betaflight

Maintanence Release 3.1.2

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

• Fixed scaling issue where min_throttle would affect rcCommand Throttle
• Replaced old multiwii throttle expo by new floating point version
• Simplified few cli commands
• Lowered strength for some default settings like the new anti_gravity_gain

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

Maintanence Release 3.1.1

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

New:

• Resource remapping command doesn't require to set it to NONE first. (you can paste your diff output now) @blckmn
• Added KISSCC target @borisbstyle @ronlix
• Added more OSD configurable features and warnings @jflyper @DanNixon
• Added IBUS Telemetry @mikeller
• Added Blackbox to CMS @DanNixon
• Added VTX config over MSP @raphaelcoeffic

Fixed:

• Improved Iterm windup handling @borisbstyle @martinbudden
• Fixed "diff" output for few OSD parameters @DanNixon
• Simplified cli on F1 and F3 targets for more flash space @mikeller
• Fixed REVONANO target @blckmn
• Minor Code optimalisations @borisbstyle
• Improved default configuration (higher default idle offset and new anti windup parameters) @borisbstyle
• Fixed OSD switch @DanNixon
• Fixed motor mapping on RCExplorer target @blckmn
• Improved boot issues on wrong resource mappings @blckmn

Betaflight 3.1.0

Betaflight firmware has undergone some major changes under the hood. Hardware drivers have been optimised to improve future maintainibility, but also easier target and hardware support. The efficiency of the code has also been improved by a lot as the Betaflight team reviewed each line of the code to squeeze every possible performance win out of it for flight performance purposes. The difference between the current release and previous one is over 1900 code commits by various developers. Only release note highlights are represented. For full change history github commit history can be reviewed.

Click here to watch @joshuabardwell overview about 3.1

Release note highlights:

• Added F7 support with already few supported targets - @sambas
• Dynamic IO / pin allocation - @blckmn
  
• DSHOT support for F3 and F4. DSHOT150, 300, 600, and 1200 supported (read wiki about board supported hardware) - @blckmn @ronlix (For more info about motor protocols )
  
• Full Floating Point Logic for flight behaviour - @borisbstyle
• Many new dynamic configurations (filters, setpoint weights etc.) - @borisbstyle
• Many code optimisations (faster pid speeds possible on F3 and F4) - @martinbudden and @borisbstyle
• Support for KISS ESC telemetry (only with DSHOT) - @basdelfos
• Added temperature and RPM to KISS ESC telemetry - @mikeller
• Added serial esc pass-through for KISS24 and CASTLE esc's - @sambas
• New target support
• Added CMS display support - @jflyper
• Added CSRF support for TBS receivers and associated telemetry - @martinbudden and @blckmn
• Added additional OSD parameters like pids and power - @martinbudden and @rafl
• Added unify smartaudio support - @jflyper
• Added MSP over Smartport - @raphaelcoeffic
• Auto Video Format support for OSD
• Configurator enhancements - @mikeller
• Speeded up build system, needed now there are so many targets - @AndersHoglund
• Fixed JUMBO frame handling on VCP targets, so blackbox logs can be downloaded more quickly - @AndersHoglund
• New "anti_gravity_threshold" and "anti_gravity_gain" parameter to improve stability in fast changing G forces during flight. This applies to quick throttle jumps where multirotor can go through weightless transitions. In these cases the iterm can cause unwanted effects like pitching up or yawing due to strong changes in accumulation polarities. - @borisbstyle
• Protection against selecting motor protocols that are too slow (e.g. when ONESHOT125 is selected the maximum allowed PID and motor update frequency will be 2kHz) - @borisbstyle
• Added experimental 32kHz support for gyros that support it - @martinbudden. Usually F4 board will run fine on 32kHz gyro and 16kHz pid loop. 32/32 is slightly too much for CPU. F7 target is now the only one able to run 32kHz/32kHz flawlessly with even accelerometer enabled.
  To enable 32kHz mode use CLI setting gyro_use_32khz = ON. (Configurator will not display correct speed until the next configurator update, but you will see the real cycletime). NOTE - only flight controllers with MPU6500, MPU9250, and ICM-series (eg ICM20689) gyro support 32kHz mode.
• Blackbox enhancements (use 2.5.8 blackbox-viewer) - @GaryKeeble
• Added new level sensitivity and level limit parameters in degrees. level_limit is the maximum allowed angle. Level_sensitivity is the max deflection on full stick @borisbstyle
• Added IRC Tramp VTX support. Changable channel, band, power and pitmode @jflyper (Watch video )
  
