linker script to ensure that SRAM2 on STMF72x is unused and not part of 'RAM' linker section (#5280);
• Fixed 'fade' may be uninitialised warning in Spektrum RSSI handling (#5282);
• Disabled VTX low power on disarm when in failsafe (#5290);
• Fixed 3D on a switch throttle inversion/scale (#5291);
• Disabled runcam camera control in while ARMING_DISABLED_RUNAWAY_TAKEOFF is set (#5296);
• Disablde stick command processing while ARMING_DISABLED_RUNAWAY_TAKEOFF is set (#5299).

Target updates:

• Fixed motor order for KISSCC to match manual (QUADX1234) (#5217);
• Changed SPRACINGF4EVO to use ADC3 instead of ADC1 (#5281);
• Added MAX7456_SPI_CLOCK define and MAX7456_RESTORE_CLK to KAKUTEF4 target (#5288);
• Added kalman filter to YupiF4 (#5246).

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

• This release is introducing Runaway Takeoff Prevention (#4935). This feature will prevent uncontrollable acceleration ('tasmanian devil') when the craft is armed with misconfigured motor outputs or props on the wrong way, by disarming the craft if such a configuration is detected. It will also cause disarms when throttling up quickly on the bench with props off. If you get unwanted disarms right after arming, use the parameters (runaway_takeoff_threshold, runaway_takeoff_activate_delay, runaway_takeoff_deactivate_delay, runaway_takeoff_deactivate_throttle_percent) to tune the function to work for you, and please report back your working configuration;
• The orientation of the AK8963 magnetomerter has been changed, to make it match the orientation it has when it comes integrated in the MPU9250 gyro / accelerometer / magnetometer chip. If you are using an external AK8963 magnetometer, check your orientation to make sure it is still correct. If not, use the align_mag to configure the correct orientation;
• More possible reasons for arming to be disabled have been added. Because of this, and because counting the 'arming disabled' beep indications was becoming difficult, the method of how the arming disabled reason is indicated has been changed. See the wiki article for details.
• Arming is now disabled when the flight controller is connected to the Betaflight configurator. This was added in order to keep users from accidentally arming their craft when testing their RX / mode switches with a battery connected. In order to enable arming for bench testing, go to the 'Motors' tab and enable the 'Motor test mode' switch (REMOVE ALL PROPELLERS FIRST);
• The parameter sbus_inversion has been changed into serialrx_inverted, and the way it is applied has been changed as follows: It now applies to all RX protocols, not just SBus, and instead of switching the UART to normal when off and inverted when on, 'off' now means that the port is set to whatever the default is for the selected protocol (i.e. inverted for SBus, not inverted for SUMD), and 'on' means that the port is inverted from default (i.e. not inverted for SBus, inverted for SUMD);
• The way that rates are configured has been changed (#4973). Betaflight now supports independent rates settings for roll / pitch / yaw. When updating from an older version of the firmware, make sure to convert your settings to the new parameters as follows: rc_rate becomes roll_rc_rate and pitch_rc_rate, rc_rate_yaw becomes yaw_rc_rate, rc_expo becomes roll_expo and pitch_expo, and rc_expo_yaw becomes yaw_expo. The same change also makes 'RaceFlight' type rate settings available. Set rates_type = raceflight. After this, 'rc_rate_' is RaceFlight 'rate' (scaled down by a factor of 10), <axis>_expo is RaceFlight 'expo', and <axis>_srate is RaceFlight 'acro+';
• The DISABLE 3D mode is now called DISABLE / SWITCH 3D (#5179). In default configuration it works in the same way it used to work before. With 3d_switched_mode = on, 'switched 3d mode' is enabled: With the 3D switch on, the throttle goes from forward thrust idle (min) to forward thrust full (max), which is the same as with 3d_switched_mode = off. With the 3D switch off, the throttle goes from reversed thrust idle (min) to reversed thrust full (max). This allows the pilot to fly 3d by using the full throttle range in normal / reversed position, by switching motor directions with the switch when flipping over;
• The disarm_kill_switch function that allowed (switch) disarming to be set up to be only possible on low throttle has been removed. There is no use case that requires it, and having it enabled introduces the safety risk of not being able to reliably disarm in an emergency.

