Betaflight 4.0.0

Important

A number of users reported issues with their craft taking off with throttle at idle when running on Betaflight 4.0.0's default settings. It was identified that the default settings did not have enough filtering for setups with a lot of vibrations. More filtering was added to the defaults in 4.0.1. It is recommended that you upgrade directly to 4.0.1, to eliminate the risk of unintended flyaways introduced by this problem (#8043).

It took us a long time, but now it’s here, and it’s got so many new things!

When we released 3.5 in August last year, the number of different targets supported by Betaflight had reached 150, and maintaining them was becoming a major effort and taking up a lot of our time. It became clear that we had to do something. We had been working on changing the architecture of Betaflight to make it possible to use the same firmware for different flight controllers for some time, and so we decided to complete this change before releasing the next version, and that because of this fundamental change the next version would be 4.0.

As we approached the originally set release date for Betaflight 4.0, we realised that we were not quite ready, and we decided to take another three months, in order to be able to complete the work we had started.

So now, here we are, ‘Unified Targets’, as we called the new ‘one firmware for many flight controllers’ technology, is now a reality in Betaflight 4.0. There is still some work left to be done to add support for flashing Unified Targets with their configurations to Betaflight configurator, but once this is done, we will be able to allow manufacturers to make firmware for any number of boards, or RTF products, available directly in configurator.

As you have come to expect from Betaflight, we have picked up a number of new and exciting improvements to the flight performance, like ESC RPM based filtering, D term management with D_min, and throttle based dynamic gyro and D term filtering.

And, again as expected we have added some more, non flight related new features like launch control, OSD profiles, and support for on-board SPI attached RX.

For an extended list of new features see below.

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.

Kia kaha (stay strong)

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 10.5.1 (installation instructions here), please update your Betaflight configurator to at least this version;
• if you are using the Blackbox Log Viewer, there is an updated version 3.3.1 to go with Betaflight 4.0 (installation instructions here). Please update to at least this version;
• if you are using OpenTX and the Betaflight TX Lua scripts, please update them to at least version 1.2.0 in order to get support for the latest features introduced in Betaflight 4.0;
• there are a number of flight performance related improvements in Betaflight 4.0. Therefore, pasting back-ups of the tuning settings for older versions of Betaflight into Betaflight 4.0 will most likely result in poor flight performance! The default settings in Betaflight 4.0 should be reasonably well flyable for most hardware configurations, but users wanting to tune the performance of their craft should read the 4.0 Tuning Notes to learn everything they need to know about tuning Betaflight 4.0 (#6432, #6943, #7078, #7264, #7271, #7304, #7373, #7538);
• there was a fix to how the min_check 'zero throttle' dead zone is applied. Before the fix, there was an additional, undocumented deadband of the same size as the min_check range above the min_check range. The fix has not brought a change to the arming behaviour and throttle is still required to be below min_check for arming to be possible. However the extra unintended throttle deadband above min_check has been eliminated. This will result in more responsive throttle near minimum and a slight increase in throttle resolution. If you desire to retain the same range for the 'zero throttle' dead zone, you need to double the amount of dead zone configured in min_check (offset from 1000). Be aware that this will also double the throttle range within which the craft can be armed (#7463);
• there is a new 'Stick Overlay' OSD element that shows an overlay of the current stick positions. In order to use it, the font loaded onto the OSD needs to be updated to the latest version (available in configurator 10.5.0 or newer) (#7476);
• the functionality of the 'crash flip arrow' OSD element was extended to activate as well when the craft is not in crash flip mode, but small_angle is set, and the craft is unarmed and tilted more than small_angle. This is to show pilots that they won't be able to arm from the current orientation, and allow them to activate crash flip mode and then right their craft (#7250);
• As part of the introduction of Unified Targets, the existing resource command was complemented with two new commands for resource management: timer and dma. Just like resource can be used to assign pins to functions, timer can be used to assign timers to pins, and dma can be used to assign DMA streams to subsystems and pins (if they have a timer assigned). Important: Since DMA streams are linked to pins through timers, timer assignments for pins have to be made first, before dma assignments to these pins can be made (#5824, #6837, #7620);
• The syntax for the resource, timer, and dma commands was consolidated, and as part of this the resource list subcommand was renamed into resource show. This aligns it with the new dma show and timer show subcommands (#7712);
• the following parameters were renamed to more closely match their function: p_level => angle_level_strength, i_level => horizon_level_strength, d_level => horizon_transition (#6673);
• the gyro configuration was unified from being done by gyro hardware model to being generic for all gyro models. This means that for some targets that are used for multiple different boards that come with different gyro models that are mounted with different orientations, it is necessary from Betaflight 4.0 on to manually set gyro_1_sensor_align (and / or gyro_2_sensor_align for boards with a second gyro) to match the gyro orientation on the board that is used. See note #6761 for an explanation, and instructions for individual boards. This is a temporary workaround, per-board configurations with correct gyro alignment will be released as Unified Target configurations (#5868);
• unfortunately, bugfixes in the flight controller core functionality have led to an increase of the firmware size, causing it to overflow the available space on almost all F3 based flight controllers. As a result, features have had to be removed from all but a few of the currently supported F3 based flight controllers. Some of the affected targets are: AIORACERF3, BETAFLIGHTF3, CHEBUZZF3, CRAZYBEEF3FR, FURYF3, FURYF3OSD, IMPULSERCF3, LUX_RACE, LUXV2_RACE, MIDELICF3, OMNIBUS, RACEBASE, RMDO, SIRINFPV, SPRACINGF3, SPRACINGF3MINI, SPRACINGF3NEO, STM32F3DISCOVERY (#6900, #6955, #7037, #7038, #7045, #7306, #7381, #7392, #7402, #7421, #7501, #7508, #7518, #7829, #7842);
• in addition to the above point, the following features had to be removed from all F3 based flight controllers in order to make the firmware fit into flash: Smart Feedforward, support for flashing / configuration of SimonK based ESCs (#7272, #7274, #7391);
• support for status display through LED strips was removed from F3 based flight controllers, in order to be able to reclaim some flash space. In its place, LED Strip Profiles (except for the 'Status' profile which is not supported on F3) can be used to set LED strips to fixed colours. LED strip profiles are also available on F4 / F7, to enable simple configuration of the LED strip in OSD (#7485);
• since the above three measures proved to be insufficient to keep flash space from overflowing on F3 based flight controllers, a system of classifying F3 based flight controllers into a number of 'feature cut' levels, and removing features according from them according to their level were introduced. This was used to reduce the number of features built into most F3 based flight controllers even more (#7429).

