Betaflight 4.2.5

Maintenance Release

Please read the Betaflight 4.2 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 4.2.0.

We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.

If you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this in our Facebook group.

Betaflight also has a presence in the Slack messaging platform. Register here, and then come join us in Slack. Most developers hang out there, so this is a great place to talk about the things you are tinkering with in Betaflight, or get help with really complicated configuration problems.

Fixes:

• disabled non-working HEADFREE flight mode when GPS Rescue is active (#10309);
• fixed define block in the CC2500 SPI RX driver (#10326).

Betaflight 4.2.4

Maintenance Release

Please read the Betaflight 4.2 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 4.2.0.

We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.

If you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this in our Facebook group.

Betaflight also has a presence in the Slack messaging platform. Register here, and then come join us in Slack. Most developers hang out there, so this is a great place to talk about the things you are tinkering with in Betaflight, or get help with really complicated configuration problems.

Fixes:

• fixed some errors occurring with custom builds (#10113);
• fixed problem causing unnecessary screen redraws on MSP displayport (#10229);
• fixed problem breaking ADC on H7 for some configurations (#10232);
• fixed scaling of Dshot motor output when controlling motors from configurator (#10223);
• fixed bug causing invalid DMA option id to show for TIMUP in CLI (#10237);
• fixed bug in CC2500 SPI RX code (#10260);
• fixed a bug making a pin unavailable on H7 (#10286).

Target Updates:

• enabled BMP085 / BMP180 for STM32F405 and STM32F745 targets (#10258).

Betaflight 4.2.3

Maintenance Release

Please read the Betaflight 4.2 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 4.2.0.

We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.

If you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this in our Facebook group.

Betaflight also has a presence in the Slack messaging platform. Register here, and then come join us in Slack. Most developers hang out there, so this is a great place to talk about the things you are tinkering with in Betaflight, or get help with really complicated configuration problems.

Fixes:

• fixed bug affecting DMA based UART data transfer (#10118);
• fixed bug in Spektrum RSSI processing (#10121);
• fixed inconsistencies in the HID joystick code affecting Windows (#10150, #10153).

Target Updates:

• changed IFLIGHT_H7_TWING target to store config in internal flash (#10174);
• added new target IFLIGHT_H743_AIO (#10181, #10195).

Betaflight 4.2.2

Maintenance Release

Please read the Betaflight 4.2 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 4.2.0.

We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.

If you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this in our Facebook group.

Betaflight also has a presence in the Slack messaging platform. Register here, and then come join us in Slack. Most developers hang out there, so this is a great place to talk about the things you are tinkering with in Betaflight, or get help with really complicated configuration problems.

Fixes:

• disabled GPS RESCUE if mixer is fixed-wing type (#10057);
• fixed bug corrupting the dashboard output (#10082);
• fixed a bug in the FrSky X SPI code affecting the RX range (#10091);
• fixed a bug corrupting the range check error message output in CLI (#10092);
• fixed a bug in the RSSI calculation leading to '99' output for failsafe for some hardware (#10097).

Betaflight 4.2.1

Maintenance Release

Please read the Betaflight 4.2 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 4.2.0.

We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.

If you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this in our Facebook group.

Betaflight also has a presence in the Slack messaging platform. Register here, and then come join us in Slack. Most developers hang out there, so this is a great place to talk about the things you are tinkering with in Betaflight, or get help with really complicated configuration problems.

Fixes:

• fixed rounding error in the barometer altitude calculation (#9951);
• made it possible to arm in crash flip mode without a GPS fix even if normal arming is disabled (#10005);
• do not count arming in crash flip mode as 'arming' for first arming detection (#10006);
• fixed build error when USE_DSHOT_TELEMETRY_STATS is disabled (#10031).

Betaflight 4.2.0

Just in time for summer...

...for most of us, and in time for the end of COVID-19 related lockdowns in a lot of places, we are proud to announce the release of Betaflight 4.2.0!

This is the third release of Betaflight after the switch to our new approach of how we support targets for different boards, and we have put effort into making support for these 'Unified Targets' easier and more seamless than before. We have also managed to convert most of the existing targets to use this new approach. This is enabling us to add support for new targets without additional effort for the developers, and as a result Betaflight is now supporting more different hardware than ever before (currently we are supporting 185 different flight controller models and counting).

