Betaflight 4.2.0 Release Candidate 1

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).

Betaflight 4.1.6

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.

Safety Improvements:

• fixed disabling of dynamic idle when bidirectional Dshot is not enabled (#9719, #9728);
• fixed arming prevention when bidirectional Dshot is enabled but not working with bitbanged Dshot enabled (#9730).

Fixes:

• added exclusion of SWD pins from being initialised as pull up if unused (#9420);
• fixed bug in positioning of the OSD 'RSSI dBm' element (#9602);
• added re-initialisation of mixer elements when switching PID profiles (#9608);
• added missing definition of the SPI1_MOSI pin on H7 (#9610);
• fixed the display of the GPS based absolute altitude before arming (#9616);
• fixed the DMA options for ADC5 (#9625);
• fixed lockup when battery capacity set to 0 and 'battery usage' OSD element enabled (#9644);
• fixed lockup when sticks are completely centered in crash flip mode (#9647);
• fixed inconsistent line endings in CLI responses (#9657);
• added missing pin for I2C2 on F446 (#9662, #9695);
• fixed bug potentially causing a lockup when in MSC mode (#9672);
• added missing timer IRQ handlers for H7 (#9700);
• fixed a bug potentially causing a lockup when using a dashboard display (#9701);
• fixed inconsistency in gyroanalyse code (#9702);
• fix sending of Dshot commands with 'dshotprog' in CLI (#9712);
• fixed CMS over CRSF (#9720);
• fixed resetting of filters when switching between PID profiles (#9723).

Betaflight 4.1.5

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.

Safety Improvements:

• added check to prevent Betaflight configurator from setting rc_smoothing_auto_factor to 100 (#9560).

Fixes:

• fixed inconsistency in DMA instance handling (#9490);
• changed OSD to require a reboot after battery settings changes where this is needed (#9518);
• fixed incorrect output voltages for camera control when overclocking is active (#9537);
• fixed the input validation for the led command in CLI (#9546, #9554);
• fixed bug in the FrSky SPI RX resulting in jitter (#9563);
• fixed a bug in the CRSF protocol breaking RSSI dBm reporting when RSSI reporting is not used (#9587).

Target Updates:

• added support for the QMC-5883 magnetometer to the SPRACINGH7EXTREME target (#9531).

Betaflight 4.1.4

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 skipping of labels in the CMS navigation (#9373);
• fixed initialisation of unused pins for STM32F7 and STM32H7 (#9398);
• fixed the 'max' time display in the CLI 'stats' command (#9402);
• fixed the definition of available pins on STM32F411 (#9418);
• fixed compile errors if USE_VTX_TABLE is not defined (#9421);
• fixed the function of 'gps_rescue_alt_mode' (#9433);
• fixed problems with 'sdcard_mode' defaulting to 'sdio' on targets without SD card reader (#9445).

Target Updates:

• added support for SDIO to Unified Targets (#9436).

Betaflight 4.1.3

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 resulting in very long time to get a GPS fix (#9308);
• fixed bug resulting in incorrect GPS satellite list in configurator (#9309);
• fixed bug in handling of external interrupts (#9311);
• fixed build errors in the SITL target (#9342);
• fixed detection of a MAX7456 chip when powered from USB (#9360);
• fixed ADC reading on H7 (#9367).

Betaflight 4.1.2

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 problem with ACC calibration (#9177);
• fixed detection of failsafe for Spektrum SRXL2 failsafe fix for newer receivers (#9189, #9291);
• fixed problem with errorneously dropped frames in CRSF (#9190);
• fixed problem with vtxtable command in CLI (#9197);
• fixed problem in the MAX7456 OSD driver (#9198);
• fixed problems with SPI RX and SD card on Unified Targets (#9218);
• fixed problem when setting board information (#9230);
• fixed problem with MSC mode under MacOS (#9252);
• fixed problems when building without flash chip support (#9253);
• fixed display problems with rc_smoothing command in CLI (#9289);
• fixed problem when building without MAG support (#9290);
• fixed off-by-one problem with vtx command in CLI (#9295).

