cleanflight

Cleanflight v2.0.3

Latest Cleanflight Configurator >= v2.0.0 is required.

Changes since v2.0.2:

• SPRACINGF4NEO - Initial target support for the first F4 board from Seriously Pro / SP Racing.
• HoTT telemetry fix.

Changes since v2.0.1:

• RSSI via MSP fixed.
• NAZE32 Rev5/6 use dataflash for blackbox by default.
• SPRACINGF3NEO change default telemetry settings to support the XSR receiver.
• Fix HoTT telemetry. See https://github.com/cleanflight/cleanflight/issues/2745.
• Change 'sport_halfduplex' to 'tlm_halfduplex' to allow experimental support of one-wire HoTT.

Changes since v2.0.0:

• SPRacingF3NEO button features implemented. See VTX section of the manual.
• All VTXs can now be configured using OSD menu, sticks or buttons on any FC, e.g. use sticks to change VTX channels on Tramp/SmartAudio or Built-in VTX.
• SPRacingF3 now supports connection to OSD Slave, note - uses low refresh rate while unarmed.
• Other minor fixes.

Features:

• SPRacingF4EVO - Initial target support for the first F4 board from Seriously Pro / SP Racing.
• New OSD SLAVE SYSTEM. Remote display of Cleanflight OSD screen and menus on the SPRACINGF3OSD boards.
• All the new latest features from Betaflight. (DSHOT, new PID controller, etc).
• All the fixes and improvements you expect from Cleanflight.
• ARCITIMER Transponder support.

Notes:

• Mag and Baro disabled by default for maximum flight performance.
• Default ESC protocol in CF2.x is ONESHOT, not PWM - see SAFETY NOTE.
• Some features, like GPS and SONAR, are disables for some legacy F1 targets like the NAZE32. See https://github.com/cleanflight/cleanflight/blob/master/docs/Customized%20Version.md

Known Issues:

• Manual needs updating, volunteers wanted!
• SPRacingF3OSD/PDB board sensors are unused, wait for v2.1.0 - OSD slave only.
• The mixer setting in the configurator may not have any effect. See https://github.com/cleanflight/cleanflight/issues/2764 - configure a custom mixer and use the mmix cli command, see manual.

SAFETY:

• When upgrading follow this simple procedure: Disconnect battery, remove propellers, flash/upgrade, configure, connect battery, test rx, test motors, test arming - only then should you re-attach your propellers.

OSD Slave usage:

1. Flash CF2.x onto a compatible stacking FC (SPRACINGF3, SPRACINGF4EVO, SPRACINGF3EVO).
2. Enable OSD feature on the FC.
3. Enable MSP on UART1 on the FC.
4. Flash CF2.x onto the SPRACINGF3OSD/PDB board.
5. Upload Cleanflight font to the SPRACINGF3OSD using the 'OSD' tab, set video mode.
6. Connect FC + OSD using stacking pins and power on board boards.
7. Configure FC as usual.
8. Access OSD menu using sticks by following on-screen prompts. (Yaw Left, Throttle Mid, Pitch Up)

User Support / Questions / Help:

• Slack, Forums, Documentation, Facebook, IRC, BetaFlight WIKI

Bug Reports ONLY:

• https://github.com/cleanflight/cleanflight/issues/2720

Thanks:

• All contributors, especially the core CF/BF developers.

All configurator versions are available here:
https://github.com/cleanflight/cleanflight-configurator/releases

Cleanflight v2.0.2

Latest Cleanflight Configurator >= v2.0.0 is required.

Changes since v2.0.1:

• RSSI via MSP fixed.
• NAZE32 Rev5/6 use dataflash for blackbox by default.
• SPRACINGF3NEO change default telemetry settings to support the XSR receiver.
• Fix HoTT telemetry. See https://github.com/cleanflight/cleanflight/issues/2745.
• Change 'sport_halfduplex' to 'tlm_halfduplex' to allow experimental support of one-wire HoTT.

Changes since v2.0.0:

• SPRacingF3NEO button features implemented. See VTX section of the manual.
• All VTXs can now be configured using OSD menu, sticks or buttons on any FC, e.g. use sticks to change VTX channels on Tramp/SmartAudio or Built-in VTX.
• SPRacingF3 now supports connection to OSD Slave, note - uses low refresh rate while unarmed.
• Other minor fixes.

Features:

• SPRacingF4EVO - Initial target support for the first F4 board from Seriously Pro / SP Racing.
• New OSD SLAVE SYSTEM. Remote display of Cleanflight OSD screen and menus on the SPRACINGF3OSD boards.
• All the new latest features from Betaflight. (DSHOT, new PID controller, etc).
• All the fixes and improvements you expect from Cleanflight.
• ARCITIMER Transponder support.

Notes:

• Mag and Baro disabled by default for maximum flight performance.
• Default ESC protocol in CF2.x is ONESHOT, not PWM - see SAFETY NOTE.

