Betaflight 2.3.3

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

Betaflight 2.3.2

2nd 2.3 patch (NOTE THAT THIS VERSION IS DEPRICATED DUE TO DISCOVERED BUG CAUSED BY 3D CODE...use 2.3.1 version)

• Fixed some F1 arming issues on 1khz mode when luxfloat and many features activated
• Fixed CC3D OPBL issues (.bin file should be fine now)
• Fixed degree to radian conversion for Fixed FPV cam mix feature and renamed to roll_yaw_cam_mix_degrees
• Improved mid stick sensitivity insane_acro and renamed to acro_plus_factor. The sensitivity configuration should now be easier
• Cleanup old filter code and removed old filters
• Changed filtering for acc mode and renamed to acc_lpf_hz
• Slightly optimised default PID's for beginners
• Enabled AIR mode for 3D (This is a initial implementation...still not working, but start in a good direction)

Betaflight 2.3.1

First 2.3.1 patch

Nothing changed in terms of features, but few cleanups for small targets and configurable filters

• Added Configurable soft filters
  set gyro_lpf_hz = 0-255 (50 default, 0 means disabled)
  set dterm_lpf_hz = 0-255 (50 default, 0 means disabled)
• Removed DISPLAY and SONAR for normal CC3D (.hex) target and BLACKBOX and BARO on CC3D OBBL (.bin) target
  Sorry CC3D doesnt have enough flash size to fit the code.

SAVE YOUR SETTINGS PRIOR UPGRADE

Betaflight 2.3.0

2.3.0 Final Release

Issues Resolved:

• Fixed broken BST functions
• Fixed Driver Boot issues for MPU6500 and MPU6000 targets
• Fixed broken Gtune
• Fixed heating up of motors on some setups (new filter)

New:

• Full filter rework. dterm_cut_hz and FIR is now replaced by BiQuad filter, which is better for high cycletimes. Motors should now run colder on 2khz modes
• Added 2,6Khz option for COLIBRI_RACE target
• New rewrite defaults
• Added new feature set insane_acro_factor= 0-100 (0 means disabled and 100 is maximum). This is simillar to Acro+ feature, but it only works when in Air mode. This is to prevent many modes. The option will improve center stick feeling more and add more "super expo" on more stick reflection
• Added Dynamic Iterm Scaling in Air mode to make acro smoother and prevent windup. You may probably be able to use higher Iterm now
• 2khz mode now offers 6 AUX channels for F3 targets
• added mixer1234 (usefull for some future targets)
• Added IBUS support. Only available through CLI. Don't configure in configurator!
• Added experimental feature to compensate RC input to camera angle.
  Usage set rc_fpv_cam_correct_degrees = cam angle in degrees

NOTE THAT YOU NEED TO SAVE YOUR SETTINGS PRIOR TO UPGRADE
Happy flying!

Betaflight 2.2.0

Fixes:

• Fixed servo mapping on CC3D tricopter configuration
• Fixed inflight adjustment logging to blackbox

New:

• Complete new scheduling method. Cli command "tasks" will show all tasks and their processing times. With "status" command system load can be showed
• Completed BST Support for COLIBRI_RACE target
• Less CC3D targets. Beeper pin can now be enabled and disabled through cli (set enable_buzzer_p6 = ON/OFF)
• 2khz Mode added. Setting "set gyro_lpf = OFF" will automatically enable 2khz mode for F3 targets. F1 targets need to disable Accelerometer, Barometer and mag to unlock 2khz mode. Also bare in mind that 2khz mode will reduce amount of AUX channels to 4 AUX channels on F1 targets and 6 on F3 targets.
• Improved Moving average for Dterm
• Many code performance gains for 2kz modes
• New defaults. Note that dterm_cut_hz is disabled by default now due to better moving average. It still can be enabled.

