Releases: cleanflight/cleanflight
v1.11.0
IMPORTANT: ** Requires >= v1.1.0 configurator **
NOTE: Upgrading from < v1.11.0 will erase your configuration, backup via GUI and CLI before flashing.
NOTE: Some defaults have changed. Do NOT blindly restore your backups using the CLI.
NOTE: CLI get/set commands have changed. some variables are now set using OFF/ON instead of 0/1.
NOTE: Experimental PID controllers have been removed. Only MW23, MWREWRITE and LUXFLOAT remain.
NOTE: Openpilot bootloader support as been removed. Flashing CC3D's via GCS is no-longer supported. See docs.
NOTE: G-Tune not available on NAZE target, it didn't fit - latest development builds have G-Tune on Naze Target.
Changes:
- Improved flight performance.
- Replaced AUTOTUNE with G-TUNE.
- More robust SBUS and Spektrum support.
- Failsafe improvements.
- Mixer output mapping fixes.
- I2C overclock feature.
- Sonar improvements.
- CLI usabiity improvements.
- Removed less popular PID controllers - experimentation time is over.
- Blackbox logging improvements and fixes.
- USART1 can be used for SerialRX on F3 boards.
- HoTT Telemetry improvements and fixes.
- Support Naze32 Rev6.
- Support RMRC DoDo target.
- Many other fixes and general improvements.
- More unit tests.
- Documentation improvements.
Many thanks to the awesome Cleanflight developer and user community for their continued hard work, support and feedback.
v1.10.0
IMPORTANT: ** Requires >= v0.66.0 configurator - DEVELOPMENT VERSION **
IMPORTANT: ** Verify your RX and failsafe is configured after upgrading, check your channel endpoints when your rx is operating normally and when in failsafe mode, see rx_min_usec and rx_max_usec **
NOTE: Upgrading from < v1.10.0 will erase your configuration, backup via GUI and CLI before flashing.
NOTE: Some defaults have changed. Do NOT blindly restore your backups using the CLI.
NOTE: If you us luxfloat PID controller retune from new defaults.
NOTE: cmix cli command has been renamed to mmix (mmix for motors, smix for servos, both use a zero-based index for motors).
WARNING: If using FrSky SBus receivers please ensure you are using a version that contains a fix for signal dropouts, see FrSky's website for latest firmware.
Changes:
- Improved flight performance.
- Major failsafe improvements and fixes - also see 'rxfail' CLI command for FC failsafe settings.
- Blackbox logging improvements and fixes.
- Battery voltage monitoring and improvements.
- Allow independent pitch and roll in-flight PID adjustment.
- Filtering of Gyro readings. (enable via cli)
- Filtering of PIDs. (enable via cli).
- Configurable servo mixers.
- New custom tricopter and custom airplane mixers.
- Fixed wing improvements and fixes.
- Groundwork for TILT flight modes (work-in-progress).
- RC Input smoothing. (enable via cli)
- Lux PID controller improvements and new defaults.
- Telemetry fixes and improvements.
- SPRacingF3 - Enable SoftSerial on CH4/5 and CH7/8 (RX/TX)
- Various cleanups and fixes for 3D flight.
- Rename
yaw_direction
toyaw_motor_direction
to avoid confusion betweenyaw_control_direction
and yaw servo configuration. - Improved SUMD RX handling.
- Improved FC hardware failure indication - count the long flashes after the short flashes when the FC doesn't boot to determine failure reason.
- Many other fixes and general improvements.
- Support TBS Colibri Race target.
- More unit tests.
- Documentation improvements.
Correct usage PIDs in combination with gyro settings and filters will improve flight performance and give you longer flight times. See documentation and tuning guides.
v1.10.0-RC3
IMPORTANT: ** Requires >= v0.66.0 configurator - DEVELOPMENT VERSION **
IMPORTANT: ** Verify your RX and failsafe is configured after upgrading, check your channel endpoints when your rx is operating normally and when in failsafe mode, see rx_min_usec and rx_max_usec **
NOTE: Upgrading from < v1.10.0 will erase your configuration, backup via GUI and CLI before flashing.
NOTE: Some defaults have changed. Do NOT blindly restore your backups using the CLI.
NOTE: If you us luxfloat PID controller retune from new defaults.
NOTE: cmix cli command has been renamed to mmix (mmix for motors, smix for servos, both use a zero-based index for motors).
WARNING: If using FrSky SBus receivers please ensure you are using a version that contains a fix for signal dropouts, see FrSky's website for latest firmware.
Changes:
- Improved flight performance.
- Major failsafe improvements and fixes - also see 'rxfail' CLI command for FC failsafe settings.
- Blackbox logging improvements and fixes.
- Battery voltage monitoring and improvements.
- Allow independent pitch and roll in-flight PID adjustment.
- Filtering of Gyro readings. (enable via cli)
- Filtering of PIDs. (enable via cli).
- Configurable servo mixers.
- New custom tricopter and custom airplane mixers.
- Fixed wing improvements and fixes.
- Groundwork for TILT flight modes (work-in-progress).