Known Issues:

• Manual needs updating, volunteers wanted!
• SPRacingF3OSD/PDB board sensors are unused, wait for v2.1.0 - OSD slave only.
• The mixer setting in the configurator may not have any effect. See https://github.com/cleanflight/cleanflight/issues/2764 - configure a custom mixer and use the mmix cli command, see manual.

SAFETY:

• When upgrading follow this simple procedure: Disconnect battery, remove propellers, flash/upgrade, configure, connect battery, test rx, test motors, test arming - only then should you re-attach your propellers.

OSD Slave usage:

1. Flash CF2.x onto a compatible stacking FC (SPRACINGF3, SPRACINGF4EVO, SPRACINGF3EVO).
2. Enable OSD feature on the FC.
3. Enable MSP on UART1 on the FC.
4. Flash CF2.x onto the SPRACINGF3OSD/PDB board.
5. Upload Cleanflight font to the SPRACINGF3OSD using the 'OSD' tab, set video mode.
6. Connect FC + OSD using stacking pins and power on board boards.
7. Configure FC as usual.
8. Access OSD menu using sticks by following on-screen prompts. (Yaw Left, Throttle Mid, Pitch Up)

User Support / Questions / Help:

• Slack, Forums, Documentation, Facebook, IRC, BetaFlight WIKI

Bug Reports ONLY:

• https://github.com/cleanflight/cleanflight/issues/2720

Thanks:

• All contributors, especially the core CF/BF developers.

All configurator versions are available here:
https://github.com/cleanflight/cleanflight-configurator/releases

Cleanflight v2.0.1

Latest Cleanflight Configurator v2.0.0 is required.

Changes since v2.0.0:

• SPRacingF3NEO button features implemented. See VTX section of the manual.
• All VTXs can now be configured using OSD menu, sticks or buttons on any FC, e.g. use sticks to change VTX channels on Tramp/SmartAudio or Built-in VTX.
• SPRacingF3 now supports connection to OSD Slave, note - uses low refresh rate while unarmed.
• Other minor fixes.

Features:

• SPRacingF4EVO - Initial target support for the first F4 board from Seriously Pro / SP Racing.
• New OSD SLAVE SYSTEM. Remote display of Cleanflight OSD screen and menus on the SPRACINGF3OSD boards.
• All the new latest features from Betaflight. (DSHOT, new PID controller, etc).
• All the fixes and improvements you expect from Cleanflight.
• ARCITIMER Transponder support.

Notes:

• Mag and Baro disabled by default for maximum flight performance.
• Default ESC protocol in CF2.x is ONESHOT, not PWM - see SAFETY NOTE.

SAFETY:

• When upgrading follow this simple procedure: Disconnect battery, remove propellers, flash/upgrade, configure, connect battery, test rx, test motors, test arming - only then should you re-attach your propellers.

Known Issues:

• Manual needs updating, volunteers wanted!
• SPRacingF3OSD/PDB board sensors are unused, wait for v2.1.0 - OSD slave only.
• RSSI reading does is not sent via MSP. It still works for telemetry/logging/osd/etc.

OSD Slave usage:

1. Flash CF2.x onto a compatible stacking FC (SPRACINGF3, SPRACINGF4EVO, SPRACINGF3EVO).
2. Enable OSD feature on the FC.
3. Enable MSP on UART1 on the FC.
4. Flash CF2.x onto the SPRACINGF3OSD/PDB board.
5. Upload Cleanflight font to the SPRACINGF3OSD using the 'OSD' tab, set video mode.
6. Connect FC + OSD using stacking pins and power on board boards.
7. Configure FC as usual.
8. Access OSD menu using sticks by following on-screen prompts. (Yaw Left, Throttle Mid, Pitch Up)

User Support / Questions / Help:

• IRC, Forums, Slack, Documentation, Facebook, BetaFlight WIKI.

Bug Reports ONLY:

• https://github.com/cleanflight/cleanflight/issues/2720

Thanks:

• All contributors, especially the core CF/BF developers.

All configurator versions are available here:
https://github.com/cleanflight/cleanflight-configurator/releases

Cleanflight v2.0.0

Latest Cleanflight Configurator v2.0.0 is required.

Features:

• SPRacingF4EVO - Initial target support for the first F4 board from Seriously Pro / SP Racing.
• New OSD SLAVE SYSTEM. Remote display of Cleanflight OSD screen and menus on the SPRACINGF3OSD boards.
• All the new latest features from Betaflight. (DSHOT, new PID controller, etc).
• All the fixes and improvements you expect from Cleanflight.
• ARCITIMER Transponder support.

Notes:

• Mag and Baro disabled by default for maximum flight performance.
• Default ESC protocol in CF2.x is ONESHOT, not PWM - see SAFETY NOTE.

SAFETY:

• When upgrading follow this simple procedure: Disconnect battery, remove propellers, flash/upgrade, configure, connect battery, test rx, test motors, test arming - only then should you re-attach your propellers.

