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Fydelix v0.2.0

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@DusKing1 DusKing1 released this 09 Jul 15:01
v0.2.0
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Fidelity X 0.2.0 is the first stable release of the 0.2 series. It expands the firmware from a single MCU platform to four chip families, while delivering major blackbox reliability improvements, new flight features, refined control and filtering, broader OSD support, and stronger safety behavior.

Fidelity X 0.2.0 是 0.2 系列的首个正式版本。该版本将固件从单一 MCU 平台扩展到四个芯片家族，并带来黑匣子可靠性升级、新增飞行功能、控制与滤波优化、更广泛的 OSD 支持以及多项安全改进。

  • Four MCU families and 23 build targets — Firmware now runs on AT32F43x, STM32F405, STM32G47x, and UM3241F. Seven additional commercial boards are available as clearly marked EVAL builds. / 四个 MCU 家族与 23 个构建目标 — 固件现已支持 AT32F43x、STM32F405、STM32G47x 和 UM3241F，并新增七款带明确 EVAL 标记的商业板型体验固件。

  • Major blackbox reliability upgrade — Improved logging robustness, asynchronous storage management, safer cache sizing, flash-type detection, SD-card logging, and USB Mass Storage export. / 黑匣子可靠性大幅升级 — 改进日志稳健性、异步存储管理、缓存安全性及闪存类型识别，并新增 SD 卡日志和 USB 大容量存储导出。

  • Turtle mode — Flip-over-after-crash support using temporary DShot motor reversal, with direction interlocks, boot-time restore, and arming lockout protections. / 乌龟模式（翻车自救） — 通过临时反转 DShot 电机实现翻车自救，并加入方向互锁、启动恢复和解锁保护。

  • Refined mixer and PID behavior — Attitude-priority mixing, bounded I-term anti-windup, and restored setpoint-HPF I-term relax improve saturation behavior and stick feel. / 混控与 PID 精修 — 姿态优先混控、有界 I 项抗饱和及基于设定值高通滤波的 I 项松弛，使饱和状态和操控手感更加干净。

  • Faster gyro and RPM filtering — RPM notch filtering now uses a TPT/SVF implementation, with lower FIR and gyro-filter CPU cost. / 陀螺仪与 RPM 滤波性能提升 — RPM 陷波迁移至 TPT/SVF 实现，并降低 FIR 与陀螺仪滤波的 CPU 占用。

  • Analog and digital OSD — MAX7456 analog OSD is now supported alongside MSP DisplayPort HD OSD, with configurable canvas and expanded elements. / 模拟与数字 OSD — 在 MSP DisplayPort 高清 OSD 之外新增 MAX7456 模拟 OSD，并支持可配置画布和更多 OSD 元素。

  • Improved STM32F405 DShot — Motor outputs may span two GPIO ports, with more reliable bidirectional RPM telemetry. / STM32F405 DShot 改进 — 电机输出可跨两个 GPIO 端口，并提高双向 RPM 遥测可靠性。

  • ESC motor beacon — A dedicated AUX channel can trigger a DShot ESC beacon for finding a lost quad. / 电机蜂鸣寻机 — 可通过独立 AUX 通道触发 DShot ESC 蜂鸣。

  • Safer RC behavior — Arming requires an arm-switch rising edge, normalized channels are clamped to a safe range, and the default stick deadzone is now 2%. / 更安全的 RC 行为 — 解锁需要开关上升沿触发，归一化通道被限制在安全范围内，默认摇杆死区调整为 2%。

  • IMU: BMI270, LSM6DSK320X (recommended), ICM42688P (limited support), LSM6DSV16X / BMI270、LSM6DSK320X（推荐）、ICM42688P（有限支持）、LSM6DSV16X

  • RC: SBUS, CRSF (Crossfire / ELRS)

  • ESC: DShot 300/600/1200 with bidirectional telemetry / 双向 DShot

  • Flight modes: Acro, Angle, Turtle mode / 全手动、自稳、乌龟模式

  • OSD: MSP DisplayPort (HD digital) and MAX7456 (analog) / 高清数字 OSD 与模拟 OSD

  • Blackbox: W25Q NOR, W25N NAND, SD card, USB Mass Storage export / 机载闪存、SD 卡与 USB 导出

  • Configurator: Web-based PWA at app.flightng.com / Web PWA 调参工具

  • ESC passthrough: BLHeli configurator support over USB / USB 直连 BLHeli 调参器

  • Shell console: Real-time diagnostics (status, imu, motor, rc, config...) / 实时诊断命令行

The following commercial-board ports are EVAL builds. They display an evaluation watermark and have not all completed physical flight validation. Flight behavior is not guaranteed; verify every function on the bench before installing propellers.