Major features:

• r...

Betaflight 4.0.0 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 10.5.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.5.0 (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 3.3.0 to go with Betaflight 4.0 (installation instructions here). Please update as soon as it becomes available;
• there are a number of flight performance related improvements in Betaflight 4.0. Therefore, pasting back-ups of the tuning settings for older versions of Betaflight into Betaflight 4.0 will most likely result in poor flight performance! The default settings in Betaflight 4.0 should be reasonably well flyable for most hardware configurations, but users wanting to tune the performance of their craft should read the 4.0 Tuning Notes to learn everything they need to know about tuning Betaflight 4.0 (#6432, #6943, #7078, #7264, #7271, #7304, #7373, #7538);
• there was a fix to how the min_check 'zero throttle' dead zone is applied. Before the fix, there was an additional, undocumented deadband of the same size as the min_check range above the min_check range. The fix has not brought a change to the arming behaviour and throttle is still required to be below min_check for arming to be possible. However the extra unintended throttle deadband above min_check has been eliminated. This will result in more responsive throttle near minimum and a slight increase in throttle resolution. If you desire to retain the same range for the 'zero throttle' dead zone, you need to double the amount of dead zone configured in min_check (offset from 1000). Be aware that this will also double the throttle range within which the craft can be armed (#7463);
• there is a new 'Stick Overlay' OSD element that shows an overlay of the current stick positions. In order to use it, the font loaded onto the OSD needs to be updated to the latest version (available in configurator 10.5.0 or newer) (#7476);
• the functionality of the 'crash flip arrow' OSD element was extended to activate as well when the craft is not in crash flip mode, but small_angle is set, and the craft is unarmed and tilted more than small_angle. This is to show pilots that they won't be able to arm from the current orientation, and allow them to activate crash flip mode and then right their craft (#7250);
• As part of the introduction of Unified Targets, the existing resource command was complemented with two new commands for resource management: timer and dma. Just like resource can be used to assign pins to functions, timer can be used to assign timers to pins, and dma can be used to assign DMA streams to subsystems and pins (if they have a timer assigned). Important: Since DMA streams are linked to pins through timers, timer assignments for pins have to be made first, before dma assignments to these pins can be made (#5824, #6837, #7620);
• The syntax for the resource, timer, and dma commands was consolidated, and as part of this the resource list subcommand was renamed into resource show. This aligns it with the new dma show and timer show subcommands (#7712);
• the following parameters were renamed to more closely match their function: p_level => angle_level_strength, i_level => horizon_level_strength, d_level => horizon_transition (#6673);
• the gyro configuration was unified from being done by gyro hardware model to being generic for all gyro models. This means that for some targets that are used for multiple different boards that come with different gyro models that are mounted with different orientations, it is necessary from Betaflight 4.0 on to manually set gyro_1_sensor_align (and / or gyro_2_sensor_align for boards with a second gyro) to match the gyro orientation on the board that is used. See note #6761 for an explanation, and instructions for individual boards. This is a temporary workaround, per-board configurations with correct gyro alignment will be released as Unified Target configurations (#5868);
• unfortunately, bugfixes in the flight controller core functionality have led to an increase of the firmware size, causing it to overflow the available space on almost all F3 based flight controllers. As a result, features have had to be removed from all but a few of the currently supported F3 based flight controllers. Some of the affected targets are: AIORACERF3, BETAFLIGHTF3, CHEBUZZF3, CRAZYBEEF3FR, FURYF3, FURYF3OSD, IMPULSERCF3, LUX_RACE, LUXV2_RACE, MIDELICF3, OMNIBUS, RACEBASE, RMDO, SIRINFPV, SPRACINGF3, SPRACINGF3MINI, SPRACINGF3NEO, STM32F3DISCOVERY (#6900, #6955, #7037, #7038, #7045, #7306, #7381, #7392, #7402, #7421, #7501, #7508, #7518, #7829, #7842);
• in addition to the above point, the following features had to be removed from all F3 based flight controllers in order to make the firmware fit into flash: Smart Feedforward, support for flashing / configuration of SimonK based ESCs (#7272, #7274, #7391);
• support for status display through LED strips was removed from F3 based flight controllers, in order to be able to reclaim some flash space. In its place, LED Strip Profiles (except for the 'Status' profile which is not supported on F3) can be used to set LED strips to fixed colours. LED strip profiles are also available on F4 / F7, to enable simple configuration of the LED strip in OSD (#7485);
• since the above three measures proved to be insufficient to keep flash space from overflowing on F3 based flight controllers, a system of classifying F3 based flight controllers into a number of 'feature cut' levels, and removing features according from them according to their level were introduced. This was used to reduce the number of features built into most F3 based flight controllers even more (#7429).

Major features:

• real time ESC RPM feedback, and notch filtering based on motor RPM (#7264, #7271);
• d term management with D_min (#7373, #7538);
• throttle based dynamic gyro and dterm filterig (#6943);
• launch control (#6992);
• switchable OSD profiles (#6714);
• SPI attached Spektrum RX (#7210);
• Unified Targets (#5824, #6837, #7620).

Minor features:

• cascaded dynamic notches (#7078);
• thrust linearisation (#7304);
• integrated yaw control (#6432);
• switchable LED_STRIP profiles (#7303);
• stick overlays in OSD (#7167);
• profile switching based on battery cell count (#7516);
• support for the Futaba SFHSS protocol on CC2500 (FrSky SPI) hardware (#6865);
• EU LBT mode for the FrSky SPI RX (#7339);
• support for STM32F765xx based flight controllers (#6669).
• configuration over HoTT telemetry (#6224).

Changes from Release Candidate 5:

Fixes:

• fixed the gyro detection for multi gyro setups (#7914);
• fixed setting of non-working low pass defaults when Betaflight configurator 10.4 is used (#7918);
• fixed CMS over CRSF (#7919).

