betaflight/betaflight 4.5.0 on GitHub

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 latest version of the Betaflight Configurator (10.10.0) before updating your firmware.

Don't forget to check it out all the documentation on http://betaflight.com/.

What's Changed

Features

OctoSPI and Memory Mapped Flash support by @hydra in #11825
Angle and Horizon Mode improvements by @ctzsnooze in #12231
Add rainbow effect to led strip by @ASDosjani in #12323
Add GPS Lap Timer by @SpencerGraffunder in #11856
RPM Limiter by @Tdogb in #12054
Add (e)RPM field to blackbox logs by @tbolin in #12823
Add support for IST8310 compass by @haslinghuis in #12917
Adding OSD quick menu by @limonspb in #12977
Added throttle flight statistics by @limonspb in #12978
Add support for MSP2_SENSOR_GPS message from RemoteID module by @SteveCEvans in #13062
STMicro LSM6DSV16X IMU support by @SteveCEvans in #13046
Additional TPA breakpoint for low Throttle by @pichim in #13006
STMicro LIS2MDL mag support by @SteveCEvans in #13150
STMicro LPS22DF baro support by @SteveCEvans in #13054
Throttlebased EzLanding by @tbolin in #12094

Improvements

Default blackbox device to NONE on reset by @haslinghuis in #12221
Cleanup make by @blckmn in #12179
Add Octo X8 + to mixer defaults by @VirtualEnder in #12175
Add GYRO_CALIBRATION debug mode by @SteveCEvans in #12241
Enable retrieval of the BUILD_KEY using MSP2 by @blckmn in #12264
Source file re-arrangement for better separation of MCU types by @blckmn in #12268
ELRS - Simplify deferred ISR by @hydra in #12303
NVIC - Update ELRS and SPI atomic_block usage to use appropriate priority levels. by @hydra in #12302
add thrust_linear to blackbox header by @nerdCopter in #12337
Method for adding defaults using defines for resources. by @blckmn in #12342
Refactor GPS state_position by @haslinghuis in #12330
Makefile Cleanup - further simplification of local building by @blckmn in #12354
timerHardware removal - all targets use fullTimerHardware now. by @blckmn in #12349
Simplified platform.h by @blckmn in #12355
Adding additional MOTOR pin mappings for defaults by @blckmn in #12364
Refactor I2C to use I2Cx_SCL_PIN and I2Cx_SDA_PIN by @blckmn in #12357
Remove USE_SWDIO, simply refer to DEBUG by @blckmn in #12361
Using SPI default pins by @blckmn in #12367
To enable display of pin mapping for config.h by @blckmn in #12363
Added SITL Gazebo by @ahcorde in #12346
Move FLASH_PAGE_SIZE definition to CPU specific target.h files by @SteveCEvans in #12394
Add CMS support on TX for ELRS by @SteveCEvans in #12308
Auto generation of config.h from unified target repo by @blckmn in #12353
REFACTOR: moving timer definitions to MCU locations. by @blckmn in #12397
Enable cloud build features at runtime by @haslinghuis in #12388
Removing Custom Defaults by @blckmn in #12425
Rename ACC to ACC_REGS by @SteveCEvans in #12429
AT32F435 BlackBox FLASH support by @SteveCEvans in #12431
Rename MOSI and MISO to SDO and SDI by @haslinghuis in #12469
Removing Brushed ESC auto detect by @blckmn in #12479
Cleanup of USB drivers for AT32F4 by @blckmn in #12441
AT32 initial dshot support by @JBKingdon in #12464
FIX: If local config applied, do not include all drivers. by @blckmn in #12483
Make dyn idle startup increase configurable by @tbolin in #12432
FIX: SPI PIN defaults cleanup #2 by @blckmn in #12487
Debug 8 columns by @bw1129 in #12445
Remove SPEK1024 as the default RX (set to NONE) by @blckmn in #12500
Rename FAKE to VIRTUAL by @TheIsotopes in #12493
Add USB MSC support to AT32 by @SteveCEvans in #12481
Set DSHOT default by @haslinghuis in #12508
WORKFLOW: Adding call to create or update target list in API from config.h by @blckmn in #12540
Remove getRcStickDeflection and areSticksInApModePosition by @ctzsnooze in #12198
Update RSSI_DBM to include diversity antenna in OSD element (CRSF) by @haslinghuis in #12359
gyro_init.c remove duplicate include line for icm20689.h by @nerdCopter in #12582
Remove code comments using word retarded by @Quick-Flash in #12592
More efficient PTn gain calculation by @KarateBrot in #12610
Cleanup + led overlay expansion by @ASDosjani in #12554
add getCoreTemp by @HThuren in #12608
