betaflight/betaflight 4.3.0 on GitHub

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 updating your firmware.

Please read these important introductory notes:

After updating to Betaflight 4.3, you MUST use the latest 10.8 Betaflight Configurator. Earlier 10.8 and 10.7 configurator versions will not work properly with 4.3.
F4 processors should run a 4k PID loop. F411 users should use DShot300, not DShot600, and are blocked from an 8k PID loop. Most F411's should be overclocked to 120Mhz, though some will only tolerate 108Mhz.
4.3 has a new Slider tuning approach and Presets. Due to parameter changes, do not paste in CLI ‘diff’ or ‘dumps’ from previous versions. A suitable Preset should give great results. The Sliders simplify making final 'tweaks' to your tune.
Experienced users who want to use numeric data entry for tuning and filters MUST first disable their sliders. It's easiest to do that in Configurator.
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.
We recommend using RPM based filtering for best performance**. Read about enabling and configuring rpm filtering
here.
250hz or 500hz radio link users MUST choose a suitable Preset. 500hz radio links must have feedforward_smoothing set to 65-70 with 2 point averaging. 250hz radio links need feedforward_smoothing set to 35-40 with 2 point averaging.
CPU Usage is now reported as a much higher value than previously. This is OK, it's just a change to how we display it. Don't be concerned until it gets around 75%.

For more details and to get the best out of the flight performance improvements, please read the Tuning Notes.

If 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 also has a presence on the Discord messaging platform. 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.

Betaflight 4.3 brings the following updates:

What's Changed

Features

Added IRC GHST protocol by @mikeller in #10274
[H7] H7A3 support by @jflyper in #10318
Implement tuning sliders, add to CMS, MSP by @IvoFPV in #9119
Add support for OSD element type variants by @etracer65 in #10517
Self-level modes expo by @etracer65 in #10516
Multi Dynamic Notch Filter by @KarateBrot in #10554
PT2 and PT3 filters, rc_Smoothing set to PT3 by default by @ctzsnooze in #10650
Add PT2 or PT3 lowpass filter options by @ctzsnooze in #10727
ICM42688-P Acc/Gyro sensor support by @hydra in #10706
Perform SPI read of gyro/acc using DMA triggered by EXTI interrupt by @SteveCEvans in #10573
Add ledstrip_brightness to control LED strip brightness by percentage by @SteveCEvans in #10972
ExpressLRS over SPI - sx1280 and sx1276 support by @phobos- in #10788
Fixed wrong altitude in DEFAULT (GPS + BARO) mode by @bakwc in #11312

