ATBetaflight 4.3.2 Release Candidate 4

请仔细阅读这些重要的介绍性说明/Please read these important introductory notes carefully

1. 本发布基于betaflight 4.3.1，请暂时使用这个版本的betaflight配置程序来设置飞控参数，相关参数设置请参阅betaflight 4.3.1。/ This release is based on betaflight 4.3.1, please temporarily use this nightly betaflight configurator to configure settings, please refer to betaflight 4.3.1 for related parameter settings
2. 我们的固件仅可用于基于AT32F435/7芯片的飞控，请勿尝试在基于STM32芯片的飞控上烧写本固件。强行刷入所造成的任何后果均与FlightNG团队无关。/ Our firmware can only be used for flight controllers based on AT32F435/7 chips, please do not try to flash this firmware on flight controllers based on STM32 chips. Any consequences caused by forced flashing have nothing to do with the FlightNG team.
3. 核心团队目前正在主持一个QQ群用于固件讨论，欢迎加入：428787190

• betaflight_4.3.2_EMSRPROTO2_efc7b28.hex: LQFP100 AT32F435/7 VMT7 target
• betaflight_4.3.2_NEUTRONRCF435SE_efc7b28.hex: LQFP64 NEUTRONRCF435SE target
• betaflight_4.3.2_NEUTRONRCF435MINI_efc7b28.hex: QFN48 NEUTRONRCF435MINI target

主要改进/Major Improvements

• 修复了SPI DMA的错误/Fixed bugs in SPI DMA

新贡献者/New Contributors

• @liyouluo made their first contribution in #52

Full Changelog: v4.3.2-rc3...v4.3.2-rc4

ATBetaflight 4.3.2 Release Candidate 3

请仔细阅读这些重要的介绍性说明/Please read these important introductory notes carefully

1. 本发布基于betaflight 4.3.1，请暂时使用这个版本的betaflight配置程序来设置飞控参数，相关参数设置请参阅betaflight 4.3.1。/ This release is based on betaflight 4.3.1, please temporarily use this nightly betaflight configurator to configure settings, please refer to betaflight 4.3.1 for related parameter settings
2. 我们的固件仅可用于基于AT32F435/7芯片的飞控，请勿尝试在基于STM32芯片的飞控上烧写本固件。强行刷入所造成的任何后果均与FlightNG团队无关。/ Our firmware can only be used for flight controllers based on AT32F435/7 chips, please do not try to flash this firmware on flight controllers based on STM32 chips. Any consequences caused by forced flashing have nothing to do with the FlightNG team.
3. 核心团队目前正在主持一个QQ群用于固件讨论，欢迎加入：428787190

• betaflight_4.3.2_EMSRPROTO2_b8d31f4.hex: LQFP100 AT32F435/7 VMT7 target
• betaflight_4.3.2_NEUTRONRCF435SE_b8d31f4.hex: LQFP64 NEUTRONRCF435SE target
• betaflight_4.3.2_NEUTRONRCF435MINI_b8d31f4.hex: QFN48 NEUTRONRCF435MINI target

改进/Improvements

• 添加了对SH3001的支持 | Added support for SH3001 IMU
• 添加了BMI270的CRT功能 | Added CRT for BMI270 IMU
• 添加了对QMI8658的支持 | Added support for QMI8658 IMU
• 添加了对ASM330LHH的支持 | Added support for ASM330LHH IMU
• 对BMI270驱动进行了优化 | Optimized BMI270 driver
• 修改了默认的USBD描述字符串 | Changed default USBD string
• 关闭了所有LSM6Sxx和ASM330LHH中开启的HPM功能 | Disabled HPM on all LSM6Dxx IMUs and ASM330LHH IMU

错误修复/Fixes

• 按照博世API修复了BMI270驱动中的CAS补偿部分 | Fixed CAS compensation part of BMI270 driver according to Bosch API
• 修复了Dshot信标中的错误 | Fixed Dshot beacon

目标更新/Target Updates

• 向EMSRPROTO2添加了更多陀螺仪驱动 | Added more gyro drivers to EMSRPROTO2
• 向EMSRPROTO3添加了更多陀螺仪驱动 | Added more gyro drivers to EMSRPROTO3
• 修复了NEUTRONRCF435MINI目标的2号电机引脚的PWM输出相关问题 | Fixed PWM issue on MOTOR 2 of NEUTRONRCF435MINI target
• 向AT32F437开发板目标添加了ASM330LHH驱动 | Added ASM330LHH driver to AT32F437DEV target

贡献者/Contributors

@DusKing1 @shanggl @ctzsnooze

Full Changelog: v4.3.1-rc2...v4.3.2-rc3

ATBetaflight 4.3.2 Release Candidate 2

请仔细阅读这些重要的介绍性说明/Please read these important introductory notes carefully

1. 本发布基于betaflight 4.3.1，请暂时使用这个版本的betaflight配置程序来设置飞控参数，相关参数设置请参阅betaflight 4.3.1。/ This release is based on betaflight 4.3.1, please temporarily use this nightly betaflight configurator to configure settings, please refer to betaflight 4.3.1 for related parameter settings
2. 我们的固件仅可用于基于AT32F435/7芯片的飞控，请勿尝试在基于STM32芯片的飞控上烧写本固件。强行刷入所造成的任何后果均与FlightNG团队无关。/ Our firmware can only be used for flight controllers based on AT32F435/7 chips, please do not try to flash this firmware on flight controllers based on STM32 chips. Any consequences caused by forced flashing have nothing to do with the FlightNG team.
3. 核心团队目前正在主持一个QQ群用于固件讨论，欢迎加入：428787190