Known Issues:

• SPRacingF3NEO button support not ported from CF 1.x yet, use sticks to change VTX channels.
• Manual needs updating, volunteers wanted!

OSD Slave usage:

1. Flash CF2.x onto a compatible stacking FC (SPRACINGF3, SPRACINGF4EVO, SPRACINGF3EVO).
2. Enable OSD feature on the FC.
3. Enable MSP on UART1 on the FC.
4. Flash CF2.x onto the SPRACINGF3OSD/PDB board.
5. Upload Cleanflight font to the SPRACINGF3OSD using the 'OSD' tab, set video mode.
6. Connect FC + OSD using stacking pins and power on board boards.
7. Configure FC as usual.
8. Access OSD menu using sticks by following on-screen prompts. (Yaw Left, Throttle Mid, Pitch Up)

User Support / Questions / Help:

• IRC, Forums, Slack, Documentation, Facebook, BetaFlight WIKI.

Bug Reports ONLY:

• https://github.com/cleanflight/cleanflight/issues/2720

Thanks:

• All contributors, especially the core CF/BF developers.

All configurator versions are available here:
https://github.com/cleanflight/cleanflight-configurator/releases

Cleanflight v2.0.0-RC2

Cleanflight 2.x is now based on the Betaflight v3.1 code, it's currently identical except for the version name and msp flight controller identifier.

Use this development configurator:

https://github.com/cleanflight/cleanflight-configurator/archive/update-for-api-1.33.0.zip

Install development configurator using instructions here:

https://github.com/cleanflight/cleanflight-configurator#installation

Report configurator issues as comments here:

https://github.com/cleanflight/cleanflight-configurator/pull/450

Report firmware issue as comments here:

https://github.com/cleanflight/cleanflight/issues/2696

Features:

• SPRacingF4EVO - Initial target support for the first F4 board from Seriously Pro / SP Racing.
• All the new latest features from Betaflight.
• All the fixes and improvements you expect from Cleanflight.

Known Issues:

• SPRacingF3NEO button support not ported from CF 1.x, use sticks to change VTX channels.
• No release for the SPRacingF3OSD/PDB boards yet.

User Support / Questions / Help:

• IRC, Forums, Slack, Documentation, Facebook, BetaFlight WIKI.

Bug Reports ONLY:

• https://github.com/cleanflight/cleanflight/issues/2696

Cleanflight v2.0.0-RC1

Cleanflight 2.x is now based on the Betaflight v3.1 code, it's currently identical except for the version name and msp flight controller identifier.

This release is the first Cleanflight v2.x release candidate, with support for a limited selection of targets during this transition period.

IMPORTANT Requires configurator v2.0.0 - download it here: https://github.com/cleanflight/cleanflight-configurator

Cleanflight v1.14.2

There are new defaults that improve flight performance, suggest flashing with 'FULL CHIP ERASE' selected and selectively restoring your settings so that you get the best performance possible.

Cleanflight now supports OSD hardware and OSD configuration via the cleanflight configurator.
Read more about this here: https://github.com/cleanflight/cleanflight/issues/2210

• Unlike other firmware the OSD support in Cleanflight is NOT based on the legacy MinimOSD codebase. It also works on OSD-ONLY hardware (SPRacingF3OSD) as well as FC-WITH-OSD hardware (SPRacingF3NEO).

OSD-USERS:

• Suggest flashing with "full-chip erase" selected, when upgrading from factory firmware.
• Ensure OSD board is powered and camera and vtx/screen is connected when flashing so you can monitor the font-upload process which occurs after upgrading firmware or after resetting firmware configuration.

FC Changes:

• Improved flight performance.
• Updated horizon mode, see docs.
• All-new gyro sync code.
• New gyro/pid task separation to allow gyro filtering.
• Notch filter from Betaflight. Proper usage of notch filter can improve flight performance.
• IBus telemetry.
• Various smartport/frsky telemetry changes and fixes.
• Various new target support and updates.

FC/OSD changes:

• New voltage meter configuration.
• New current meter configuration.
• Updated MSP API - New Voltage/Amperage/Battery API. Older MSP commands deleted.
• Loads and loads of code-cleanups and minor-fixes.

OSD Changes

• New icons.
• New elements.

NAZE

• Dropped support for I2C display due to code size reasons. See #2472

Changes since v1.14.0:

• Fix heading hold functionality.
• Smartport telemetry ACC readings scaled correctly.

Changes since v1.14.1:

• Improve accelerometer filtering.
• Fix acc stabilized flight modes.
• Fix RSSI reading on OSD.
• Add support for SPRacingF3NEO FC/PDB/OSD/VTX FPV Stacking System
• Fix NAZE32 shared UART1/Telemetry crash on arm bug.
• Fix CPU load issue with legacy MW23/MWREWRITE pid controllers.
• Fix CC3D duplicate UART1 issue.
• Fix serial TX buffer overflow (sometimes occured when flashing ESCs)
• Other minor bug fixes.

