Betaflight

<!-- Release notes generated using configuration in .github/release.yml at e0b7bb01b17b21351057e9ead2d1ab39dd44fa16 --> ## What's Changed ### Fixes * [2026.6] backport: Guard I2C busdev accessors against an unset bus by @blckmn in https://github.com/betaflight/betaflight/pull/156

<!-- Release notes generated using configuration in .github/release.yml at f625a99967cd6ade0a2d83bf9d7e6770d0d1ccd6 --> ## What's Changed ### Features * Autopilot: injected runtime plans, geofence RTH return mission, LAND loiter by @blckmn in https://github.com/betaflight/betafli

<!-- Release notes generated using configuration in .github/release.yml at 43cf1e1f7c1fb780c6f51f2f8bccc58bbf74d4d5 --> ## What's Changed ### Improvements * fix(sitl): harden Gazebo gyro yaw sign against silent regression (follow-up to #15354) by @haslinghuis in https://github.co

<!-- Release notes generated using configuration in .github/release.yml at 7348054f268f0058574719c134e9f149565bb8ea --> ## What's Changed ### Fixes * [2025.12] fix(uart): clear ORE when RXNEIE is enabled in HAL uartIrqHandler (fixes #15317, #15306) by @tracycam in https://github.

<!-- Release notes generated using configuration in .github/release.yml at 4adbd3ef7cb546947600e5f747bd5453c9573063 --> ## What's Changed ### Fixes * [4.5] fix(msp): cancel pendingRequest on '$' only, restoring per-byte lastActivityMs by @nerdCopter in https://github.com/betaflig

# 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 ver

<!-- Release notes generated using configuration in .github/release.yml at 2025.12-maintenance --> ## What's Changed ### Fixes * [2025.12] Backport CLI MSP race-condition fix (#15193) by @blckmn in https://github.com/betaflight/betaflight/pull/15201 * [backport] fix(config): unco

<!-- Release notes generated using configuration in .github/release.yml at 4.5-maintenance --> ## What's Changed ### Fixes * [4.5.4] Backport CLI MSP race-condition fix (#15193) by @blckmn in https://github.com/betaflight/betaflight/pull/15200 * [backport] fix(config): unconditio

<p>[backport] fix(uart): guard half-duplex pinless UART modes (<a class="issue-link js-issue-link" data-error-text="Failed to load title" data-id="4418259409" data-permission-text="Title is private" data-url="https://github.com/betaflight/betaflight/issues/15218" data-hovercard-t

<!-- Release notes generated using configuration in .github/release.yml at 2025.12-maintenance --> Target updates for: - AIRBOTG4AIO - AXISFLYINGH743PRO - BETAFPVG473_V2 - RADIOLINKF722 - BLADEF4 - BRAHMA_F405 - CADDX_PROTOS_F4 - JHEH743PRO - DREAMWORKSH743 - GEPRCF722_BT_HD - GE

# 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 har

<!-- Release notes generated using configuration in .github/release.yml at 4.5-maintenance --> ## 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 https://github.com/betaflight/betaflight/pull/14

# 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

<!-- Release notes generated using configuration in .github/release.yml at 4.5-maintenance --> ## What's Changed ### Fixes * [4.5.2] FIX: telemetry for Spektrum/SRXL (#13814) by @haslinghuis in https://github.com/betaflight/betaflight/pull/13820 * [4.5.2] FIX: Modify STM32F405 UI

<!-- Release notes generated using configuration in .github/release.yml at 4.5-maintenance --> ## What's Changed ### Improvements * [4.5.1] AT32: Add PC6 and PC7 I2C pins by @haslinghuis in https://github.com/betaflight/betaflight/pull/13761 ### Fixes * [4.5.1] battery - fix BATT

Welcome to Betaflight Firmware 4.5.0 Thank you to all those who have contributed to this release, whether it be code or testing. Release notes for 4.5.0 are here: https://betaflight.com/docs/wiki/release/Betaflight-4-5-Release-Notes IMPORTANT: Make sure you install and use the la

<!-- Release notes generated using configuration in .github/release.yml at 4.4-maintenance --> ## What's Changed ### Features * Add support for MSP2_SENSOR_GPS message from RemoteID module by @SteveCEvans in https://github.com/betaflight/betaflight/pull/13081 ### Fixes * Fix USE_

<!-- Release notes generated using configuration in .github/release.yml at 4.4-maintenance --> ## What's Changed ### Improvements * [4.4.2] DSHOT timing improvements by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12709 * [4.4.2] Reverting the config.h usage. by