• and many more: https://github.com/betaflight/betaflight/commits/master

NOTE: You will need to use configurator 1.9.0 and blackbox 2.5.9 or higher for the features in this release

Betaflight 3.0.1 (3.0 patch 1)

• Finalized OSD Code. (More OSD configuration options)
• Changed Relaxation Parameter to act as transition (Helps better against bounce backs on higher rates with high setpoint weight)
• Fixed non working Baro for some boards
• Added second notch for gyro (set gyro_notch1_hz and set gyro_notch2_hz, also available in the new 1.8.3 configurator)
• Added configurable pidSum limit
• New filter defaults (notch filters enabled by default)
• Added BEEBRAIN target

BetaflightGroup is a list of developers who are actively working to improve this open source project:
BorisB
Martin Budden
Jason Blackman (blckmn)
Michael Keller (mikeller)
Nathan (nathantsoi)
Anton Stålheim (KiteAnton)
Albert Kravcov (skaman82)
Anders Höglund
Gary Keeble (MadmanK)
digitalentity

And many many others to all who contributed the code and still occassionally contributing!
https://github.com/betaflight/betaflight/graphs/contributors

Betaflight 2.9.1 (Maintenance Patch)

NEEDS CONFIGURATOR 1.7.0
WARNING: Using this FW with pre 1.7 configurator may cause configuration corruption!

• Fix spinning motors after save in configurator for Multishot and Oneshot42
• Prepare for new MSP standardisation used in >3.0
• Fix possible timer overflow for synced PWM
• Add CPU status notification towards configurator (visible in status bar)
• Fixed configurator issue when other gyro_lpf values selected than gyro_lpf = OFF

Users with 2.9.0 can upgrade without losing their settings.

Betaflight 2.9 (Configurator Integration)

• Fixed PID controller reset from Configurator
• Fixed Airmode Feature bug when Motor Stop enabled
• Added more Configurable options for the new Betaflight 1.3 Configurator
• Changed the default parameters (All accessible in Configurator)
• Default Derivative method is changed back to Measurement. To get the 2.8.1 behaviour you can change it back to Error in the new configurator. You can play with this setting to find your preferenced style. Freestyle pilot would prefer more Measurement method and racing pilots might like tigher stick feel with delta on Error. Delta from measurement will feel more smooth and natural, while delta from Error may feel a bit more robotic.
• New default filters. These are now all accessible in the configurator
• Added new parameter (rc_smooth_interval_ms). Dont use it if you dont know what you are doing. 0 means disabled

Download the Betaflight Configurator for optimal Configuring experience
https://chrome.google.com/webstore/detail/betaflight-configurator/kdaghagfopacdngbohiknlhcocjccjao?hl=en

Release 2.8 ("Rates Redesign")

Patch 2.8.1 Fixes:

• Fixed sensitivity in dynamic Iterm (prevent drift issues)
• Improved Dterm math replaces dynamic Pterm
• Some code cleanups
• Fixed issue where "dump all" command switches from rateprofile
• New defaults
• Increased Multishot Resolution
• Preparations for new configurator

Support for Betaflight configurator:
https://chrome.google.com/webstore/detail/betaflight-configurator/kdaghagfopacdngbohiknlhcocjccjao

Release 2.8.0:

