2026.6.0-rc2

What's Changed

Improvements

• fix(sitl): harden Gazebo gyro yaw sign against silent regression (follow-up to #15354) by @haslinghuis in #15355
• add support for FMSH FM25Q series (64Mb, 128Mb, 256Mb) SPI Flash by @ReganLai-Fudan in #15292
• Autopilot: flight plan safety — rx-loss policy, sanity checks, geofence, arming gate by @blckmn in #15408

Fixes

• fix(h5): use correct system bootloader address for software DFU entry by @haslinghuis in #15369
• serial: +++ escape to exit passthrough on DTR-less links by @dmboyd in #15357
• Position hold small improvements by @ctzsnooze in #15366
• Display battery usage estimation in OSD when battery capacity is set to 0 by @michaeldebacker in #15038
• msp: bound stream reads against payload length to prevent OOB reads by @blckmn in #15379
• Fix start frame detection for fast refresh (1 mS between frames) by @Grinzzz in #14322
• fix(dshot): guard spurious pullup edge in decodeTelemetryPacket by @nerdCopter in #15343
• fix(x32m7b): fix spi and sdmmc by @Romin0615 in #15371
• fix(vtx): apply all active VTX activation conditions (#15362) by @haslinghuis in #15363
• docs: accgyro_spi_icm20689.c 8Mhz comment correction by @nerdCopter in #15365
• fix(filter): correct fq comment in svfNotchFilter_t by @nerdCopter in #15300
• fix(barometer): replace VLA with fixed array in dps310 coefficient read by @nerdCopter in #15266
• Fix CRSF frame length validation by @Symmetricity in #15254
• Set d_max_advance default to 0 to match configurator guidance by @ChrisRosser in #15221
• FIX: BEEPER_USB suppression when battery present and configurator active by @haslinghuis in #14976
• GPS Rescue2026_6a by @ctzsnooze in #15382
• fix: the request parser writes data into a fixed-siz... in rcdevice.c by @orbisai0security in #15389
• fix(flashfs): avoid blocking MSP during NOR chip erase by @kedeng in #15273
• fix(crsf): rate-limit crsfTelemetryUpdateCheck to prevent scheduler starvation by @nerdCopter in #15358
• rx: detect sbus frame boundary via interbyte timeout by @blckmn in #15388
• Fix inverted timeout condition in W25Q128FV write-enable poll by @nerdCopter in #15396
• bus_quadspi_hal: capture HAL status in quadSpiSequence() by @nerdCopter in #15397
• flash_w25n: remove dead/buggy BBLUT read/write code by @nerdCopter in #15398
• fix: prevent spurious blackbox erase before RX link by @nerdCopter in #15404
• STM32C5: correct timer AF tables and complete timer coverage by @blckmn in #15405

Targets

• STM32H5: enable UART2-8 on H562/H563 and fix UART open hard fault by @haslinghuis in #15367
• feat(h5): enable LED_STRIP and remaining peripherals, drop VIRTUAL_GYRO by @haslinghuis in #15368

New Contributors

• @dmboyd made their first contribution in #15357
• @ReganLai-Fudan made their first contribution in #15292
• @Grinzzz made their first contribution in #14322
• @orbisai0security made their first contribution in #15389
• @somethingjustlike made their first contribution in #15310
• @marcusamery made their first contribution in #15395

Full Changelog: 2026.6.0-rc1...2026.6.0-rc2

2025.12.5

What's Changed

Fixes

• [2025.12] fix(uart): clear ORE when RXNEIE is enabled in HAL uartIrqHandler (fixes #15317, #15306) by @tracycam in #15325
• [2025.12] fix(msp): cancel pendingRequest on '$' only, restoring per-byte lastActivityMs by @nerdCopter in #15324

Full Changelog: 2025.12.4...2025.12.5

4.5.5

What's Changed

Fixes

• [4.5] fix(msp): cancel pendingRequest on '$' only, restoring per-byte lastActivityMs by @nerdCopter in #15330

Full Changelog: 4.5.4...4.5.5

2026.6.0-rc1

Release Notes

Betaflight 2025.6.0-rc1 brings a massive range of new features, improvements, fixes, and new hardware support. For comprehensive release nots please see: https://betaflight.com/docs/wiki/release/Betaflight-2026-6-Release-Notes