• betaflight_4.3.2_EMSRPROTO2_212aa64.hex: LQFP100 AT32F435/7 VMT7 target
• betaflight_4.3.2_NEUTRONRCF435SE_212aa64.hex: LQFP64 NEUTRONRCF435SE target
• betaflight_4.3.2_NEUTRONRCF435MINI_212aa64.hex: QFN48 NEUTRONRCF435MINI target

改进/Improvements

• 将BMI270驱动从“Maximum Fifo”切换为“Normal” | Switched BMI270 driver from "Maximum Fifo" to "Normal"
• 添加了对LSM6DS3的支持 | Added support for LSM6DS3
• 添加了对LSM6DSL/LSM6DS3TR-C的支持 | Added support for LSM6DSL/LSM6DS3TR-C
• 启用BMI270的运行时偏差补偿 | Enabled IOC feature of BMI270
• 添加了史密斯预测器 | Added Smith Predictor

错误修复/Fixes

• 修复了DPS310驱动中错误的C11系数 | Fixed wrong C11 coef of DPS310 driver
• 修复了BMI270驱动中的的跨轴灵敏度补偿部分 | Fixed CAS part in BMI270 driver
• 修复了I2C超时时间过长导致卡住的错误 | Fixed wrong I2C timeout time
• 修复了BMI270驱动中的错误读写方式 | Fixed basic WR method in BMI270 driver
• 修复了编译阶段的警告错误 | Fixed compiling errors

目标更新/Target Updates

• 将所有AT32目标的1234舵机默认值更改为5678电机 | Modified all AT32's 1234 servo to motor 5678
• 规范化NEUTRONRC的固件定义及命名 | Unified NeutronRC targets name
• 添加了基于CGU7芯片的NEUTRONRCF435MINI目标 | Added NEUTRONRCF435MINI based on CGU7

贡献者/Contributors

@DusKing1 @shanggl @SteveCEvans

ATBetaflight 4.3.2 Release Candidate 1

正好赶上了割韭菜的时间.../ Just in time for cutting leeks...

请仔细阅读这些重要的介绍性说明/Please read these important introductory notes carefully

1. 本发布基于betaflight 4.3.1，请暂时使用betaflight配置程序10.8.0来设置飞控参数，相关参数设置请参阅betaflight 4.3.1。/ This release is based on betaflight 4.3.1, please temporarily use the betaflight configurator 10.8.0 to configure settings, please refer to betaflight 4.3.1 for related parameter settings
2. 我们的固件仅可用于基于AT32F435/7芯片的飞控，请勿尝试在基于STM32芯片的飞控上烧写本固件。强行刷入所造成的任何后果均与FlightNG团队无关。/ Our firmware can only be used for flight controllers based on AT32F435/7 chips, please do not try to flash this firmware on flight controllers based on STM32 chips. Any consequences caused by forced flashing have nothing to do with the FlightNG team.
3. 请使用雅特力 ISP Tools 刷写固件。/ Please flash new firmware using Artery ISP Tools.
4. 核心团队目前正在主持一个QQ群用于固件讨论，欢迎加入：428787190

• betaflight_4.3.1_EMSRPROTO2_8ef8e77.bin: LQFP100 AT32F435/7 VMT7 target
• betaflight_4.3.1_NEUTRONRCF435AIO_8ef8e77.bin: LQFP64 NeutronFCF435AIO target

改进/Improvements

• 为BMI270添加了CAS(跨轴灵敏度因子)补偿/Added CAS compensation for BMI270 (#4)
• 为LSM6DSO添加锁定和SPI DMA支持，并允许手动调整内置低通滤波器DLPF的截止频率/Add locked/SPI DMA support for LSM6DSO, and allowed users to adjust DLPF cutoff manually (#2)
• 加强BMI270、LSM6DSO的加速度计滤波强度以降低混叠/Strengthened acc anti-aliasing filter for reducing aliasing (#8)

错误修复/Fixes

• 修复电调透传协议读取失败的错误。/ Fixed a bug that causes esc-4-way-interface fail to read. (#9)
• 修复使用I2C中断式传输中的错误。/Fixed a bug that causes the wrong byte when using the interrupt transmit method. (#12)
• 修复NEUTRONRCF435AIO的LED行为错误的问题。/ Fixed wrong behaviour for NEUTRONRCF435AIO. (#7)

贡献者/Contributors

• @DusKing1 made their first contribution in #4
• @shanggl made their first contribution in #7

祝大家：快乐飞行、永不炸鸡
Wish you happy flying and never crash :)