cleanflight

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

NOTE: Upgrading from < v1.11.0 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.
NOTE: CLI get/set commands have changed. some variables are now set using OFF/ON instead of 0/1.
NOTE: Experimental PID controllers have been removed. Only MW23, MWREWRITE and LUXFLOAT remain.
NOTE: Openpilot bootloader support as been removed. Flashing CC3D's via GCS is no-longer supported. See docs.
NOTE: G-Tune not available on NAZE target, it didn't fit - latest development builds have G-Tune on Naze Target.

Changes:

• Improved flight performance.
• Replaced AUTOTUNE with G-TUNE.
• More robust SBUS and Spektrum support.
• Failsafe improvements.
• Mixer output mapping fixes.
• I2C overclock feature.
• Sonar improvements.
• CLI usabiity improvements.
• Removed less popular PID controllers - experimentation time is over.
• Blackbox logging improvements and fixes.
• USART1 can be used for SerialRX on F3 boards.
• HoTT Telemetry improvements and fixes.
• Support Naze32 Rev6.
• Support RMRC DoDo target.
• Many other fixes and general improvements.
• More unit tests.
• Documentation improvements.

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

IMPORTANT: ** Requires >= v0.66.0 configurator - DEVELOPMENT VERSION **
IMPORTANT: ** Verify your RX and failsafe is configured after upgrading, check your channel endpoints when your rx is operating normally and when in failsafe mode, see rx_min_usec and rx_max_usec **

NOTE: Upgrading from < v1.10.0 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.
NOTE: If you us luxfloat PID controller retune from new defaults.
NOTE: cmix cli command has been renamed to mmix (mmix for motors, smix for servos, both use a zero-based index for motors).

WARNING: If using FrSky SBus receivers please ensure you are using a version that contains a fix for signal dropouts, see FrSky's website for latest firmware.

Changes:

• Improved flight performance.
• Major failsafe improvements and fixes - also see 'rxfail' CLI command for FC failsafe settings.
• Blackbox logging improvements and fixes.
• Battery voltage monitoring and improvements.
• Allow independent pitch and roll in-flight PID adjustment.
• Filtering of Gyro readings. (enable via cli)
• Filtering of PIDs. (enable via cli).
• Configurable servo mixers.
• New custom tricopter and custom airplane mixers.
• Fixed wing improvements and fixes.
• Groundwork for TILT flight modes (work-in-progress).
• RC Input smoothing. (enable via cli)
• Lux PID controller improvements and new defaults.
• Telemetry fixes and improvements.
• SPRacingF3 - Enable SoftSerial on CH4/5 and CH7/8 (RX/TX)
• Various cleanups and fixes for 3D flight.
• Rename yaw_direction to yaw_motor_direction to avoid confusion between yaw_control_direction and yaw servo configuration.
• Improved SUMD RX handling.
• Improved FC hardware failure indication - count the long flashes after the short flashes when the FC doesn't boot to determine failure reason.
• Many other fixes and general improvements.
• Support TBS Colibri Race target.
• More unit tests.
• Documentation improvements.

Correct usage PIDs in combination with gyro settings and filters will improve flight performance and give you longer flight times. See documentation and tuning guides.

IMPORTANT: ** Requires >= v0.66.0 configurator - DEVELOPMENT VERSION **
IMPORTANT: ** Verify your RX and failsafe is configured after upgrading, check your channel endpoints when your rx is operating normally and when in failsafe mode, see rx_min_usec and rx_max_usec **

NOTE: Upgrading from < v1.10.0 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.
NOTE: If you us luxfloat PID controller retune from new defaults.
NOTE: cmix cli command has been renamed to mmix (mmix for motors, smix for servos, both use a zero-based index for motors).

WARNING: If using FrSky SBus receivers please ensure you are using a version that contains a fix for signal dropouts, see FrSky's website for latest firmware.