Target Updates:

• updated the configuration for target JHEF7DUAL for Betaflight 4.0 (#7906);
• updated the configuration for target SYNERGYF4 for Betaflight 4.0 (#7913).

Betaflight 4.0.0 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 10.5.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.5.0 (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 3.3.0 to go with Betaflight 4.0 (installation instructions here). Please update as soon as it becomes available;
• there are a number of flight performance related improvements in Betaflight 4.0. Therefore, pasting back-ups of the tuning settings for older versions of Betaflight into Betaflight 4.0 will most likely result in poor flight performance! The default settings in Betaflight 4.0 should be reasonably well flyable for most hardware configurations, but users wanting to tune the performance of their craft should read the 4.0 Tuning Notes to learn everything they need to know about tuning Betaflight 4.0 (#6432, #6943, #7078, #7264, #7271, #7304, #7373, #7538);
• there was a fix to how the min_check 'zero throttle' dead zone is applied. Before the fix, there was an additional, undocumented deadband of the same size as the min_check range above the min_check range. The fix has not brought a change to the arming behaviour and throttle is still required to be below min_check for arming to be possible. However the extra unintended throttle deadband above min_check has been eliminated. This will result in more responsive throttle near minimum and a slight increase in throttle resolution. If you desire to retain the same range for the 'zero throttle' dead zone, you need to double the amount of dead zone configured in min_check (offset from 1000). Be aware that this will also double the throttle range within which the craft can be armed (#7463);
• there is a new 'Stick Overlay' OSD element that shows an overlay of the current stick positions. In order to use it, the font loaded onto the OSD needs to be updated to the latest version (available in configurator 10.5.0 or newer) (#7476);
• the functionality of the 'crash flip arrow' OSD element was extended to activate as well when the craft is not in crash flip mode, but small_angle is set, and the craft is unarmed and tilted more than small_angle. This is to show pilots that they won't be able to arm from the current orientation, and allow them to activate crash flip mode and then right their craft (#7250);
• As part of the introduction of Unified Targets, the existing resource command was complemented with two new commands for resource management: timer and dma. Just like resource can be used to assign pins to functions, timer can be used to assign timers to pins, and dma can be used to assign DMA streams to subsystems and pins (if they have a timer assigned). Important: Since DMA streams are linked to pins through timers, timer assignments for pins have to be made first, before dma assignments to these pins can be made (#5824, #6837, #7620);
• The syntax for the resource, timer, and dma commands was consolidated, and as part of this the resource list subcommand was renamed into resource show. This aligns it with the new dma show and timer show subcommands (#7712);
• the following parameters were renamed to more closely match their function: p_level => angle_level_strength, i_level => horizon_level_strength, d_level => horizon_transition (#6673);
• the gyro configuration was unified from being done by gyro hardware model to being generic for all gyro models. This means that for some targets that are used for multiple different boards that come with different gyro models that are mounted with different orientations, it is necessary from Betaflight 4.0 on to manually set gyro_1_sensor_align (and / or gyro_2_sensor_align for boards with a second gyro) to match the gyro orientation on the board that is used. See note #6761 for an explanation, and instructions for individual boards. This is a temporary workaround, per-board configurations with correct gyro alignment will be released as Unified Target configurations (#5868);
• unfortunately, bugfixes in the flight controller core functionality have led to an increase of the firmware size, causing it to overflow the available space on almost all F3 based flight controllers. As a result, features have had to be removed from all but a few of the currently supported F3 based flight controllers. Some of the affected targets are: AIORACERF3, BETAFLIGHTF3, CHEBUZZF3, CRAZYBEEF3FR, FURYF3, FURYF3OSD, IMPULSERCF3, LUX_RACE, LUXV2_RACE, MIDELICF3, OMNIBUS, RACEBASE, RMDO, SIRINFPV, SPRACINGF3, SPRACINGF3MINI, SPRACINGF3NEO, STM32F3DISCOVERY (#6900, #6955, #7037, #7038, #7045, #7306, #7381, #7392, #7402, #7421, #7501, #7508, #7518, #7829, #7842);
• in addition to the above point, the following features had to be removed from all F3 based flight controllers in order to make the firmware fit into flash: Smart Feedforward, support for flashing / configuration of SimonK based ESCs (#7272, #7274, #7391);
• support for status display through LED strips was removed from F3 based flight controllers, in order to be able to reclaim some flash space. In its place, LED Strip Profiles (except for the 'Status' profile which is not supported on F3) can be used to set LED strips to fixed colours. LED strip profiles are also available on F4 / F7, to enable simple configuration of the LED strip in OSD (#7485);
• since the above three measures proved to be insufficient to keep flash space from overflowing on F3 based flight controllers, a system of classifying F3 based flight controllers into a number of 'feature cut' levels, and removing features according from them according to their level were introduced. This was used to reduce the number of features built into most F3 based flight controllers even more (#7429).

Major features:

• real time ESC RPM feedback, and notch filtering based on motor RPM (#7264, #7271);
• d term management with D_min (#7373, #7538);
• throttle based dynamic gyro and dterm filterig (#6943);
• launch control (#6992);
• switchable OSD profiles (#6714);
• SPI attached Spektrum RX (#7210);
• Unified Targets (#5824, #6837, #7620).

Minor features:

• cascaded dynamic notches (#7078);
• thrust linearisation (#7304);
• integrated yaw control (#6432);
• switchable LED_STRIP profiles (#7303);
• stick overlays in OSD (#7167);
• profile switching based on battery cell count (#7516);
• support for the Futaba SFHSS protocol on CC2500 (FrSky SPI) hardware (#6865);
• EU LBT mode for the FrSky SPI RX (#7339);
• support for STM32F765xx based flight controllers (#6669).
• configuration over HoTT telemetry (#6224).