Cleanflight v1.14.2

There are new defaults that improve flight performance, suggest flashing with 'FULL CHIP ERASE' selected and selectively restoring your settings so that you get the best performance possible.

Cleanflight now supports OSD hardware and OSD configuration via the cleanflight configurator.
Read more about this here: https://github.com/cleanflight/cleanflight/issues/2210

• Unlike other firmware the OSD support in Cleanflight is NOT based on the legacy MinimOSD codebase. It also works on OSD-ONLY hardware (SPRacingF3OSD) as well as FC-WITH-OSD hardware (SPRacingF3NEO).

OSD-USERS:

• Suggest flashing with "full-chip erase" selected, when upgrading from factory firmware.
• Ensure OSD board is powered and camera and vtx/screen is connected when flashing so you can monitor the font-upload process which occurs after upgrading firmware or after resetting firmware configuration.

FC Changes:

• Improved flight performance.
• Updated horizon mode, see docs.
• All-new gyro sync code.
• New gyro/pid task separation to allow gyro filtering.
• Notch filter from Betaflight. Proper usage of notch filter can improve flight performance.
• IBus telemetry.
• Various smartport/frsky telemetry changes and fixes.
• Various new target support and updates.

FC/OSD changes:

• New voltage meter configuration.
• New current meter configuration.
• Updated MSP API - New Voltage/Amperage/Battery API. Older MSP commands deleted.
• Loads and loads of code-cleanups and minor-fixes.

OSD Changes

• New icons.
• New elements.

NAZE

• Dropped support for I2C display due to code size reasons. See #2472

Changes since v1.14.0:

• Fix heading hold functionality.
• Smartport telemetry ACC readings scaled correctly.

Changes since v1.14.1:

• Improve accelerometer filtering.
• Fix acc-stabilized flight modes.
• Fix RSSI reading on OSD.
• Add support for SPRacingF3NEO FC/PDB/OSD/VTX FPV Stacking System
• Fix NAZE32 shared UART1/Telemetry crash on arm bug.
• Fix CPU load issue with legacy MW23/MWREWRITE pid controllers.
• Fix CC3D duplicate UART1 issue.
• Fix serial TX buffer overflow (sometimes occured when flashing ESCs)
• Other minor bug fixes.

Cleanflight v1.14.2

There are new defaults that improve flight performance, suggest flashing with 'FULL CHIP ERASE' selected and selectively restoring your settings so that you get the best performance possible.

Cleanflight now supports OSD hardware and OSD configuration via the cleanflight configurator.
Read more about this here: https://github.com/cleanflight/cleanflight/issues/2210

• Unlike other firmware the OSD support in Cleanflight is NOT based on the legacy MinimOSD codebase. It also works on OSD-ONLY hardware (SPRacingF3OSD) as well as FC-WITH-OSD hardware (SPRacingF3NEO).

OSD-USERS:

• Suggest flashing with "full-chip erase" selected, when upgrading from factory firmware.
• Ensure OSD board is powered and camera and vtx/screen is connected when flashing so you can monitor the font-upload process which occurs after upgrading firmware or after resetting firmware configuration.

FC Changes:

• Improved flight performance.
• Updated horizon mode, see docs.
• All-new gyro sync code.
• New gyro/pid task separation to allow gyro filtering.
• Notch filter from Betaflight. Proper usage of notch filter can improve flight performance.
• IBus telemetry.
• Various smartport/frsky telemetry changes and fixes.
• Various new target support and updates.

FC/OSD changes:

• New voltage meter configuration.
• New current meter configuration.
• Updated MSP API - New Voltage/Amperage/Battery API. Older MSP commands deleted.
• Loads and loads of code-cleanups and minor-fixes.

OSD Changes

• New icons.
• New elements.

NAZE

• Dropped support for I2C display due to code size reasons. See #2472

Changes since v1.14.0:

• Fix heading hold functionality.
• Smartport telemetry ACC readings scaled correctly.

Changes since v1.14.1:

• Improve accelerometer filtering.
• Fix RSSI reading on OSD.
• Add support for SPRacingF3NEO FC/PDB/OSD/VTX FPV Stacking System
• Other minor bug fixes.

Cleanflight v1.14.1

There are new defaults that improve flight performance, suggest flashing with 'FULL CHIP ERASE' selected and selectively restoring your settings so that you get the best performance possible.

Cleanflight now supports OSD hardware and OSD configuration via the cleanflight configurator.
Read more about this here: https://github.com/cleanflight/cleanflight/issues/2210

• Unlike other firmware the OSD support in Cleanflight is NOT based on the legacy MinimOSD codebase. It also works on OSD-ONLY hardware as well as FC-WITH-OSD hardware.

OSD-USERS:

• Suggest flashing with "full-chip erase" selected, when upgrading from factory firmware.
• Ensure OSD board is powered and camera and vtx/screen is connected when flashing so you can monitor the font-upload process which occurs after upgrading firmware or after resetting firmware configuration.