- RC Input smoothing. (enable via cli)
- Lux PID controller improvements and new defaults.
- Telemetry fixes and improvements.
- SPRacingF3 - Enable SoftSerial on CH4/5 and CH7/8 (RX/TX)
- Various cleanups and fixes for 3D flight.
- Rename
yaw_direction
toyaw_motor_direction
to avoid confusion betweenyaw_control_direction
and yaw servo configuration. - Improved SUMD RX handling.
- Improved FC hardware failure indication - count the long flashes after the short flashes when the FC doesn't boot to determine failure reason.
- Many other fixes and general improvements.
- Support TBS Colibri Race target.
- More unit tests.
- Documentation improvements.
Correct usage PIDs in combination with gyro settings and filters will improve flight performance and give you longer flight times. See documentation and tuning guides.
v1.9.0
IMPORTANT: ** Requires >= v0.63.2 configurator **
IMPORTANT: ** Verify your RX and failsafe is configured after upgrading, check your channel endpoints when your rx is operating normally and when in failsafe mode, see rx_min_usec and rx_max_usec **
NOTE: Upgrading from < v1.9.0 will erase your configuration, backup via GUI and CLI before flashing.
NOTE: Yaw behavior has changed and new settings to tune yaw have been added, yaw-retuning may be required. See documentation.
NOTE: Tricopter pilots may wish to enable servo filtering - try without first.
Known issues:
- Please help with known issues, see here: https://github.com/cleanflight/cleanflight/labels/bug
Changes
- Full support for SPRacingF3 board - http://seriouslypro.com/spracingf3
- Oneshot ESC safety improvements. Better support for auto-switching ESCs.
- Improved Yaw.
- Yaw Expo (via CLI/MSP, configurator support soon).
- Rewritten failsafe and RX loss detection code. Unit tested.
- Beeper code overhaul.
- Warning led code overhaul.
- Horizon mode fixes for PID Controller 1.
- Sonar/Baro Alt-Holt improvements (less drift, more accurate barometer readings).
- Sparky compatability fixes.
- Tricopter/Airpane yaw servo low-throttle fixes.
- Blackbox Logging updates.
- Independent in-flight adjustments for Pitch P/I/D and Roll P/I/D (requires v0.64.0 configurator)
- Support for UART3 and I2C on Paris Air Hero 32 / Naze32 SP
- Support for Sonar on CC3D
- Many documentation additions and cleanups.
- Many code cleanups.
- Many minor bug fixes.
- Reduced maximum mode ranges from 40 to 20.
- New
serial
cli command.
Many thanks to everyone who has contributed to this release!
Please consider donating to the Cleanflight project if you find this useful.
v1.8.1
IMPORTANT: ** Requires the latest v0.63.0 configurator **
NOTE: Upgrading from < v1.8.0 will erase your configuration, backup via GUI and CLI before flashing.
NOTE: Other software clients will need updating to use the modified MSP_RC_TUNING command.
NOTE: Your pid controller 2 (LuxFloat) P/R/Y I term values should be divided by 10 to retain previous flight behavior when upgrading from < v1.8.0
Known Issues:
- Do not use
retarded_arm
andpid_at_min_throttle
- See #719.
Bugfix release v1.8.1
- Fix for hang when attempting to use Softserial ports when Softserial feature is disabled.
- Fix SmartPort on all F3 targets.
- Fix FrSky RPM when using MOTOR_STOP.
- Fix for Virtual Current Meter when using 3D Flight.
- Enable telemetry on Sparky.
- Enable autotune on Sparky (Autotune is still experimental, YMMV).
- Enable current and battery monitoring on Sparky.
Changes from v1.8.0
- Blackbox Flight data logging to onboard SPI flash chips (Naze Full, CC3D, SPRacingF3)
- Low-pass servo filtering.
- Re-designed serial port configuration.
- Multiple simultaneous telemetry systems can be used.
- CLI now also available on all MSP ports.
- Support MSP on 2 ports at different baud rates (e.g. for using configuring via Bluetooth using SoftSerial2 at 19200)
- Blackbox support for 230400 and 250000 baud rates.
- Better support for SumD failsafe (works the same as SBus failsafe).
- Independent Pitch/Roll rate adjustment (in GUI and in-flight).
- Support TPA Breakpoint adjustment in GUI.
- Cleanup of Mag/Acc sensor selection.
- Support high precision FrSky Voltage monitoring.
- Bug fix for tricopter 3D flight.
- NMEA GPS SpaceVehicle information support.
- Support for new SPRacingF3 Flight Controller.
- Sonar support for some STM32F3 based boards.
- Battery Voltage and Current monitoring on the Sparky.
- Many documentation updates.
- Many code cleanups.
v1.8.0
IMPORTANT: ** Requires the latest v0.63.0 configurator **
NOTE: Flashing will erase your configuration, backup via GUI and CLI before flashing.
NOTE: Other software clients will need updating to use the modified MSP_RC_TUNING command.
NOTE: Your pid controller 2 (LuxFloat) P/R/Y I term values should be divided by 10 to retain previous flight behavior.