Changes from Release Candidate 4:

Fixes:

• fixed inconsistencies in the display of some OSD elements and stats (#7877);
• fixed MCU type display for STM32F446 based boards (#7882);
• fixed PID calculation for GPS rescue altitude (#7884);
• fixed the output of the CLI 'timer' command (#7885);
• fixed the defaults and validation for lowpass filter parameters (#7888);
• added debug modes for absolute control (#7889);
• changed absolute control to be applied to yaw as well (#7890);
• fixed the PWM beeper (#7891);
• fixed validation to disable 'BOTH' gyro setting when the RPM filter is enabled (#7895);
• fixed ESCSERIAL serial port to ESC forwarding (#7898);
• disabled absolute control by default (#7901).

Target Updates:

• updated the configuration for target ELINF405 for Betaflight 4.0 (#7880);
• updated the configuration for target ELINF722 for Betaflight 4.0 (#7887).

Betaflight 4.0.0 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

• A number of changes and improvements in this release require changes to the Betaflight configurator. These changes have been added to Betaflight configurator 10.5.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.5.0 (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 3.3.0 to go with Betaflight 4.0 (installation instructions here). Please update as soon as it becomes available;
• there are a number of flight performance related improvements in Betaflight 4.0. Therefore, pasting back-ups of the tuning settings for older versions of Betaflight into Betaflight 4.0 will most likely result in poor flight performance! The default settings in Betaflight 4.0 should be reasonably well flyable for most hardware configurations, but users wanting to tune the performance of their craft should read the 4.0 Tuning Notes to learn everything they need to know about tuning Betaflight 4.0 (#6432, #6943, #7078, #7264, #7271, #7304, #7373, #7538);
• there was a fix to how the min_check 'zero throttle' dead zone is applied. Before the fix, there was an additional, undocumented deadband of the same size as the min_check range above the min_check range. The fix has not brought a change to the arming behaviour and throttle is still required to be below min_check for arming to be possible. However the extra unintended throttle deadband above min_check has been eliminated. This will result in more responsive throttle near minimum and a slight increase in throttle resolution. If you desire to retain the same range for the 'zero throttle' dead zone, you need to double the amount of dead zone configured in min_check (offset from 1000). Be aware that this will also double the throttle range within which the craft can be armed (#7463);
• there is a new 'Stick Overlay' OSD element that shows an overlay of the current stick positions. In order to use it, the font loaded onto the OSD needs to be updated to the latest version (available in configurator 10.5.0 or newer) (#7476);
• the functionality of the 'crash flip arrow' OSD element was extended to activate as well when the craft is not in crash flip mode, but small_angle is set, and the craft is unarmed and tilted more than small_angle. This is to show pilots that they won't be able to arm from the current orientation, and allow them to activate crash flip mode and then right their craft (#7250);
• As part of the introduction of Unified Targets, the existing resource command was complemented with two new commands for resource management: timer and dma. Just like resource can be used to assign pins to functions, timer can be used to assign timers to pins, and dma can be used to assign DMA streams to subsystems and pins (if they have a timer assigned). Important: Since DMA streams are linked to pins through timers, timer assignments for pins have to be made first, before dma assignments to these pins can be made (#5824, #6837, #7620);
• The syntax for the resource, timer, and dma commands was consolidated, and as part of this the resource list subcommand was renamed into resource show. This aligns it with the new dma show and timer show subcommands (#7712);
• the following parameters were renamed to more closely match their function: p_level => angle_level_strength, i_level => horizon_level_strength, d_level => horizon_transition (#6673);
• the gyro configuration was unified from being done by gyro hardware model to being generic for all gyro models. This means that for some targets that are used for multiple different boards that come with different gyro models that are mounted with different orientations, it is necessary from Betaflight 4.0 on to manually set gyro_1_sensor_align (and / or gyro_2_sensor_align for boards with a second gyro) to match the gyro orientation on the board that is used. See note #6761 for an explanation, and instructions for individual boards. This is a temporary workaround, per-board configurations with correct gyro alignment will be released as Unified Target configurations (#5868);
• unfortunately, bugfixes in the flight controller core functionality have led to an increase of the firmware size, causing it to overflow the available space on almost all F3 based flight controllers. As a result, features have had to be removed from all but a few of the currently supported F3 based flight controllers. Some of the affected targets are: AIORACERF3, BETAFLIGHTF3, CHEBUZZF3, CRAZYBEEF3FR, FURYF3, FURYF3OSD, IMPULSERCF3, LUX_RACE, LUXV2_RACE, MIDELICF3, OMNIBUS, RACEBASE, RMDO, SIRINFPV, SPRACINGF3, SPRACINGF3MINI, SPRACINGF3NEO, STM32F3DISCOVERY (#6900, #6955, #7037, #7038, #7045, #7306, #7381, #7392, #7402, #7421, #7501, #7508, #7518, #7829, #7842);
• in addition to the above point, the following features had to be removed from all F3 based flight controllers in order to make the firmware fit into flash: Smart Feedforward, support for flashing / configuration of SimonK based ESCs (#7272, #7274, #7391);
• support for status display through LED strips was removed from F3 based flight controllers, in order to be able to reclaim some flash space. In its place, LED Strip Profiles (except for the 'Status' profile which is not supported on F3) can be used to set LED strips to fixed colours. LED strip profiles are also available on F4 / F7, to enable simple configuration of the LED strip in OSD (#7485);
• since the above three measures proved to be insufficient to keep flash space from overflowing on F3 based flight controllers, a system of classifying F3 based flight controllers into a number of 'feature cut' levels, and removing features according from them according to their level were introduced. This was used to reduce the number of features built into most F3 based flight controllers even more (#7429).

Major features:

• real time ESC RPM feedback, and notch filtering based on motor RPM (#7264, #7271);
• d term management with D_min (#7373, #7538);
• throttle based dynamic gyro and dterm filterig (#6943);
• launch control (#6992);
• switchable OSD profiles (#6714);
• SPI attached Spektrum RX (#7210);
• Unified Targets (#5824, #6837, #7620).

Minor features:

• cascaded dynamic notches (#7078);
• thrust linearisation (#7304);
• integrated yaw control (#6432);
• switchable LED_STRIP profiles (#7303);
• stick overlays in OSD (#7167);
• profile switching based on battery cell count (#7516);
• support for the Futaba SFHSS protocol on CC2500 (FrSky SPI) hardware (#6865);
• EU LBT mode for the FrSky SPI RX (#7339);
• support for STM32F765xx based flight controllers (#6669).
• configuration over HoTT telemetry (#6224).