FC Changes:

• Improved flight performance.
• Updated horizon mode, see docs.
• All-new gyro sync code.
• New gyro/pid task separation to allow gyro filtering.
• Notch filter from Betaflight. Proper usage of notch filter can improve flight performance.
• IBus telemetry.
• Various smartport/frsky telemetry changes and fixes.
• Various new target support and updates.

FC/OSD changes:

• New voltage meter configuration.
• New current meter configuration.
• Updated MSP API - New Voltage/Amperage/Battery API. Older MSP commands deleted.
• Loads and loads of code-cleanups and minor-fixes.

OSD Changes

• New icons.
• New elements.

NAZE

• Dropped support for I2C display due to code size reasons. See #2472

Changes since v1.14.0:

• Fix heading hold functionality.
• Smartport telemetry ACC readings scaled correctly.

Cleanflight v1.14.0

There are new defaults that improve flight performance, suggest flashing with 'FULL CHIP ERASE' selected and selectively restoring your settings so that you get the best performance possible.

Cleanflight now supports OSD hardware and OSD configuration via the cleanflight configurator.
Read more about this here: https://github.com/cleanflight/cleanflight/issues/2210

• Unlike other firmware the OSD support in Cleanflight is NOT based on the legacy MinimOSD codebase. It also works on OSD-ONLY hardware as well as FC-WITH-OSD hardware.

OSD-USERS:

• Suggest flashing with "full-chip erase" selected, when upgrading from factory firmware.
• Ensure OSD board is powered and camera and vtx/screen is connected when flashing so you can monitor the font-upload process which occurs after upgrading firmware or after resetting firmware configuration.

FC Changes:

• Improved flight performance.
• Updated horizon mode, see docs.
• All-new gyro sync code.
• New gyro/pid task separation to allow gyro filtering.
• Notch filter from Betaflight. Proper usage of notch filter can improve flight performance.
• IBus telemetry.
• Various smartport/frsky telemetry changes and fixes.
• Various new target support and updates.

FC/OSD changes:

• New voltage meter configuration.
• New current meter configuration.
• Updated MSP API - New Voltage/Amperage/Battery API. Older MSP commands deleted.
• Loads and loads of code-cleanups and minor-fixes.

OSD Changes

• New icons.
• New elements.

NAZE

• Dropped support for I2C display due to code size reasons. See #2472

Cleanflight v1.14.0-Release Candidate 2 (RC2)

There are new defaults that improve flight performance, suggest flashing with 'FULL CHIP ERASE' selected and selectively restoring your settings so that you get the best performance possible.

Cleanflight now supports OSD hardware and OSD configuration via the cleanflight configurator.
Read more about this here: https://github.com/cleanflight/cleanflight/issues/2210

• Unlike other firmware the OSD support in Cleanflight is NOT based on the legacy MinimOSD codebase. It also works on OSD-ONLY hardware as well as FC-WITH-OSD hardware.

IMPORTANT:

• Suggest flashing with "full-chip erase" selected.

OSD-USERS:

• Ensure OSD board is powered and camera and vtx/screen is connected when flashing so you can monitor the font-upload process which occurs after upgrading firmware or after resetting firmware configuration.

FC Changes:

• Improved flight performance.
• Updated horizon mode, see docs.
• All-new gyro sync code.
• New gyro/pid task separation to allow gyro filtering.
• Notch filter from Betaflight. Proper usage of notch filter can improve flight performance.
• IBus telemetry.
• Various smartport/frsky telemetry changes and fixes.
• Various new target support and updates.

FC/OSD changes:

• New voltage meter configuration.
• New current meter configuration.
• Updated MSP API - New Voltage/Amperage/Battery API. Older MSP commands deleted.
• Loads and loads of code-cleanups and minor-fixes.

OSD Changes

• New icons.
• New elements.

v1.14.0-Release Candidate 1 (RC1) is the first release of Cleanflight v1.14.0.

This release candidate is aimed at users of the SPRacingF3OSD board only, binaries for other boards will be available when RC2 is released.

IMPORTANT:

• Flash with "full-chip erase" selected.
• Ensure OSD board is powered and camera and vtx/screen is connected when flashing so you can monitor the font-upload process which occurs after a reset.

Known issues:

• Upgrading from v1.13.0 does not reset new configuration settings to their defaults. (Hence the requirement for 'full chip erase' when flashing - See #2395 for details.

Thanks to anyone who's ever helped out a fellow cleanflight user - without you all the developers would be stuck answering questions instead of coding - keep up the good work!

There have been MASSIVE amounts of code cleanups in this release, we really put the clean in cleanflight with this release.

There are now over 1000 forks of cleanflight on Github, amazing! - If you're a developer and have forked cleanflight you will really want to incorporate the changes into your codebase ASAP!