<!-- Release notes generated using configuration in .github/release.yml at 4.4-maintenance --> ## What's Changed ### Improvements * Fix unified targets that use OctoSPI. (BF4.4.x) by @hydra in https://github.com/betaflight/betaflight/pull/12307 * Increase FF smoothing max to suit

### **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.** **Pl

## What's Changed ### Fixes * Fix read of DPS310 coef C11 by @SteveCEvans in https://github.com/betaflight/betaflight/pull/12011 4.3 maint SteveCEvans (#12009) * Refactor USB serial ring buffer code * Simplify cliWriter structure definition as use of uint8_t data[] (flexible arra

## What's Changed ### Improvements * Only write to FLASH once 64 bytes are buffered #11697 by @stevecevans in https://github.com/betaflight/betaflight/pull/11725 * Add ICM42688P for all unified builds by @stevecevans in https://github.com/betaflight/betaflight/pull/11728 ### Fixe

### **Introducing the much anticipated and patiently waited for: Betaflight 4.3.** **IMPORTANT: Make sure you install and use the latest version of the Betaflight Configurator (10.8 or higher) from https://github.com/betaflight/betaflight-configurator/releases/tag/10.8.0 before u

### **This is our sixth release candidate (RC6) for Betaflight 4.3.** Remember some things may need fixing and fine tuning, and there may still be bugs. Please use it with caution and report back any issues at https://github.com/betaflight/betaflight/issues. Thank you! **Note: Fa

### Maintenance Release Please read the [Betaflight 4.2 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%204.2%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [4.

### Maintenance Release Please read the [Betaflight 4.2 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%204.2%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [4.

### Maintenance Release Please read the [Betaflight 4.2 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%204.2%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [4.

### Maintenance Release **Important: There is a bug in the previous release ([4.2.7](https://github.com/betaflight/betaflight/releases/tag/4.2.7)) that potentially causes unresponsiveness of the flight controller on power up. If you experience this on your flight controller, plea

### Maintenance Release **Important: There is a bug in this release hat potentially causes unresponsiveness of the flight controller on power up. If you experience this on your flight controller, please update to [4.2.8](https://github.com/betaflight/betaflight/releases/tag/4.2.8

### Maintenance Release Please read the [Betaflight 4.2 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%204.2%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [4.

### Maintenance Release Please read the [Betaflight 4.2 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%204.2%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [4.

### Maintenance Release Please read the [Betaflight 4.2 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%204.2%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [4.

### Maintenance Release Please read the [Betaflight 4.2 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%204.2%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [4.

### Maintenance Release Please read the [Betaflight 4.2 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%204.2%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [4.

### Maintenance Release Please read the [Betaflight 4.2 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%204.2%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [4.

**Just in time for summer...** ...for most of us, and in time for the end of COVID-19 related lockdowns in a lot of places, we are proud to announce the release of Betaflight 4.2.0! This is the third release of Betaflight after the switch to our new approach of how we support tar

### Maintenance Release Please read the [Betaflight 4.1 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%204.1%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [4.

### Maintenance Release Please read the [Betaflight 4.1 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%204.1%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [4.

### Maintenance Release Please read the [Betaflight 4.1 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%204.1%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [4.

### Maintenance Release Please read the [Betaflight 4.1 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%204.1%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [4.

### Maintenance Release Please read the [Betaflight 4.1 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%204.1%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [4.

### Maintenance Release Please read the [Betaflight 4.1 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%204.1%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [4.

### Maintenance Release Please read the [Betaflight 4.1 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%204.1%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [4.

**We're already late, so let's keep this short!** As you've come to expect, we've packed this release with a whole lot of new flying goodness, new features, and support for a bunch of new targets. For an extended list of new features see below. To make sure you get the latest ver

### Maintenance Release Please read the [Betaflight 4.0 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%204.0%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [4.

### Maintenance Release Please read the [Betaflight 4.0 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%204.0%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [4.

### Maintenance Release Please read the [Betaflight 4.0 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%204.0%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [4.

### Maintenance Release Please read the [Betaflight 4.0 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%204.0%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [4.

### Maintenance Release Please read the [Betaflight 4.0 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%204.0%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [4.

## Important **Betaflight 4.0.1 has a bug that is affecting all F3 based flight controllers, stopping them from working. A fix for this bug will be included in 4.0.2 (#8148). Until the release of 4.0.2, 4.0.0 should be used on F3 based flight controllers.** ### Maintenance Releas

## Important **A number of users reported issues with their craft taking off with throttle at idle when running on Betaflight 4.0.0's default settings. It was identified that the default settings did not have enough filtering for setups with a lot of vibrations. More filtering wa

### Maintenance Release Please read the [Betaflight 3.5 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%203.5%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [3.

