Betaflight 4.4.3

What's Changed

Features

• Add support for MSP2_SENSOR_GPS message from RemoteID module by @SteveCEvans in #13081

Fixes

• Fix USE_TELEMETRY_IBUS by @haslinghuis in #12873
• Call updateInit() before writing motor command data by @SteveCEvans in #12866
• [MAINT] Add dshot_telemetry_start_margin setting (#12912) by @haslinghuis in #12964
• fix led strip for h7 (#12890) by @haslinghuis in #12976
• Enable/disable the UART TX before changing the TX pin mode by @SteveCEvans in #13018
• 4.4 maintenance uart enable/disable f4 by @SteveCEvans in #13020
• Allow for F7 UART idle preamble to be sent on startup - 4.4-maintenance by @SteveCEvans in #13022
• Remove dshot_telemetry_start_margin setting to use auto-tune(#13075) by @haslinghuis in #13082
• Check tx on MSP and GPS only by @haslinghuis in #13113
• Disable ICM4268xx AFSR feature to prevent stalls by @haslinghuis in #13137
• Fix buffer overflow in JETIEXBUS character reception (#13130) by @haslinghuis in #13136

Full Changelog: 4.4.2...4.4.3

Betaflight 4.4.2

What's Changed

Improvements

• [4.4.2] DSHOT timing improvements by @SteveCEvans in #12709
• [4.4.2] Reverting the config.h usage. by @blckmn in #12779

Fixes

• [4.4.2] Fix SDC by @haslinghuis in #12671
• [4.4.2] Fix GNSS new data by @haslinghuis in #12787
• [4.4.2] Tri-state USART TX output if load due to powered down peripheral is d… by @haslinghuis in #12782
• [4.4.2] Remove 15 m/s limit on estimated vario by @haslinghuis in #12788
• [4.4.2] Fix bootloader jump for g4 mcu (#12675) by @haslinghuis in #12783
• [4.4.2] Converge IMU faster at higher groundspeed during GPS Rescue by @haslinghuis in #12785
• [4.4.2] If CS is asserted between transfers then consider bus to be busy for … by @haslinghuis in #12784
• [4.4.2] Revert NVIC SPI priority by @haslinghuis in #12795
• [4.4.2] fixes not working Ghost on F4xx (#12809) by @haslinghuis in #12811
• [4.4.2] GPS Rescue Bugfix to ensure IMU adaptation to GPS course over ground by @haslinghuis in #12821
• [4.4.2] Handle invalid baro pressure values by @haslinghuis in #12824
• [4.4.2] GPS Rescue IMU adaptation 0.2 by @haslinghuis in #12845

Full Changelog: 4.4.1...4.4.2

Betaflight 4.4.1

What's Changed

Improvements

• Fix unified targets that use OctoSPI. (BF4.4.x) by @hydra in #12307
• Increase FF smoothing max to suit elrs 1000hz link rate (#12426) by @limonspb in #12433

Fixes

• Fix max permissible CMS rows and up/down page arrows (#12277) by @SteveCEvans in #12284
• Rollup 1 by @hydra in #12306
• Fix SDFT batchSize rounding by @KarateBrot in #12332
• Latest changes from unified targets, and sdcard build fix. by @blckmn in #12415
• H7 Fix frozen ADC values by @klutvott123 in #12443
• ICM426XX AA filter (#12444) by @sugaarK in #12465
• Blackbox (as applied to 4.5.0) by @blckmn in #12520
• DShot zero between beacon commands for 4.4, from 12544 by @ctzsnooze in #12555
• Restore DShot Beacon control for 4.4 by @ctzsnooze in #12560
• Include smartport telemetry for Fport (#12314) by @klutvott123 in #12572
• Exclude MSP_OSD_CONFIG if USE_OSD not defined (#12513) by @klutvott123 in #12590
• Add separate AAF values for ICM-42605 by @sugaarK in #12616

Targets

• Patch for config.h files by @blckmn in #12380
• Adding support for building by config by @blckmn in #12376
• FIX CONFIG: Adding USE_ACC, USE_GYRO and USE_BARO where appropriate. by @blckmn in #12477
• FIX CONFIG: Adding USE_FLASH to enable where hardware supports by @blckmn in #12499

Full Changelog: 4.4.0...4.4.1

Betaflight 4.4.0

Introducing: Betaflight 4.4.0

Our release notes for 4.4.0 are here: https://betaflight.com/docs/release/Betaflight-4.4-Release-Notes

IMPORTANT: Make sure you install and use the latest version of the Betaflight Configurator (10.9.0) before updating your firmware.