NOTE: Upgrading from < v1.13.0 will erase your configuration, backup via GUI and CLI before flashing.
NOTE: Some defaults have changed. Do NOT blindly restore your backups using the CLI.
IMPORTANT: Due to some new default settings you should retune your PIDs.

Changes from v1.12.1

• Enhanced flight performance.
• Support BlHeli 4w interface for ESCs with BlHeli and Sk Bootloader.
• BlHeli ESC configuration and flashing support via USB.
• Mavlink telemetry.
• Complete overhaul of configuration storage mechanism. Upgrading without loosing settings possible in future.
• Support 4 channel Parallel PWM 3.3v receivers on SPRacingF3MINI.
• Support UART4/5 on STM32F103V
• Configurable colors for LED strip modes.
• New LED strip features for Beacon and GPS status.
• New OLED display features (PIDs, tasks).
• Updated task scheduler.
• Many, many performance optimizations.
• Substantial code cleanups and reorganization (MSP, Configuraton, PID, Mixer etc).
• Many additional unit test to further enhance robustness.
• Enhanced support for new hardware from various vendors (Motolab, Alienflight, SP Racing, TBS, Lumineer, ImmersionRC).
• Many documentation updates.

Changes from v1.13.0-RC1

• Fix to baro and headfree modes.
• Fix airmode not showing as active in configurator.
• Bug fixes and cleanup of LED strip code for flash size reduction.

Changes from v1.13.0-RC2

• Documentation updates
• Minor code cleanups
• Support MSP_MODECOLOR to allow GUI to configure new LED strip features.
• Fix to MSP RX.

Full change log: https://github.com/cleanflight/cleanflight/compare/v1.12.0...v1.13.0

NOTE: some SPRacingF3EVO boards shipped with firmware 1.12.0 which was labelled 1.13.0. You can use the date, api version shown when connecting to the board and the cli status command to distinguish between them. If in doubt reflash it.
NOTE: BlHeli 4w support requires latest BlHeliSuite.
NOTE: PID LUX_FLOAT has had its settings scaled to the same values as MWREWRITE so that users can change between LUX_FLOAT and MWREWRITE without changing their PID values.
NOTE: CC3D PPM has been moved from pin 3 to pin 8.
NOTE: Your aircraft won't arm if the processor is overloaded. This normally only effects F1 boards (e.g. Naze, Flip and CC3D). If there is a problem with arming with one of these boards users should switch to the MWREWRITE PID or choose other features and settings to reduce CPU load.

Many thanks to @ledvinap @martinbudden for their really hard work on this release! Thanks also to all testers and everyone else contributing code, bug reports, suggestions, fixes and other feedback. Only together can we make it AWESOME!

Thanks to anyone who's ever helped out a fellow cleanflight user - without you all the developers would be stuck answering questions instead of coding - keep up the good work!

There have been MASSIVE amounts of code cleanups in this release, we really put the clean in cleanflight with this release.

There are now over 1000 forks of cleanflight on Github, amazing! - If you're a developer and have forked cleanflight you will really want to incorporate the changes into your codebase ASAP!

NOTE: Upgrading from < v1.13.0 will erase your configuration, backup via GUI and CLI before flashing.
NOTE: Some defaults have changed. Do NOT blindly restore your backups using the CLI.
IMPORTANT: Due to some new default settings you should retune your PIDs.

Changes from v1.12.1

• Enhanced flight performance.
• Support BlHeli 4w interface for ESCs with BlHeli and Sk Bootloader.
• BlHeli ESC configuration and flashing support via USB.
• Mavlink telemetry.
• Complete overhaul of configuration storage mechanism. Upgrading without loosing settings possible in future.
• Support 4 channel Parallel PWM 3.3v receivers on SPRacingF3MINI.
• Support UART4/5 on STM32F103V
• Configurable colors for LED strip modes.
• New LED strip features for Beacon and GPS status.
• New OLED display features (PIDs, tasks).
• Updated task scheduler.
• Many, many performance optimizations.
• Substantial code cleanups and reorganization (MSP, Configuraton, PID, Mixer etc).
• Many additional unit test to further enhance robustness.
• Enhanced support for new hardware from various vendors (Motolab, Alienflight, SP Racing, TBS, Lumineer, ImmersionRC).
• Many documentation updates.

Changes from v1.13.0-RC1

• Fix to baro and headfree modes.
• Fix airmode not showing as active in configurator.
• Bug fixes and cleanup of LED strip code for flash size reduction.

Full change log: https://github.com/cleanflight/cleanflight/compare/v1.12.0...v1.13.0-RC1

NOTE: some SPRacingF3EVO boards shipped with firmware 1.12.0 which was labelled 1.13.0. You can use the date, api version shown when connecting to the board and the cli status command to distinguish between them. If in doubt reflash it.
NOTE: BlHeli 4w support requires latest BlHeliSuite.
NOTE: PID LUX_FLOAT has had its settings scaled to the same values as MWREWRITE so that users can change between LUX_FLOAT and MWREWRITE without changing their PID values.
NOTE: CC3D PPM has been moved from pin 3 to pin 8.
NOTE: Your aircraft won't arm if the processor is overloaded. This normally only effects F1 boards (e.g. Naze, Flip and CC3D). If there is a problem with arming with one of these boards users should switch to the MWREWRITE PID or choose other features and settings to reduce CPU load.