• Changed Airmode Low Throttle Protection. Airmode now gets activated when stick moved above certain threshold. (CLI: set airmode_activate_throttle = <1000-2000>). Note that 3D users have to reconfigure their threshold to something else otherwise airmode would be always enabled.
• Sligthly more Authority on low throttle even without Airmode
• Added dynamic ki to dynamic PID feature. Iterm windups now won't increase instability. Iterm is better smoothed in dynamic situations
• Some code cleanups
• New default PIDs
• Added ledstrip visual beeper (CLI: ledstrip_visual_beeper)
• yaw_jump_prevention is removed and replaced by yaw D gain! The higher the D the lower the jump_prevention limit will be.
• Seperated fast_pwm_protocol from ONESHOT125 feature. The feature in GUI will only be green when ONESHOT125 is actually selected. Normal traditional PWM can be now selected with "set fast_pwm_protocol = OFF"
• Fix for beeper during boot. (Not beeping anymore)
• On the fly Rc Expo calculations (No more pre computed points)
• Experimental Anti ESC desync option. FC's can be pretty rough when it comes to throttle changes towards the ESC. This option allows you to set the maximum power increment / decrement to the ESC. You can declare the maximum change within 1ms. (CLI: set anti_desync_power_step = <0-10000>)
• Reworked Super Expo is now by default on as feature SUPEREXPO_RATES. You will like the new smoother stick feel! Check Rate calculator for rates. You still can disable it to get the old style rates. The new rates have smoothed mid stick so I don't recommend using the deadband anymore. Also there are no more super expo factors
• Yaw rate is same scaling like roll and pitch. It only has the fixed Rc Rate of 1.00 (100)
• SUPEREXPO_RATES and AIRMODE are both features now! When features enabled that means that airmode or superexpo are always enabled. When feature AIRMODE disabled it still can put on a switch. (Use feature command to enable or disable airmode)
• Added new Target SINGULARITY (Built in VTX)
• Added Rc Rate for Yaw! Will in the future also be added in the configurator. ("set rc_rate_yaw = <100-250>")
• Added rate limitations to 2000deg/sec. You cannot ever set the rates higher than the gyro can handle.
• New rate calculations allows to change everything via Rates and RC Rate. You actually dont even need to use RC Expo, but you still can. Check the rate calculator!

Rate Calculator
https://dl.dropboxusercontent.com/u/31537757/betaflight/Betaflight%20Rates%202.8.xls

2.7 release

Patch 1 (2.7.1 notes):

• Fixed Luxfloat drift
• F1 boards defaulted to 1khz

2.7 Release notes

• Fixed MPU6000 SPI slow speed for some targets
• Fully working SPRACINGF3 Target
• Enable MPU6000 and MPU9250 for Colibri Race Target
• Many code cleanups and optimalisations
• Remove MW23 Pid controller (use rewrite or luxfloat)
• Fix for Dterm scaling in luxfloat. It is now fully matching rewrite. Luxfloat users from 2.6.1 need to multiply their D by 2 to get the same scaling
• Added PID configuration to blackbox header and other configuration parameters
• Added flightmode events to blackbox logging
• Added Optional Super Expo for yaw (CLI: super_expo_factor_yaw, super_expo_yaw)
• Iterm reset converted to Iterm limiter in super expo mode
• Added Optional Iterm reset option even without super expo (CLI: iterm_always_reset)
• Enabled TPA also for Yaw axis
• Increased default min_check value due to many misunderstandings for beginners (lower min_check still recommended)
• Added more debugging options
• Many code optimilisations
• Optimilisations for offline testing
• Change filter cutoff configurations to integers
• Dynamic PID Implementation (P accelerator)
• Added Task Page for OLED display
• Slightly improved biquad coefficients precision
• Fix for out of order PPM ISR
• Increased configurable range for yaw_p_limit
• Improved rc_expo step resolution by factor 5
• Added support for unsynced motor update speeds for fast PWM protocols up to 32k (CLI: unsynced_fast_pwm)
• Added new way of configuring fast PWM protocols (CLI: fast_pwm_protocol (ONESHOT125, ONESHOT42, MULTISHOT))
• Slowed down CPU for F1 targets back to 72Mhz to have better motor timing support. Naze32 may have more difficulties running 4k.
• Configurable Iterm reset offset (CLI: iterm_reset_offset)

NOTE
In this version the filters are optimised to provide the best possible flight characteristics. This means that some less agressive filtering is used. In case your setup is too noisy you need to adjust the filters. Here are some of the recommendations. The more filtering you use the less noise will be let into the system, but that will reduce the overall responsitivity of the pid controller and provide less stability in prop wash scenarios for example.