Betaflight 4.1.1

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 in IBUS telemetry sending uninitialised values when no GPS is configured (#8925);
• fixed CLI task list header alignment (#9081);
• fixed overflow in blackbox logging when logging ESC_SENSOR data with more than 4 motors (#9087);
• fixed potential buffer overflow in blackbox logging to serial port (#9089);
• fixed bug in QUADSPI driver (#9100);
• fixed overflow in HDOP calculation in SmartPort telemetry (#9112);
• added check to disable IRC Tramp CMS menu if a different VTX is configured (#9134);
• fixed bug printing the wrong value for rc_smoothing_type in the blackbox header (#9140);
• fixed bug in adjustment ranges breaking cases where the activation range does not span the entire RX range for 'select' type adjustments (#9162).

Target Updates:

• enabled burst Dshot for target FLYWOOF411 (#9051);
• added driver for W25N01G flash chip to target ALIENFLIGHTNGF7 (#9053);
• moved the VTX power switch to USER1 mode for targets CLRACINGF4 and CLRACINGF7 (#9062);
• added flash tools to Unified Targets (#9064);
• added compass support for target EXF722DUAL (#9092).

Betaflight 4.1.0

We're already late, so let's keep this short!

As you've come to expect, we've packed this release with a whole lot of new flying goodness, new features, and support for a bunch of new targets.

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 these tuning tips.

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.

Have fun

Important information when upgrading

• Betaflight 4.1 brings a fundamental change to how targets are downloaded and installed. The latest release of Betaflight configurator, 10.6.0, contains the changes necessary to support this. For this reason it is important that you update to the version 10.6.0 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 3.4.0 to go with Betaflight 4.1 (installation instructions here);
• version 1.4.0 of the Betaflight TX lua scripts has been released. This includes changes to go with Betaflight 4.1 (installation instructions here);
• bidirectional Dshot, which is the basis for RPM based filtering, has been improved and is now available with BLHeli_32 (from version 32.7 on) and on BLHeli_S hardware (by using the JESC firmware). Use these instructions to get it set up (#8554, #8779);
• as you have come to expect, there is a detailed Tuning Notes for Betaflight 4.1. Use them, or use the new tuning sliders in the Betaflight configurator 10.6.0 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);
• with the introduction of fully configurable VTX control (VTX tables), after flashing the firmware you now have to load a VTX tables appropriate for your VTX and for the country you are flying in before you can control your VTX through Betaflight. Support for loading VTX tables from files is integrated into Betaflight configurator from version 10.6.0 on. Please see the documentation in the new 'Video Transmitter' tab for instructions on how to find an appropriate VTX table and install it (#7251);
• some optimisations were made to the OSD fonts, and some characters were improved. In order to get a properly working OSD with Betaflight 4.1, the font loaded onto the OSD needs to be updated to the latest version (available in configurator 10.6.0 or newer) (#8390);
• as announced before the release of Betaflight 4.0, support for F3 based flight controllers has been removed from Betaflight 4.1.

Major features:

• new and improved feed forward 2.0 (#8623, #8736);
• reworked bidirectional Dshot (#8554, #8779);
• dynamic idle management using RPM telemetry (#8604);
• fully configurable VTX control with VTX tables (#7251).

Minor features:

• support for the Spektrum SRXL2 serial protocol (#8606);
• support for board-specific custom defaults (#8707);
• support for arbitrary gyro and mag alignment (#8474).

Changes from the previous Release Candidate:

Safety Improvements:

• prevent third party devices from enabling arming when connected to Betaflight configurator (#9040).

Fixes:

• fixed RX / telemetry port sharing for iBus (#9000);
• fixed incorrect comparisons in gyro overflow checking (#9009);
• fixed telemetry for FrSky X SPI (#9010);
• fixed targets with broken ADC DMA definition (#9017);
• fixed bug in arming prevention messages (#9022);
• set burst Dshot to off for some targets if bidirectional Dshot is used (#8978).