Please read these important introductory notes:

1. There is a new betaflight.com website that houses all the documentation and media for helping you get the best out of Betaflight. Well done to the team who have pulled that together. Check it out: http://www.betaflight.com.

2. If your target does not present the 4.4.0 releases in 10.9.0 of the configurator, then please flash 4.3.2 and then submit a support request from within the CLI tab. This should give us enough information to at least get your target up and running with 4.4.0. The reason it will be missing is the manufacturer or our flyers, have yet to provide the details needed about what hardware is on the board.

3. After updating to Betaflight 4.4.0, you MUST use the latest 10.9.0 Betaflight Configurator. Earlier configurator versions (e.g.10.8) will not work properly with 4.4 releases.

4. 4.4 has a new Cloud Building System. This is design to extend the life of smaller flash sized MCUs (F411 and F722) based boards. You need to enable the various options in the build, before selecting "Load Firmware Online" within the configurator. It is super simple, but just be aware that unless you have selected the option for your firmware it will not be available once you flash the board. Don't stress, if you miss an option, just request a new build! :)

5. HD OSD support has been added. This is not currently supported by HD Zero, but some effort there is in the works so watch this space.

6. Check all your settings carefully before arming for the first time. Check PIDs, Filters, Rates, motor configuration and motor rotation. For the first flights, arm in a safe place, fly gently, and look out for any setup or build issues.

Betaflight has a presence on the Discord messaging platform - and this is the primary location for support, questions and discussions. Come and join us. 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.

Alternatively, if you don't use Discord and you want to talk about Betaflight, ask configuration questions, or just hang out with fellow pilots, you can do this in our Facebook group.

What's Changed

Features

• Add OSD_CRAFTNAME_MSGS to insert additional data into CraftName by @howels in #11771
• Ghost MSP support by @daleckystepan in #11242
• ExpressLRS 3.0 compatibility mode by @phobos- in #11783
• VTX Device over MSP by @phobos- in #11705
• Feature/dshot extended telemetry on unused ranges by @damosvil in #11694
• Set PID profile count and RATE profile count to 4 by @haslinghuis in #11770
• Implement battery continuation by @rvdveen in #11084
• Watt Hours Drawn OSD Element and Post Flight Stat by @jonmahoney15 in #11843
• CLOUD_BUILD enablement. Supporting the use of a cloud build server. by @blckmn in #11850
• Add AUX channel value to OSD (e.g. for Pilot's Heart Rate) by @alexeystn in #10789
• Ready Mode by @jonmahoney15 in #11886
• Add support for getting/setting elrs uid via msp API by @jeffpearce in #11192
• Rename 'display_name' to 'pilot_name'; rename 'name' to 'craft_name' ;Add the 'MSP2_GET_TEXT' and 'MSP2_SET_TEXT' MSP commands by @krasiyan in #11391
• Add HD OSD support by @SteveCEvans in #11964
• MSP messages to get and set PID and rate profile names. by @qvasic in #12020
• Show PID and rate profile names in OSD menu. by @qvasic in #11962