Default / Optimal flight performance:
gyro_lowpass = 100
dterm_lowpass = 110

Slightly noisy setup:
gyro_lowpass = 80
dterm_lowpass = 100

Very noisy setup
gyro_lowpass = 50
dterm_lowpass = 100

2.6.1 defaults:
gyro_lowpass = 80
dterm_lowpass = 70

Release 2.6.1

• Very long waited VCP passthrough thanks to 4712! (You do need latest blhelisuite! http://www.mediafire.com/download/9bwzbfzmfpv7j4i/BLHeliSuiteBeta144051.zip)
• 4 way interface passthrough, which also works for simonk bootloader through blhelisuite
• Remove old simonk passthrough
• Cli bugfix for configuring Yaw lpf
• Fix low throttle arming for 3D mode on switch.
• Fix for re-arming when calibration set to be prior arming (only for switch armers due to safety reasons)
• Fix IBUS to have 10 channels
• Add frsky average voltage on A4
• Fix for transponder for SPRACINGF3MINI target
• Luxfloat has now exact same rate and PID scaling like rewrite. The defaults are now same. Makes switching between these 2 easier. Luxfloat users need to readjust rates and perhaps slightly their PID's. See wiki for more info
• Added new targets DOGE and SPRACINGF3EVO
• Fix for uninitialized averageSum
• New Horizon default sensitivity (Level D is now horizon sensitivity for luxfloat and rewrite)
• Improved CLI help. Cli now shows the available config ranges for each parameter

Note:
Upgrading from 2.6.0 will not erase your settings!

Release 2.6

• Improved performance of roll / yaw mixing to fpv cam feature
• Added vbat_hysteresis configurable parameter for vbat alarms
• Improved cli dump. "dump" = print all current active config, "dump all" = dump full config (all profiles and rates). Also no more pauses needed after pasting
• New additional esc passthough support added for Simonk bootloaders and blheli (example for esc #1: escprog sk 1 or escprog bl 1 for blheli) See wiki for explaination, which will be added soon
• Dterm filtering improved. Enabled by default. Dterm can now even be increased without fear for noise
• Luxfloat pids changed to integer and increased in configurable range. All pid controllers now share same PID bank. Luxfloat pids are now scaled to be close to rewrite. See wiki for conversion.
• Slight increase in rewrite yaw rate to match roll and pitch better. rate of 100 is now equal to 80 for example
• Acro Plus feature is depricated and replaced by Super Expo feature, which works differently. The feature is derived from multiwii and only applied to luxfloat and rewrite. super_expo_factor determines the super rate curve
• New optimized defaults
• Additional thresholds for Iterm reset in super expo mode added (yaw iterm reset is always active)
• Fixed gyro calibration on arming features. Arming won't happen before gyro finished calibration
• Changed some parameter naming conventions in cli (mainly to prevent some copy paste behaviour and to have more clear naming)
• Improved yaw noise filtering
• Removed D on yaw from all pid controllers. This saves the pid controller some calculations. Dterm on yaw isnt really needed

2.5 Patch 4

• Improved gyro calibration on faster looptimes
• Added option for gyro calibration prior arming. Gyro calibrates only prior the first arm sequence (set gyro_cal_on_first_arm = ON)
• Failsafe buzzer now only beeps when copter was armed at least once
• Iterm scaling improved on MW23
• COLIBRI_RACE added Airmode status in CORE PRO
• Fixed Beeper dump bug
• All profiles added to dump in cli
• Better configurable range for PIDs in configurator for luxfloat. Cli PID scaling stays the same
• New luxfloat Yaw default
• Added 3D mode on switch (If you want to arm in non 3D mode your ESC range needs to be symmetric)

2.5 patch 3

• yaw_p_limit applied to all PID controllers. Before it was only applied to MW23. Changed default to 300. Removed old dynamic yaw limiter