### Maintenance Release Please read the [Betaflight 3.5 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%203.5%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [3.

### Maintenance Release Please read the [Betaflight 3.5 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%203.5%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [3.

### Maintenance Release Please read the [Betaflight 3.5 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%203.5%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [3.

### Maintenance Release Please read the [Betaflight 3.5 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%203.5%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [3.

### Maintenance Release Please read the [Betaflight 3.5 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%203.5%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [3.

### Maintenance Release Please read the [Betaflight 3.5 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%203.5%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [3.

## Important ### A number of users reported issues with the firmware hanging during a `diff` or `dump`. The root cause of this was identified as a bug in the MSP protocol causing corrupted configurations. This was fixed in 3.5.1. It is recommended that you upgrade directly to 3.5

### Maintenance Release Please read the [Betaflight 3.4 Release Notes](https://github.com/betaflight/betaflight/blob/master/docs/Release%20Notes/Betaflight%203.4%20Release%20Notes.md). This release contains bugfixes and target changes only. For a full list of new features see [3.

**Version 3.4.0: The best Betaflight ever!** We recognise that most of our users just want to two things with new firmware: Install it, and then go fly it. That's why we have spent a lot of time on working out default settings that fly great on most quads. Just install it and try

### Maintenance Release Please read the [Important information when upgrading from 3.2 to 3.3](https://github.com/betaflight/betaflight/blob/master/docs/Upgrading/Upgrading%20from%203.2%20to%203.3.md). We now also have a **Facebook Group**. If you want to talk about Betaflight, a

### Maintenance Release Please read the [Important information when upgrading from 3.2 to 3.3](https://github.com/betaflight/betaflight/blob/master/docs/Upgrading/Upgrading%20from%203.2%20to%203.3.md). We now also have a **Facebook Group**. If you want to talk about Betaflight, a

### Maintenance Release Please read the [Important information when upgrading from 3.2 to 3.3](https://github.com/betaflight/betaflight/blob/master/docs/Upgrading/Upgrading%20from%203.2%20to%203.3.md). We now also have a **Facebook Group**. If you want to talk about Betaflight, a

## Betaflight v3.3.0 Welcome to version 3.3 of Betaflight! There are no revolutionary new features in this release, but we've worked hard to make your flying experience even better, and make it easier and safer for new pilots to get into the hobby. We've ironed out some kinks, an

### Maintenance Release Please read the [Instructions for Upgrading](https://github.com/betaflight/betaflight/wiki/BetaFlight-3.2#instructions-for-upgrading). This release contains bugfixes and target changes only. For a full list of new features see [3.2.0](https://github.com/be

### Maintenance Release Please read the [Instructions for Upgrading](https://github.com/betaflight/betaflight/wiki/BetaFlight-3.2#instructions-for-upgrading). This release contains bugfixes and target changes only. For a full list of new features see [3.2.0](https://github.com/be

### Maintenance Release Please read the [Instructions for Upgrading](https://github.com/betaflight/betaflight/wiki/BetaFlight-3.2#instructions-for-upgrading). This release contains bugfixes and target changes only. For a full list of new features see [3.2.0](https://github.com/be

### Maintenance Release Please read the [Instructions for Upgrading](https://github.com/betaflight/betaflight/wiki/BetaFlight-3.2#instructions-for-upgrading). This release contains bugfixes and target changes only. For a full list of new features see [3.2.0](https://github.com/be

Please read the [Instructions for Upgrading](https://github.com/betaflight/betaflight/wiki/BetaFlight-3.2#instructions-for-upgrading). ### New: - Full F7 support (@sambas @blckmn ) - [SITL](http://ardupilot.org/dev/docs/sitl-simulator-software-in-the-loop.html) simulator support

### Maintenance Release Please read the [Instructions for Upgrading](https://github.com/betaflight/betaflight/wiki/BetaFlight-3.2#instructions-for-upgrading). This release contains bugfixes and target changes only. For a full list of new features see [3.2.0](https://github.com/be

**Maintanence Release 3.1.7** _For full release info see 3.1:_ https://github.com/betaflight/betaflight/releases/tag/v3.1.0 New: - Airmode is now fully disabled when feature or mode not engaged. Before airmode was always active and it was just the iterm not being active on low th