Major features:

• Added support for the FrSky FPort protocol (#4158);
• Added Spektrum VTX control (#4434);
• Added CMS configuration over Spektrum telemetry (#4545);
• Added FrSky X SPI RX protocol (#4683);
• Added fast Biquad RC+FIR2 filter (optimised version of Kalman gyro filter in #4890) (#4965);
• Added Runaway Takeoff Prevention (anti-taz) (#4935).

Minor features:

• Added CMS power menu (#3724);
• Added support for FlySky SPI receiver (#4060);
• Added use TIM_UP and DMAR for all timer channels with Dshot (#4073, #4843, #4852);
• Added '3D on a switch' mode (#4227);
• Added Dshot beacon activation to BEEPER_RX_LOST_LANDING (#4231);
• Added generic RunCam device protocol support (#4251);
• Added a reasonable default OSD layout (#4260);
• Added handling and display of date and time (#4289);
• Added MSP command to disable arming (#4320);
• Added support for Spektrum real RSSI from SRXL Rx and fake RSSI from both int and ext bound satellites (#4347);
• Changed after flight OSD statistics screen to only show when enabled (#4428);
• Added remaining time estimate based on flight used mAh rate to OSD (#4487, #4543, #4618);
• Added setting of RSSI value with MSP (#4507);
• Improved SmartAudio update frequency (make it QuietAudio) (#4532);
• Updated PID calculations to use actual deltaT (#4556);
• Added AND logic to modes (#4722);
• Add TCM support to F7 (#4757);
• Added Benewake TFmini/TF02 rangefinder support (#4793);
• Added selectable RaceFlight rates (#4973);
• Added KN (NRF24) SPI RX protocol (#4994);
• Added Spektrum VTX status via telemtry (#5081);
• Added PINIOBOX BOX to PINIO general purpose pin output mapper (#5110);
• Adjustable overclock for F405 and F411 (#5210).

New targets:

• Added new target EachiWhoop (#4060);
• Added new target XRACERF4 (#4255);
• Added new target MATEKF411RX (#4937).

Changes from Release Candidate 1:

Safety improvements:

• Reactivate Runaway Takeoff Prevention after using crash-flip (#5205).

Fixes:

• Biquad RC+FIR2: Allow user to specify cutoff Hz parameter directly (#5144);
• Disable runaway takeoff when crash-flip mode is active (#5176);
• Spektrum iX12 adaption of CMS start screen (#5181);
• Fixed ordering of SPI RX protocols (#5195);
• Runaway Takeoff Prevention - temporarily disable during configurator bench testing (#5172);
• motorDevInit IOConfigGPIOAF instead of IOConfigGPIO (#5198);
• Biquad RC+FIR2: Reverse interface settings DEFINE conditional (#5216);
• Fixed parameter group violations in motorDevConfig_t, incremented EEPROM config version before 3.3.0 release (#5178);
• Unified BOX3DDISABLE and BOX3DONASWITCH switches (#5179);
• Adjustable overclock for F405 and F411 (#5210).

Target updates:

• Fixed UART count for TINYBEEF3 (#5170);
• Added Biquad RC + FIR2 filter to F3 targets (#5175);
• Disabled Dshot DMAR for CLRACINGF4 (#5180);
• Enable ESCSERIAL for MOTOLABF4 targets (#5191);
• Fix AlienFlight F3 V1 LED issue (#5202).