Improvements

Added dterm configurable expo curve to MSP by @IllusionFpv in #9475
Add FF Interpolate options to MSP by @Asizon in #9465
GPS Rescue: Add Configurable Buffer by @EggsBenedict in #9900
Added vbat_sag_compensation to msp 1.44, revise dyn_idle by @Asizon in #9930
Cleaned up 'getEstimatedVario()'. by @mikeller in #9867
Cleaned up the output of the altitude estimation. by @mikeller in #9865
Added metric for consumption in mAh to LTM telemetry. by @mikeller in #9756
Removed the unused setting 'mag_declination'. by @mikeller in #9753
Improved styling of error messages in CLI. by @mikeller in #9632
H7 linker script cleanup by @hydra in #9641
Only enable PINIOBOX task when needed by @etracer65 in #9682
Correct gyro scaling factors by @etracer65 in #9724
CMS over CRSF compression by @codecae in #9746
Split initialization from pid.c for flash savings by @etracer65 in #9759
Added the most common (reasonable) hardware settings to 'dump hardware'. by @mikeller in #9691
Removed unneeded uppercasing of git revision. by @mikeller in #9752
Add support for LSM6DSO gyro/acc by @etracer65 in #9767
MAX7456: Support delayed initialization by @fiam in #9948
Cleaned up rangefinder code, removed unsupported driver stubs. by @mikeller in #9936
Refactor p_ratio to sample_rate (fraction of current PID loop frequency) by @fgiudice98 in #9803
Barometer Infineon DPS310 support by @jflyper in #9957
Spektrum SPI protocol improvements by @phobos- in #9960
Removed unused 'io/motors.h' header file. by @mikeller in #9963
Treat BME280 as BMP280 by @gereic in #9656
[ADC] Remove MAX_ADC_SUPPORTED and related assertion by @jflyper in #9624
Thrust linearisation changes by @ctzsnooze in #9740
OSD: Move crosshair to active elements and not background by @McGiverGim in #9949
Add DEBUG_D_LPF by @SteveCEvans in #9832
Initial FrSky ACCST V2.1.x support by @MJ666 in #9697
Show configuration status in CLI. by @mikeller in #9688
Refactored assertion in 'settings.c'. by @mikeller in #9690
Add blackbox fields selection by @fgiudice98 in #9726
Remove vbat pid compensation by @mikeller in #9633
Removed DTerm RPM filter. by @mikeller in #9984
refactor Thrust Linear to initialise throttleCompensateAmount in pid_… by @ctzsnooze in #9990
Added configurable minimum arming time for a flight to be counted in flight statistics. by @mikeller in #10011
Added registration for bus devices. by @mikeller in #10000
Fixed stack size monitoring. by @mikeller in #9998
Fix issue entering pitmode as well as general VTX IRC tramp improvements. by @pgreenland in #9638
Cleaned up separation of CRSF test code. by @mikeller in #9863
Refactored Dshot enabled checks. by @mikeller in #9937
Add MSP override feature by @birktj in #9915
Add hdop in MSP_RAW_GPS by @dev-fred in #10064
Added board information to CMS 'firmware' menu. by @mikeller in #10071
Motor output reordering feature for CLI and MSP (Firmware part) by @limonspb in #9946
Added vbat_sag_compensation to Blackbox header by @Asizon in #10079
Updated dynamic gyro lowpass curve by @IllusionFpv in #10086
Speed up gyro device detection; fix MPU6000 initialization by @etracer65 in #10098
Cleaned up handling of 'oldMinRps' in dynamic idle code. by @mikeller in #10105
feat: add additional min/warn battery cell voltages to CMS by @knoopx in #10112
add thrust linearization to CSM by @knoopx in #10114
Add support for British units in OSD by @haslinghuis in #10080
Rename macros used in FAST_RAM/DATA by @SJ-Innovation in #10128
[G4] I2C Add I2C pins overloaded with SWD pins by @jflyper in #10137
[G4] Camera control support by @jflyper in #10138
Disable stick commands when HID is active and USB is connected by @dkustec in #10095
Fix default baro handling and address for DPS310 by @jflyper in #10129
Fix debug names not unique with only 12 chars by @haslinghuis in #10146
Clean up linker script by @SJ-Innovation in #10126
Replace peak clipping of FF boost with lowpass filter by @ctzsnooze in #10164
[G4] TIMER timer_def.h update by @jflyper in #10136
Support MPU925x internal magnetometer over I2C by @krygacz in #10159
Add late P boost to antigravity by @ctzsnooze in #10163
[G4] USB_HID_CDC support by @jflyper in #10178
Add box mode to disable stick commands by @etracer65 in #10183
Made stick command disable mode name consistent with other names. by @mikeller in #10199
Show stopped motors in Motor Diagnostic OSD element by @Igorshp in #10191
[G4] Add USB/VCP support by @jflyper in #10177
[G4] BB-DSHOT support (TIM1/TIM8 limited version) by @jflyper in #10176
add fc attitude request for rcdevice protocol by @azolyoung in #10214
[G4] CLI and config changes for clock configuration by @jflyper in #10221
Add compile-time option to enable MSP push messages over the VCP port by @etracer65 in #10230
[G4][SYSTEM] Basic & build files by @jflyper in #10222
[H7] BB-Dshot support (TIM1/TIM8 limited version) by @jflyper in #10224
[H7] Migrate to FW V1.8.0 library by @jflyper in #10175
Added vbat sag compensation in CMS by @IllusionFpv in #10245
Add optional high framerate OSD by @alexeystn in #10243
Added dlpf gyro expo curve in CMS by @IllusionFpv in #10238
New feature 'Beeper mute' by @dkustec in #10225
Fix H7 USB MSC library support by @SteveCEvans in #10246
Allow exit from VTX pitmode when arming craft by @pgreenland in #10166
Add feedforward to OSD PID elements by @etracer65 in #10257
Enabled gyro dlpf by default by @IllusionFpv in #10239
Cleaned up Unified Target definition. by @mikeller in #10263
Add Thrust Linearization to MSP by @klutvott123 in #10268
Split mixer code into initialisation and runtime to reduce flash space usage. by @mikeller in #10261
Improve CMS support of long lookup table names by @etracer65 in #10273