**Maintanence Release 3.1.6** _For full release info see 3.1:_ https://github.com/betaflight/betaflight/releases/tag/v3.1.0 New: - Thanks to @jflyper Dynamic bidirectional softserial. Assigned through resource command. (NAZE users dont have to short TX and RX now to get Smartport

**Maintanence Release 3.1.5** _For full release info see 3.1:_ https://github.com/betaflight/betaflight/releases/tag/v3.1.0 - Restore multiwii throttle expo - Fix Motor 6 for SIRINFPV - [VTX SmartAudio] Fix status string for user frequency mode - Fix broken standard PWM - Change

**Maintanence Release 3.1.2** _For full release info see 3.1:_ https://github.com/betaflight/betaflight/releases/tag/v3.1.0 - Fixed scaling issue where min_throttle would affect rcCommand Throttle - Replaced old multiwii throttle expo by new floating point version - Simplified fe

**Maintanence Release 3.1.3** _For full release info see 3.1:_ https://github.com/betaflight/betaflight/releases/tag/v3.1.0 - Minor optimalisations to PID code - Fix for iterm anti_windup_gain axis coupling **_IMPORTANT NOTE:**_ If you were using the old multiwii throttle expo yo

Maintanence Release 3.1.1 For full release info see 3.1: https://github.com/betaflight/betaflight/releases/tag/v3.1.0 New: - Resource remapping command doesn't require to set it to NONE first. (you can paste your `diff` output now) @blckmn - Added KISSCC target @borisbstyle @ronl

**Betaflight 3.1.0** Betaflight firmware has undergone some major changes under the hood. Hardware drivers have been optimised to improve future maintainibility, but also easier target and hardware support. The efficiency of the code has also been improved by a lot as the Betafli

Betaflight 3.0.1 (3.0 patch 1) - Finalized OSD Code. (More OSD configuration options) - Changed Relaxation Parameter to act as transition (Helps better against bounce backs on higher rates with high setpoint weight) - Fixed non working Baro for some boards - Added second notch fo

**Betaflight 2.9.1 (Maintenance Patch)** _NEEDS CONFIGURATOR 1.7.0_ WARNING: Using this FW with pre 1.7 configurator may cause configuration corruption! - Fix spinning motors after save in configurator for Multishot and Oneshot42 - Prepare for new MSP standardisation used in >3.0

**Betaflight 2.9 (Configurator Integration)** - Fixed PID controller reset from Configurator - Fixed Airmode Feature bug when Motor Stop enabled - Added more Configurable options for the new Betaflight 1.3 Configurator - Changed the default parameters (All accessible in Configura

**Release 2.8 ("Rates Redesign")** _Patch 2.8.1 Fixes:_ - Fixed sensitivity in dynamic Iterm (prevent drift issues) - Improved Dterm math replaces dynamic Pterm - Some code cleanups - Fixed issue where "dump all" command switches from rateprofile - New defaults - Increased Multis

2.7 release **Patch 1 (2.7.1 notes):** - Fixed Luxfloat drift - F1 boards defaulted to 1khz **2.7 Release notes** - Fixed MPU6000 SPI slow speed for some targets - Fully working SPRACINGF3 Target - Enable MPU6000 and MPU9250 for Colibri Race Target - Many code cleanups and optima

Release 2.6.1 - Very long waited VCP passthrough thanks to 4712! (You do need latest blhelisuite! http://www.mediafire.com/download/9bwzbfzmfpv7j4i/BLHeliSuiteBeta144051.zip) - 4 way interface passthrough, which also works for simonk bootloader through blhelisuite - Remove old si

Release 2.6 - Improved performance of roll / yaw mixing to fpv cam feature - Added vbat_hysteresis configurable parameter for vbat alarms - Improved cli dump. "dump" = print all current active config, "dump all" = dump full config (all profiles and rates). Also no more pauses nee

2.5 Patch 4 - Improved gyro calibration on faster looptimes - Added option for gyro calibration prior arming. Gyro calibrates only prior the first arm sequence (set gyro_cal_on_first_arm = ON) - Failsafe buzzer now only beeps when copter was armed at least once - Iterm scaling im

2.5 patch 3 - yaw_p_limit applied to all PID controllers. Before it was only applied to MW23. Changed default to 300. Removed old dynamic yaw limiter _Note that upgrading from previous versions and/or pasting cli dump will overwite the default. Therefore I recommend using set yaw

2.5 Patch 2 - Added piroutte protection during hard yaw manouvres. Yaw should not dominate over roll and pitch in some scenarios - New 1000 looptime default (gyro_sync_denom = 8 and gyro_lpf = off)