Improvements

• Add angle limit to OSD settings menu by @SpencerGraffunder in #11257
• Adds blackbox fields_disabled_mask to msp by @fgiudice98 in #10054
• Remove unused rxRefreshRate by @daleckystepan in #11668
• Update GPS Rescue by @ctzsnooze in #11579
• Extract function toUpperCase for osd elements by @limonspb in #11670
• Only write to FLASH once 64 bytes are buffered by @SteveCEvans in #11697
• Save flash: Replace CLI params for OSD stats and warnings with bitmasks by @limonspb in #11671
• Use timed timeouts for USB HAL functions, not simple counts, as per H7 by @SteveCEvans in #11669
• Use macros for power with integer exponents by @mathiasvr in #11126
• Style: Use angle brackets with standard library headers by @mathiasvr in #11196
• Remove USE_EXTI, USE_GYRO_EXTI and USE_MPU_DATA_READY_SIGNAL defines by @SteveCEvans in #11585
• MAX7456 cleanups 1 by @hydra in #11662
• Refactoring IMU, ACC and small PID loop improvements by @daleckystepan in #11326
• Move to Github Actions for PRs by @blckmn in #11723
• Don't set sleepTime to ut_delay in BARO_STATE_PRESSURE_SAMPLE state by @SteveCEvans in #11740
• CLI: Raise upper limit of dyn_idle_min_rpm by @KarateBrot in #11769
• Allow dyn_notch_min_hz as low as 20Hz by @bw1129 in #11795
• Refactor barometer as floats with pt2 smoothing by @ctzsnooze in #11775
• Change Dynamic Notch Min Hz default to 100Hz by @SupaflyFPV in #11827
• Unify all eRPM to RPM calculations into one single function by @damosvil in #11772
• GPS Rescue smoothed with upsampled inputs, bug fixes by @ctzsnooze in #11834
• Cleanup some switch-case-s by @DusKing1 in #11810
• Add MSP displayport sub-command definitions by @SteveCEvans in #11864
• Enhancements for ICM-426xx (gyro and acc) by @KarateBrot in #11866
• Fix function brace style by @mathiasvr in #11191
• ExpressLRS: Minor style fix and clean up by @mathiasvr in #11195
• Use ARRAYLEN macro where applicable by @mathiasvr in #11190
• Populate unified targets as separate target folders by @blckmn in #11885
• Move TPA to PID profile by @haslinghuis in #11779
• Use std abs() instead of ABS() macro by @mathiasvr in #11097
• Use lrintf for explicit rounding of float to integer by @mathiasvr in #11102
• Remove old style definitions by @KarateBrot in #11887
• BMI160/270: Stronger acc anti-aliasing by @KarateBrot in #11895
• Revert GPS satellite minimums to single gps_rescue_min_sats value by @ctzsnooze in #11905
• Removing 'UNIFIED_TARGET' by @blckmn in #11909
• Remove duplicate DSHOT port configuration by @SteveCEvans in #11915
• Lock altitude task at 100Hz & fix baro calibration by @KarateBrot in #11911
• use PWM_RANGE consistently by @ctzsnooze in #11921
• Enable MSP Displayport on a serial port using FUNCTION_MSP_DISPLAYPORT by @SteveCEvans in #11913
• Moving OSD to cloud build option by @blckmn in #11926
• Final target clean up by @blckmn in #11925
• Adding board scratch space. by @blckmn in #11920
• Parse GPS DOP values by @KarateBrot in #11912
• Dedicated task for GPS Rescue by @KarateBrot in #11972
• Refactor RPM Filter by @KarateBrot in #11765
• Add HD OSD system elements for VTX temp and goggle fan speed by @SteveCEvans in https://github...

Betaflight 4.4.0-RC5

Introducing: Betaflight 4.4.0-RC5

We are getting very close now Flyers! This will likely be our last Release Candidate. If all goes well, you can expect a full release a week from now.

Out release notes for 4.4.0 are here: https://www.betaflight.com/docs/documentation/Release%20Notes/Betaflight%204.4%20Release%20Notes

Remember that if you are using RC5 of the configurator, there should be no more "red errors" when applying custom defaults and resetting to the "defaults". These defaults are now customised based on the build. There may still be a few items we have missed so any errors that come up please post in the #cloud-build-issues in our Discord or log an issue here.

IMPORTANT: Make sure you install and use the latest version of the Betaflight Configurator (10.9.0-RC5) before updating your firmware.

Please read these important introductory notes:

1. There is a new betaflight.com website that houses all the documentation and media for helping you get the best out of Betaflight. Well done to the team who have pulled that together. Check it out: http://www.betaflight.com.