Refactored mixer / servo init. by @mikeller in #10262
Split acceleration code into init and runtime to save flash space by @etracer65 in #10279
Changed optimisation on F7X2 targets to '-O2' to save flash space. by @mikeller in #10287
Total flights stats for OSD (firmware part) by @limonspb in #10300
Fix SPI FLASH speed and cycle time impact by @SteveCEvans in #10303
bump SDK to latest Update by @TheIsotopes in #10306
Moved parameter group defaults into main flash for STM32F722. by @mikeller in #10305
Added the dynamic idle throttle offset to the blackbox header to fix the motor output display. by @mikeller in #10307
Added persistent stats to CMS by @limonspb in #10310
Include gyro_to_use in blackbox header by @atomgomba in #10315
Quick rates expo on rc command by @IllusionFpv in #10316
Add USB MSC support for H7 by @SteveCEvans in #10247
Improved the naming of the digital idle offset getter. by @mikeller in #10317
[H7] H723/H725 support by @jflyper in #10325
Remove unused SRAM2 define. by @mikeller in #10319
Enabled SPI Transaction support for F4 and F7. by @mikeller in #10333
Implement RSSI (dBm and Pct), LQ, in GHST driver by @mikeller in #10360
Dynamic idle and idle related mixer changes by @ctzsnooze in #10294
Dshot commands via MSP by @limonspb in #10372
New linear mixer (credits to @tylercorleone) by @borisbstyle in #10370
Optimize pin reconfiguration in DSHOT ISR for H7 by @mluessi in #10383
H7 LED strip by @SteveCEvans in #10378
Removed deprecated Dshot commands to enable / disable bidirectional Dshot. by @mikeller in #10402
Add debug support to GHST protocol driver by @tonycake in #10389
Improve OSD blink timing logic by @etracer65 in #10424
Cleaned up debug code in Dshot. by @mikeller in #10408
Improve rate settings range checking by @etracer65 in #10430
Simplified the OSD blink frequency calculation. by @mikeller in #10440
Made fuel reporting for FrSky telemetry consistent. by @mikeller in #10441
Refactor SD_Init() to return proper SD_Error_t code. by @tstibor in #10459
Added vtx device status to MSP by @limonspb in #10413
fixed problem msp_displayport send lost when serial port buffer full by @ligenxxxx in #10410
[H7] Update power supply configuration by @jflyper in #10458
Exclude yaw from AntiGravity generated P boost by @ctzsnooze in #10462
Altitude hold removal cleanup by @etracer65 in #10467
Add option to display OSD menus over a solid gray background by @etracer65 in #10443
Fix baro sample size minimum range by @etracer65 in #10472
Reordered configuration validation to put custom target validation to the end. by @mikeller in #10479
Add up/down page indicator to CMS menu display by @etracer65 in #10484
Make MSP displayPort respect the NTSC/PAL setting by @etracer65 in #10485
new dashboard OLED page for Black Box by @krzysztofkuczek in #10486
Enable Up/Down reference for artificial horizon in OSD by @bobbycisneros in #10417
Removed unneeded include from flash_w25n01g.c. by @mikeller in #10539
Improved the naming of OSD_TYPE_MASK to be more concise. by @mikeller in #10542
Separate OSD warnings from OSD task and make available via MSP by @etracer65 in #10540
Add OSD element variants for altitude by @etracer65 in #10551
Added option to show cell value instead of batt value at stats screen by @dkustec in #9878
Add a common function used to print formatted floats in the OSD by @etracer65 in #10555
Fix disabled disarm when Paralyze is activated in armed state by @alexeystn in #10559
Improved tuning sliders calculation by @IllusionFpv in #10509
setting simplified_dterm_filters to off by defaults by @TheIsotopes in #10565
Improve I2C_TIMINGR register calculation by @klutvott123 in #10624
Use non-blocking access to dps310 baro by @SteveCEvans in #10611
Fixed shoddy and non-compliant coding style in #10562. by @mikeller in #10630
Fix RX processing impact on cycle time by @SteveCEvans in #10609
Add support for S25FL064L by @crteensy in #10640
Display late execution stats in tasks command by @SteveCEvans in #10605
Remove non-required interpolated_sp parameters, simplify calling FF recalculation by @ctzsnooze in #10626
move simplified tuning parameters by 5pt by @IllusionFpv in #10589
Made the displayport initialisation consistent for all telemetry protocols. by @mikeller in #10543
New OSD element: Tx Uplink Power by @dkustec in #10582
add W25Q64JVXGIM flash support by @azolyoung in #10698
MSP add GPS min rescue dth by @klutvott123 in #10684
Added Unified Target for STM32G4. by @mikeller in #10577
Add GPS coordinates OSD elements display variants; add support for Open Location Code display by @etracer65 in #10566
Preserve resolution of RC input by @klutvott123 in #10707
reduce FF jitter from duplicates by @ctzsnooze in #10670
Remove unneeded library function 'powerf()'. by @mikeller in #10711
default to Actual rates by @ctzsnooze in #10724
Fix STM32G474 RAM overflow by @SteveCEvans in #10720
Switched to 'maximum FIFO' version of the BMI270 microcode. by @mikeller in #10715
Added MCU id / name for STM32G474. by @mikeller in #10714
Cleaned up matrix rotation. by @mikeller in #10712
Allow re-initialising dynamic notch by @klutvott123 in #10662
OSD Fix: show hyphen when no sats by @TonyBlit in #10726
add CRSF v3 support by @tbs-fpv in #10675
Add W25Q128 QuadSPI support. by @hydra in #10579
I2C configurable clockspeed by @klutvott123 in #10653
Handle timing for gpsUpdate task by @SteveCEvans in #10686
Handle timing for ledStripUpdate task by @SteveCEvans in #10687
Allow FlightMode telemetry to be disabled on CRSF by @CapnBry in #10745
Add GPS Telemetry support to GHST by @tonycake in #10744
Moved some data into FLASH1 from FLASH to free up space. by @mikeller in #10743