Changes from Release Candidate 3:

Fixes:

• removed unneeded blackbox headers (#7851);
• fixed building of dual gyro support (#7864);
• fixed absolute control (#7866);
• added prevention of timing issues with bidirectional Dshot telemetry (#7865);
• fixed SmartAudio compatibility issues by removing support for the 'SmartAudio Lite' protocol (#7871).

Target Updates:

• added new target OMNIBUSF4NANOV7 (#7872).

Betaflight 4.0.0 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

• A number of changes and improvements in this release require changes to the Betaflight configurator. These changes have been added to Betaflight configurator 10.5.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.5.0 (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 3.3.0 to go with Betaflight 4.0 (installation instructions here). Please update as soon as it becomes available;
• there are a number of flight performance related improvements in Betaflight 4.0. Therefore, pasting back-ups of the tuning settings for older versions of Betaflight into Betaflight 4.0 will most likely result in poor flight performance! The default settings in Betaflight 4.0 should be reasonably well flyable for most hardware configurations, but users wanting to tune the performance of their craft should read the 4.0 Tuning Notes to learn everything they need to know about tuning Betaflight 4.0 (#6432, #6943, #7078, #7264, #7271, #7304, #7373, #7538);
• there was a fix to how the min_check 'zero throttle' dead zone is applied. Before the fix, there was an additional, undocumented deadband of the same size as the min_check range above the min_check range. The fix has not brought a change to the arming behaviour and throttle is still required to be below min_check for arming to be possible. However the extra unintended throttle deadband above min_check has been eliminated. This will result in more responsive throttle near minimum and a slight increase in throttle resolution. If you desire to retain the same range for the 'zero throttle' dead zone, you need to double the amount of dead zone configured in min_check (offset from 1000). Be aware that this will also double the throttle range within which the craft can be armed (#7463);
• there is a new 'Stick Overlay' OSD element that shows an overlay of the current stick positions. In order to use it, the font loaded onto the OSD needs to be updated to the latest version (available in configurator 10.5.0 or newer) (#7476);
• the functionality of the 'crash flip arrow' OSD element was extended to activate as well when the craft is not in crash flip mode, but small_angle is set, and the craft is unarmed and tilted more than small_angle. This is to show pilots that they won't be able to arm from the current orientation, and allow them to activate crash flip mode and then right their craft (#7250);
• As part of the introduction of Unified Targets, the existing resource command was complemented with two new commands for resource management: timer and dma. Just like resource can be used to assign pins to functions, timer can be used to assign timers to pins, and dma can be used to assign DMA streams to subsystems and pins (if they have a timer assigned). Important: Since DMA streams are linked to pins through timers, timer assignments for pins have to be made first, before dma assignments to these pins can be made (#5824, #6837, #7620);
• The syntax for the resource, timer, and dma commands was consolidated, and as part of this the resource list subcommand was renamed into resource show. This aligns it with the new dma show and timer show subcommands (#7712);
• the following parameters were renamed to more closely match their function: p_level => angle_level_strength, i_level => horizon_level_strength, d_level => horizon_transition (#6673);
• unfortunately, bugfixes in the flight controller core functionality have led to an increase of the firmware size, causing it to overflow the available space on almost all F3 based flight controllers. As a result, features have had to be removed from all but a few of the currently supported F3 based flight controllers. Some of the affected targets are: AIORACERF3, BETAFLIGHTF3, CHEBUZZF3, CRAZYBEEF3FR, FURYF3, FURYF3OSD, IMPULSERCF3, LUX_RACE, LUXV2_RACE, MIDELICF3, OMNIBUS, RACEBASE, RMDO, SIRINFPV, SPRACINGF3, SPRACINGF3MINI, SPRACINGF3NEO, STM32F3DISCOVERY (#6900, #6955, #7037, #7038, #7045, #7306, #7381, #7392, #7402, #7421, #7501, #7508, #7518, #7829, #7842);
• in addition to the above point, the following features had to be removed from all F3 based flight controllers in order to make the firmware fit into flash: Smart Feedforward, support for flashing / configuration of SimonK based ESCs (#7272, #7274, #7391);
• support for status display through LED strips was removed from F3 based flight controllers, in order to be able to reclaim some flash space. In its place, LED Strip Profiles (except for the 'Status' profile which is not supported on F3) can be used to set LED strips to fixed colours. LED strip profiles are also available on F4 / F7, to enable simple configuration of the LED strip in OSD (#7485);
• since the above three measures proved to be insufficient to keep flash space from overflowing on F3 based flight controllers, a system of classifying F3 based flight controllers into a number of 'feature cut' levels, and removing features according from them according to their level were introduced. This was used to reduce the number of features built into most F3 based flight controllers even more (#7429).

Major features:

• real time ESC RPM feedback, and notch filtering based on motor RPM (#7264, #7271);
• d term management with D_min (#7373, #7538);
• throttle based dynamic gyro and dterm filterig (#6943);
• launch control (#6992);
• switchable OSD profiles (#6714);
• SPI attached Spektrum RX (#7210);
• Unified Targets (#5824, #6837, #7620).

Minor features:

• cascaded dynamic notches (#7078);
• thrust linearisation (#7304);
• integrated yaw control (#6432);
• switchable LED_STRIP profiles (#7303);
• stick overlays in OSD (#7167);
• profile switching based on battery cell count (#7516);
• support for the Futaba SFHSS protocol on CC2500 (FrSky SPI) hardware (#6865);
• EU LBT mode for the FrSky SPI RX (#7339);
• support for STM32F765xx based flight controllers (#6669).
• configuration over HoTT telemetry (#6224).

Changes from Release Candidate 2:

Safety Improvements:

• disabled arming if Dshot telemetry is enabled but not working (#7813).