Please use the online pre-release version of the Betaflight App for configuring this release. It can be found here: https://master.app.betaflight.com

What's Changed

Features

• OSD: Custom text received from serial to be displayed by @blckmn in #14895
• Add switchable battery profiles by @jury89 in #14965
• Include AssistNow Autonomous into GPS features by @stsypanov in #14987
• Add individual servo channel forwarding support and run servo mixer for default frame types by @blckmn in #15013
• Upixel UP-T1-001-Plus support and optical flow position hold by @SteveCEvans in #14922
• Add flight plan PG configuration, CLI waypoint commands, and AUTOPILOT mode by @blckmn in #15030
• feat: add CAN peripheral support for STM32G4, STM32H7 and STM32C593 (ENABLE_CAN) by @blckmn in #15115
• Nav autopilot by @SteveCEvans in #15026
• feat: DroneCAN protocol stack (NodeStatus + GetNodeInfo) by @blckmn in #15137
• SITL: gate bridge-specific transforms on SITL_BRIDGE_GAZEBO by @blckmn in #15158
• feat: DroneCAN GNSS Fix2 provider (drives gpsSol) by @blckmn in #15143
• feat: STM32N6570-DK bring-up — LTDC backend, SSD1306 backend, dump cmd by @blckmn in #15153
• AUTOPILOT: Step one, Flight plan guidance implementation by @blckmn in #14923
• telemetry/mavlink: add HOME_POSITION/SYSTEM_TIME/STATUSTEXT TX by @blckmn in #15213
• STM32N6 platform support by @blckmn in #15214
• telemetry/mavlink: vehicle-setup unlock + custom_mode discovery by @blckmn in #15220
• Add ap_stop_threshold setting and improve braking performance by @SteveCEvans in #15150
• telemetry/mavlink: MISSION protocol upload/download by @blckmn in #15224
• The MAVLink packets rates change by using Ground Control Station by @demvlad in #15291