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

• This release is introducing Runaway Takeoff Prevention (#4935). This feature will prevent uncontrollable acceleration ('tasmanian devil') when the craft is armed with misconfigured motor outputs or props on the wrong way, by disarming the craft if such a configuration is detected. It will also cause disarms when throttling up quickly on the bench with props off. If you get unwanted disarms right after arming, use the parameters (runaway_takeoff_threshold, runaway_takeoff_activate_delay, runaway_takeoff_deactivate_delay, runaway_takeoff_deactivate_throttle_percent) to tune the function to work for you, and please report back your working configuration;
• The orientation of the AK8963 magnetomerter has been changed, to make it match the orientation it has when it comes integrated in the MPU9250 gyro / accelerometer / magnetometer chip. If you are using an external AK8963 magnetometer, check your orientation to make sure it is still correct. If not, use the align_mag to configure the correct orientation;
• Arming is now disabled when the flight controller is connected to the Betaflight configurator. This was added in order to keep users from accidentally arming their craft when testing their RX / mode switches with a battery connected. In order to enable arming for bench testing, go to the 'Motors' tab and enable the 'Motor test mode' switch (REMOVE ALL PROPELLERS FIRST);
• The parameter sbus_inversion has been changed into serialrx_inverted, and the way it is applied has been changed as follows: It now applies to all RX protocols, not just SBus, and instead of switching the UART to normal when off and inverted when on, 'off' now means that the port is set to whatever the default is for the selected protocol (i.e. inverted for SBus, not inverted for SUMD), and 'on' means that the port is inverted from default (i.e. not inverted for SBus, inverted for SUMD);
• The way that rates are configured has been changed (#4973). Betaflight now supports independent rates settings for roll / pitch / yaw. When updating from an older version of the firmware, make sure to convert your settings to the new parameters as follows: rc_rate becomes roll_rc_rate and pitch_rc_rate, rc_rate_yaw becomes yaw_rc_rate, rc_expo becomes roll_expo and pitch_expo, and rc_expo_yaw becomes yaw_expo. The same change also makes 'RaceFlight' type rate settings available. Set rates_type = raceflight. After this, 'rc_rate_' is RaceFlight 'rate' (scaled down by a factor of 10), <axis>_expo is RaceFlight 'expo', and <axis>_srate is RaceFlight 'acro+';
• The DISABLE 3D mode is now called DISABLE / SWITCH 3D (#5179). In default configuration it works in the same way it used to work before. With 3d_switched_mode = on, 'switched 3d mode' is enabled: With the 3D switch on, the throttle goes from forward thrust idle (min) to forward thrust full (max), which is the same as with 3d_switched_mode = off. With the 3D switch off, the throttle goes from reversed thrust idle (min) to reversed thrust full (max). This allows the pilot to fly 3d by using the full throttle range in normal / reversed position, by switching motor directions with the switch when flipping over.

Major features:

• Added support for the FrSky FPort protocol (#4158);
• Added Spektrum VTX control (#4434);
• Added CMS configuration over Spektrum telemetry (#4545);
• Added FrSky X SPI RX protocol (#4683);
• Added fast Biquad RC+FIR2 filter (optimised version of Kalman gyro filter in #4890) (#4965);
• Added Runaway Takeoff Prevention (anti-taz) (#4935).

Minor features:

• Added CMS power menu (#3724);
• Added support for FlySky SPI receiver (#4060);
• Added use TIM_UP and DMAR for all timer channels with Dshot (#4073, #4843, #4852);
• Added '3D on a switch' mode (#4227);
• Added Dshot beacon activation to BEEPER_RX_LOST_LANDING (#4231);
• Added generic RunCam device protocol support (#4251);
• Added a reasonable default OSD layout (#4260);
• Added handling and display of date and time (#4289);
• Added MSP command to disable arming (#4320);
• Added support for Spektrum real RSSI from SRXL Rx and fake RSSI from both int and ext bound satellites (#4347);
• Changed after flight OSD statistics screen to only show when enabled (#4428);
• Added remaining time estimate based on flight used mAh rate to OSD (#4487, #4543, #4618);
• Added setting of RSSI value with MSP (#4507);
• Improved SmartAudio update frequency (make it QuietAudio) (#4532);
• Updated PID calculations to use actual deltaT (#4556);
• Added AND logic to modes (#4722);
• Add TCM support to F7 (#4757);
• Added Benewake TFmini/TF02 rangefinder support (#4793);
• Added selectable RaceFlight rates (#4973);
• Added KN (NRF24) SPI RX protocol (#4994);
• Added Spektrum VTX status via telemtry (#5081);
• Added PINIOBOX BOX to PINIO general purpose pin output mapper (#5110).

New targets:

• Added new target EachiWhoop (#4060);
• Added new target XRACERF4 (#4255);
• Added new target MATEKF411RX (#4937).

Maintenance Release

Please read the Instructions for Upgrading.