2. If your target does not present the 4.4.0 releases in 10.9.0 of the configurator, then please flash 4.3.2 and then submit a support request from within the CLI tab. This should give us enough information to at least get your target up and running with 4.4.0. The reason it will be missing is the manufacturer or our flyers, have yet to provide the details needed about what hardware is on the board.

3. After updating to Betaflight 4.4.0-RC5, you SHOULD use the latest 10.9.0-RC5 Betaflight Configurator. Earlier configurator versions (e.g.10.8) will not work properly with 4.4 releases. Our preference is you upgrade to the latest RC5 of the configurator as we are close to release.

4. 4.4 has a new Cloud Building System. This is design to extend the life of smaller flash sized MCUs (F411 and F722) based boards. You need to enable the various options in the build, before selecting "Load Firmware Online" within the configurator. It is super simple, but just be aware that unless you have selected the option for your firmware it will not be available once you flash the board. Don't stress, if you miss an option, just request a new build! :)

5. HD OSD support has been added. This is not currently supported by HD Zero, but some effort there is in the works so watch this space.

6. Check all your settings carefully before arming for the first time. Check PIDs, Filters, Rates, motor configuration and motor rotation. For the first flights, arm in a safe place, fly gently, and look out for any setup or build issues.

Betaflight has a presence on the Discord messaging platform - and this is the primary location for support, questions and discussions. Come and join us. 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.

Alternatively, if you don't use Discord and 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 4.4.0-RC5 brings the following updates:

What's Changed

Improvements

• Automatically apply HD settings if HD VTX is detected by @SteveCEvans in #12184

Fixes

• Fixed getDshotAverageRpm function by @damosvil in #12178
• Minor fixes for Dyn Notch & SDFT by @KarateBrot in #12199

Full Changelog: 4.4.0-RC4...4.4.0-RC5

Betaflight 4.4.0-RC4

Introducing: Betaflight 4.4.0-RC4

We are getting close Flyers!

This release also brings a few changes to the cloud build, the biggest of which is that if you are using RC4 of the configurator, there should be no more "red errors" when applying custom defaults and resetting to the "defaults". These defaults are now customised based on the build. There may be a few items we have missed so any errors that come up please post in the #cloud-build-issues in our Discord or log an issue here.

IMPORTANT: Make sure you install and use the latest version of the Betaflight Configurator (10.9) before updating your firmware.

Please read these important introductory notes:

1. After updating to Betaflight 4.4.0-RC4, you MUST use the latest 10.9 Betaflight Configurator. Earlier configurator versions will not work properly with 4.4 releases.

2. 4.4 has a new Cloud Building System. This is design to extend the life of smaller flash sized MCUs (F411 and F722) based boards. You need to enable the various options in the build, before selecting "Load Firmware Online" within the configurator. It is super simple, but just be aware that unless you have selected the option for your firmware it will not be available once you flash the board. Don't stress, if you miss an option, just request a new build! :)

3. HD OSD support has been added. This is not currently supported by HD Zero, but some effort there is in the works so watch this space.

4. Check all your settings carefully before arming for the first time. Check PIDs, Filters, Rates, motor configuration and motor rotation. For the first flights, arm in a safe place, fly gently, and look out for any setup or build issues.

Betaflight has a presence on the Discord messaging platform - and this is the primary location for support, questions and discussions. Come and join us. 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.

Alternatively, if you don't use Discord and 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 4.4.0-RC4 brings the following updates:

What's Changed

Improvements

• Disarm on fail-safe when allow arming without fix is enabled and failsafe procedure is set to GPS-RESCUE by @haslinghuis in #12120
• Flash M25P16: Add QSPI support by @mluessi in #12103
• Add osd_canvas_width/height variables by @SteveCEvans in #12164

Fixes

• FIX: CC2500 not building due to undefined pins. by @blckmn in #12125
• FIX: SPI_DPS310 not gated correctly by @blckmn in #12131
• Ensure OSD elements are on canvas by @SteveCEvans in #12144
• Fix reset PG behaviour and configurator interactions based on USE_OSD_SD and USE_OSD_HD definitions by @SteveCEvans in #12152
• Avoid debugging other data than RPM telemetry when decoding DSHOT RPM by @damosvil in #12166
• Improve performance for ELRS SX1280 SPI callbacks and SPI/ELRS handlers. by @hydra in #11460
• FIX: Hard fault on dump of settings if no OSD selected by @blckmn in #12171

Full Changelog: 4.4.0-RC3...4.4.0-RC4

Betaflight 4.4.0-RC3

Introducing: Betaflight 4.4.0-RC3

Happy New Year Flyers!