Small filter efficiency improvements by @KarateBrot in #10742
Fixed coding style in GHST telemetry. by @mikeller in #10751
New memory section types for DMA by @SteveCEvans in #10747
Fixed SPI access for SD cards for STM32G4 and STM32H7. by @mikeller in #10776
Add UART9/10 support. by @hydra in #10704
Dynamic notch changes by @KarateBrot in #10767
Added resetting to defaults for individual parameter groups. by @mikeller in #10755
Add biquad crossfeeding + RPM filter fix by @KarateBrot in #10757
New SPI API supporting DMA by @SteveCEvans in #10705
Added optimised SPI DMA support for F4/F7/H7 access to FLASH for BB by @SteveCEvans in #10525
Crossfire RSNR used for RSSI calculation by @TonyBlit in #10725
Default yaw lowpass to 100hz by @ctzsnooze in #10841
Added check to disable bidirectional Dshot when N-channel timers are used. by @mikeller in #10864
Added indication for N-channel timers to 'resource show all'. by @mikeller in #10863
Feedforward fix at centre and renaming by @ctzsnooze in #10805
Add motorPoleCount to log headers by @atomgomba in #10894
Changed naming of SPI DMA resources to reflect the SPI bus number. by @mikeller in #10865
Rearranged flash on targets >512 kB to keep first sector from overflowing. by @mikeller in #10890
Allow feedforward in level, horizon and other flight modes by @ctzsnooze in #10778
Dmin high-pass changed from biquad to PT2 with cutoff optimisation by @ctzsnooze in #10889
Dynamic notch refactoring by @KarateBrot in #10835
move transition to feedforward by @ctzsnooze in #10777
Fix typo in gps_conversion.c by @DusKing1 in #10904
BV/BIT macro consolidation by @daleckystepan in #10806
UART - Add generic pin swap functionality. by @hydra in #10940
Suport for long range RC links with refresh rate lower than 33Hz down to 16Hz by @daleckystepan in #10832
Add support for Zbit ZB25Q128 flash by @DusKing1 in #10812
Change RPM Filter minHz limit / rename CLI commands and parameters by @KarateBrot in #10856
New PID sliders and changed defaults by @ctzsnooze in #10919
Clarified the macro name for the resourceValue_t max index. by @mikeller in #10969
Cleaned up UART pin swap. by @mikeller in #10960
Fixed optimisation for board alignment. by @mikeller in #10959
change lowpass filter CLI names by @ctzsnooze in #10978
Improved maintainability of the piniobox configuration. by @mikeller in #10923
Fixed non-portable code. by @mikeller in #10947
Removed softserial loopback. by @mikeller in #10949
Cleanup of the bus switch functionality. by @mikeller in #10950
Fixed instances of 'FAST_CODE FAST_CODE_NOINLINE'. by @mikeller in #10953
Cleaned up the reset reason handling code a bit. by @mikeller in #10958
Refactoring of rxFrameTimeUs by @daleckystepan in #10989
set default iterm_windup to 85 for yaw by @ctzsnooze in #10991
Keeping debug naming in-line with existing function naming convention. by @blckmn in #10952
Support dual gyros sharing a common SPI bus by @SteveCEvans in #10997
Changed the optimisation level for ITCM RAM code to free up some ITCM RAM space on F745. by @mikeller in #10988
set feedforward max rate limit to 90 by @ctzsnooze in #11008
Apply CMS simplified tuning settings on exit if there are changes. by @JoeriCapens in #11001
Added application of simplified tuning on reset. by @mikeller in #10987
refactor feedforward to minimise recurrent duplicate problems by @ctzsnooze in #11000
Enabled custom USB product names for non-F4 boards. by @mikeller in #11013
include gyro and dterm static lpf1 in simplified tuning by @ctzsnooze in #11038
Make deduplication explicit by @mikeller in #11061
Add constant (i.e. string) deduplication, including at link time. by @mikeller in #11060
Change filter slider by @haslinghuis in #11050
Remove Dynamic Notch from "Features" by @KarateBrot in #10673
Add 50 mW TX power level to CRSF protocol by @avsaase in #10930
Dynamic idle - values retained, can be activated without RPM filtering, ignores DShot Idle percentage by @ctzsnooze in #11043
Allow selection of SPI MOSI/MISO DMA streams by @SteveCEvans in #11007
MSPv2 over telemetry by @Coolbash in #11112
No space in sizeof() as per Betaflight coding standard by @SteveCEvans in #11128
Track state execution time for OSD, baro, rx and GPS tasks and inform scheduler of next state execution time by @SteveCEvans in #10813
Fix missing SPI5/6 configuration. by @hydra in #10694
deduplicate more blackbox names by @ctzsnooze in #11113
Make CMS fields readonly when overridden by a slider and mark with an S by @SteveCEvans in #11111
Added m9n support by @TonyBlit in #10921
Fix code aligning in osd_elements.c by @DusKing1 in #11099
Dshot dshot_bitbang=AUTO behaviour change for non-F4 by @SteveCEvans in #11011
add SK6812 RGBW 4-channel LEDs by @g3gg0 in #10762
Allow H7 targets to specify an ADC device and channel by @hydra in #10613
Steve's mashup of proposed PRs for RC2 by @SteveCEvans in #11198
Only allocate DMA streams for SPI_MOSI 1/SPI_MISO 1 if enabled on F4 by @SteveCEvans in #11252
Rename task id to task attr by @daleckystepan in #11261
Vtx smartaudtio fix space by @daleckystepan in #11299
Rename attr by @haslinghuis in #11270
changed the min value for simplified filters to 10 by @limonspb in #11370
Update to BMI gyros to use OSR4 mode to reduce gyro hardware lowpass filter cutoffs by @ChrisRosser in #11480
Make negotiated baud configurable for CRSF by @klutvott123 in #11472
Adding CLI min for failsafe_delay (value of '2' - 0.2s) by @limonspb in #11504
Failsafe changes proposed for RC5 by @ctzsnooze in #11509
ELRS / NVIC cleanup by @hydra in #11461
widening range of BLHeli/_S device id by @4712 in #11513
Adding standard SIGN function by @blckmn in #11566
Changes in "crash flip" OSD warning by @limonspb in #11621