As usual, our flight performance wizards have kept busy as well, and have added a bunch of improvements to how Betaflight flies. On top of that, they have improved the defaults, and made the firmware easier to tune than ever before.

One new feature that will be of interest to pilots still forced to stay inside is the new battery sag compensation: This feature results in a more consistent stick feel for the entire duration of the battery. The feedback that we are getting from many of our test pilots is that this is particularly useful for small indoor setups, like whoops or similar. Have a look at the 4.2 Tuning Notes to find out how to set this up.

Last but not least, we have also reworked how the gyro loop works, and it now runs at a fixed speed that is identical to the native update speed for the model of gyro that is used. This has simplified the setup of loop speeds, and allowed us to add support for a number of new gyro models - hopefully we'll see manufacturers pick this up and start offering exciting new flight controllers with these new gyros.

For an extended list of new features see below.

To make sure you get the latest version of your target installed, head over to this page and make sure you have got the latest version of Betaflight configurator installed before updating your firmware.

To get the best out of the flight performance improvements, please read the Tuning Notes.

If you are upgrading from an earlier version of Betaflight, please read the following section containing a list of things that you might have to change in your configuration.

We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.

If you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this in our Facebook group.

Betaflight also has a presence in the Slack messaging platform. Register here, and then come join us in Slack. Most developers hang out there, so this is a great place to talk about the things you are tinkering with in Betaflight, or get help with really complicated configuration problems.

Happy flying, enjoy summer

Important information when upgrading

• Betaflight 4.2 brings some changes to how targets are downloaded and installed. The latest release of Betaflight Configurator, 10.7.0, contains the changes necessary to support this. For this reason it is important that you update to the version 10.7.0 or newer of Betaflight Configurator (installation instructions here) in order to get the latest version of your targets installed;
• if you are using the Blackbox Explorer, there is an updated version 3.5.0 to go with Betaflight 4.2 (installation instructions here);
• version 1.5.0 of the Betaflight TX lua scripts has been released. This includes changes to go with Betaflight 4.2 (installation instructions here);
• as you have come to expect, there is a detailed Tuning Notes for Betaflight 4.2. Use them, or use the improved tuning sliders in the Betaflight configurator 10.7.0 to get your craft tuned. Please do not paste tuning configurations from previous versions of the firmware. Some defaults have been changed, and some parameters are used in different ways, so previous tuning settings will not work well with Betaflight 4.1 (#8623, #8736);
• after installing new firmware or resetting the configuration, the motor output protocol selected by default is now 'disabled'. This means that the correct motor protocol has to be selected before the craft can be armed. But this also removed the limitation on the maximum possible PID loop speed imposed by the pre-selected legacy protocol (OneShot125) in earlier versions, resulting in the maximum possible PID loop speed for each MCU type being pre-selected. Arming will be disabled and a warning displayed in configurator until a motor output protocol has been selected (#9619);
• when enabling bidirectional Dshot, the maximum possible PID loop speed for Dshot protocols will be reduced by half to accommodate for the time taken by the ESC to send the RPM data packet to the flight controller. This does not affect Dshot600, but if bidirectional Dshot is used with Dshot300, the maximum PID loop speed is 4 kHz, and 2 kHz for Dshot150 (#9642);
• the threshold for activation of the yaw spin recovery feature has had an automatic mode added - this mode sets the threshold to a value that is based on the currently configured maximum yaw rate, with a buffer added on top of it. This new mode is the default for yaw spin threshold, since it provides a setting that is safe to use for most users. Manual configuration of the yaw spin threshold is still possible (#9455);
• accelerometer calibration is now required before arming is allowed if any feature is enabled that requires the accelerometer. This is to prevent situations arising where the craft may try to self-level with an uncalibrated accelerometer, leading to unexpected or dangerous results. Arming will be disabled and a warning displayed in configurator until the accelerometer has been calibrated (#9031);
• the calculation for the virtual current meter device has been changed to be based on the throttle value used in the mixer, instead of the throttle channel RC input. This means that this value has things like throttle limiting and throttle boost applied, resulting in more accurate prediction of current and consumption. If you are using the virtual current meter device, make sure to calibrate it again after updating the firmware to make sure the calibration is still correct (#9153);
• the way that the 'RSSI dBm' value is tracked in the firmware has changed to use actual dBM value in a range of -130 to 0, instead of the previous version's 130 to 0 range. This means that if a custom setting for osd_rssi_dbm_alarm is used, this will have to be changed to be the inversion of its previous value (e.g. 60 becomes -60) (#9550);
• since stick arming is not recommended for multirotor craft because it can lead to accidental disarms, it has been disabled by default. If you want to use stick arming (at your own risk), it has to be enabled by setting enable_stick_arming to on (#9183);
• the name CLI command has been removed. Use set name = <name> instead (#8837).

