betaflight/betaflight

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 10.4.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.4.0 or better, or use the CLI for now;
• if you are using the Blackbox Log Viewer, there will be an updated version 3.2.0 to go with Betaflight 3.5 (installation instructions here). Please update as soon as it becomes available;
• a new 'Feed Forward PID' algorithm has been implemented, replacing setpoint weight (#6355). In addition to this, the dynamic notch filter (#6411) and anti-gravity (#6220) have been optimised for improved flight performance. For all of these changes, default values have been chosen that should result in good flight characteristics for most setups. It is recommended to start testing with default settings, incorporating tuned settings from previous versions if needed, where needed. For more in-depth instructions for tuning Betaflight 3.5, please consult these notes.
• 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: CRAZYBEEF3FR, CRAZYBEEF3FS, FRSKYF3, FURYF3, FURYF3OSD, OMNIBUS, SPRACINGF3, SPRACINGF3EVO, SPRACINGF3MINI, SPRACINGF3NEO (#6497, #6501);

Major features:

• Added support for feed forward to the PID controller (#6355);
• Improved the performance of the dynamic notch filter (#6411).

Minor features:

• Improved the performance of anti-gravity (#6220);
• Added support for linking of modes (#6335);
• Added support for dynamic filter in dual gyro mode (#6428).

Changes from Release Candidate 1:

Fixes:

• Fixed incorrect voltage and current sensor filter frequencies (#6452, #6466);
• Fixed check for anti gravity being enabled (#6461);
• Fixed A-Tail mixer (#6465);
• Enabled support for the ICM20601 gyro and fixed the output scaling in its driver (#6475);
• Fixed the loop time calculation when 32 kHz gyro ouptut is used (#6481);
• Changed the default gyro loop frequency to 2.67 kHz for targets with I2C gyro (#6483);
• Disabled DYNAMIC_FILTER feature if the gyro loop frequency is less than 2 kHz (#6484);
• Fixed the parameters for dynamic filter for gyro loop frequencies less than 4 kHz (#6485);
• Enabled configuration of throttle boost in CMS (#6496, #6503).

Target Updates:

• Renamed the SKYF405 target to SKYZONEF405 (#6458);
• Fixed the LED pins for KISSFCV2F7 (#6459);
• Enabled SDIO on NUCLEOF722 (#6473);
• Fixed the feature list for OMNIBUSF4 variants (#6486);
• Added new target DALRCF722DUAL (#6489);
• Removed features from F3 to make the firmware fit into flash (#6497, #6501).

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 10.4.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.4.0 or better, or use the CLI for now;
• if you are using the Blackbox Log Viewer, there will be an updated version 3.2.0 to go with Betaflight 3.5 (installation instructions here). Please update as soon as it becomes available;
• a new 'Feed Forward PID' algorithm has been implemented, replacing setpoint weight (#6355). In addition to this, the dynamic notch filter (#6411) and anti-gravity (#6220) have been optimised for improved flight performance. For all of these changes, default values have been chosen that should result in good flight characteristics for most setups. It is recommended to start testing with default settings, incorporating tuned settings from previous versions if needed, where needed. For more in-depth instructions for tuning Betaflight 3.5, please consult these notes.

Major features:

• Added support for feed forward to the PID controller (#6355);
• Improved the performance of the dynamic notch filter (#6411).

Minor features:

• Improved the performance of anti-gravity (#6220);
• Added support for linking of modes (#6335);
• Added support for dynamic filter in dual gyro mode (#6428).