Improvements

• PICO use timeUs_t return types for time functions. by @mjs1441 in #14817
• Quick fix for issuix for issue 14819 by @PD45-46 in #14843
• Change displayed precision of max current of the post-flight statistics to float by @qubicllj in #14853
• delete file PICO/dshot.pio.programs by @qqqlab in #14863
• CLEANUP: make clean CONFIG=X by @blckmn in #14830
• REFACTOR: Camera Control in preparation for RP2350 implementation by @blckmn in #14856
• PICO: Use memfunctions.S from rp2040 bootrom source for memset, memcpy. by @mjs1441 in #14876
• PICO: Remove startup .S file (not in use). by @mjs1441 in #14886
• Report sensor hardware names per sensor type by @haslinghuis in #14892
• Add ACCGYRO_LSM6DSK320X by @haslinghuis in #14891
• Add MSP support for Attitude quaternions by @Robolightning in #14761
• Refactor release workflow to streamline artifact handling by @blckmn in #14910
• PICO: bidirectional DShot telemetry with edge detection by @andyp1per in #14887
• Add Nooploop TOFSense rangefinder family support by @ArturPelicho in #14896
• Add support for ICM42622P by @haslinghuis in #14918
• Add DEFAULT_BEEPER_OFF_FLAGS for reset of beeper_off_flags. by @mjs1441 in #14809
• Strengthen MSP/CRSF Packet Validation by @VoodooChild99 in #14842
• CRSF AHRS Support by @andyp1per in #14870
• Adding Simplifed Master Slider to Adjustments by @spatzengr in #14371
• MSP-adjCenter_adjScale by @spatzengr in #14920
• feat(driver): add MMC5603 magnetometer driver by @gintaris in #14924
• SITL: add -z,noexecstack linker flag to suppress RWX segment warning by @blckmn in #14938
• Feature/bmp580 barometer by @gintaris in #14925
• Flash/MT29F - First cut of support for the MT29F1G01ABAFDWB-IT:F flash chips (1Gb NAND) by @hydra in #14828
• SPI ExpressLRS 4.0 support by @CapnBry in #14932
• Move SCHEDULER_RELAX_RX/OSD STM32F411xE override from src/main to src/platform with fallback defaults by @blckmn in #14958
• Move GPIO_TypeDef and IO_GPIO out of common drivers into platform-specific headers to decouple IO implementation from hardware details by @blckmn in #14962
• CLI: Adding "options" for outputting the msp_build_info equivalent in the CLI by @blckmn in #14951
• Remove unused EXTITrigger_TypeDef mock definitions from SITL target and unit test platform headers by @blckmn in #14963
• faster cos and sin method by @Quick-Flash in #14790
• Move SmartAudio UART bidir push-pull prepend logic from MCU ifdef to UART_TRAIT_BIDIR_PP_PREPEND platform trait by @blckmn in #14956
• MSP: validate servo mixer targetChannel and inputSource bounds in MSP_SET_SERVO_MIX_RULE by @blckmn in #14952
• Add support for GigaDevice GD25Q16E and Zetta ZD25WQ32CE flash memories by @jwoloch in #14970
• BLACKBOX: log GPS epoch timestamp in H-frame and msToW in G-frame by @blckmn in #14950
• Sensors: Add initial support for ICM42686P by @haslinghuis in #14941
• SITL: Add ability to specify a command line argument and load a text file for writing config. by @blckmn in #14935
• Move timer functions to accept timerHardware_t*, rename platform-specific abbreviations, and relocate platform-only declarations to platform/timer.h by @blckmn in #14967
• flash_m25p16: Add support for GD25Q128 flash chip by @HGLRC-T in #14983
• Refactor DMA driver to abstract platform-specific types and functions behind a hardware-agnostic API by @blckmn in #14990
• Consolidate ENABLE_SDIO_INIT definitions in platform.h with explicit per-MCU family settings by @blckmn in #14991
• Move NVIC priority utility macros from nvic.h to per-platform platform.h headers by @blckmn in #14996
• Move platform-specific Bit_RESET definition from serial_4way to platform headers as GPIO_PIN_RESET by @blckmn in #14997
• Move expressLrsTimerEnableIRQs to platform common to remove USE_HAL_DRIVER from src/main by @blckmn in #14998
• Replace F7 platform guard for SERIAL_CHECK_TX with ENABLE_SERIAL_SKIP_CHECK_TX macro by @blckmn in #15001
• Refactor transponder IR DMA buffer type to uint32_t to remove platform dependency by @blckmn in #14995
• Replace STM32H7 preprocessor checks in asyncfatfs with ENABLE_AFATFS_DMA_CACHE feature flag by @blckmn in #14994
• Move platform-specific MSC/SDIO type abstractions and DMA init from src/main/msc to src/platform headers and common source by @blckmn in #14993
• Move overclock frequency options from chip-specific ifdefs in settings.c to ENABLE_OVERCLOCK_XXX_MHZ defines in platform headers by @blckmn in #14999
• Move hardware-specific OctoSPI/QuadSPI definitions and GPIO config from src/main headers to platform files by @blckmn in #14992
• Deprecate gyro_hardware and introduce cli sensor_hardware command by @haslinghuis in #15009
• Replace recursive submodule checkout with on-demand SDK hydration and selective per-platform...

Firmware 2025.12.4

What's Changed

Fixes

• [2025.12] Backport CLI MSP race-condition fix (#15193) by @blckmn in #15201
• [backport] fix(config): unconditionally clamp failsafe_procedure to valid range by @nerdCopter in #15191
• [backport] fix(uart): guard half-duplex pinless UART modes (#15218) by @haslinghuis in #15258

Full Changelog: 2025.12.2...2025.12.4

Firmware 4.5.4

What's Changed

Fixes

• [4.5.4] Backport CLI MSP race-condition fix (#15193) by @blckmn in #15200
• [backport] fix(config): unconditionally clamp failsafe_procedure to valid range by @nerdCopter in #15190

Full Changelog: 4.5.3...4.5.4

Firmware 2025.12.2

Target updates for:

• AIRBOTG4AIO
• AXISFLYINGH743PRO
• BETAFPVG473_V2
• RADIOLINKF722
• BLADEF4
• BRAHMA_F405
• CADDX_PROTOS_F4
• JHEH743PRO
• DREAMWORKSH743
• GEPRCF722_BT_HD
• GEPRC_TAKER_F405AIO
• GEPRC_TAKER_H743MINI
• RADIOLINKF722
• HGLRC_F405_S
• HOBBYWING_XROTORF7CONV
• HOBBYWING_XROTORF7CONV
• HOBBYWING_XROTORF7CONV2
• JHEH743PRO
• MADFLIGHT_FC3
• RADIOLINKF405
• RADIOLINKF722
• RMNOVAH7
• RADIOLINKF722
• SIMPLIFLYF405
• TAKERG4AIO

Full Changelog: 2025.12.1...2025.12.2

Firmware 2025.12.1

Release Notes

Betaflight 2025.12.1 brings a massive range of new features, improvements, fixes, and new hardware support, making this one of the most significant updates yet. This release continues to expand Betaflight's capabilities for both multirotors and wings, adds new hardware targets, and refines the core codebase for maintainability and performance.

Please use the online Betaflight App for configuring this release. It can be found here: https://app.betaflight.com

---

🚀 Key New Features

• Autonomous & Safety Features: New capabilities include Altitude Hold, Position Hold, Collision Detection, and an auto-disarm function that triggers on landing impact.
• Fixed-Wing Enhancements: A major focus of this release, with many new tools for wings, such as an S-term for smoother flight, Throttle and PID Attenuation (TPA) modes based on airspeed, and specialized PID multiplier curves.
• Flight & User Experience:
  • Updated Turtle/Crashflip Mode: Improvements to the mode that helps you flip your drone back over after a crash.
  • Launch Timer: A new timer specifically for launches.
  • LED Dimmer & Functions: Added an LED dimmer and new LED bar indicators for GPS, battery, and altitude.

---

✨ Improvements & Optimizations

• Hardware Support: Support has been added for new gyros (like IIM42653, ICM456xx), flash memory chips, rangefinders, and a CADDX camera gimbal.
• Protocols & Communication: Enhancements have been made to various communication protocols, including CRSF (vario and barometer support), ELRS (FLRC F-modes, Model Match ID), and MAVLink. MSP has been expanded to support more commands and pass-through CLI commands.
• Blackbox & OSD: Blackbox logging is now more comprehensive, with the ability to log servo data, GPS home altitude, IMU attitude, and MCU ID. The On-Screen Display (OSD) also gains new elements and display options.
• Code Refactoring: A massive effort was undertaken to clean up and reorganize the codebase. This involves moving platform-specific code (for different microcontrollers) into dedicated directories, which simplifies future development and improves maintainability.

---

🛠️ Bug Fixes

This release addresses a vast number of bugs. Check the full change log below for a comprehensive list.

---

🎯 New Hardware Targets

Support has been added for new microcontrollers, significantly expanding the range of compatible flight controllers. This includes initial support for:

• Raspberry Pi PICO (RP2350)
• APM32F40X series

---

Contributor Thanks

🙏 New Contributors

Special thanks to our new contributors for this release! The Betaflight community continues to grow and thrive thanks to your efforts.

• @jonas-becker, @AZDane, @Hochmueller, @LuckkMaker, @ainosukii, @anti-social, @kedeng, @demvlad, @KissUltra, @henrywarhurst, @mywinchester, @ahmedsalah52, @vmzhivetyev, @timmyfpv, @jpmreece, @DrAtomic, @dakejahl, @Stepandrr, @ggabriel-airmod, @jefffhaynes, @kensherman, @fluke9, @LYNHQQ, @marc-frank, @Claucdan, @The-Real-Thisas, @AlexKlimaj, @mjs1441, @hmz06967, @heronprecision-1, @katzfey, @osirisinferi, @LarryKarhu, @LukasLendvorsky, @bradselph

🙌 Existing Contributors

A huge thank you to our regular and returning contributors, who continue to drive Betaflight forward with ongoing improvements, feature development, bugfixes, reviews, and community support. Your dedication is what makes Betaflight possible!