Major Features:

• completely reworked the gyro loop, improved performance and made it always run at the native speed of the gyro (#9444);
• added new selectable ACTUAL and QUICK rates models (#9495, #9506);
• added compensation for sagging battery voltage, resulting in more consistent throttle / PID behaviour over for the entire flight time (#9561);
• Added level race mode ('NFE race mode' in Silverware) (#9481).

Minor Features:

• added the option to display the OSD logo on arming (#9244);
• added support for enhanced OSD / CMS devices, made it possible to support highligting of text or symbols (#9212);
• added support for FrSkyOSD OSD devices (#9127);
• added support for the Redpine RC protocol on devices with an SPI connected CC2500 chip (FrSky SPI) (#7601).

Changes from the previous Release Candidate:

• fixed bug resulting in RC modes missing on startup (#9884).

Betaflight 4.2.0 Release Candidate 4

Important

This is a release candidate. It is intended for testing, and some things still need fixing and fine tuning. Please use it with caution and report back any issues at https://github.com/betaflight/betaflight/issues. Thank you.

Important information when upgrading

• Betaflight 4.2 brings some changes to how targets are downloaded and installed. The latest release of Betaflight Configurator, 10.7.0, contains the changes necessary to support this. For this reason it is important that you update to the version 10.7.0 or newer of Betaflight Configurator (installation instructions here) in order to get the latest version of your targets installed;
• if you are using the Blackbox Explorer, there is an updated version 3.5.0 to go with Betaflight 4.2 (installation instructions here);
• version 1.5.0 of the Betaflight TX lua scripts has been released. This includes changes to go with Betaflight 4.2 (installation instructions here);
• as you have come to expect, there is a detailed Tuning Notes for Betaflight 4.2. Use them, or use the improved tuning sliders in the Betaflight configurator 10.7.0 to get your craft tuned. Please do not paste tuning configurations from previous versions of the firmware. Some defaults have been changed, and some parameters are used in different ways, so previous tuning settings will not work well with Betaflight 4.1 (#8623, #8736);
• after installing new firmware or resetting the configuration, the motor output protocol selected by default is now 'disabled'. This means that the correct motor protocol has to be selected before the craft can be armed. But this also removed the limitation on the maximum possible PID loop speed imposed by the pre-selected legacy protocol (OneShot125) in earlier versions, resulting in the maximum possible PID loop speed for each MCU type being pre-selected. Arming will be disabled and a warning displayed in configurator until a motor output protocol has been selected (#9619);
• when enabling bidirectional Dshot, the maximum possible PID loop speed for Dshot protocols will be reduced by half to accommodate for the time taken by the ESC to send the RPM data packet to the flight controller. In particular, this means that with Dshot300 and bidirectional Dshot, the maximum PID loop speed is 4 kHz (#9642);
• the threshold for activation of the yaw spin recovery feature has had an automatic mode added - this mode sets the threshold to a value that is based on the currently configured maximum yaw rate, with a buffer added on top of it. This new mode is the default for yaw spin threshold, since it provides a setting that is safe to use for most users. Manual configuration of the yaw spin threshold is still possible (#9455);
• accelerometer calibration is now required before arming is allowed if any feature is enabled that requires the accelerometer. This is to prevent situations arising where the craft may try to self-level with an uncalibrated accelerometer, leading to unexpected or dangerous results. Arming will be disabled and a warning displayed in configurator until the accelerometer has been calibrated (#9031);
• the calculation for the virtual current meter device has been changed to be based on the throttle value used in the mixer, instead of the throttle channel RC input. This means that this value has things like throttle limiting and throttle boost applied, resulting in more accurate prediction of current and consumption. If you are using the virtual current meter device, make sure to calibrate it again after updating the firmware to make sure the calibration is still correct (#9153);
• the way that the 'RSSI dBm' value is tracked in the firmware has changed to use actual dBM value in a range of -130 to 0, instead of the previous version's 130 to 0 range. This means that if a custom setting for osd_rssi_dbm_alarm is used, this will have to be changed to be the inversion of its previous value (e.g. 60 becomes -60) (#9550);
• since stick arming is not recommended for multirotor craft because it can lead to accidental disarms, it has been disabled by default. If you want to use stick arming (at your own risk), it has to be enabled by setting enable_stick_arming to on (#9183);
• the name CLI command has been removed. Use set name = <name> instead (#8837).