Fixes:

• fixed barometer for Unified Targets (#7723);
• disabled Dshot telemetry if the motor protocol is not Dshot or Proshot (#7795);
• added missing 'timer ' CLI command (#7804);
• added periodic retries for Dshot telemetry if it is enabled but not working (#7815);
• fixed bug causing excessive descent distance in GPS rescue (#7816);
• added 'blackbox_device' to the 'diff hardware' / 'dump hardware' CLI command (#7821);
• fixed bug in Dshot motor command processing (#7824);
• added D_min, dynamic filter, absolute control, and integrated yaw parameters to the blackbox headers (#7826, #7827, #7831);
• changed 'iterm_relax' debug mode to include 'acCorrection' instead of 'acError' (#7847);
• fixed bug in SUMD V3 channel count handling (#7853).

Target Updates:

• added support for M25 NOR flash to target CLRACINGF7 (#7779);
• fixed problems with UART3 on target CLRACINGF7 (#7799);
• removed features from MIDELICF3, RMDO, and SPRACINGF3 to make the firmware fit into the available flash space (#7829);
• removed more features from RMDO, and SPRACINGF3 to make the firmware fit into the available flash space (#7842).

Betaflight 3.5.7

Maintenance Release

Please read the Betaflight 3.5 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 3.5.0.

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.

We also have a Facebook Group: If you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this here.

Important information when upgrading from an earlier version of 3.5

• a number of users reported issues with the firmware hanging during a diff or dump. The root cause of this was identified as a bug in the MSP protocol causing corrupted configurations. This was fixed in 3.5.1. If you are using 3.5.0, it is recommended that you upgrade to at least 3.5.1, to eliminate the risk of experiencing lockups during diff or dump caused by this bug (#6696);
• unfortunately, bugfixes in the flight controller core functionality have led to an increase of the firmware size, causing it to overflow the available space on a number of F3 based flight controllers. As a result, some features have had to be removed from a number of F3 based flight controllers in order to make the firmware fit into flash. The following targets are affected: AIORACERF3, FRSKYF3, IMPULSERCF3, RACEBASE, RG_SSD_F3, RMDO, SPRACINGF3, SPRACINGF3MINI, SPRACINGF3NEO, STM32F3DISCOVERY, and ZCOREF3 (#6815, #6887, #6994, #7239, #7241, #7362, #7527).

Fixes:

• added a fix for custom target builds with only SPI RX as an RX (#6399);
• fixed 'looping' issue in SmartAudio when setting the frequency (#7157);
• fixed potential issue with custom builds (#7596);
• fixed Spektrum telemetry ignoring report_cell_voltage (#7599);
• made USB detect pin work more reliably (#7675);
• fixed ADC issues on F7 (#7687, #7702);
• fixed parsing of vtx command in CLI (#7714);
• fixed output of beacon in CLI dump (#7747).

Target Updates:

• added ACC support to the KIWIF4, KIWIF4V2 and PLUMF4 targets (#7660);
• added new target FLYWOOF411 (#7662);
• added new target SYNERGYF4 target (#7690);
• add a new target KAKUTEF7MINI (#7715);
• added new target ELINF722 (#7724);
• added camera control and softserial support to the ELINF405 target (#7734);
• added support for onboard flash to the CLRACINGF7 target (#7779).

Betaflight 4.0.0 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

• A number of changes and improvements in this release require changes to the Betaflight configurator. These changes have been added to Betaflight configurator 10.5.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.5.0 (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 3.3.0 to go with Betaflight 4.0 (installation instructions here). Please update as soon as it becomes available;
• there are a number of flight performance related improvements in Betaflight 4.0. Therefore, pasting back-ups of the tuning settings for older versions of Betaflight into Betaflight 4.0 will most likely result in poor flight performance! The default settings in Betaflight 4.0 should be reasonably well flyable for most hardware configurations, but users wanting to tune the performance of their craft should read the 4.0 Tuning Notes to learn everything they need to know about tuning Betaflight 4.0 (#6432, #6943, #7078, #7264, #7271, #7304, #7373, #7538);
• there was a fix to how the min_check 'zero throttle' dead zone is applied. Before the fix, there was an additional, undocumented deadband of the same size as the min_check range above the min_check range. The fix has not brought a change to the arming behaviour and throttle is still required to be below min_check for arming to be possible. However the extra unintended throttle deadband above min_check has been eliminated. This will result in more responsive throttle near minimum and a slight increase in throttle resolution. If you desire to retain the same range for the 'zero throttle' dead zone, you need to double the amount of dead zone configured in min_check (offset from 1000). Be aware that this will also double the throttle range within which the craft can be armed (#7463);
• there is a new 'Stick Overlay' OSD element that shows an overlay of the current stick positions. In order to use it, the font loaded onto the OSD needs to be updated to the latest version (available in configurator 10.5.0 or newer) (#7476);
• the functionality of the 'crash flip arrow' OSD element was extended to activate as well when the craft is not in crash flip mode, but small_angle is set, and the craft is unarmed and tilted more than small_angle. This is to show pilots that they won't be able to arm from the current orientation, and allow them to activate crash flip mode and then right their craft (#7250);
• As part of the introduction of Unified Targets, the existing resource command was complemented with two new commands for resource management: timer and dma. Just like resource can be used to assign pins to functions, timer can be used to assign timers to pins, and dma can be used to assign DMA streams to subsystems and pins (if they have a timer assigned). Important: Since DMA streams are linked to pins through timers, timer assignments for pins have to be made first, before dma assignments to these pins can be made (#5824, #6837, #7620);
• The syntax for the resource, timer, and dma commands was consolidated, and as part of this the resource list subcommand was renamed into resource show. This aligns it with the new dam show and timer show subcommands (#7712);
• the following parameters were renamed to more closely match their function: p_level => angle_level_strength, i_level => horizon_level_strength, d_level => horizon_transition (#6673);
• unfortunately, bugfixes in the flight controller core functionality have led to an increase of the firmware size, causing it to overflow the available space on almost all F3 based flight controllers. As a result, features have had to be removed from all but a few of the currently supported F3 based flight controllers. Some of the affected targets are: AIORACERF3, BETAFLIGHTF3, CHEBUZZF3, CRAZYBEEF3FR, FURYF3, FURYF3OSD, IMPULSERCF3, LUX_RACE, LUXV2_RACE, MIDELICF3, OMNIBUS, RACEBASE, RMDO, SIRINFPV, SPRACINGF3, SPRACINGF3MINI, SPRACINGF3NEO, STM32F3DISCOVERY (#6900, #6955, #7037, #7038, #7045, #7306, #7381, #7392, #7402, #7421, #7501, #7508, #7518);
• in addition to the above point, the following features had to be removed from all F3 based flight controllers in order to make the firmware fit into flash: Smart Feedforward, support for flashing / configuration of SimonK based ESCs (#7272, #7274, #7391);
• support for status display through LED strips was removed from F3 based flight controllers, in order to be able to reclaim some flash space. In its place, LED Strip Profiles (except for the 'Status' profile which is not supported on F3) can be used to set LED strips to fixed colours. LED strip profiles are also available on F4 / F7, to enable simple configuration of the LED strip in OSD (#7485);
• since the above three measures proved to be insufficient to keep flash space from overflowing on F3 based flight controllers, a system of classifying F3 based flight controllers into a number of 'feature cut' levels, and removing features according from them according to their level were introduced. This was used to reduce the number of features built into most F3 based flight controllers even more (#7429).