• @blckmn, @ctzsnooze, @haslinghuis, @SteveCEvans, @limonspb, @ledvinap, @KarateBrot, @Quick-Flash, @bw1129, @CapnBry, @mituritsyn, @bkleiner, @cvetaevvitaliy

(For a full, up-to-date list, see https://github.com/betaflight/betaflight/graphs/contributors)

Upgrading & Feedback

As always, we recommend backing up your configuration before upgrading. Please report any issues via GitHub or join our Discord for discussions and troubleshooting. Thank you for flying Betaflight!

---

Full Changelog

Features

• New led functions gps bar battery bar altitude by @jonas-becker in #13404
• Add MSP support for gyro_cal_on_first_arm by @haslinghuis in #13626
• Add RSSI dBm alarm to MSP by @McGiverGim in #13682
• S-term (for wings) by @limonspb in #13679
• Add DEBUG_TASK mode by @SteveCEvans in #13799
• Piecewise linear interpolation routine (for wings) by @limonspb in #13798
• Auto-disarm on landing impact by @ctzsnooze in #13803
• Hyperbolic PID multiplier curve (for wings) by @limonspb in #13805
• Altitude hold for 4.6 by @ctzsnooze in #13816
• Added 'Storage mode' action in Blackbox part of OSD menu by @demvlad in #13899
• Minor CLI update to give a noreboot option so save and exit by @blckmn in #13904
• Adding CLI command pass through for MSP by @blckmn in #13940
• Update turtle / crashflip mode by @ctzsnooze in #13905
• Log servos in blackbox by @henrywarhurst in #13944
• TPA air speed speed estimation instead of TPA delay (for wings) by @limonspb in #13895
• Yaw type rudder/diff_thrust for TPA calculations (for wings) by @limonspb in #13929
• Add PRBS checking of BB FLASH with USE_FLASH_TEST_PRBS by @SteveCEvans in #13987
• Driver for CADDX camera GM3 gimbal by @SteveCEvans in #13926
• TPA mode PDS + Wing setpoint attenuation (for wings) by @limonspb in #14010
• Collision Detection by @KarateBrot in #13010
• Position hold for 4.6 and Altitude Hold updates by @ctzsnooze in #13975
• PreArm allow Re-Arm (without resetting PreArm AUX) by @nerdCopter in #14013
• LED Dimmer by @jpmreece in #13776
• Chirp signal generator as flight mode by @pichim in #13105
• Added virtual blackbox for SITL by @demvlad in #14325
• hover point throttle curve adjustment by @marc-frank in #14229
• Add Launch Timer by @Claucdan in #14332
• Adds font write support over MSP DisplayPort by @freasy in #14391
• PICO: Adding support for standard PWM servos by @blckmn in #14787

Improvements

• Add CRSF vario sensor support by @haslinghuis in #13558
• Make Cppcheck happier revived by @haslinghuis in #13566
• Display one of four logos on arming by @SteveCEvans in #13057
• Improve features (+ cli) by @ledvinap in #13494
• Tune huffman table to save nearly 500B by @daleckystepan in #11171
• Add support for W25N02K 2Gbit/256Mbyte FLASH by @SteveCEvans in #13677
• Cleanup HAL usb driver by @blckmn in #13669
• TPA delay in ms (for wings) by @limonspb in #13662
• Allow TPA_LOW to be negative (for wings) by @limonspb in #13661
• Move launch control default to pitchonly by @blckmn in #13699
• CLEANUP: small adjustment to the legacy gyro directory by @blckmn in #13693
• Node 16 based github actions no longer supported by @blckmn in #13705
• CLEANUP: MCU file locations by @blckmn in #13692
• CLEANUP: Move flash drivers to their own directory by @blckmn in #13691
• Setpoint PID attenuation (for wings) by @limonspb in #13719
• Add altitude variant for OSD by @haslinghuis in #13716
• Put gyro debug axis in header by @bw1129 in #13752
• at32: add PC6 and PC7 as i2c pins by @bkleiner in #13760
• Add FLRC F-modes to ELRS SPI implementation by @CapnBry in #12936
• Add SPI ELRS Model Match ID by @haslinghuis in #13774
• TPA gravity factor (for wings) by @limonspb in #13778
• Increase Number of Available Dynamic Notches to 7 by @bw1129 in #13750
• Add OSD display of 2nd block of debug values by @SteveCEvans in #13800
• Add MCU ID to blackbox by @haslinghuis in https://github.com/betaflight/betaflight...