Major Features:

• completely reworked the gyro loop, improved performance and made it always run at the native speed of the gyro (#9444);
• added new selectable ACTUAL and QUICK rates models (#9495, #9506);
• added compensation for sagging battery voltage, resulting in more consistent throttle / PID behaviour over for the entire flight time (#9561);
• Added level race mode ('NFE race mode' in Silverware) (#9481).

Minor Features:

• added the option to display the OSD logo on arming (#9244);
• added support for enhanced OSD / CMS devices, made it possible to support highligting of text or symbols (#9212);
• added support for FrSkyOSD OSD devices (#9127);
• added support for the Redpine RC protocol on devices with an SPI connected CC2500 chip (FrSky SPI) (#7601).

Changes from the previous Release Candidate:

• fixed problem with corrupted blackbox headers when logging to SD card (#9857);
• fixed reporting of altitude in MSP with a GPS (#9864);
• made custom defaults persist through reflashing the firmware on STM32F745 (#9870);
• fixed parsing of pin names in CLI (#9871);
• fixed processing of rangefinder output (#9873);
• enabled the recalculation of mode switch box availability when reading the configuration (#9875);
• fixed error when parsing over length fields in custom default headers in CLI (#9876).

Betaflight 4.1.7

Maintenance Release

Please read the Betaflight 4.1 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 4.1.0.

We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.

If you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this in our Facebook group.

Betaflight also has a presence in the Slack messaging platform. Register here, and then come join us in Slack. Most developers hang out there, so this is a great place to talk about the things you are tinkering with in Betaflight, or get help with really complicated configuration problems.

Fixes:

• fixed bug breaking the MS5611 barometer when use over SPI (#9735);
• fixed build error when USE_SPI_TRANSACTION is used (#9742);
• fixed problem when printing upper case characters in CMS (#9751);
• fixed calculation of maximum ESC RPM in OSD when bidirectional Dshot is enabled (#9758);
• fixed the CRC calculation for SmartPort and FPort, increasing the telemetry throughput (#9771, #9785);
• fixed condition for the 'ANTI GRAVITY' mode switch to hide it when anti-gravity is disabled (#9779);
• fixed possible buffer overrun in MSPv2 message parsing (#9780);
• fixed bugs in the USB implementation on F7 causing lockups when connected to MacOS (#9789, #9790);
• added missing pin ownership checks for I2C (#9810);
• fixed typo in CLI help command (#9816).

Target Updates:

• added driver for the QMC5883 magnetometer to the SPRACINGH7NANO / SPRACINGH7ZERO targets
  (#9775);
• added support for I2C4 on motor outputs 5 / 6 on SPRACINGH7NANO target (#9788).

Betaflight 4.2.0 Release Candidate 3

Important

This is a release candidate. It is intended for testing, and some things still need fixing and fine tuning. Please use it with caution and report back any issues at https://github.com/betaflight/betaflight/issues. Thank you.