以下商业板型移植属于 EVAL 体验版。固件会显示体验版水印，且尚未全部完成实机飞行验证。飞行表现不作保证，安装桨叶前必须在工作台上逐项验证。

  • EVAL_BETAFPVF405_legacy

  • EVAL_BETAFPVF435_legacy

  • EVAL_CCRCF435AIO_legacy

  • EVAL_FLYCOLORF435_legacy

  • EVAL_JHEF435_legacy

  • EVAL_SPEEDYBEEF405AIOV2_legacy

  • EVAL_SPEEDYBEEF435AIOELRS_legacy

  • Horizon mode, Anti-gravity, Launch control, and 3D mode / 半自稳、抗重力、起飞辅助和正反桨

  • Multiple PID and Rate profiles / 多组 PID 与 Rate 配置

  • Additional OSD elements / 更多 OSD 元素

  • GPS, Barometer, Magnetometer, Rangefinder, and Optical flow / GPS、气压计、磁力计、测距仪和光流

  • Additional MCU families including STM32F722, STM32H743, and GD32H757 / 更多 MCU 家族支持

  • RC-loss Stage 2 forced disarm is not yet implemented. Do not rely on it as a complete failsafe mechanism. / RC 丢失第二阶段强制锁定尚未实现。 请勿将其视为完整的失控保护机制。

  • No in-flight DShot telemetry-loss guard. A bidirectional DShot link failure does not currently trigger an automatic safety action. / 暂无飞行中 DShot 遥测丢失保护。 双向 DShot 链路失效时不会自动触发安全动作。

  • Turtle mode requires bench validation. Confirm motor reversal, restore direction, and stick behavior with propellers removed before use. / 乌龟模式必须先进行工作台验证。 请在拆除桨叶的情况下确认电机反转、方向恢复及摇杆控制。

  • Always test before flying. Verify arming, RC response, failsafe behavior, motor order, motor direction, and OSD before the first flight. / 飞行前务必测试。 首飞前请验证解锁、遥控响应、失控保护、电机顺序、电机方向及 OSD。

Board MCU IMU
FDX_REF_REVA AT32F437VMT7 BMI270
FDX_REF_REVAK AT32F437VMT7 LSM6DSK320X
FDX_REF_REVC STM32G474RE BMI270
FDX_REF_REVD STM32F405RGT6 LSM6DSV16X
FDX_REF_REVSEK AT32F435RGT7 LSM6DSK320X
EMSR_PROTO2 AT32F437VMT7 BMI270
EMSR_PROTO2_legacy AT32F437VMT7 ICM42688P
Hummingbird200RS AT32F435CGU7 BMI270
Hummingbird200RS_legacy AT32F435CGU7 ICM42688P
Hummingbird255V1REVA AT32F435CGU7 BMI270
Hummingbird255V1REVA_legacy AT32F435CGU7 ICM42688P
NeutronRCF435SE AT32F435RGT7 BMI270
NeutronRCF435MINI AT32F435CGU7 BMI270
StingerBee AT32F435CGU7 ICM42688P
BeeBrainHD_ELRS STM32G474CEU6 ICM42688P
UM3241F_REF_REV2 UM324xF ICM42688P
EVAL_BETAFPVF405_legacy STM32F405RGT6 ICM42688P
EVAL_BETAFPVF435_legacy AT32F435RGT7 ICM42688P
EVAL_CCRCF435AIO_legacy AT32F435CGU7 ICM42688P
EVAL_FLYCOLORF435_legacy AT32F435RGT7 ICM42688P
EVAL_JHEF435_legacy AT32F435RGT7 ICM42688P
EVAL_SPEEDYBEEF405AIOV2_legacy STM32F405VGT6 ICM42688P
EVAL_SPEEDYBEEF435AIOELRS_legacy AT32F435RGT7 ICM42688P

Full changelog

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