Changes:

• Improved flight performance.
• Major failsafe improvements and fixes - also see 'rxfail' CLI command for FC failsafe settings.
• Blackbox logging improvements and fixes.
• Battery voltage monitoring and improvements.
• Allow independent pitch and roll in-flight PID adjustment.
• Filtering of Gyro readings. (enable via cli)
• Filtering of PIDs. (enable via cli).
• Configurable servo mixers.
• New custom tricopter and custom airplane mixers.
• Fixed wing improvements and fixes.
• Groundwork for TILT flight modes (work-in-progress).
• RC Input smoothing. (enable via cli)
• Lux PID controller improvements and new defaults.
• Telemetry fixes and improvements.
• SPRacingF3 - Enable SoftSerial on CH4/5 and CH7/8 (RX/TX)
• Various cleanups and fixes for 3D flight.
• Rename yaw_direction to yaw_motor_direction to avoid confusion between yaw_control_direction and yaw servo configuration.
• Improved SUMD RX handling.
• Improved FC hardware failure indication - count the long flashes after the short flashes when the FC doesn't boot to determine failure reason.
• Many other fixes and general improvements.
• Support TBS Colibri Race target.
• More unit tests.
• Documentation improvements.

Correct usage PIDs in combination with gyro settings and filters will improve flight performance and give you longer flight times. See documentation and tuning guides.

IMPORTANT: ** Requires >= v0.63.2 configurator **
IMPORTANT: ** Verify your RX and failsafe is configured after upgrading, check your channel endpoints when your rx is operating normally and when in failsafe mode, see rx_min_usec and rx_max_usec **

NOTE: Upgrading from < v1.9.0 will erase your configuration, backup via GUI and CLI before flashing.
NOTE: Yaw behavior has changed and new settings to tune yaw have been added, yaw-retuning may be required. See documentation.
NOTE: Tricopter pilots may wish to enable servo filtering - try without first.

Known issues:

• Please help with known issues, see here: https://github.com/cleanflight/cleanflight/labels/bug

Changes

• Full support for SPRacingF3 board - http://seriouslypro.com/spracingf3
• Oneshot ESC safety improvements. Better support for auto-switching ESCs.
• Improved Yaw.
• Yaw Expo (via CLI/MSP, configurator support soon).
• Rewritten failsafe and RX loss detection code. Unit tested.
• Beeper code overhaul.
• Warning led code overhaul.
• Horizon mode fixes for PID Controller 1.
• Sonar/Baro Alt-Holt improvements (less drift, more accurate barometer readings).
• Sparky compatability fixes.
• Tricopter/Airpane yaw servo low-throttle fixes.
• Blackbox Logging updates.
• Independent in-flight adjustments for Pitch P/I/D and Roll P/I/D (requires v0.64.0 configurator)
• Support for UART3 and I2C on Paris Air Hero 32 / Naze32 SP
• Support for Sonar on CC3D
• Many documentation additions and cleanups.
• Many code cleanups.
• Many minor bug fixes.
• Reduced maximum mode ranges from 40 to 20.
• New serial cli command.

Many thanks to everyone who has contributed to this release!

Please consider donating to the Cleanflight project if you find this useful.

IMPORTANT: ** Requires the latest v0.63.0 configurator **

NOTE: Upgrading from < v1.8.0 will erase your configuration, backup via GUI and CLI before flashing.

NOTE: Other software clients will need updating to use the modified MSP_RC_TUNING command.

NOTE: Your pid controller 2 (LuxFloat) P/R/Y I term values should be divided by 10 to retain previous flight behavior when upgrading from < v1.8.0

Known Issues:

• Do not use retarded_arm and pid_at_min_throttle - See #719.

Bugfix release v1.8.1

• Fix for hang when attempting to use Softserial ports when Softserial feature is disabled.
• Fix SmartPort on all F3 targets.
• Fix FrSky RPM when using MOTOR_STOP.
• Fix for Virtual Current Meter when using 3D Flight.
• Enable telemetry on Sparky.
• Enable autotune on Sparky (Autotune is still experimental, YMMV).
• Enable current and battery monitoring on Sparky.