This release contains bugfixes and target changes only. For a full list of new features see 3.2.0.

Fixes:

• Fixed range for setpoint_relax_ratio to avoid division by zero (#4961);
• Fixed IMU mutex lock (#5006);
• Fixed F446 timer clocks (#5014);
• Fixed rates / interpolation bug (#5022);
• Added guard interval for handling of MSP out of band data (#5062).

Target Updates:

• Updated BEEBRAIN_V2 target (#4939, #4941);
• Fixed the timers table for EXUAVF4PRO board (#4963);
• Added new target PYRODRONEF4 (#4974);
• Fixed PIKOF4OSD timer inversion (#4987);
• Added USART5 to FortiniF4 (#5040);
• Assigned DEBUG pad (PB3) as default half-duplex software serial on BLUEJAYF4 (#5052);
• Added new targetDALRCF405 (#5130);
• Updated YupiF7 target (#5150).

Maintenance Release

Please read the Instructions for Upgrading.

This release contains bugfixes and target changes only. For a full list of new features see 3.2.0.

Fixes:

• Added YSTTM gyro threshold (#4774);
• Changed slew filter to work for all axis instead of just yaw (#4819);
• Added option to check gyro overflow on yaw or all axes (#4827);
• Made UART vtable functions static (#4856).

Target Updates:

• Added new target EXUAVF4PRO (#4749);
• Added new target KISSFCV2F7 (#4752);
• Cleaned up MOTOLABF4 target (#4814);
• Added flash chip support to NOX target (#4812);
• Added support for BMP280 over SPI to AIRBOTF4 / AIRBOTF4SD (#4839);
• Enabled PWM5 and PWM6 for MOTOLABF4 (#4871);
• Added new target PIKOF4OSD target (#4913);
• Added support for external magnetometer to MATEKF722 target (#4909);
• Added new targets NUCLEOF446RE / SPEKTRUMF400 (#4723, #4930).

Maintenance Release

Please read the Instructions for Upgrading.

This release contains bugfixes and target changes only. For a full list of new features see 3.2.0.

Fixes:

• Fixed MAX7456 OSD timing issue (#4564);
• Fixed broken dispatcher (#4570);
• Fixed FrSky SPI binding in CLI (#4591);
• Fixed F7 boot issue (#4631);
• Fixed GPS initialisation baud rate issue (#4666);
• Fixed blackbox on / off tracking (#4721);
• Fixed crash flip (turtle mode) issue when using 3D (#4729).

Target Updates:

• Updated BARO support for BETAFLIGHTF4 (#4572);
• Added support for Winbond W25Q16 flash memory chip (#4610);
• Added support for an external magnetometer to MATEKF405 (#4624);
• Added new target NOX (#4650);
• Added support for flash chips > 16MB (#4635);
• Updated MATEKF405 target definition (#4624, #4692);
• Updated MATEKF722 target definition (#4693);
• Fixed MAG alignment for ALIENFLIGHT targets (#4709);
• Cleaned up RG_SSD_F3 (#4733).

Maintenance Release

Please read the Instructions for Upgrading.

This release contains bugfixes and target changes only. For a full list of new features see 3.2.0.

Fixes:

• added automatic disarm if crash recovery is activated in failsafe mode (#4266);
• fixed HOTT telemetry (#4325);
• added exiting of crash recovery mode on disarming (#4399, #4402, #4400);
• added improvements to the build system (#4418);
• improved MSP frame handling for CRSF (#4210);
• improved performance of CRSF handling (#4416);
• enabled the gyro slew filter for gyros using the MPU6500 driver (needed for ICM20608G gyro) (#4412);
• fixed the GPS 'satellite' image in OSD (#4447);
• added missing 'MSP' entry to current meter source list for CLI (#4457);
• fixed segmentation fault in SITL (#4461);
• fixed 'HOME ARROW' in OSD (#4445);
• fixed display of arming flags in CLI (#4473);
• changed the arming disabled reason display in OSD to show the real reason (#4474);
• fixed the logging of 'amperageLatest' when a non-ADC source is used. (#4499);
• improved 3D arming checks (#4516).