Major features:

• real time ESC RPM feedback, and notch filtering based on motor RPM (#7264, #7271);
• d term management with D_min (#7373, #7538);
• throttle based dynamic gyro and dterm filterig (#6943);
• launch control (#6992);
• switchable OSD profiles (#6714);
• SPI attached Spektrum RX (#7210);
• Unified Targets (#5824, #6837, #7620).

Minor features:

• cascaded dynamic notches (#7078);
• thrust linearisation (#7304);
• integrated yaw control (#6432);
• switchable LED_STRIP profiles (#7303);
• stick overlays in OSD (#7167);
• profile switching based on battery cell count (#7516);
• support for the Futaba SFHSS protocol on CC2500 (FrSky SPI) hardware (#6865);
• EU LBT mode for the FrSky SPI RX (#7339);
• support for STM32F765xx based flight controllers (#6669).
• configuration over HoTT telemetry (#6224).

Changes from Release Candidate 1:

Fixes:

• added a fix for custom target builds with only SPI RX as an RX (#6399);
• fixed misleading warnings for GPS rescue (#7730);
• fixed invalid dump output for beacon (#7747);
• added the bare modifier to CLI diff and dump commands (#7751);
• fixed timer option list for F7 (#7753);
• made it possible to use dshot_burst with motor pins without a DMA assignment (#7754);
• fixed insufficient lower limit for Spektrum telemetry RPM sensor (#7757);
• fixed hanging on reboot for some F7 boards (#7760).

Target Updates:

• added a camera control pin to the ELINF405 target (#7734);
• added support for the WINBOND W25Q128 DTR flash chip (#7743).

Betaflight 4.0.0 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

• A number of changes and improvements in this release require changes to the Betaflight configurator. These changes have been added to Betaflight configurator 10.5.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.5.0 (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 3.3.0 to go with Betaflight 4.0 (installation instructions here). Please update as soon as it becomes available;
• there are a number of flight performance related improvements in Betaflight 4.0. Therefore, pasting back-ups of the tuning settings for older versions of Betaflight into Betaflight 4.0 will most likely result in poor flight performance! The default settings in Betaflight 4.0 should be reasonably well flyable for most hardware configurations, but users wanting to tune the performance of their craft should read the 4.0 Tuning Notes to learn everything they need to know about tuning Betaflight 4.0 (#6432, #6943, #7078, #7264, #7271, #7304, #7373, #7538);
• there was a fix to how the min_check 'zero throttle' dead zone is applied. Before the fix, the dead zone was essentially doubled. In order to retain the same range for the 'zero throttle' dead zone, you need to double the amount of dead zone configured in min_check (offset from 1000). For users who have set a very small dead zone, this might lead to the dead zone never being reached with the fixed version, not allowing them to arm with a 'THROTTLE' reason even if throttle is at minimum - if you are getting this, increase your min_check (#7463);
• there is a new 'Stick Overlay' OSD element that shows an overlay of the current stick positions. In order to use it, the font loaded onto the OSD needs to be updated to the latest version (available in configurator 10.5.0 or newer) (#7476);
• the functionality of the 'crash flip arrow' OSD element was extended to activate as well when the craft is not in crash flip mode, but small_angle is set, and the craft is unarmed and tilted more than small_angle. This is to show pilots that they won't be able to arm from the current orientation, and allow them to activate crash flip mode and then right their craft (#7250);
• As part of a consolidation of the CLI commands used to manage resources, the resource list subcommand was renamed into resource show. This aligns it with the new dam show and timer show commands (#7712);
• the following parameters were renamed to more closely match their function: p_level => angle_level_strength, i_level => horizon_level_strength, d_level => horizon_transition (#6673);
• unfortunately, bugfixes in the flight controller core functionality have led to an increase of the firmware size, causing it to overflow the available space on almost all F3 based flight controllers. As a result, features have had to be removed from all but a few of the currently supported F3 based flight controllers. Some of the affected targets are: AIORACERF3, BETAFLIGHTF3, CHEBUZZF3, CRAZYBEEF3FR, FURYF3, FURYF3OSD, IMPULSERCF3, LUX_RACE, LUXV2_RACE, MIDELICF3, OMNIBUS, RACEBASE, RMDO, SIRINFPV, SPRACINGF3, SPRACINGF3MINI, SPRACINGF3NEO, STM32F3DISCOVERY (#6900, #6955, #7037, #7038, #7045, #7306, #7381, #7392, #7402, #7421, #7501, #7508, #7518);
• in addition to the above point, the following features had to be removed from all F3 based flight controllers in order to make the firmware fit into flash: Smart Feedforward, support for flashing / configuration of SimonK based ESCs (#7272, #7274, #7391);
• support for status display through LED strips was removed from F3 based flight controllers, in order to be able to reclaim some flash space. In its place, LED Strip Profiles (except for the 'Status' profile which is not supported on F3) can be used to set LED strips to fixed colours. LED strip profiles are also available on F4 / F7, to enable simple configuration of the LED strip in OSD (#7485);
• since the above three measures proved to be insufficient to keep flash space from overflowing on F3 based flight controllers, a system of classifying F3 based flight controllers into a number of 'feature cut' levels, and removing features according from them according to their level were introduced. This was used to reduce the number of features built into most F3 based flight controllers even more (#7429).