Fixes

Fix baroCalculateAltitude by @jflyper in #9951
Refresh OSD background after MSP change to craft name by @etracer65 in #9967
Fixed disabling of OSD feature when OSD is disabled. by @mikeller in #9985
Fixed missing RPM filter update. by @mikeller in #9999
Ignore GPS arming disabled when arming in crash flip mode by @etracer65 in #10005
Prevent crash flip from setting WAS_EVER_ARMED arming flag by @etracer65 in #10006
Fix build for statistics-disabled DSHOT telemetry by @Mimoja in #10031
Fixed DEBUG builds. by @mikeller in #10022
Fixed detection of BMP280 / BME280. by @mikeller in #9982
Fixed the MAX7456 loop time problems introduced by #9948. by @mikeller in #9981
Disable GPS RESCUE if mixer is fixed-wing type by @etracer65 in #10057
Fixed crsf-cms by @haslinghuis in #10075
Fixed lockup when entering CMS. by @mikeller in #10062
Fixed bug in FrSky X SPI code affecting RX range. by @mikeller in #10091
Fix CLI range check error message formatting by @etracer65 in #10092
Fix a format/argument mismatch in a call to tfp_sprintf() by @SJChannel in #10082
Fix underflow in channel based RSSI calculations for out of range values by @etracer65 in #10097
Added missing 'USE_BOARD_INFO' conditionals in cms.c. by @mikeller in #10101
Fix bug that causes uartTotalRxBytesWaiting() to return incorrect value when DMA is used by @SJChannel in #10118
Fixed broken tests after #10080. by @mikeller in #10134
Fixed motorOutputLimitLow in blackbox and OSD. by @mikeller in #10106
update low rssi error of spektrum by @githubDLG in #10121
Remap and fix HID_MOUSE_ReportDesc (as part of #10150) by @dkustec in #10153
Fixed misaligned report 'usages' and added more channels to HID joystick by @dkustec in #10150
Revert "Clean up linker script" by @mikeller in #10200
Remove unnecessary drawScreen() calls for MSP displayPort OSD by @etracer65 in #10229
[H7][ADC] Batch call DeInit() for all used devices by @jflyper in #10232
[G4] Add missing TIMUP_TIMERS (TIM20) by @jflyper in #10236
[G4][ADC] Batch call DeInit() for all used devices by @jflyper in #10226
Fix Dshot range by @haslinghuis in #10223
Fix dmaopt peripheral numbering for TIMUP by @jflyper in #10237
Improve custom builds by @knoopx in #10113
cc2500_common.c: Modify (fix) outer level conditional to cover till the end by @jflyper in #10260
[H7] Remove USB_USB_ID from target.h by @jflyper in #10286
Fixed overly high RX task invocation caused by GHST telemetry. by @mikeller in #10282
Sets antigravity gain to 0 when the user wants none. by @ctzsnooze in #10291
Update serial-4way-if to v20005 by @4712 in #10290
Disable HEADFREE flight mode when GPS Rescue is active by @etracer65 in #10309
Fix cc2500_common define block by @etracer65 in #10326
[H7] H723/H725 support addition (usbd_conf_stm32h7xx.c) by @jflyper in #10357
Fixed compiler warnings in FrSky OSD code. by @mikeller in #10363
Handle H7 RESET_MSC_REQUEST reset case by @SteveCEvans in #10352
Fix DShot cache clean/invalidate by @SteveCEvans in #10359
Fix SCB_CleanDCache_by_Addr to be based on portOutputBuffer by @SteveCEvans in #10369
Fix BIDIR UART issue #10220 by @tonycake in #10388
Fix VTX tramp protocol for all by @pgreenland in #10348
Added missing CLI parameter for RSSI dBm. by @mikeller in #10405
Fixed RAM overflow on NUCLEOH743_RAMBASED. by @mikeller in #10409
Fixed problem when sending blocking Dshot commands with bitbanged Dshot enabled. by @mikeller in #10406
Fix multiple div-by-zero related to battery cell count by @etracer65 in #10425
Fixed MSP command to send Dshot commands. by @mikeller in #10407
Fix logic error for RACEFLIGHT and KISS rates range checks by @etracer65 in #10429
Disabled voltage sag compensation in crash flip mode by @phobos- in #10442
Added missing GUI box for MSP override. by @mikeller in #10454
Fixed CLI parameter for simplified gyro filters. by @mikeller in #10461
Fix compile errors for ak8975 magnetometer driver by @etracer65 in #10464
Fixed unit tests. by @mikeller in #10469
Fix possible div-by-zero in current meter by @etracer65 in #10471
Only register CMS displayPort for SRXL and CRSF when appropriate by @etracer65 in #10448
Validate that the battery min cell voltage is less than the max cell voltage by @etracer65 in #10473
fix SPI FRSKY_X/FRSKY_X_LBT after adding ACCST 2.1 support by @ilya-epifanov in #10532
Fixed incorrect parameter value for barometer sample count. by @mikeller in #10481
Removed unused settings when building without MAX7456 support. by @mikeller in #10487
Revert default dyn_lpf_expo_curve value for gyro by @IllusionFpv in #10507
dyn_lpf_curve_expo is uint8, not uint16 by @IllusionFpv in #10508
Fixed detection of CC2500 with SPI transactions enabled. by @mikeller in #10534
Fix compiler warning by @haslinghuis in #10537
Fix mspSerialPush() selected serial port logic by @etracer65 in #10490
Fix incorrect displayport_msp_serial default and add validation by @etracer65 in #10489
Fix out of range in serialPortIdentifier_e enumeration by @etracer65 in #10550
Fixed use of an enum type in a parameter group. by @mikeller in #10552
Fix vbat_hysteresis docs and potential calculation underflow by @etracer65 in #10563