The next instalment for 4.4.0 as we head towards making this ready!

IMPORTANT: Make sure you install and use the latest version of the Betaflight Configurator (10.9 or higher) from https://github.com/betaflight/betaflight-configurator/releases/tag/10.9.0 before updating your firmware.

Please read these important introductory notes:

1. After updating to Betaflight 4.4.0-RC3, you MUST use the latest 10.9 Betaflight Configurator. Earlier 10.8 and 10.7 configurator versions will not work properly with 4.4 releases.

2. 4.4 has a new Cloud Building System. This is design to extend the life of smaller flash sized MCUs (F411 and F722) based boards. You need to enable the various options in the build, before selecting "Load Firmware Online" within the configurator. It is super simple, but just be aware that unless you have selected the option for your firmware it will not be available once you flash the board. Don't stress, if you miss an option, just request a new build! :)

3. HD OSD support has been added. This is not currently supported by HD Zero, but some effort there is in the works so watch this space.

4. Check all your settings carefully before arming for the first time. Check PIDs, Filters, Rates, motor configuration and motor rotation. For the first flights, arm in a safe place, fly gently, and look out for any setup or build issues.

Betaflight has a presence on the Discord messaging platform - and this is the primary location for support, questions and discussions. Come and join us. 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.

Alternatively, if you don't use Discord and 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 4.4.0-RC3 brings the following updates:

What's Changed

Improvements

• Add support for Omron 2SMBP-02B barometer by @mluessi in #11173
• Display OSD canvas size in status command by @SteveCEvans in #12108
• Improved SDFT windowing by @KarateBrot in #12117

Fixes

• FIX: MSP Displayport now has dependency on OSD config by @blckmn in #12106

Targets

• Fix STM32H750 target support by @hydra in #12091
• STM32H730 base target support. by @hydra in #12093

Full Changelog: 4.4.0-RC2...4.4.0-RC3

Betaflight 4.4.0-RC2

Introducing: Betaflight 4.4.0-RC2

The next instalment for 4.4.0 as we head towards making this ready!

IMPORTANT: Make sure you install and use the latest version of the Betaflight Configurator (10.9 or higher) from https://github.com/betaflight/betaflight-configurator/releases/tag/10.9.0 before updating your firmware.

Please read these important introductory notes:

1. After updating to Betaflight 4.4.0-RC2, you MUST use the latest 10.9 Betaflight Configurator. Earlier 10.8 and 10.7 configurator versions will not work properly with 4.4 releases.

2. 4.4 has a new Cloud Building System. This is design to extend the life of smaller flash sized MCUs (F411 and F722) based boards. You need to enable the various options in the build, before selecting "Load Firmware Online" within the configurator. It is super simple, but just be aware that unless you have selected the option for your firmware it will not be available once you flash the board. Don't stress, if you miss an option, just request a new build! :)

3. HD OSD support has been added. This is not currently supported by HD Zero, but some effort there is in the works so watch this space.

4. Check all your settings carefully before arming for the first time. Check PIDs, Filters, Rates, motor configuration and motor rotation. For the first flights, arm in a safe place, fly gently, and look out for any setup or build issues.

Betaflight has a presence on the Discord messaging platform - and this is the primary location for support, questions and discussions. Come and join us. 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.