Target Updates:

• added new target KAKUTEF7 (#4389);
• added support for the Winbond W25Q256 flash chip (32MB) (#4382);
• added support for the BMP085/BMP280 baro chips to the REVO targets (#4419);
• added new target KAKUTEF4V2 (#4427, #4509);
• fixed IMPULSERCF3 target definition (#4439);
• added external SPI OSD support for the AnyFC target series (#4479);
• added drivers for Matek F405 mini to MATEKF405 target. (#4502);
• updated the MATEKF722 target (#4527);
• added new target MATEKF411 (#4534).

Please read the Instructions for Upgrading.

New:

• Full F7 support (@sambas @blckmn )
• SITL simulator support (@cs8425)
• Added crosshairs to CMS (@lostcontrol)
• Improved ITerm windup handling for tricopter (@martinbudden)
• Added SP RACING F3 OSD/PDB suport (@hydra)
• Added horizon_tilt_effect command (@ethomas997)
• Improved scheduler efficiency (@lilcw)
• Increased motor output resolution (@borisbstyle)
• Improved pwm timer precision (@blckmn)
• Added new motor protocol Proshot1000 (@TonyBazz)
• Improved configuration architecture (PG implementation @martinbudden , @ledvinap)
• OSD improvements
• New target support
• Added Automatic Notch filter based on noise frequency (@rav-rav , @martinbudden)
• Fix/enable disabling of rc smoothing in level modes
• Flip inverted quad on ground (anti-turtle mode) (@brycedjohnson)
• Improved blackbox storage to be more compact. Allows recording at higher rates and/or longer logs on flash storage (@martinbudden)
• Camera control (@diehertz)
• TBS compatible LED frequency indicator
• beeper / OSD / CLI indication of reason for not arming
• Added Iterm limit to prevent strong accumulations
• MSP over CRSF (@codecae)

Experimental - use with caution

• Added experimental crash detection and recovery (@martinbudden)
• Added experimental CPU overclock options for F4

Fixes:

• Fix GPS serial overflow (@mikeller)
• Fixed destabilisation on full throttle when Airmode disabled
• Less chance on yaw spins with Iterm limit

Known issues:

• The configuration after an upgrade from a previous version of the firmware is not properly reset, and is likely to be corrupted. To fix this, always do a CLI backup, before the upgrade, then do a 'Reset to defaults' / CLI defaults after upgrading, and restore from the backup (#4280);
• Dshot does not work on F7 targets (#4129);
• MavLink port sharing with MSP does not work (#4287);
• Camera control menu is overlaid with the OSD statistics page if camera control is invoked from the statistics page (#4293);
• When a battery is connected, the ESCs are initialised twice in a row (i.e. the initialisation beeps sound twice) (#4322).

Maintenance Release

Please read the Instructions for Upgrading.

This release contains bugfixes and target changes only. For a full list of new features see 3.2.0.

Fixes:

• Configuration does not reset to defaults after an upgrade, and is corrupted instead (#4280);
• MavLink port sharing with MSP does not work (#4287);
• CRSF Telemetry gets stuck when ACC is turned off (#4279);
• Wrong timer assignment for PA14 (#4297);
• GD32F350x6 ESCs not supported by 4-way interface (#4329).
• When a battery is connected, the ESCs are initialised twice in a row (#4322);
• Camera control menu is overlaid with the OSD statistics page if camera control is invoked from the statistics page (#4293);
• VTX band colours for LED_STRIP are wrong (#4362);
• Dshot beacon sounds when beeper is turning off (#4360);
• Dshot ESC info is inconsistent in CLI (#4308);
• Dshot1200 timing is wrong for F4 and F7 (#4367);
• Stick commands for camera control do not repeat when holding stick (#4368);
• Dshot on F7 does not work (#4165);
• Toggling WiFi on a RunCam Split will turn it off in flight (#4369);
• Arming flag names are not used in CLI in some cases, even if compiled in (#4370).

Target updates:

• KIWIF4V2 / PLUMF4: Moved LED_STRIP pin back to VTX.DTA (#4285);
• New target: XRACERF4 (#4255).
• ALIENFLIGHT: Fixed instable hardware detection issue. (#4300).
• BEEBRAIN_V2: Separated into V2D and V2F (#4318).