Many thanks to @ledvinap @martinbudden for their really hard work on this release! Thanks also to all testers and everyone else contributing code, bug reports, suggestions, fixes and other feedback. Only together can we make it AWESOME!

Thanks to anyone who's ever helped out a fellow cleanflight user - without you all the developers would be stuck answering questions instead of coding - keep up the good work!

There have been MASSIVE amounts of code cleanups in this release, we really put the clean in cleanflight with this release.

There are now over 1000 forks of cleanflight on Github, amazing! - If you're a developer and have forked cleanflight you will really want to incorporate the changes into your codebase ASAP!

NOTE: Upgrading from < v1.13.0 will erase your configuration, backup via GUI and CLI before flashing.
NOTE: Some defaults have changed. Do NOT blindly restore your backups using the CLI.
IMPORTANT: Due to some new default settings you should retune your PIDs.

Changes from v1.12.1

• Enhanced flight performance.
• Support BlHeli 4w interface for ESCs with BlHeli and Sk Bootloader.
• BlHeli ESC configuration and flashing support via USB.
• Mavlink telemetry.
• Complete overhaul of configuration storage mechanism. Upgrading without loosing settings possible in future.
• Support 4 channel Parallel PWM 3.3v receivers on SPRacingF3MINI.
• Support UART4/5 on STM32F103V
• Configurable colors for LED strip modes.
• New LED strip features for Beacon and GPS status.
• New OLED display features (PIDs, tasks).
• Updated task scheduler.
• Many, many performance optimizations.
• Substantial code cleanups and reorganization (MSP, Configuraton, PID, Mixer etc).
• Many additional unit test to further enhance robustness.
• Enhanced support for new hardware from various vendors (Motolab, Alienflight, SP Racing, TBS, Lumineer, ImmersionRC).
• Many documentation updates.

Full change log: https://github.com/cleanflight/cleanflight/compare/v1.12.0...v1.13.0-RC1

NOTE: some SPRacingF3EVO boards shipped with firmware 1.12.0 which was labelled 1.13.0. You can use the date, api version shown when connecting to the board and the cli status command to distinguish between them. If in doubt reflash it.
NOTE: BlHeli 4w support requires latest BlHeliSuite.

Many thanks to @ledvinap @martinbudden for their really hard work on this release! Thanks also to all testers and everyone else contributing code, bug reports, suggestions, fixes and other feedback. Only together can we make it AWESOME!

IMPORTANT: ** Requires >= v1.1.0 configurator **

NOTE: Upgrading from < v1.12.0 will erase your configuration, backup via GUI and CLI before flashing.
NOTE: Some defaults have changed. Do NOT blindly restore your backups using the CLI.
IMPORTANT: Due to some new default settings you should retune your PIDs.

REMINDER: Some CLI get/set commands have changed. some variables are now set using OFF/ON instead of 0/1.

Changes between v1.12.1 and v1.12.0

• Fix to Naze32 PWM mapping.
• SPRacingF3EVO support.

Note: some SPRacingF3EVO boards shipped with this firmware equivalent to this but with in incorrect version number of 1.13.0 instead of 1.12.1 and without the important fix for the MPU9250 mag driver.

Changes from v1.12.0

• Support for the SPRacingF3Mini FC including Blackbox Logging via built-in SD Card and iLAP compatible race transponder system.
• Support for the LUX_RACE FC.
• Gyro sync and filters for better flight performance (enabled by default).
• New AIR_MODE feature.
• New faster and more accurate IMU for better flight performance.
• New task scheduler to allow sensor readings to be processed earlier.
• Sonar improvements. (Available sparky now too).
• G-Tune available on Naze32 and other targets.
• Blackbox logging improvements.
• Additional MSP commands for failsafe configuration via GUI.
• Documentation improvements.
• Add LTM telemetry (replaces MSP telemetry).
• Fix in GPS UBLOX so handle badly received UBLOX packets, prevents unrecoverable GPS communication loss.
• More settings are in-flight adjustable.
• Support non-inverted SBus receivers (OpenLRS and modified FrSky receivers).
• Many code optimizations.
• Many documentation improvements and fixes.
• Even more unit tests to ensure code reliability.

KNOWN ISSUES:

• Do not use PPM and ONESHOT on CC3D when using sticks to arm (use a switch). See #1748

Special mention to key contributors: DigitalEntity, BorisB, Ledvinap, ProDrone, Stronnag and MartinBudden. Thanks guys - your continued work keeps making everything better!

Thanks again to the awesome Cleanflight developer and user communities for their continued hard work, support and feedback.