Firmware 4.5.3

What's Changed

Fixes

• [4.5.3] Fix AT32F435 I2C GPIO MUX by @ot0tot (#14778)
• [4.5.3] Revert gps flight model by @haslinghuis in #14334
• [4.5.3] Fix osd esc alarm by @haslinghuis in #14394

Targets

• [4.5.3] Maint at32 spi3 mosi (add PB0 pin) by @haslinghuis in #14331

Full Changelog: 4.5.2...4.5.3

Betaflight Firmware 2025.12.0-RC1

Release Notes

Betaflight 2025.12.0-RC1 brings a massive range of new features, improvements, fixes, and new hardware support, making this one of the most significant updates yet. This release continues to expand Betaflight's capabilities for both multirotors and wings, adds new hardware targets, and refines the core codebase for maintainability and performance.

NOTE: This is the first release candidate release for 2025.12

Please use the online Betaflight App for configuring this release. It can be found here: https://app.betaflight.com

---

🚀 Key New Features

• Autonomous & Safety Features: New capabilities include Altitude Hold, Position Hold, Collision Detection, and an auto-disarm function that triggers on landing impact.
• Fixed-Wing Enhancements: A major focus of this release, with many new tools for wings, such as an S-term for smoother flight, Throttle and PID Attenuation (TPA) modes based on airspeed, and specialized PID multiplier curves.
• Flight & User Experience:
  • Updated Turtle/Crashflip Mode: Improvements to the mode that helps you flip your drone back over after a crash.
  • Launch Timer: A new timer specifically for launches.
  • LED Dimmer & Functions: Added an LED dimmer and new LED bar indicators for GPS, battery, and altitude.

---

✨ Improvements & Optimizations

• Hardware Support: Support has been added for new gyros (like IIM42653, ICM456xx), flash memory chips, rangefinders, and a CADDX camera gimbal.
• Protocols & Communication: Enhancements have been made to various communication protocols, including CRSF (vario and barometer support), ELRS (FLRC F-modes, Model Match ID), and MAVLink. MSP has been expanded to support more commands and pass-through CLI commands.
• Blackbox & OSD: Blackbox logging is now more comprehensive, with the ability to log servo data, GPS home altitude, IMU attitude, and MCU ID. The On-Screen Display (OSD) also gains new elements and display options.
• Code Refactoring: A massive effort was undertaken to clean up and reorganize the codebase. This involves moving platform-specific code (for different microcontrollers) into dedicated directories, which simplifies future development and improves maintainability.

---

🛠️ Bug Fixes

This release addresses a vast number of bugs. Check the full change log below for a comprehensive list.

---

🎯 New Hardware Targets

Support has been added for new microcontrollers, significantly expanding the range of compatible flight controllers. This includes initial support for:

• Raspberry Pi PICO (RP2350)
• APM32F40X series

---

Contributor Thanks

🙏 New Contributors

Special thanks to our new contributors for this release! The Betaflight community continues to grow and thrive thanks to your efforts.

• @jonas-becker, @AZDane, @Hochmueller, @LuckkMaker, @ainosukii, @anti-social, @kedeng, @demvlad, @KissUltra, @henrywarhurst, @mywinchester, @ahmedsalah52, @vmzhivetyev, @timmyfpv, @jpmreece, @DrAtomic, @dakejahl, @Stepandrr, @ggabriel-airmod, @jefffhaynes, @kensherman, @fluke9, @LYNHQQ, @marc-frank, @Claucdan, @The-Real-Thisas, @AlexKlimaj, @mjs1441, @hmz06967, @heronprecision-1, @katzfey, @osirisinferi, @LarryKarhu, @LukasLendvorsky, @bradselph

🙌 Existing Contributors

A huge thank you to our regular and returning contributors, who continue to drive Betaflight forward with ongoing improvements, feature development, bugfixes, reviews, and community support. Your dedication is what makes Betaflight possible!