Fix G473 AF5 Timers by @kc10kevin in #10567
Fixed incorrect timer mapping for STM32G4. by @mikeller in #10576
STM32H7/G4 - Fix failure to allow all ADC instances. by @hydra in #10612
Modify serial drivers to add a workaround for SmartAudio by @tonycake in #10562
Fix I2C timeout by @klutvott123 in #10631
Fixed initialisation of DPS310 when used over I2C. by @mikeller in #10578
Fixed RX task check. by @mikeller in #10649
Fix CMS RSSI dBm alarm data type and range by @etracer65 in #10603
Fix infinite loop in SD card initialisation failure when CONFIG_IN_SDCARD is used. by @hydra in #10696
[H7][LIB] Remove duplicate definition of assert_param from LL spi by @SteveCEvans in #10663
MSP fix bytes remaining check by @klutvott123 in #10661
Fix SPI timeout by @klutvott123 in #10657
ICM42605 fixes. by @hydra in #10693
Fix name clashes in FAT filesystem by @hexfet in #10739
Fix tasks reporting of rate/Hz by @SteveCEvans in #10659
msp and other small fixes to bring 10727 up to date with 10723 by @ctzsnooze in #10761
SD Card fixes by @hydra in #10730
Fixed bugs in UART configuration introduced by #10704. by @mikeller in #10790
Determine valid SPI clock if USE_OVERCLOCK is not defined by @SteveCEvans in #10869
Fix chipID decode by @SteveCEvans in #10867
Fix bitbang dshot by @hydra in #10875
fix fpv camera angle code error by @ctzsnooze in #10860
fix: compile error when USE_FEEDFORWARD is undefined by @knoopx in #10848
fix: linking error when USE_GPS is undefined by @knoopx in #10847
small error in horizon code by @ctzsnooze in #10781
fix forgotten entry in #10863 by @TheIsotopes in #10884
Fix crsf unit test by @klutvott123 in #10876
cli: fix baudrate reconfigure based on USB VCP baudrate by @cruwaller in #10765
bug fix - stop feedforward oscillation and improve noise when ADC filter is on by @ctzsnooze in #10893
Fix non working Frsky OSD by @Asizon in #10816
Use static definition for ClassData to support USB MSC DMA on G4 by @SteveCEvans in #10926
G4 SPI DMA support by @SteveCEvans in #10909
Fix pg_resetdata location in FLASH by @SteveCEvans in #10927
restore rc smoothing to level and horizon modes by @ctzsnooze in #10774
Fix TIM15_CH2 IO assignment by @mluessi in #10845
Fixed missing include in SITL file. by @mikeller in #10886
Fix the RESET_FORCED case not being used. by @hydra in #10766
MavLink RSSI Range by @JulioCesarMatias in #10785
hide DMIN RATIO unless USE_D_MIN by @knoopx in #10585
Fix: CRSFv3 uplink RSSI percentage scaling to match internal 0...1023… by @cruwaller in #10768
Fix memory corruption caused by MSP_BOXNAMES buffer overflow. by @hydra in #10897
STM32H7 - Fix SPI5 DMA RX mapping. by @hydra in #10879
RTC6705SOFTSPI - Fix null pointer de-reference caused by 87c8847 by @hydra in #10873
Tidy up SPI sequence indexing and advance write address in m25p16_pageProgramContinue() by @SteveCEvans in #10877
Fix UART/USART mismatch for USART10. by @hydra in #10818
SDCard fixes 2 by @hydra in #10799
Fixed 'timer show' for bitbanged Dshot timers. by @mikeller in #10970
Cleaned up the debug code. by @mikeller in #10948
Added resource allocation for DMA. by @mikeller in #10895
Fixed header declaration for 'resetPidProfile()'. by @mikeller in #10986
Uprev PG config since 4.2.9 by @SteveCEvans in #10976
Fix simplified_dterm_filter_multiplier range by @daleckystepan in #10993
Remove redundant check representing same value by @tstibor in #10962
Fix h743 board identifier by @DusKing1 in #10985
Fix ITM unlock by @SteveCEvans in #11006
Fixed SPI SD card support on H7 targets with SDIO support enabled. by @mikeller in #10998
Fixed ADC on STM32H7 Unified Targets. by @mikeller in #11014
Fix W25N01G FLASH writes by @SteveCEvans in #11023
Force F7 reset after flashing by @SteveCEvans in #11030
Fixed burst Dshot. by @mikeller in #11053
Fix BMI270 gyro sync on H743 by @SteveCEvans in #11056
Fix dma compile error by @qubic in #11042
Fix crsf msp over telemetry by @klutvott123 in #11059
Fix yaw value bug in CRSF telemetry frame by @tbs-fpv in #11049
Fix thrust_linear and transient_throttle_limit value type in CLI by @klutvott123 in #11083
Fix to CRSFv3 uplink debug information and corrects the variable channels amount calculation by @cruwaller in #10764
Rename cms PITCH PI GAIN by @klutvott123 in #11016
Check for bus number 0 in spiSetBusInstance() by @SteveCEvans in #11088
Debug modes cleanup by @daleckystepan in #11101
Only call sdCardAndFSInit() when SD card is in use by @SteveCEvans in #11122
Fix FrSky D8 protocol bind issues by @MJ666 in #11129
Fix SDFT batch size by @KarateBrot in #11116
Fix dynamic notch PT1 gain by @KarateBrot in #11123
Fix telemetry displayport initialisation by @klutvott123 in #11103
Remove shared MSP buffer by @klutvott123 in #11131
If GPS serial data remains, reschedule task to run again after 1ms by @SteveCEvans in #11135
MSP commands for calculating/requesting but not setting simplified tuning/values by @limonspb in #11114
Enhance SDFT noise floor by @KarateBrot in #11143
Fix use of floating point math functions by @mathiasvr in #11096
Disable GYRO_EXTI on boards with Gyro and OSD on same SPI channel by @ctzsnooze in #11141