NOTE THAT CC3D USERS COMING FROM OLDER VERSIONS SHOULD RESET SETTINGS AFTER UPGRADE
Level / Horizon modes may work less good than on 2.1.6, but this will be investigated in 2.2.1. If you are a hardcore level flier than it may be better to stick to 2.1.6
Some F1 configuration won't allow luxfloat in 2khz mode. Will be further looked into it in 2.2.1

Release Candidate Overview:
RC1: Initial release
RC2: Fixed bug with dterm_cut_hz 0 on F1 targets. Fixed Configurable Beeper for CC3D...It works now!
FInal: Fixed the bug In BST for COLIBRI_RACE

Betaflight 2.1.6

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!

Betaflight 2.1.5

Fixes:

• Some minor fixes in CLI and less important things
• Some new target preparations

New:

• Added back configurable RC smoothing option
• AIR MODE Implementation! Full PID stability throughout entire throttle range. Mixer logic has been improved to improve low throttle stability. This mode also fully replaces pid_at_min_throttle implementation. AIR MODE needs to be enabled through switch or just enable it at all times.
• D scaling is adjusted for PID1 to better match CF transitions. Multiply your old D with 1.5 to get the same effect.
• Simplified Soft Filter Configuration (ON and OFF). HIGH and MEDIUM didn't turn to be a success.
• Added more hardware filtering possibilities. (old gyro_sampling = 8khz is now gyro_lpf = OFF....there are also 188HZ, 98HZ and 42HZ options). 256HZ results in 8:1 sampling of 8khz
• Added new target AFROMINI (NAZE32 Alias with rev5 override)

Thanks to all who contributed in testing/feedback during Release Candidate releases.

Betaflight 2.1.4

BUGFIXES:

• Fixed some major buffer overflow issues with SBUS and SPEKTRUM. This is probably the reason of reported glitches in the past which were already catched with timers. More solid SBUS and SPEKTRUM are expected now.
• Some minor fixes in coding style

NEW

• New Cleanflight 1.11 CLI with more optional string settings (example: set emf_avoidance = ON)
• pid_at_min_throttle has only 3 options (set pid_at_min_throttle = OFF or PD or PID) PID is equalent of old 3 seconds Iterm timer
• Added optional filtering for Gyro. (set gyro_soft_lpf = LOW, MEDIUM or HIGH). LOW should be fine for most copters. Maybe some bigger props (slow rpm) might need higher filtering level
• New level defaults
• Added BST protocol for Team Blacksheep products
• Added 8khz sampling option for gyro (set gyro_sampling = 1KHZ or 8KHZ) Note that speed will always be 1khz(1000us) for now, but the gyro delay will be 0.9ms lower in this ode. Using 1:8 gyro sampling. This is more preparation option for faster targets in the future.
• Easier build environment for CC3D targets

NOTES:
Make sure you check all your settings after upgrade. SOME CLI VARIABLES ARE DIFFERENT!
example: serialrx_provider = SBUS

(last version has fix for cli option blackbox_device)

Betaflight 2.1.3

MAKE SURE YOU BACKUP ALL YOUR SETTINGS BEFORE UPGRADE

Bugfixes:

• New pid_at_min_throttle feature was active during disarm. This could cause building up of Iterm when armed->disarmed->armed again within the timer period it could cause erratic behaviour

Release Notes:

• New luxfloat default pids for yaw
• Added back yaw pterm filter, but configurable now
• Angle mode is now configurable for luxfloat. Use Rc Rate parameter for configuring sensitivity of angle mode

Betaflight 2.1.2c

Bugfixes:

• fixed pid_controller cli dump/get function, which was broken for different profiles than profile 0
• Fixed some minor issues with serial 1wire passthrough feature for F3 targets
• Fixed disconnect on save through configurator
• Spektrum bind enabled on MOTOLAB target
• Fixed Self level drift issues (more feedback needed, but it looks good)

Optimalisations/features:

• It is now possible to disable beeper on USB (beeper_off_flags = 256)
• Some default parameters optimised
• Yaw filter removed
• Added extra CC3D binaries for hexacopters without buzzer on pin6 (betaflight_CC3D_buzzer)
• Added extra safety on switch disarm