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Betaflight 2.1.6
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@borisbstyle borisbstyle released this 20 Dec 13:17
v2.1.6
6a64c19

Fixes:

  • Infinity rolls in Air Mode due to too fast growing error. Before error was growing faster than the system was able to correct it due to the very low limits
  • Erratic behaviour during crashes in Air mode.
  • Full throttle power in Air mode (before it tend to be less)
    -When dterm_cut_hz set to 0 together with soft lpf it would oscillate badly

New:

  • Mixer max throttle scenarios improved.
  • Air mode has no even more low throttle authority. Feels much tighter with 0 throttle!
  • New defaults based on pilot test group feedback:
  • _Disabled rc_smoothing by default. I found no negative effects except some dterm kicks, which seem to be harmless._ (level/horizon fliers may need to re-enable this for the best results)

  • _Disabled yaw_pterm_cut_hz by default as majority copters doesnt need it. Still can be enabled._

  • _Changed default PID's based_
  • Improved Iterm precision (https://github.com/borisbstyle/betaflight/issues/67)

ENJOY AND HAVE FUN!

Assets 14