fix for gps coordinates not shown on OSD by @TonyBlit in #11168
SPI: fix compilation on F4 when DSHOT_BITBANG is not used by @mluessi in #11179
Reduce number of OSD bytes transferred in polled mode by @SteveCEvans in #11169
fix for gps time by @TonyBlit in #11208
wrong variable for heading by @TonyBlit in #11211
ExpressLRS - Fix compilation of unit test. by @hydra in #11223
Ignore UART pins which are not defined by @SteveCEvans in #11220
Move telemetry displayport init and cms device registering by @klutvott123 in #11189
Fix bugs found by cppcheck by @daleckystepan in #11183
Fix SPI sequencing in spiInternalReadWriteBufPolled for H7 by @mluessi in #11172
Fix MSP over CRSF for larger read and writes by @AlessandroAU in #11218
Fix max7456ConfigMutable()->clockConfig for OMNIBUSF4 by @SteveCEvans in #11247
Fix rangefinder.c compiler warning by @SteveCEvans in #11253
Received build errors when linking KISSFCV2F7 by @blckmn in #11254
Don't define USE_DEBUG_PIN for NUCLEOF722 by @SteveCEvans in #11255
Fix gyro SpiDetect routines by @SteveCEvans in #11256
Set CAMCTL task priority to TASK_PRIORITY_LOW by @SteveCEvans in #11263
Bring back F405 bidirectional DSHOT600 by @klutvott123 in #11272
Ignore duration of calcActiveAdjustmentRanges() and optimize RX_TASK_DECAY_SHIFT by @SteveCEvans in #11269
[WIP ]Add rounding to proper display dshot values by @daleckystepan in #11289
revert 11141 re-enable gyro exti sync by @ctzsnooze in #11294
If barometer read is still in progress ignore state execution time as it is short by @SteveCEvans in #11297
Fix issues impacting RX_STATE_MODES state duration and add DEBUG_RX_STATE_TIME by @SteveCEvans in #11274
ExpressLRS - fixed slow initial connection by @phobos- in #11229
Add scheduler_relax_rx and scheduler_relax_osd variables by @SteveCEvans in #11319
Remove LPUART1 from STM32G4 and SMT32H7 if no resource configured by @haslinghuis in #11323
Fix RX loss caused by OSD stats display. by @hydra in #11330
Use Throttle Setpoint, not rcDATA, for TPA by @ctzsnooze in #11335
Fix ELRS link failures where link is unrecoverable. by @hydra in #11350
Only prioritise a task if there's time to run it by @SteveCEvans in #11354
OSD - Use async screen clear in OSD_STATE_UPDATE_CANVAS. by @hydra in #11351
Increase number of element groups and use peak hold task estimation for OSD by @SteveCEvans in #11340
Fix visual beeper by @alexeystn in #11359
Fix position_alt_*_sats by @ledvinap in #11373
Update for Battery Efficiency Fix Issue #11277 by @bobbycisneros in #11361
Fix non DSHOT protocols by @klutvott123 in #11429
Fix USE_DSHOT_TELEMETRY & USE_DSHOT_BITBANG define compilation issues by @justinflipflops in #11420
Exploratory concept for ELRS interrupt/busy handling by @SteveCEvans in #11380
Fix SDFT windowing by @KarateBrot in #11406
Perform compass reads in the background by @SteveCEvans in #11439
Fix EXTI issues by @hydra in #11456
Report true average task execution time in tasks report by @SteveCEvans in #11446
Fix ELRS issues by @hydra in #11457
Save not set for VTX osd settings by @ctzsnooze in #11442
Fix compilation without RC smoothing enabled by @daleckystepan in #11468
Failsafe timing by @SteveCEvans in #11459
Fix ELRS lost connection race condition by @SteveCEvans in #11483
Fix [Bidirectional] DShot issues on G4, F7 and H7 by reducing GPIO speed by @haslinghuis in #11494
fix for failsafe to apply throttle, aux and recovery delay settings by @ctzsnooze in #11497
DSHOT/Bitbang - Hold the line at idle for 1 extra bit period. by @hydra in #11469
Prevent false failsafe / rx loss on eeprom write for all RX protocols by @klutvott123 in #11524
Remove duplicate line in unit test by @haslinghuis in #11523
Initialize tasks data earlier by @klutvott123 in #11533
fix for GPS Return failure in RC4 and RC5 by @ctzsnooze in #11530
Fix READY_BEEP by @klutvott123 in #11521
Fix SPI LL Segment Repetition by @mluessi in #11534
Fix OSD visual beeper by @klutvott123 in #11538
Add Winbond 25Q128 flash driver by @haslinghuis in #11537
Improve failsafe handling for Rx's that send bad channel information. by @ctzsnooze in #11541
Fix CRSF baud negotiation by @klutvott123 in #11500
Frsky range check issues by @SteveCEvans in #11536
W25X32 FLASH support by @SteveCEvans in #11550
Reorder SPI_MOSI 1 and SPI_MISO 1 stream options by @haslinghuis in #11561
BMI270 driver was reading 1 byte too many by @SteveCEvans in #11568
CRSF use persistent object to retain baudrate by @klutvott123 in #11564
Fix ICM-20689 initialisation by @SteveCEvans in #11584
Change ACC Trim step to 1 (for stick commands) by @limonspb in #11588
Revert BMI270 read length change, but keep typo fix by @SteveCEvans in #11609
Fix SPI4 DMA assignment by @haslinghuis in #11604
Add gyro lock/dma support to BMI160 by @SteveCEvans in #11549
ELRS SPI Fix eeprom write and reboot for msp over telemetry by @klutvott123 in #11573
Add CRCs to EEPROM PG records to enable check for dirty config by @SteveCEvans in #11597
Simplify SPI CLK speed setting during gyro detection by @SteveCEvans in #11613
failsafe by switch aux channel hold change by @ctzsnooze in #11628