Betaflight 4.1.0 Release Candidate 6

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

• A number of changes and improvements in this release require changes to the Betaflight configurator. These changes have been added to Betaflight configurator 10.6.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.6.0 (or newer) as soon as it is available, or use the CLI for now;
• if you are using the Blackbox Log Viewer, there will be an updated version 3.4.0 to go with Betaflight 4.1 (installation instructions here). Please update as soon as it becomes available;
• bidirectional Dshot, which is the basis for RPM based filtering, has been improved and is now available with BLHeli_32 (from version 32.7 on) and on BLHeli_S hardware (by using the JESC firmware). Use these instructions to get it set up (#8554, #8779);
• as you have come to expect, there is a detailed Tuning Notes for Betaflight 4.1. Use them, or use the new tuning sliders in the Betaflight configurator 10.6.0 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);
• with the introduction of fully configurable VTX control (VTX tables), after flashing the firmware you now have to load a VTX tables appropriate for your VTX and for the country you are flying in before you can control your VTX through Betaflight. Support for loading VTX tables from files will be integrated in the upcoming Betaflight configurator 10.6.0, for now you have to use CLI to set up the VTX tables, see here for details (#7251);
• some optimisations were made to the OSD fonts, and some characters were improved. In order to get a properly working OSD with Betaflight 4.1, the font loaded onto the OSD needs to be updated to the latest version (available in configurator 10.6.0 or newer) (#8390);
• as announced before the release of Betaflight 4.0, support for F3 based flight controllers has been removed from Betaflight 4.1.

Major features:

• new and improved feed forward 2.0 (#8623, #8736);
• reworked bidirectional Dshot (#8554, #8779);
• dynamic idle management using RPM telemetry (#8604);
• fully configurable VTX control with VTX tables (#7251).

Minor features:

• support for the Spektrum SRXL2 serial protocol (#8606);
• support for board-specific custom defaults (#8707);
• support for arbitrary gyro and mag alignment (#8474).

Changes from the previous Release Candidate:

Fixes:

• fixed bug in reset code for MPU6000 (#8952);
• fixed bidirectional Dshot on H7 (#8961);
• added bidirectional Dshot status to the blackbox header (#8992).

Target Updates:

• added new target TRANSTECF411 (#8955);
• added support for magnetometer and barometer for target AIRBOTF7 (#8956);
• added new target LUXMINIF7 (#8979).

Betaflight 4.1.0 Release Candidate 5

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

• A number of changes and improvements in this release require changes to the Betaflight configurator. These changes have been added to Betaflight configurator 10.6.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.6.0 (or newer) as soon as it is available, or use the CLI for now;
• if you are using the Blackbox Log Viewer, there will be an updated version 3.4.0 to go with Betaflight 4.1 (installation instructions here). Please update as soon as it becomes available;
• bidirectional Dshot, which is the basis for RPM based filtering, has been improved and is now available with BLHeli_32 (from version 32.7 on) and on BLHeli_S hardware (by using the JESC firmware). Use these instructions to get it set up (#8554, #8779);
• as you have come to expect, there is a detailed Tuning Notes for Betaflight 4.1. Use them, or use the new tuning sliders in the Betaflight configurator 10.6.0 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);
• with the introduction of fully configurable VTX control (VTX tables), after flashing the firmware you now have to load a VTX tables appropriate for your VTX and for the country you are flying in before you can control your VTX through Betaflight. Support for loading VTX tables from files will be integrated in the upcoming Betaflight configurator 10.6.0, for now you have to use CLI to set up the VTX tables, see here for details (#7251);
• some optimisations were made to the OSD fonts, and some characters were improved. In order to get a properly working OSD with Betaflight 4.1, the font loaded onto the OSD needs to be updated to the latest version (available in configurator 10.6.0 or newer) (#8390);
• as announced before the release of Betaflight 4.0, support for F3 based flight controllers has been removed from Betaflight 4.1.

Major features:

• new and improved feed forward 2.0 (#8623, #8736);
• reworked bidirectional Dshot (#8554, #8779);
• dynamic idle management using RPM telemetry (#8604);
• fully configurable VTX control with VTX tables (#7251).

Minor features:

• support for the Spektrum SRXL2 serial protocol (#8606);
• support for board-specific custom defaults (#8707);
• support for arbitrary gyro and mag alignment (#8474).

Changes from the previous Release Candidate:

Fixes:

• fixed issue with yaw being included in ff_max_rate_limit limiting (#8926);
• fixed issue preventing ESC initialisation when ESC beacon active at startup (#8927);
• fixed compile errors when USE_DSHOT is not defined (#8928);
• fixed the power level for vtx_low_power_disarm on Unified Targets (#8936);
• added information about Unified Target manufacturer / board name / custom defaults to the diff header to facilitate debugging (#8937);
• fixed pit mode for SmartAudio 2.1 devices (#8940);
• fixed application of custom defaults with missing trailing newline (#8942);
• fixed possible lockup on defaults nosave when RX_SERIAL is enabled (#8946).