Note that upgrading from previous versions and/or pasting cli dump will overwite the default. Therefore I recommend using set yaw_p_limit = 300 for best results

2.5 Patch 2

• Added piroutte protection during hard yaw manouvres. Yaw should not dominate over roll and pitch in some scenarios
• New 1000 looptime default (gyro_sync_denom = 8 and gyro_lpf = off)

2.5 Patch 1

• Restored original min_check scaling. Both stick armers and switch armers have same throttle range.
• Default min_check lowered to 1040 (make sure your radio can go below 1040 to be able to arm)
• SPRACINGF3MINI cleanflight sync. Some timer cleanup (possible PPM fix with oneshot)
• Fix for ON_USB buzzer (works only on some targets)

Release 2.5

• Scheduler rework for more spread processing and faster looptimes
  manual.
• Decreased motor jitter due to inverted order for main task
• Removed rcCommand throttle to min_check dependancy. Throttle is not anymore constrained to min_check
• Without airmode less low throttle authority
• Rateprofile cleanup
• Restored original Mode order
• Configurable VFAS cell voltage / battery voltage (set "frsky_vfas_cell_voltage= ON/OFF")
• Better D averaging method
• Oneshot42 Implementation (When oneshot feature enabled type "set use_oneshot42 = ON")
• Multishot Implementation (When oneshot125 feature enabled type "set use_multishot = ON")
• Remove Iterm reset from AIRMODE (Moved to ACROPLUS)
• Fixed cli dump hickup
• Improved Auto settings configuration with configurator looptime parameter
• Enabled Faster looptimes on all targets due to spread processing. SPI targets can now go up to 8khz cycletime with motor update speed @4khz
• Improved MW23 Pid controller (fixed scaling to cycletime)
• Added SBUS inversion cli command ("set sbus_inversion = ON" ONLY ON F3 TARGETS)
• Increased max_aux_channel defaults to 6
• Reworked task manager (cli option "tasks"). It shows more information about processes
• Better Acceleromer readings on low looptimes for F3 targets
• Better saturation transition in the mixer
• Added GPS serial passthrough
• Reworked beeper off. Use command beeper, beeper list. beeper -ALL disables all beeper scenarios Check Wiki
• Increased Accelerometer range from 8 to 16G

NOTE: Use configurator for configuring looptimes. F1/F3 targets can easily use looptime 250 (4KHZ), motor update speed will be 2khz. F3 Targets like LUX_RACE, Cyclone and COLIBRI_RACE can use 8khz (125us looptime)
When upgrading from 2.4.1 and pasting dump FAILSAFE mode can be enabled on arm. re-check and reconfigure your Modes tab

Release 2.4 patch 1:

• Replaced many of float math by fixed point math. This will especially improve performance on F1 boards
• Improved Acro Plus
• Added acro_plus_offset cli parameter. Tells the percentage stick input where acro_plus will start working and will have a smooth transition from there on
• Added back PID3 (for experimental purposes watch out with defaulf pids on this one)
• Added more options for Dterm averaging (dterm_average_count range: 2-12)
• Improved filtering for accelerometer
• Configurable max AUX channels. (cli option: max_aux_channels)
• Some cleanups
• Fixed PPM + oneshot125 in SPF3MINI
• Better anti spool up protection without AIRMODE and smoother motors on Idle
• Added rateprofiles again
• Removed GTUNE on all targets due to a lot of inconsistancy in results. This also provides more flash space on 128k targets
• Fixed incorrect cycletime reporting. It turns out that the cycletime reported in configurator was not the real one since 2.2
• Much more improved jitter. Due to wrong cycleTime reporting the jitter numbers were underrated and there was much more jitter. Due to new jitter buffering the cycletimes are rock solid with healthy CPU state. This may also provide better tuning results on fast refresh rates.

NOTE! Due to removal of GTUNE loading old settings will result in swapping AIRMODE switch with ACROPLUS....make sure you check that in the modes tab!