Important information when upgrading

• Betaflight 4.2 brings some changes to how targets are downloaded and installed. The latest release of Betaflight Configurator, 10.7.0, contains the changes necessary to support this. For this reason it is important that you update to the version 10.7.0 or newer of Betaflight Configurator (installation instructions here) in order to get the latest version of your targets installed;
• if you are using the Blackbox Explorer, there is an updated version 3.5.0 to go with Betaflight 4.2 (installation instructions here);
• version 1.5.0 of the Betaflight TX lua scripts has been released. This includes changes to go with Betaflight 4.2 (installation instructions here);
• as you have come to expect, there is a detailed Tuning Notes for Betaflight 4.2. Use them, or use the improved tuning sliders in the Betaflight configurator 10.7.0 to get your craft tuned. Please do not paste tuning configurations from previous versions of the firmware. Some defaults have been changed, and some parameters are used in different ways, so previous tuning settings will not work well with Betaflight 4.1 (#8623, #8736);
• after installing new firmware or resetting the configuration, the motor output protocol selected by default is now 'disabled'. This means that the correct motor protocol has to be selected before the craft can be armed. But this also removed the limitation on the maximum possible PID loop speed imposed by the pre-selected legacy protocol (OneShot125) in earlier versions, resulting in the maximum possible PID loop speed for each MCU type being pre-selected. Arming will be disabled and a warning displayed in configurator until a motor output protocol has been selected (#9619);
• when enabling bidirectional Dshot, the maximum possible PID loop speed for Dshot protocols will be reduced by half to accommodate for the time taken by the ESC to send the RPM data packet to the flight controller. In particular, this means that with Dshot300 and bidirectional Dshot, the maximum PID loop speed is 4 kHz (#9642);
• the threshold for activation of the yaw spin recovery feature has had an automatic mode added - this mode sets the threshold to a value that is based on the currently configured maximum yaw rate, with a buffer added on top of it. This new mode is the default for yaw spin threshold, since it provides a setting that is safe to use for most users. Manual configuration of the yaw spin threshold is still possible (#9455);
• accelerometer calibration is now required before arming is allowed if any feature is enabled that requires the accelerometer. This is to prevent situations arising where the craft may try to self-level with an uncalibrated accelerometer, leading to unexpected or dangerous results. Arming will be disabled and a warning displayed in configurator until the accelerometer has been calibrated (#9031);
• the calculation for the virtual current meter device has been changed to be based on the throttle value used in the mixer, instead of the throttle channel RC input. This means that this value has things like throttle limiting and throttle boost applied, resulting in more accurate prediction of current and consumption. If you are using the virtual current meter device, make sure to calibrate it again after updating the firmware to make sure the calibration is still correct (#9153);
• the way that the 'RSSI dBm' value is tracked in the firmware has changed to use actual dBM value in a range of -130 to 0, instead of the previous version's 130 to 0 range. This means that if a custom setting for osd_rssi_dbm_alarm is used, this will have to be changed to be the inversion of its previous value (e.g. 60 becomes -60) (#9550);
• since stick arming is not recommended for multirotor craft because it can lead to accidental disarms, it has been disabled by default. If you want to use stick arming (at your own risk), it has to be enabled by setting enable_stick_arming to on (#9183);
• the name CLI command has been removed. Use set name = <name> instead (#8837).

Major Features:

• completely reworked the gyro loop, improved performance and made it always run at the native speed of the gyro (#9444);
• added new selectable ACTUAL and QUICK rates models (#9495, #9506);
• added compensation for sagging battery voltage, resulting in more consistent throttle / PID behaviour over for the entire flight time (#9561);
• Added level race mode ('NFE race mode' in Silverware) (#9481).

Minor Features:

• added the option to display the OSD logo on arming (#9244);
• added support for enhanced OSD / CMS devices, made it possible to support highligting of text or symbols (#9212);
• added support for FrSkyOSD OSD devices (#9127);
• added support for the Redpine RC protocol on devices with an SPI connected CC2500 chip (FrSky SPI) (#7601).

Changes from the previous Release Candidate:

• fixed incorrect reporting of configured / detected OSD device over MSP (#9807);
• added missing pin ownership checks for I2C (#9810);
• fixed typo in CLI help command (#9816);
• increased the minimum values for gyro_rpm_notch_q and dterm_rpm_notch_q to address problem with too low values causing runaway acceleration (#9841);
• fixed problem with setting negative values in CMS (#9842);
• fixed incorrect value ranges for battery offsets in CMS (#9849);
• fixed connection loss problems for ublox GPS (#9850).

Betaflight 4.2.0 Release Candidate 2

Important

This is a release candidate. It is intended for testing, and some things still need fixing and fine tuning. Please use it with caution and report back any issues at https://github.com/betaflight/betaflight/issues. Thank you.