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 any bugs you find back to us by opening an issue 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 10.3.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.3.0 or better, or use the CLI for now;
• as part of the overhaul of the various filter stages, and improvements to the PID loop, the default settings have been re-evaluated and updated. The new default values are designed to make optimal use of the new filtering and improved PID loop, and be flyable with (almost) any hardware. Even if your current set up is working ok, it is probably worthwhile to try and only restore the non-filtering / PID loop settings, and have a go with the new default values (store your old diff in a safe place, just in case you don't like the new values 😉). More detailed tips for tuning 3.4 can be found here (#6036);
• also as part of the filtering overhaul, the names of the debug modes available to log filtering / tuning data have been improved NOTCH (gyro data after scaling, before filtering) is now GYRO_SCALED, GYRO (gyro data after all filtering has been applied) is now GYRO_FILTERED (#6059);
• the upper limit of dterm_setpoint_weight has been increased to 2000 (corresponding to a value of 20 for 'D Setpoint Weight' in Betaflight configurator). This means that pilots wanting a more 'locked in' stick feeling can increase this value beyond the previous maximum of 254. At the same time, an undocumented scaling change was reverted, and the scale is now again how it is described in the Betaflight configurator. If you are using a custom setting for dterm_setpoint_weight, divide your value by 1.27 to get the new value that will give you the same feeling as between 3.1.6 and 3.4.0 (#5945, #6052);
• Dshot beacon configuraton has been changed. Now the beacon CLI command can be used analogous to how the beeper command is used. This allows for the Dshot beacon to be disabled individually for the conditions that are supported by it (RX_SET and RX_LOST at the moment). The old way of disabling the Dshot beacon by setting beeper_dshot_beacon_tone to 0 is no longer supported. The Dshot beacon is disabled for all conditions by default, if you want to enable it, use beacon <condition name|ALL> in CLI (#5891, #6070);
• in previous versions of the firmware, there was a race condition that could cause Dshot commands (e.g. activation of crash flip) to be ignored by the ESC when the Dshot beacon was active. To prevent this, a timeout has been added to the Dshot beacon that prevents arming for 2 seconds after the Dshot beacon was active (#6079);
• validation has been added for the RSSI configuration. Unlike in previous versions, it is no longer possible to have multiple sources for RSSI configured simultaneously, since only one can be active at any one time. If you have got more than one of the supported RSSI sources (frame error count / ADC / RX channel) configured, all but the first on this list will be disabled (#5644);
• scaling has been added to all RSSI sources. If the RSSI mechanism that you are using does not give you the output range that you want for RSSI, you can now use the rssi_scale / rssi_offset CLI variables to set the scale and offset for RSSI (#6001, #6032);
• the functionality of the crash flip mode has been improved: In addition to the existing front / back / left / right spinning of 2 propellers, it now supports spinning only 1 propeller (by moving the roll / pitch stick diagonally), and spinning 2 props that are diagonally opposite (by moving yaw), in order to yaw the overturned craft. The largest stick deflection in any of these directions determines which properllers are spun (#5163);
• the setting moron_threshold for the acceptable noise limit during gyro calibration was renamed to gyro_calib_noise_limit. Additionally, a new setting gyro_calib_duration was added. This allows users to configure a longer minimum gyro calibration duration (in 1/109ths of seconds, default: 125). Using a larger setting here will result in reduced gyro drift, which is helpful when flying line of sight (#5932);
• unfortunately bugfixes and improvements 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: BETAFLIGHTF3, COLIBRI_RACE, FRSKYF3, FURYF3OSD, LUX_RACE, MIDELICF3, OMNIBUS, RCEXPLORERF3, RG_SSD_F3, SPRACINGF3EVO, SPRACINGF3NEO;
• the OSD elements osd_crosshairs (crosshairs) and osd_ah_sbar (artificial horizon sidebar) have been renamed in CLI to osd_crosshairs_pos and osd_ah_sbar_pos to make them consistent with the naming of OSD elements. If you are using these elements, please manually change the names in your backup before restoring (#5534);
• the range of the vtx_band parameter in CLI was extended to start at 0 instead of 1. Setting vtx_band = 0 allows users of VTX using the SmartPort or Tramp protocols to set the desired frequency directly via the vtx_freq parameter. Since direct frequency setting is not supported by the RTC6705 (onboard) VTX driver vtx_band = 0 does not work for these VTX, and should not be used (#5465).

Major features:

• Overhauled and improved filtering (#5391, #5458);
• Optimised and massively improved the performance on F7 (#5674);
• Added GPS rescue mode (#5753, #5764);
• Added support for accessing SD card / onboard flash as USB mass storage device (MSC) (#5443, #5629, #5650);
• Added support for reading RC input as USB joystick (HID) (#5478, #5596);
• Added support for CMS configuration over CRSF (#5743);
• Added support for experimental filter based RC channel smoothing (#6017).

Minor features:

• Added acro trainer mode (#5970);
• Added throttle boost mode (#5508);
• Added support for throttle limiting (#5608);
• Added PID loop improvements (#5968, #5963, #5962);
• Added support for accelerated yaw spin recovery (#5706);
• Added support for direct adjustment of PID values through an RC channel (#5584);
• Added support for multiple overclocking speeds (#5193);
• Added MCU temperature monitoring (#5322);
• Added paralyse mode (#5851);
• Added support for QMC5883L compass (#5309);
• Added support for W25M flash chips (#5722).

New targets:

• Added SPRACINGF7DUAL with dual gyro support (#5264).

Changes from Release Candidate 4:

Fixes:

• Fixed RC smoothing issues with slow protocols (PPM), and RC filtering issues with Crossfire (#6259);
• Fixed issues with lock ups on the OSD statistics screen for boards without a flash chip (#6261).