New Major Release:

• Added new targets
  SPRACINGF3MINI, ALIENFLIGHTF1, ALIENFLIGHTF3
• Major sync/catch up with Cleanflight
• SD card support for SPRACINGF3MINI target with DMA usage for blackbox
• MSP version updated to support all current Configurator features
• Added serial buffering for faster VCP and UART communication
• LUX target moved 1wire to USART3
• Update cli parameters (Will be updated on Wiki). Perform a dump to see the differences.
• Add flexible gyro speed sampling when gyro_lpf set to off. additional parameter is gyro_sync_denom. To get 2khz support set it to 4. denom is always a multiplier to 125us=8khz. 4 means 125*4=500us(2khz). Dont forget to check CPU usage when playing with this value. Best is to configure this with the configurator. See next note
• Gyro update speed can now be configured through configurator. For 2khz just set to looptime 500 and it will automatically set the correct values for your board. I recommend configuring this through configurator. Bare in mind that acc, baro and mag will automatically be disabled on F1 boards when setting on faster speeds than 1khz (1000us). The sensors also get re-enabled when setting it again to 1000us looptime.
• Many SPI fixes
• Reduced profiles from 3 to 2. Moved many parameters to master profile. Only PID's, rates and few others are now part of profile. No need to reconfigure everything when using 2nd profile
• Added PID scaling to vbat voltage. "set vbat_pid_compensation = ON". It uses maximum cell voltage as an offset. Tune your quad with a full lipo and your pids will be scaled up to 25% when voltage gets lower.
• Fixed a bug where USB error interrupt would saturate CPU and caused a board not be able to arm on some targets
• Mixer rework. Old airmode mixer is now default mixer. Air mode still exists as without airmode there is no Iterm on 0 throttle and there is also no Iterm scaling in acro
• Added configurabe airmode saturation_limit. Default value of 50 means that airmode will try to compensate at it's best till 50% saturation. 0 means always maximum stabilisation and 100 always limited. 0 is like version 2.3.3 and 2.3.5 and 100 would act same like pre 2.3.3 and like in 2.3.5.
• Improved 3D transition from negative to deadband.
• Status option will now display CPU usage in percentage instead of load
• More inflight adjustments now possible
• Slightly different anti windup behaviour in airmode.
• MOTOR_STOP is now overruled by AIRMODE! It acts as a Idle Up switch now. There is no point of using motor stop in airmode
• Updates to build environment. Version number added to filename
• ACRO PLUS feature now available as switch mode and seperated from AIR MODE
• ACRO PLUS increased sensitivity
• Added Jeti Exbus Support
• Fixed PPM glitch bug on CC3D (PPM pin moved from 3 to 8)
• Added failsafe_procedure configurable through the new configurator
• Fixed bug with infinite rolls in scenarios when copter would make more than 5flips/rolls per second

NOTES:

• Users of Vortex pro should get the corresponding OSD firmware!
• Use Cleanflight Configurator 1.2 (recommended)

• Changed irmode Saturation Behaviour (Same like 2.1.6 and 2.2.0. Some setups cannot deal with agressive corrections)

Patch 4 release 2.3

• 3D mode fix for softer PID's
• 3D mode for losing Iterm in neutral position
• Fixed broken brushed motor support
• Softer D approach as default baseline. Goal is to eliminate more D noise
• Rc_smoothing disabled by default as the new gyro delta approach should smooth out D anyway.
  Note that rc_smoothing is always active in level
• Added LUX_RACE target

Patch 3 of 2.3 release:

• Fixed Full control in 3D mode when in AIR mode
• FIxed bug with motors stopping introduced in 2.3.2
• Added BMP180 for SpracingF3 target.
• Cleanup in Iterm scaling
• More Air mode authority in sharp corners
• New defaults for beginners
• rc_smoothing enabled by default
• dterm_lpf_hz is now disabled by default as Biquad 60hz gyro filter just works extremally well.
• gyro_lpf_hz is now renamed to soft_gyro_lpf_hz

Only difference between 2.3.3 and 2.3.3a is that acro plus symmetry bug is resolved introduced during cleanup