- Blackbox Flight data logging to onboard SPI flash chips (Naze Full, CC3D, SPRacingF3)
- Low-pass servo filtering.
- Re-designed serial port configuration.
- Multiple simultaneous telemetry systems can be used.
- CLI now also available on all MSP ports.
- Support MSP on 2 ports at different baud rates (e.g. for using configuring via Bluetooth using SoftSerial2 at 19200)
- Blackbox support for 230400 and 250000 baud rates.
- Better support for SumD failsafe (works the same as SBus failsafe).
- Independent Pitch/Roll rate adjustment (in GUI and in-flight).
- Support TPA Breakpoint adjustment in GUI.
- Cleanup of Mag/Acc sensor selection.
- Support high precision FrSky Voltage monitoring.
- Bug fix for tricopter 3D flight.
- NMEA GPS SpaceVehicle information support.
- Support for new SPRacingF3 Flight Controller.
- Sonar support for some STM32F3 based boards.
- Battery Voltage and Current monitoring on the Sparky.
- Many documentation updates.
- Many code cleanups.
v1.7.2
Bugfix release v1.7.2
- Fix drift in HaraKiri PID controller (Crashpilot/MJ666/Nebbian)
- Major documentation updates.
- Sensors Page on OLED display shows additional values.
- New CLI command for servos (dump/backup via cli now contains all the settings).
- CLI status command now shows all detected sensor names.
- Fix external mag/baro detection on targets that don't have onboard sensors.
- Improve SBus compatibility. Now tested on FrSky X4RSB & X8R, Futaba R6208SB & R6303SB.
- Support 2 digital channels on SBus (for Futaba RXs).
- Improve ESC compatibility (legacy issue inherited from baseflight).
- Fix PWM/USART2 clash on STM32F1 targets.
- Fix hardware inverter GPIO initialization - Allows S.Bus receviers to be connected to CC3D's Main Port (USART1) without external inverter cable.
Bugfix release v1.7.1
- Fix current meter when VBAT feature is not enabled.
Changes from v1.7.0
- Three new pid controllers, feedback wanted so we can decide which to keep.
- LED strip thrust ring.
- LED strip color configuration.
- LED strip on/off via mode/channel.
- CC3D - USB VCP support. Flash .hex with USB->UART. Flash .bin with GCS as before. Configure via USB.
- Sparky baro support (some Sparky boards have very noisy Baro sensors, ones from RadioC are fine).
- Blackbox logging improvements (autotune, etc).
- Virtual current meter.
- Current meter and ADC improvements and fixes.
- XBUS / Align JR01 DMSS Receiver Support.
- Fix PWM failsafe channel mapping issue.
- Servo mid-point decoupled from RX mid-point.
- Many, many code cleanups.
Notes:
- Upgrading to this firmware from a version lower than v1.7.0 will reset the configuration. Ensure you have a backup before flashing.
- Configurator v0.61.0 is required for LED strip configuration.
v1.7.1
Bugfix release v1.7.1
- Fix current meter when VBAT feature is not enabled.
Changes from v1.7.0
- Three new pid controllers, feedback wanted so we can decide which to keep.
- LED strip thrust ring.
- LED strip color configuration.
- LED strip on/off via mode/channel.
- CC3D - USB VCP support. Flash .hex with USB->UART. Flash .bin with GCS as before. Configure via USB.
- Sparky baro support (some Sparky boards have very noisy Baro sensors, ones from RadioC are fine).
- Blackbox logging improvements (autotune, etc).
- Virtual current meter.
- Current meter and ADC improvements and fixes.
- XBUS / Align JR01 DMSS Receiver Support.
- Fix PWM failsafe channel mapping issue.
- Servo mid-point decoupled from RX mid-point.
- Many, many code cleanups.
Notes:
- Upgrading to this firmware from a version lower than v1.7.0 will reset the configuration. Ensure you have a backup before flashing.
- Configurator v0.61.0 is required for LED strip configuration.
v1.7.0
- Three new pid controllers, feedback wanted so we can decide which to keep.
- LED strip thrust ring.
- LED strip color configuration.
- LED strip on/off via mode/channel.
- CC3D - USB VCP support. Flash .hex with USB->UART. Flash .bin with GCS as before. Configure via USB.
- Sparky baro support (some Sparky boards have very noisy Baro sensors, ones from RadioC are fine).
- Blackbox logging improvements (autotune, etc).
- Virtual current meter.
- Current meter and ADC improvements and fixes.
- XBUS / Align JR01 DMSS Receiver Support.
- Fix PWM failsafe channel mapping issue.
- Servo mid-point decoupled from RX mid-point.
- Many, many code cleanups.
Notes:
- Upgrading to this firmware will reset the configuration. Ensure you have a backup before flashing.
- Configurator v0.61.0 is required for LED strip configuration.
v1.6.0
- PID controller 2 horizion fixes by nebbian.
- SBus timeout correction.
- MSP_SET_LED_STRIP_CONFIG updated to allow configurator to save LED configuration.
- Blackbox can now log autotune events, please submit autotune blackbox logs to us!
- LED Strip support on Sparky
- Many documentation updates.