Changes from v1.8.0

• Blackbox Flight data logging to onboard SPI flash chips (Naze Full, CC3D, SPRacingF3)
• Low-pass servo filtering.
• Re-designed serial port configuration.
• Multiple simultaneous telemetry systems can be used.
• CLI now also available on all MSP ports.
• Support MSP on 2 ports at different baud rates (e.g. for using configuring via Bluetooth using SoftSerial2 at 19200)
• Blackbox support for 230400 and 250000 baud rates.
• Better support for SumD failsafe (works the same as SBus failsafe).
• Independent Pitch/Roll rate adjustment (in GUI and in-flight).
• Support TPA Breakpoint adjustment in GUI.
• Cleanup of Mag/Acc sensor selection.
• Support high precision FrSky Voltage monitoring.
• Bug fix for tricopter 3D flight.
• NMEA GPS SpaceVehicle information support.
• Support for new SPRacingF3 Flight Controller.
• Sonar support for some STM32F3 based boards.
• Battery Voltage and Current monitoring on the Sparky.
• Many documentation updates.
• Many code cleanups.

IMPORTANT: ** Requires the latest v0.63.0 configurator **

NOTE: Flashing will erase your configuration, backup via GUI and CLI before flashing.

NOTE: Other software clients will need updating to use the modified MSP_RC_TUNING command.

NOTE: Your pid controller 2 (LuxFloat) P/R/Y I term values should be divided by 10 to retain previous flight behavior.

• Blackbox Flight data logging to onboard SPI flash chips (Naze Full, CC3D, SPRacingF3)
• Low-pass servo filtering.
• Re-designed serial port configuration.
• Multiple simultaneous telemetry systems can be used.
• CLI now also available on all MSP ports.
• Support MSP on 2 ports at different baud rates (e.g. for using configuring via Bluetooth using SoftSerial2 at 19200)
• Blackbox support for 230400 and 250000 baud rates.
• Better support for SumD failsafe (works the same as SBus failsafe).
• Independent Pitch/Roll rate adjustment (in GUI and in-flight).
• Support TPA Breakpoint adjustment in GUI.
• Cleanup of Mag/Acc sensor selection.
• Support high precision FrSky Voltage monitoring.
• Bug fix for tricopter 3D flight.
• NMEA GPS SpaceVehicle information support.
• Support for new SPRacingF3 Flight Controller.
• Sonar support for some STM32F3 based boards.
• Battery Voltage and Current monitoring on the Sparky.
• Many documentation updates.
• Many code cleanups.

Bugfix release v1.7.2

• Fix drift in HaraKiri PID controller (Crashpilot/MJ666/Nebbian)
• Major documentation updates.
• Sensors Page on OLED display shows additional values.
• New CLI command for servos (dump/backup via cli now contains all the settings).
• CLI status command now shows all detected sensor names.
• Fix external mag/baro detection on targets that don't have onboard sensors.
• Improve SBus compatibility. Now tested on FrSky X4RSB & X8R, Futaba R6208SB & R6303SB.
• Support 2 digital channels on SBus (for Futaba RXs).
• Improve ESC compatibility (legacy issue inherited from baseflight).
• Fix PWM/USART2 clash on STM32F1 targets.
• Fix hardware inverter GPIO initialization - Allows S.Bus receviers to be connected to CC3D's Main Port (USART1) without external inverter cable.

Bugfix release v1.7.1

• Fix current meter when VBAT feature is not enabled.

Changes from v1.7.0

• Three new pid controllers, feedback wanted so we can decide which to keep.
• LED strip thrust ring.
• LED strip color configuration.
• LED strip on/off via mode/channel.
• CC3D - USB VCP support. Flash .hex with USB->UART. Flash .bin with GCS as before. Configure via USB.
• Sparky baro support (some Sparky boards have very noisy Baro sensors, ones from RadioC are fine).
• Blackbox logging improvements (autotune, etc).
• Virtual current meter.
• Current meter and ADC improvements and fixes.
• XBUS / Align JR01 DMSS Receiver Support.
• Fix PWM failsafe channel mapping issue.
• Servo mid-point decoupled from RX mid-point.
• Many, many code cleanups.