IMPORTANT: ** Requires >= v1.1.0 configurator **

NOTE: Upgrading from < v1.12.0 will erase your configuration, backup via GUI and CLI before flashing.
NOTE: Some defaults have changed. Do NOT blindly restore your backups using the CLI.
IMPORTANT: Due to some new default settings you should retune your PIDs.

REMINDER: Some CLI get/set commands have changed. some variables are now set using OFF/ON instead of 0/1.

• Support for the SPRacingF3Mini FC including Blackbox Logging via built-in SD Card and iLAP compatible race transponder system.
• Support for the LUX_RACE FC.
• Gyro sync and filters for better flight performance (enabled by default).
• New AIR_MODE feature.
• New faster and more accurate IMU for better flight performance.
• New task scheduler to allow sensor readings to be processed earlier.
• Sonar improvements. (Available sparky now too).
• G-Tune available on Naze32 and other targets.
• Blackbox logging improvements.
• Additional MSP commands for failsafe configuration via GUI.
• Documentation improvements.
• Add LTM telemetry (replaces MSP telemetry).
• Fix in GPS UBLOX so handle badly received UBLOX packets, prevents unrecoverable GPS communication loss.
• More settings are in-flight adjustable.
• Support non-inverted SBus receivers (OpenLRS and modified FrSky receivers).
• Many code optimizations.
• Many documentation improvements and fixes.
• Even more unit tests to ensure code reliability.

KNOWN ISSUES:

• Do not use PPM and ONESHOT on CC3D when using sticks to arm (use a switch). See #1748

Special mention to key contributors: DigitalEntity, BorisB, Ledvinap, ProDrone, Stronnag and MartinBudden. Thanks guys - your continued work keeps making everything better!

Thanks again to the awesome Cleanflight developer and user communities for their continued hard work, support and feedback.

IMPORTANT: ** Requires >= v1.1.0 configurator **

NOTE: Upgrading from < v1.12.0 will erase your configuration, backup via GUI and CLI before flashing.
NOTE: Some defaults have changed. Do NOT blindly restore your backups using the CLI.
IMPORTANT: Due to some new default settings you should retune your PIDs.

REMINDER: Some CLI get/set commands have changed. some variables are now set using OFF/ON instead of 0/1.

• Gyro sync and filters for better flight performance (enabled by default).
• New faster and more accurate IMU for better flight performance.
• New task scheduler to allow sensor readings to be processed earlier.
• Sonar improvements. (Available sparky now too).
• G-Tune available on Naze32 and other targets.
• Blackbox logging improvements.
• Additional MSP commands for failsafe configuration via GUI.
• Documentation improvements.
• Add LTM telemetry (replaces MSP telemetry).
• Fix in GPS UBLOX so handle badly received UBLOX packets, prevents unrecoverable GPS communication loss.
• More settings are in-flight adjustable.
• Support non-inverted SBus receivers (OpenLRS and modified FrSky receivers).
• Many code optimizations.
• Many documentation improvements and fixes.
• Even more unit tests to ensure code reliability.

KNOWN ISSUES:

• Do not use PPM and ONESHOT on CC3D when using sticks to arm (use a switch). See #1748

Special mention to key contributors: DigitalEntity, BorisB, Ledvinap, ProDrone, Stronnag and MartinBudden. Thanks guys - your continued work keeps making everything better!

Thanks again to the awesome Cleanflight developer and user community for their continued hard work, support and feedback.

IMPORTANT: ** Requires >= v1.1.0 configurator **

NOTE: Upgrading from < v1.12.0 will erase your configuration, backup via GUI and CLI before flashing.
NOTE: Some defaults have changed. Do NOT blindly restore your backups using the CLI.

REMINDER: Some CLI get/set commands have changed. some variables are now set using OFF/ON instead of 0/1.

• Gyro Sync (use set gyro_sync=ON cli command to enable) for better flight performance
• Gyro filters. (see gyro_soft_lpf and gyro_lpf cli settings).
• New Faster and more accurate IMU for better flight performance.
• New task scheduler to allow sensor readings to be processed earlier.
• Many code optimizations.
• Sonar improvements. (Available sparky now too).
• G-Tune available on Naze32 and other targets.
• Blackbox logging improvements.
• Additional MSP commands for failsafe configuration via GUI.
• Documentation improvements.
• Add LTM telemetry (replaces MSP telemetry).
• Fix in GPS UBLOX so handle badly received UBLOX packets, prevents unrecoverable GPS communication loss.
• More settings are in-flight adjustable.
• Support non-inverted SBus receivers (OpenLRS and modified FrSky receivers).
• Many documentation improvements and fixes.
• Even more unit tests to ensure code reliability.

Special mention to key contributors: DigitalEntity, BorisB, Ledvinap, ProDrone, Stronnag and MartinBudden. Thanks guys - your continued work keeps making everything better!

Thanks again to the awesome Cleanflight developer and user community for their continued hard work, support and feedback.