Add more info for sensor in (get) MSP_SENSOR_CONFIG by @HThuren in #12626
Implement Stopwatch by @KarateBrot in #12623
Make UBLOX models more configurable by @ASDosjani in #12587
Obtain HSE_VALUE from config.h where provided. by @blckmn in #12632
UBLOX Full Power mode + default STATIONARY model by @ASDosjani in #12659
Optimise DSHOT cache management loops by @SteveCEvans in #12672
Send motor data and then immediately decode prior telemetry data for bitbanged DSHOT by @SteveCEvans in #12685
Lead-Lag Compensator by @KarateBrot in #12730
Add GPS Status Line to CLI Status Output by @ZzyzxTek in #12769
Minor pid.c refactoring by @ctzsnooze in #12722
TPA optimisations by @ctzsnooze in #12721
DShot bitbang decode - simple refactor by @ctzsnooze in #12688
Allow custom H7 HSE freqs. Allow H7 HSI. Limit H723 speed to 520Mhz by @David-OConnor in #12291
Add NMEA Custom commands by @ASDosjani in #12591
Thrust linear code optimisations by @ctzsnooze in #12720
Improve behaviour when GPS Rescue is initiated close to home by @ctzsnooze in #12715
Removing Timer Usage Flags by @blckmn in #12862
Enables retrieval of the RELEASE_NAME using MSP2 by @haslinghuis in #12878
GPIO alternate function initialisation removal for HAL. by @blckmn in #12888
Separate resources for SOFTSERIAL_TX & SOFTSERIAL_RX by @DieHertz in #11786
IMU - increase gain on large Course over ground error by @ledvinap in #12792
Refactor imuCalcKpGain by @ledvinap in #12859
Add unfiltered gyro black box field by @tbolin in #12907
add uart 6 and 7 by @freasy in #12928
AT32F435 camera control by @freasy in #12913
Add default port settings for serial port functions by @haslinghuis in #12986
Use coloured fonts if supported by @SteveCEvans in #13005
M10 ValSet support, GPS connection stability by @freasy in #12799
Added dynamic expo factors to blackbox header by @pichim in #13004
Add LED strip config values to MSP by @ASDosjani in #12995
Add magnetic heading as debug and magnetic declination for the Mahony filter by @pichim in #13073
rearrange rescue phase enum and keep Mag during landing by @ctzsnooze in #13072
Dimmable RPM harmonics by @KarateBrot in #12838
Remove back-and-forth float to int to float conversion in acceleration calculation by @tbolin in #13158
Improved Magnetometer / Compass Bias Estimator by @pichim in #12998
Make AT32 I2C accesses fully interrupt driven by @SteveCEvans in #13171
Add OSD Link Quality alarm value to the MSP by @McGiverGim in #13121
Add additional timers for AT32F4 by @blckmn in #12548
Dshot RPM Telemetry Refactoring by @KarateBrot in #13012
at32: add PA0/PA1 as i2c pins by @bkleiner in #13187
Set serial duplex mode by @haslinghuis in #12909
Encapsulate LSM6DSV16X driver specific macros by @KarateBrot in #13196
Renamed tpa....lower to tpa_low_..., + tpa_low_always = OFF by default by @limonspb in #13206
Make lookupTableThrottleLimitType an extern variable by @limonspb in #13204
at32: add mux 3 for tmr9 on port c by @bkleiner in #13222
Add gyro jitter analysis to DEBUG_SCHEDULER_DETERMINISM by @SteveCEvans in #13230
Revive MSP message for mag declination by @haslinghuis in #13232
Add hardware LPF1 options for lsm6dsv16x gyro by @SteveCEvans in #13234
Revised LPF1+LPF2 filter cutoff bandwidths from STMicro by @SteveCEvans in #13239
Do not permit MSP on softserial ports as the load on the CPU is too great by @SteveCEvans in #13303
Use cpu_late_10ths_percent_limit to set limit on % of late tasks in 10th of a % by @SteveCEvans in #13330
Log the standard deviation of gyro cycle time in SCHEDULER_DETERMINISM and TIMING_ACCURACY by @SteveCEvans in #13377
Make servos great again (Servo range 500 - 2500) by @StNekroman in #13451
Fix bmp388 spi (and add BMP390) by @ledvinap in #13458
Extend build info with defined flags by @atomgomba in #13333
Add support for SPL07_003 barometer - based on DPS310 by @haslinghuis in #13427
Add resource for LPUART by @haslinghuis in #13306
mag cal improvements by @ctzsnooze in #13487
Barometer - remove unnecessary static variables by @ledvinap in #13496
new flash added: py25q128ha by @freasy in #13516
RX - minor optimizations/minor cleanup by @ledvinap in #13493