Notes:

• Upgrading to this firmware from a version lower than v1.7.0 will reset the configuration. Ensure you have a backup before flashing.
• Configurator v0.61.0 is required for LED strip configuration.

Bugfix release v1.7.1

• Fix current meter when VBAT feature is not enabled.

Changes from v1.7.0

• Three new pid controllers, feedback wanted so we can decide which to keep.
• LED strip thrust ring.
• LED strip color configuration.
• LED strip on/off via mode/channel.
• CC3D - USB VCP support. Flash .hex with USB->UART. Flash .bin with GCS as before. Configure via USB.
• Sparky baro support (some Sparky boards have very noisy Baro sensors, ones from RadioC are fine).
• Blackbox logging improvements (autotune, etc).
• Virtual current meter.
• Current meter and ADC improvements and fixes.
• XBUS / Align JR01 DMSS Receiver Support.
• Fix PWM failsafe channel mapping issue.
• Servo mid-point decoupled from RX mid-point.
• Many, many code cleanups.

Notes:

• Upgrading to this firmware from a version lower than v1.7.0 will reset the configuration. Ensure you have a backup before flashing.
• Configurator v0.61.0 is required for LED strip configuration.

• Three new pid controllers, feedback wanted so we can decide which to keep.
• LED strip thrust ring.
• LED strip color configuration.
• LED strip on/off via mode/channel.
• CC3D - USB VCP support. Flash .hex with USB->UART. Flash .bin with GCS as before. Configure via USB.
• Sparky baro support (some Sparky boards have very noisy Baro sensors, ones from RadioC are fine).
• Blackbox logging improvements (autotune, etc).
• Virtual current meter.
• Current meter and ADC improvements and fixes.
• XBUS / Align JR01 DMSS Receiver Support.
• Fix PWM failsafe channel mapping issue.
• Servo mid-point decoupled from RX mid-point.
• Many, many code cleanups.

Notes:

• Upgrading to this firmware will reset the configuration. Ensure you have a backup before flashing.
• Configurator v0.61.0 is required for LED strip configuration.

• PID controller 2 horizion fixes by nebbian.
• SBus timeout correction.
• MSP_SET_LED_STRIP_CONFIG updated to allow configurator to save LED configuration.
• Blackbox can now log autotune events, please submit autotune blackbox logs to us!
• LED Strip support on Sparky
• Many documentation updates.

• Blackbox flight recording! - https://www.youtube.com/watch?v=dR8OnqclSso - https://github.com/cleanflight/cleanflight/blob/master/docs/Blackbox.md
• MSP_SET_RAW_RC fix and improvement.
• MSP_LED_CONFIG fix.
• MSP_SET_LED_CONFIG improvement.
• CJMCU hardware revision detection and support for the LED3.

• Add new MSP commands so that client programs can detect the flight controller variant.
• Add new MSP commands to enable serial port configuration.
• Support new CJMCU board revision.
• Fix flight behaviour when aircraft is inverted and using an RC Rate greater than 1.

• More robust SBus support.
• Automatic disarm.
• Avoid MSP cpu hog (mainly noticable when using two MSP ports).
• Improved sonar driver.
• Sparky MAG/Compass support.
• Various other minor fixes and improvements, see github changelog for more details.

Notes:

Upgrading to this firmware will reset the configuration. Ensure you have a backup before flashing.

• Latest binaries for use with latest configurator.
• Support ATAIL mixer.
• Fix beeping when using rate profile selection.
• Added support for battery warning voltage alarm.
• Added spektrum bind support.
• Fix GPS angle reset when disabling GPS home/hold mode.

Known issues:

• Setting mixer via MSP not working.

Notes:

Upgrading to this firmware will reset the configuration. Ensure you have a backup before flashing.

• GPS and OLED Display improvements.

• First release using GitHub releases system.