Alternatively, if you don't use Discord and 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 4.4.0-RC2 brings the following updates:

What's Changed

Improvements

• Display FLASH JEDEC ID in status and flash_info by @SteveCEvans in #12051
• Extend error output by @haslinghuis in #12063
• Cloud build option for 64 leds by @limonspb in #12064

Fixes

• Use USE_DMA_SPEC without preconditions by @haslinghuis in #12050
• Fix ELRS gating issues. by @hydra in #12055
• Center logo and CMS display for HD OSD by @SteveCEvans in #12056
• Small fix for msp vtx over crsf framing by @phobos- in #12059
• Fixed edt telemetry initial value assignation by @damosvil in #12074
• FIX: USE_RX_CC2500 was not gating correctly by @blckmn in #12083
• Center ARMED message and stats by @SteveCEvans in #12086

Targets

• FIX: Include the legacy drivers (gated) by @blckmn in #12069

Full Changelog: 4.4.0-RC1...4.4.0-RC2

Betaflight 4.4.0-RC1

Introducing: Betaflight 4.4.0-RC1

Just in time for the holiday season. A huge number of contributions from many people. A big thanks to all who have contributed to Betflight.

IMPORTANT: Make sure you install and use the latest version of the Betaflight Configurator (10.9 or higher) from https://github.com/betaflight/betaflight-configurator/releases/tag/10.9.0 before updating your firmware.

Please read these important introductory notes:

1. After updating to Betaflight 4.4.0-RC1, you MUST use the latest 10.9 Betaflight Configurator. Earlier 10.8 and 10.7 configurator versions will not work properly with 4.4 releases.

2. 4.4 has a new Cloud Building System. This is design to extend the life of smaller flash sized MCUs (F411 and F722) based boards. You need to enable the various options in the build, before selecting "Load Firmware Online" within the configurator. It is super simple, but just be aware that unless you have selected the option for your firmware it will not be available once you flash the board. Don't stress, if you miss an option, just request a new build! :)

3. HD OSD support has been added. This is not currently supported by HD Zero, but some effort there is in the works so watch this space.

4. Check all your settings carefully before arming for the first time. Check PIDs, Filters, Rates, motor configuration and motor rotation. For the first flights, arm in a safe place, fly gently, and look out for any setup or build issues.

Betaflight has a presence on the Discord messaging platform - and this is the primary location for support, questions and discussions. Come and join us. 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.

Alternatively, if you don't use Discord and 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 4.4.0-RC1 brings the following updates:

What's Changed

Features

• Add OSD_CRAFTNAME_MSGS to insert additional data into CraftName by @howels in #11771
• VTX Device over MSP by @phobos- in #11705
• Feature/dshot extended telemetry on unused ranges by @damosvil in #11694
• Set PID profile count and RATE profile count to 4 by @haslinghuis in #11770
• Implement battery continuation by @rvdveen in #11084
• Watt Hours Drawn OSD Element and Post Flight Stat by @jonmahoney15 in #11843
• CLOUD_BUILD enablement. Supporting the use of a cloud build server. by @blckmn in #11850
• Add AUX channel value to OSD (e.g. for Pilot's Heart Rate) by @alexeystn in #10789
• Ready Mode by @jonmahoney15 in #11886
• Add support for getting/setting elrs uid via msp API by @jeffpearce in #11192
• Rename 'display_name' to 'pilot_name'; rename 'name' to 'craft_name' ;Add the 'MSP2_GET_TEXT' and 'MSP2_SET_TEXT' MSP commands by @krasiyan in #11391
• Add HD OSD support by @SteveCEvans in #11964
• MSP messages to get and set PID and rate profile names. by @qvasic in #12020
• Show PID and rate profile names in OSD menu. by @qvasic in #11962