2.5 Patch 1 - Restored original min_check scaling. Both stick armers and switch armers have same throttle range. - Default min_check lowered to 1040 (make sure your radio can go below 1040 to be able to arm) - SPRACINGF3MINI cleanflight sync. Some timer cleanup (possible PPM fix

Release 2.5 - Scheduler rework for more spread processing and faster looptimes manual. - Decreased motor jitter due to inverted order for main task - Removed rcCommand throttle to min_check dependancy. Throttle is not anymore constrained to min_check - Without airmode less low th

Release 2.4 patch 1: - Replaced many of float math by fixed point math. This will especially improve performance on F1 boards - Improved Acro Plus - Added acro_plus_offset cli parameter. Tells the percentage stick input where acro_plus will start working and will have a smooth tr

_New Major Release:_ - Added new targets SPRACINGF3MINI, ALIENFLIGHTF1, ALIENFLIGHTF3 - Major sync/catch up with Cleanflight - SD card support for SPRACINGF3MINI target with DMA usage for blackbox - MSP version updated to support all current Configurator features - Added serial b

- Changed irmode Saturation Behaviour (Same like 2.1.6 and 2.2.0. Some setups cannot deal with agressive corrections)

Patch 4 release 2.3 - 3D mode fix for softer PID's - 3D mode for losing Iterm in neutral position - Fixed broken brushed motor support - Softer D approach as default baseline. Goal is to eliminate more D noise - Rc_smoothing disabled by default as the new gyro delta approach shou

Patch 3 of 2.3 release: - Fixed Full control in 3D mode when in AIR mode - FIxed bug with motors stopping introduced in 2.3.2 - Added BMP180 for SpracingF3 target. - Cleanup in Iterm scaling - More Air mode authority in sharp corners - New defaults for beginners - rc_smoothing en

2nd 2.3 patch (NOTE THAT THIS VERSION IS DEPRICATED DUE TO DISCOVERED BUG CAUSED BY 3D CODE...use 2.3.1 version) - Fixed some F1 arming issues on 1khz mode when luxfloat and many features activated - Fixed CC3D OPBL issues (.bin file should be fine now) - Fixed degree to radian c

First 2.3.1 patch Nothing changed in terms of features, but few cleanups for small targets and configurable filters - Added Configurable soft filters _set gyro_lpf_hz = 0-255_ (50 default, 0 means disabled) _set dterm_lpf_hz = 0-255_ (50 default, 0 means disabled) - Removed DISPL

2.3.0 Final Release Issues Resolved: - Fixed broken BST functions - Fixed Driver Boot issues for MPU6500 and MPU6000 targets - Fixed broken Gtune - Fixed heating up of motors on some setups (new filter) New: - Full filter rework. dterm_cut_hz and FIR is now replaced by BiQuad fil

Fixes: - Fixed servo mapping on CC3D tricopter configuration - Fixed inflight adjustment logging to blackbox New: - Complete new scheduling method. Cli command "tasks" will show all tasks and their processing times. With "status" command system load can be showed - Completed BST

Fixes: - Infinity rolls in Air Mode due to too fast growing error. Before error was growing faster than the system was able to correct it due to the very low limits - Erratic behaviour during crashes in Air mode. - Full throttle power in Air mode (before it tend to be less) -When

Fixes: - Some minor fixes in CLI and less important things - Some new target preparations New: - Added back configurable RC smoothing option - AIR MODE Implementation! Full PID stability throughout entire throttle range. Mixer logic has been improved to improve low throttle stabi

BUGFIXES: - Fixed some major buffer overflow issues with SBUS and SPEKTRUM. This is probably the reason of reported glitches in the past which were already catched with timers. More solid SBUS and SPEKTRUM are expected now. - Some minor fixes in coding style NEW - New Cleanflight

_MAKE SURE YOU BACKUP ALL YOUR SETTINGS BEFORE UPGRADE_ Bugfixes: - New pid_at_min_throttle feature was active during disarm. This could cause building up of Iterm when armed->disarmed->armed again within the timer period it could cause erratic behaviour Release Notes: - New luxf

Bugfixes: - fixed pid_controller cli dump/get function, which was broken for different profiles than profile 0 - Fixed some minor issues with serial 1wire passthrough feature for F3 targets - Fixed disconnect on save through configurator - Spektrum bind enabled on MOTOLAB target

New Betaflight Release Version Management. It was becoming a mess to keep binaries in the source. This should be more clear for everyone. Quick summary of main flight performing features in betaflight: - Gyro sync (always the most fresh gyro data before the loop starts with minim