• @blckmn, @ctzsnooze, @haslinghuis, @SteveCEvans, @limonspb, @ledvinap, @KarateBrot, @Quick-Flash, @bw1129, @CapnBry, @mituritsyn, @bkleiner, @cvetaevvitaliy

(For a full, up-to-date list, see https://github.com/betaflight/betaflight/graphs/contributors)

Upgrading & Feedback

As always, we recommend backing up your configuration before upgrading. Please report any issues via GitHub or join our Discord for discussions and troubleshooting. Thank you for flying Betaflight!

---

Full Changelog

What's Changed

Features

• New led functions gps bar battery bar altitude by @jonas-becker in #13404
• Add MSP support for gyro_cal_on_first_arm by @haslinghuis in #13626
• Add RSSI dBm alarm to MSP by @McGiverGim in #13682
• S-term (for wings) by @limonspb in #13679
• Add DEBUG_TASK mode by @SteveCEvans in #13799
• Piecewise linear interpolation routine (for wings) by @limonspb in #13798
• Auto-disarm on landing impact by @ctzsnooze in #13803
• Hyperbolic PID multiplier curve (for wings) by @limonspb in #13805
• Altitude hold for 4.6 by @ctzsnooze in #13816
• Added 'Storage mode' action in Blackbox part of OSD menu by @demvlad in #13899
• Minor CLI update to give a noreboot option so save and exit by @blckmn in #13904
• Adding CLI command pass through for MSP by @blckmn in #13940
• Update turtle / crashflip mode by @ctzsnooze in #13905
• Log servos in blackbox by @henrywarhurst in #13944
• TPA air speed speed estimation instead of TPA delay (for wings) by @limonspb in #13895
• Yaw type rudder/diff_thrust for TPA calculations (for wings) by @limonspb in #13929
• Add PRBS checking of BB FLASH with USE_FLASH_TEST_PRBS by @SteveCEvans in #13987
• Driver for CADDX camera GM3 gimbal by @SteveCEvans in #13926
• TPA mode PDS + Wing setpoint attenuation (for wings) by @limonspb in #14010
• Collision Detection by @KarateBrot in #13010
• Position hold for 4.6 and Altitude Hold updates by @ctzsnooze in #13975
• PreArm allow Re-Arm (without resetting PreArm AUX) by @nerdCopter in #14013
• LED Dimmer by @jpmreece in #13776
• Chirp signal generator as flight mode by @pichim in #13105
• Added virtual blackbox for SITL by @demvlad in #14325
• hover point throttle curve adjustment by @marc-frank in #14229
• Add Launch Timer by @Claucdan in #14332
• Adds font write support over MSP DisplayPort by @freasy in #14391

Improvements

• Add CRSF vario sensor support by @haslinghuis in #13558
• Make Cppcheck happier revived by @haslinghuis in #13566
• Display one of four logos on arming by @SteveCEvans in #13057
• Improve features (+ cli) by @ledvinap in #13494
• Tune huffman table to save nearly 500B by @daleckystepan in #11171
• Add support for W25N02K 2Gbit/256Mbyte FLASH by @SteveCEvans in #13677
• Cleanup HAL usb driver by @blckmn in #13669
• TPA delay in ms (for wings) by @limonspb in #13662
• Allow TPA_LOW to be negative (for wings) by @limonspb in #13661
• Move launch control default to pitchonly by @blckmn in #13699
• CLEANUP: small adjustment to the legacy gyro directory by @blckmn in #13693
• Node 16 based github actions no longer supported by @blckmn in #13705
• CLEANUP: MCU file locations by @blckmn in #13692
• CLEANUP: Move flash drivers to their own directory by @blckmn in #13691
• Setpoint PID attenuation (for wings) by @limonspb in #13719
• Add altitude variant for OSD by @haslinghuis in #13716
• Put gyro debug axis in header by @bw1129 in #13752
• at32: add PC6 and PC7 as i2c pins by @bkleiner in #13760
• Add FLRC F-modes to ELRS SPI implementation by @CapnBry in #12936
• Add SPI ELRS Model Match ID by @haslinghuis in #13774
• TPA gravity factor (for wings) by @limonspb in #13778
• Increase Number of Available Dynamic Notches to 7 by @bw1129 in #13750
• Add OSD display of 2nd block of debug values by @SteveCEvans in #13800
• Add MCU ID to blackbox by @haslinghuis in #13825
• Reschedule stats ...