Improvements

• Add angle limit to OSD settings menu by @SpencerGraffunder in #11257
• Adds blackbox fields_disabled_mask to msp by @fgiudice98 in #10054
• Remove unused rxRefreshRate by @daleckystepan in #11668
• Update GPS Rescue by @ctzsnooze in #11579
• Extract function toUpperCase for osd elements by @limonspb in #11670
• Only write to FLASH once 64 bytes are buffered by @SteveCEvans in #11697
• Save flash: Replace CLI params for OSD stats and warnings with bitmasks by @limonspb in #11671
• Use timed timeouts for USB HAL functions, not simple counts, as per H7 by @SteveCEvans in #11669
• Use macros for power with integer exponents by @mathiasvr in #11126
• Style: Use angle brackets with standard library headers by @mathiasvr in #11196
• Remove USE_EXTI, USE_GYRO_EXTI and USE_MPU_DATA_READY_SIGNAL defines by @SteveCEvans in #11585
• MAX7456 cleanups 1 by @hydra in #11662
• Refactoring IMU, ACC and small PID loop improvements by @daleckystepan in #11326
• Use GitHub Actions for CI by @mathiasvr in #11132
• Move to Github Actions for PRs by @blckmn in #11723
• Don't set sleepTime to ut_delay in BARO_STATE_PRESSURE_SAMPLE state by @SteveCEvans in #11740
• CLI: Raise upper limit of dyn_idle_min_rpm by @KarateBrot in #11769
• Allow dyn_notch_min_hz as low as 20Hz by @bw1129 in #11795
• Ghost MSP support by @daleckystepan in #11242
• Refactor barometer as floats with pt2 smoothing by @ctzsnooze in #11775
• ExpressLRS 3.0 compatibility mode by @phobos- in #11783
• Change Dynamic Notch Min Hz default to 100Hz by @SupaflyFPV in #11827
• Unify all eRPM to RPM calculations into one single function by @damosvil in #11772
• GPS Rescue smoothed with upsampled inputs, bug fixes by @ctzsnooze in #11834
• Cleanup some switch-case-s by @DusKing1 in #11810
• Add MSP displayport sub-command definitions by @SteveCEvans in #11864
• Enhancements for ICM-426xx (gyro and acc) by @KarateBrot in #11866
• Fix function brace style by @mathiasvr in #11191
• ExpressLRS: Minor style fix and clean up by @mathiasvr in #11195
• Use ARRAYLEN macro where applicable by @mathiasvr in #11190
• Populate unified targets as separate target folders by @blckmn in #11885
• Move TPA to PID profile by @haslinghuis in #11779
• Use std abs() instead of ABS() macro by @mathiasvr in #11097
• Use lrintf for explicit rounding of float to integer by @mathiasvr in #11102
• Remove old style definitions by @KarateBrot in #11887
• BMI160/270: Stronger acc anti-aliasing by @KarateBrot in #11895
• Revert GPS satellite minimums to single gps_rescue_min_sats value by @ctzsnooze in #11905
• Removing 'UNIFIED_TARGET' by @blckmn in #11909
• Remove duplicate DSHOT port configuration by @SteveCEvans in #11915
• Lock altitude task at 100Hz & fix baro calibration by @KarateBrot in #11911
• use PWM_RANGE consistently by @ctzsnooze in #11921
• Enable MSP Displayport on a serial port using FUNCTION_MSP_DISPLAYPORT by @SteveCEvans in #11913
• Moving OSD to cloud build option by @blckmn in #11926
• Final target clean up by @blckmn in #11925
• Adding board scratch space. by @blckmn in #11920
• Parse GPS DOP values by @KarateBrot in #11912
• Dedicated task for GPS Rescue by @KarateBrot in #11972
• Refactor RPM Filter by @KarateBrot in #11765
• Add HD OSD system elements for VTX temp and goggle fan speed by @SteveCEvans in #11999
• Fix/enhance NMEA & Ublox message polling for GPS by @KarateBrot in #12022
• NMEA ATGM336 - support 10Hz refresh rate by @krzysztofkuczek in #12008

Fixes

• Fix compilation error when USE_RX_MSP_OVERRIDE is defined without USE_RX_MSP. by @hydra in https://githu...

Betaflight 4.3.2

What's Changed

Fixes

• Fix read of DPS310 coef C11 by @SteveCEvans in #12011
  4.3 maint SteveCEvans (#12009)
• Refactor USB serial ring buffer code
• Simplify cliWriter structure definition as use of uint8_t data[] (flexible array member) at the end of the bufWriter_t structure is breaking the F411 build
• Unintended change impacting F7
• Raise upper limit of dyn_idle_min_rpm
• Allow dyn_notch_min_Hz as low as 20Hz
• MSC - Fix MSC on H7. Commit 9629f96, broke MSC. Details on #10747
• Do not automatically negate CS at end of SPI transfer (cherry picked from commit 92e50d5)

Full Changelog: 4.3.1...4.3.2