Major features:

• real time ESC RPM feedback, and notch filtering based on motor RPM (#7264, #7271);
• d term management with D_min (#7373, #7538);
• throttle based dynamic gyro and dterm filterig (#6943);
• launch control (#6992);
• switchable OSD profiles (#6714);
• SPI attached Spektrum RX (#7210);
• unified targets (#5824, #6837, #7620).

Minor features:

• cascaded dynamic notches (#7078);
• thrust linearisation (#7304);
• integrated yaw control (#6432);
• switchable LED_STRIP profiles (#7303);
• stick overlays in OSD (#7167);
• profile switching based on battery cell count (#7516);
• support for the Futaba SFHSS protocol on CC2500 (FrSky SPI) hardware (#6865);
• EU LBT mode for the FrSky SPI RX (#7339);
• support for STM32F765xx based flight controllers (#6669).
• configuration over HoTT telemetry (#6224).

Betaflight 3.5.6

Maintenance Release

Please read the Betaflight 3.5 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 3.5.0.

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.

We also have a Facebook Group: If you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this here.

Important information when upgrading from an earlier version of 3.5

• a number of users reported issues with the firmware hanging during a diff or dump. The root cause of this was identified as a bug in the MSP protocol causing corrupted configurations. This was fixed in 3.5.1. If you are using 3.5.0, it is recommended that you upgrade to at least 3.5.1, to eliminate the risk of experiencing lockups during diff or dump caused by this bug (#6696);
• unfortunately, bugfixes in the flight controller core functionality have led to an increase of the firmware size, causing it to overflow the available space on a number of F3 based flight controllers. As a result, some features have had to be removed from a number of F3 based flight controllers in order to make the firmware fit into flash. The following targets are affected: AIORACERF3, FRSKYF3, IMPULSERCF3, RACEBASE, RG_SSD_F3, RMDO, SPRACINGF3, SPRACINGF3MINI, SPRACINGF3NEO, STM32F3DISCOVERY, and ZCOREF3 (#6815, #6887, #6994, #7239, #7241, #7362, #7527).

Fixes:

• Fixed build errors when building without support for blackbox (#7399);
• Added validation for the existence of the selected blackbox device (#7400);
• Fixed build errors when building without support for the 4 way ESC boot loader (#7409);
• Made OSD available when building without support for CMS (#7410, #7576);
• Fixed bug in serial driver on F4 (#7431);
• Fixed the color range for the LED_STRIP when displaying battery voltage or RSSI (#7460);
• Fixed bug in onboard flash initialisation (#7470);
• Fixed bug in pinio initialisation causing the first switching event to be ignored (#7492);
• Added error message when attempting to set invalid PID / rate profile in CLI (#7519);
• Added support for connecting to SmartAudio 2.1 devices (#7461);
• Fixed bug in USB driver on F7 (#7563).

Target Updates:

• Added new target JHEF7DUAL (#7398);
• Added new target HAKRCF411 (#7425);
• Fixed flash overflow on AIORACERF3 (#7527);
• Added support for the Airbot Omnibus NanoV7 to the OMNIBUSF4V6 target (#7545).

Betaflight 3.5.5

Maintenance Release

Please read the Betaflight 3.5 Release Notes.

This release contains bugfixes and target changes only. For a full list of new features see 3.5.0.

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.

We also have a Facebook Group: If you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this here.

Important information when upgrading from an earlier version of 3.5

• a number of users reported issues with the firmware hanging during a diff or dump. The root cause of this was identified as a bug in the MSP protocol causing corrupted configurations. This was fixed in 3.5.1. If you are using 3.5.0, it is recommended that you upgrade to at least 3.5.1, to eliminate the risk of experiencing lockups during diff or dump caused by this bug (#6696);
• unfortunately, bugfixes in the flight controller core functionality have led to an increase of the firmware size, causing it to overflow the available space on a number of F3 based flight controllers. As a result, some features have had to be removed from a number of F3 based flight controllers in order to make the firmware fit into flash. The following targets are affected: AIORACERF3, FRSKYF3, IMPULSERCF3, RACEBASE, RG_SSD_F3, RMDO, SPRACINGF3, SPRACINGF3MINI, SPRACINGF3NEO, STM32F3DISCOVERY, and ZCOREF3 (#6815, #6887, #6994, #7239, #7241, #7362).

Safety Improvements:

• Made the most important OSD warning show with highest priority (#7276);
• Fixed the behaviour of the 'auto' failsafe setting for throttle when 3D is used (#7352).

Fixes:

• Fixed OSD temperature display for negative temperatures (#6973);
• Fixed switching of PID profiles with stick commands (#7218);
• Fixed potential error when printing configurations in CLI (#7232);
• Added resetting of the GPS rescue maximum altitude and distance on arming (#7244);
• Fixed a problem with the sanity checks in GPS rescue causing sporadic disarms (#7254, #7265));
• Fixed on-board flash MSC emulation for MacOS on F7 (#7266);
• Fixed sporadic twitching in FrSky X SPI when sending failsafe values from the TX side (#7345);
• Hide stale altitude and vario in OSD when GPS fix is lost (#7368);
• Check that a MSC capable storage device is selected for blackbox before rebooting into MSC emulation mode from CLI (#7380);
• Fixed a boot loop if rebooting into MSC emulation mode and the storage device is not ready (#7382).

Target Updates:

• Fixed the pin assignment for the softserial 'TLM' pad on KISSCC (#7149);
• Fixed a flash overflow on IMPULSERCF3 (#7239);
• Updated STM32F3DISCOVERY to support the on-board gyro and acc (#7241);
• Added a CAMERA_CONTROL_PIN on DALRCF722DUAL (#7248);
• Added support for on-board flash on MATEKF722SE (#7257);
• Added new targets CRAZYBEEF4FR, CRAZYBEEF4FS, and CRAZYBEEF4DX (#7263);
• Added new target STM32F411DISCOVERY (#7289);
• Added new target ELINF405 (#7296);
• Added new target RUSHCORE7 (#7338);
• Added new target FF_RACEPIT (#7344);
• Added pin for pinio use on PYRODRONEF4 (#7389).