Maintanence Release 3.1.7

For full release info see 3.1:
https://github.com/betaflight/betaflight/releases/tag/v3.1.0

New:

• Airmode is now fully disabled when feature or mode not engaged. Before airmode was always active and it was just the iterm not being active on low throttle.
• Digital idle percent added to OSD
• Anti Gravity can now be disabled via feature or mode switch
• RSSI inversion added
• Aded BeeRotor F4, CL_RACINGF4, KroozX, PLUM F4, VGOODDHF4
• Readjusted default config
• Added transponder driver for F4

Fixes:

• Improved safety of DSHOT on very high loop speeds
• Improve validation of dterm notch settings
• Fix spektrum bind stuck bug
• Fix AK8975 MAG detection
• Fix broken Softserial SPRACINGF3EVO
• Fix "deathswitch" bug with SD and onboard blackbox on the same board (BLUEJAYF4)
• Fix angletrim bug
• Fix "escprog" feature for some boards. KISS ESC passthrough should now work better
• Fix wrong flash sector for F4
• Fix some broken targets like COLIBRI_RACE

NOTE:
Make sure you check your modes after restoring old config as modes can be shifted

Maintanence Release 3.1.6

For full release info see 3.1:
https://github.com/betaflight/betaflight/releases/tag/v3.1.0

New:

• Thanks to @jflyper Dynamic bidirectional softserial. Assigned through resource command. (NAZE users dont have to short TX and RX now to get Smartport working)
• Updated SDK to 6.2.1 2016q4

Fixes:

• Fixed limited max_aux for F1 and F3 to 6
• Added 6 motor DSHOT support to XRACER target
• Added Led Strip for KISSFC
• Added current sensor pin for KISSFC
• Enabled softserial for all targets
• Fixed activation for HEADFREE mode
• Fixed Led strip orientation for indicators
• Fix artificial Horizon for rolling wrong way
• Fix for 3D Dshot conversion in configurator
• Fix led strip for KAKUTEF4
• Fix targeted looptime
• Fix inverted polarity DSHOT timers on F4
• Disable DMA for SDcard for SPRACINGF3EVO
• Softer dterm setpoint default
• Fix filter bug for trying to filter over nyquist frequency (Not working 500hz mode)
• Less restrictive on F1 looptime
• Fix Spektrum bind for OmnibusF4

Known issues/bugs:

• There is no check for the D Term Notch Filter to ensure that the cutoff frequency ('D Term Notch Filter Cutoff') is not higher than the mid frequency ('D Term Notch Filter Frequency'). WARNING: If a cutoff frequency that is higher than the mid frequency is configured, this can result in a runaway motor acceleration. (Applies to versions prior to 3.1.6 too.)
• If your board has SDCARD blackbox and onboard Flash both available and you want to use onboard flash without inserted SDCARD you need to disable feature SDCARD, which is available from Configurator 1.9.3. Only BluejayF4 has both blackbox options availalble as far as it is known. (This is not just in 3.1.6, but also in previous versions)

Maintanence Release 3.1.5

For full release info see 3.1:
https://github.com/betaflight/betaflight/releases/tag/v3.1.0

• Restore multiwii throttle expo
• Fix Motor 6 for SIRINFPV
• [VTX SmartAudio] Fix status string for user frequency mode
• Fix broken standard PWM
• Change default current meter scale for BFF3 // Enable Serial RX by default on UART2
• Register SDCard DMA in resource list
• Configurable starting AUX channel for CHANNEL_FOWARDING
• Fixed for Tramp Power menu
• Simplify anti gravity gain parameters (disabled by default)
• Fix multiple changes through MSP for tramp
• Fix Tramp display issue for Raceband Channel 7 (was showing F8)
• Decouple min_throttle and max_throttle from altitude hold

Known Bugs/Issues:

• Max aux channels for F1 and F3 are limited to 6

Maintanence Release 3.1.3

For full release info see 3.1:
https://github.com/betaflight/betaflight/releases/tag/v3.1.0

• Minor optimalisations to PID code
• Fix for iterm anti_windup_gain axis coupling

_IMPORTANT NOTE:_
If you were using the old multiwii throttle expo youwill experience totally different behaviour. You may better remove it.