Important information when upgrading

• Betaflight 4.2 brings some changes to how targets are downloaded and installed. The latest release of Betaflight Configurator, 10.7.0, contains the changes necessary to support this. For this reason it is important that you update to the version 10.7.0 or newer of Betaflight Configurator (installation instructions here) in order to get the latest version of your targets installed;
• if you are using the Blackbox Explorer, there is an updated version 3.5.0 to go with Betaflight 4.2 (installation instructions here);
• version 1.5.0 of the Betaflight TX lua scripts has been released. This includes changes to go with Betaflight 4.2 (installation instructions here);
• as you have come to expect, there is a detailed Tuning Notes for Betaflight 4.2. Use them, or use the improved tuning sliders in the Betaflight configurator 10.7.0 to get your craft tuned. Please do not paste tuning configurations from previous versions of the firmware. Some defaults have been changed, and some parameters are used in different ways, so previous tuning settings will not work well with Betaflight 4.1 (#8623, #8736);
• after installing new firmware or resetting the configuration, the motor output protocol selected by default is now 'disabled'. This means that the correct motor protocol has to be selected before the craft can be armed. But this also removed the limitation on the maximum possible PID loop speed imposed by the pre-selected legacy protocol (OneShot125) in earlier versions, resulting in the maximum possible PID loop speed for each MCU type being pre-selected. Arming will be disabled and a warning displayed in configurator until a motor output protocol has been selected (#9619);
• when enabling bidirectional Dshot, the maximum possible PID loop speed for Dshot protocols will be reduced by half to accommodate for the time taken by the ESC to send the RPM data packet to the flight controller. In particular, this means that with Dshot300 and bidirectional Dshot, the maximum PID loop speed is 4 kHz (#9642);
• the threshold for activation of the yaw spin recovery feature has had an automatic mode added - this mode sets the threshold to a value that is based on the currently configured maximum yaw rate, with a buffer added on top of it. This new mode is the default for yaw spin threshold, since it provides a setting that is safe to use for most users. Manual configuration of the yaw spin threshold is still possible (#9455);
• accelerometer calibration is now required before arming is allowed if any feature is enabled that requires the accelerometer. This is to prevent situations arising where the craft may try to self-level with an uncalibrated accelerometer, leading to unexpected or dangerous results. Arming will be disabled and a warning displayed in configurator until the accelerometer has been calibrated (#9031);
• the calculation for the virtual current meter device has been changed to be based on the throttle value used in the mixer, instead of the throttle channel RC input. This means that this value has things like throttle limiting and throttle boost applied, resulting in more accurate prediction of current and consumption. If you are using the virtual current meter device, make sure to calibrate it again after updating the firmware to make sure the calibration is still correct (#9153);
• the way that the 'RSSI dBm' value is tracked in the firmware has changed to use actual dBM value in a range of -130 to 0, instead of the previous version's 130 to 0 range. This means that if a custom setting for osd_rssi_dbm_alarm is used, this will have to be changed to be the inversion of its previous value (e.g. 60 becomes -60) (#9550);
• since stick arming is not recommended for multirotor craft because it can lead to accidental disarms, it has been disabled by default. If you want to use stick arming (at your own risk), it has to be enabled by setting enable_stick_arming to on (#9183);
• the name CLI command has been removed. Use set name = <name> instead (#8837).

Major Features:

• completely reworked the gyro loop, improved performance and made it always run at the native speed of the gyro (#9444);
• added new selectable ACTUAL and QUICK rates models (#9495, #9506);
• added compensation for sagging battery voltage, resulting in more consistent throttle / PID behaviour over for the entire flight time (#9561);
• Added level race mode ('NFE race mode' in Silverware) (#9481).

Minor Features:

• added the option to display the OSD logo on arming (#9244);
• added support for enhanced OSD / CMS devices, made it possible to support highligting of text or symbols (#9212);
• added support for FrSkyOSD OSD devices (#9127);
• added support for the Redpine RC protocol on devices with an SPI connected CC2500 chip (FrSky SPI) (#7601).

Changes from the previous Release Candidate:

• fixed build error when USE_SPI_TRANSACTION is used (#9742);
• fixed problem when printing upper case characters in CMS (#9751);
• fixed calculation of maximum ESC RPM in OSD when bidirectional Dshot is enabled (#9758);
• increased the amount of free flash space on F7 by removing the speed optimisation from gyro driver initialisation (#9765);
• fixed the CRC calculation for SmartPort and FPort, increasing the telemetry throughput (#9771, #9785);
• added driver for the QMC5883 magnetometer to the SPRACINGH7NANO / SPRACINGH7ZERO targets
  (#9775);
• fixed condition for the 'ANTI GRAVITY' mode switch to hide it when anti-gravity is disabled (#9779);
• fixed possible buffer overrun in MSPv2 message parsing (#9780);
• added support for I2C4 on motor outputs 5 / 6 on SPRACINGH7NANO target (#9788);
• fixed bugs in the USB implementation on F7 causing lockups when connected to MacOS (#9789, #9790).