Targets

Add target IFLIGHT_H743_AIO support. by @Linjieqiang in #10181
Moved config for IFLIGHT_H7_TWING into internal flash. by @mikeller in #10174
Enable BMP085/BMP180 for F405 and F745 unified targets by @etracer65 in #10258
Make the MPU6050 (I2C) driver only build on Unified Targets with 1MB flash. by @mikeller in #10277
[Target] Add target MATEKH743 by @MATEKSYS in #10337
[H7] Nucleo-H7A3ZI target by @jflyper in #10324
[H7] NUCLEOH723ZG target by @jflyper in #10355
[H7] NUCLEOH725ZG target by @jflyper in #10356
Add more flash chip support for IFLIGHT_H743_AIO board. by @Linjieqiang in #10419
Add more feature for iFlight_H743_AIO support. by @Linjieqiang in #10451
Added AK8975 magnetometer driver to Unified Targets. by @mikeller in #10468
Add support for board "IFLIGHT_H743_AIO_V2" by @Linjieqiang in #10616
Added BMI270 driver to all Unified Targets. by @mikeller in #10713
Added a Unified Target for STM32H743. by @mikeller in #10791
Disable OLC on low flash targets to save around 2kB by @daleckystepan in #11134
Initial STM32H730 CPU Support by @hydra in #10695
Add support for ICM42605 and ICM42688P for unified targets except F411 by @SteveCEvans in #11305
Add NEUTRONRCF411SX1280 target by @DusKing1 in #11301
Set the target BETAFPVF4SX1280 dshot_bitbang to OFF by @betafpv-engineer in #11404
Add more gyros for NeutronRCF411SX1280 target by @DusKing1 in #11545
add EmaxModel STM32F411 SX1280 target by @EmaxModel in #11540
Added BMI270 drivers to CRAZYBEEF4SX1280 target by @phobos- in #11627

New Contributors

@bys1123 made their first contribution in #9909
@EggsBenedict made their first contribution in #9900
@supersidor made their first contribution in #9750
@gereic made their first contribution in #9656
@DusKing1 made their first contribution in #9975
@haslinghuis made their first contribution in #9983
@Mimoja made their first contribution in #10031
@MarcBoettinger made their first contribution in #10026
@pgreenland made their first contribution in #9638
@birktj made their first contribution in #9915
@dev-fred made their first contribution in #10064
@limonspb made their first contribution in #9946
@knoopx made their first contribution in #10112
@SJ-Innovation made their first contribution in #10128
@dkustec made their first contribution in #10095
@skywinder made their first contribution in #10103
@krygacz made their first contribution in #10159
@Igorshp made their first contribution in #10191
@jcg1541 made their first contribution in #10132
@alexeystn made their first contribution in #10243
@tonycake made their first contribution in #10388
@ligenxxxx made their first contribution in #10410
@dellch made their first contribution in #10505
@ilya-epifanov made their first contribution in #10532
@krzysztofkuczek made their first contribution in #10486
@bobbycisneros made their first contribution in #10417
@AlfredJKwack made their first contribution in #10622
@KarateBrot made their first contribution in #10554
@crteensy made their first contribution in #10640
@Dishoungh made their first contribution in #10676
@hexfet made their first contribution in #10739
@tbs-fpv made their first contribution in #10675
@CapnBry made their first contribution in #10745
@cruwaller made their first contribution in #10765
@woutput made their first contribution in #10861
@dimag0g made their first contribution in #10800
@daleckystepan made their first contribution in #10806
@JulioCesarMatias made their first contribution in #10785
@JoeriCapens made their first contribution in #11001
@saloid made their first contribution in #11055
@qubic made their first contribution in #11042
@avsaase made their first contribution in #10930
@Coolbash made their first contribution in #11112
@g3gg0 made their first contribution in #10762
@FrankPetrilli made their first contribution in #11243
@bakwc made their first contribution in #11312
@MrTucks made their first contribution in #11320
@justinflipflops made their first contribution in #11420
@FiorixF1 made their first contribution in #11403
@nicovv44 made their first contribution in #11471
@betafpv-engineer made their first contribution in #11404
@SupaflyFPV made their first contribution in #11498
@fahadshihab made their first contribution in #11476
@David-OConnor made their first contribution in #11490
@EmaxModel made their first contribution in #11540
@mituritsyn made their first contribution in #11559

Full Changelog: 4.2.0...4.3.0

betaflight/betaflight 4.3.0 Betaflight 4.3.0 on GitHub