Fixes

Fix gating for USE_ACC_SPI_MPU9250 by @haslinghuis in #12240
Fix Bug causing Dynamic Idle to fail if RPM filtering is turned off by @ctzsnooze in #12270
Fix max permissible CMS rows and up/down page arrows by @SteveCEvans in #12277
SD - Use SDIO by default if target uses USE_SDCARD_SDIO. by @hydra in #12301
Don't enable all flash chips by default on EXST targets. by @hydra in #12300
Fix BMI160 accelerometer read in non-DMA SPI transfer by @SteveCEvans in #12338
Fix blackboxdevice missing by @haslinghuis in #12324
FIX: Flash status compilation error by @blckmn in #12360
Enable SPI DMA receive before transmit on AT32 by @SteveCEvans in #12368
FIX: Poor performance due to platform movements. by @blckmn in #12373
Fix MPU6000 reset by @klutvott123 in #12371
FIX: Several build issues following configuration changes by @blckmn in #12389
FIX: Multi-gyro enabled but not configured at compile time. by @blckmn in #12404
FIX: LED is zero based index (variance to resource command), ADC pins incorrectly mapped. by @blckmn in #12405
FIX: Custom defaults - premature configuration by @blckmn in #12410
FIX: Legacy drivers required for STM32F411DISCOVERY target by @blckmn in #12411
increase FF smoothing max to suit elrs 1000hz link rate by @sugaarK in #12426
FIX: Autogeneration of config.h inadvertently used PNONE instead of NONE by @blckmn in #12430
H7 Fix frozen ADC values by @klutvott123 in #12439
FIX: Multi gyro and SDIO hard fault by @blckmn in #12446
FIX CONFIG: MATEKF405TEMINI SPI3 + CONFIG DEFAULT_VOLTAGE_METER_SCALE + SYSTEM_HSE_MHZ by @haslinghuis in #12468
Improve GPS Rescue Pitch smoothing and disarming by @ctzsnooze in #12343
added fake barometer sensor name to cli lookup table, fixes cli status crash for SITL by @AJ92 in #12474
FIX: SPI Pins, and I2C pins should be configured in config.h by @blckmn in #12484
FIX: RX SPI modules not correctly activating (incorrect CS pin definition) by @blckmn in #12482
CONFIG: Fix SDCARD CS by @haslinghuis in #12488
FIX: ESCSERIAL_PIN not mapped correctly by @blckmn in #12486
FIX: CRSF no active serial port and telem causing hardfault by @blckmn in #12496
Fix RX protocol config by @haslinghuis in #12497
CONFIG: Fix blackbox by @haslinghuis in #12511
Exclude MSP_OSD_CONFIG if USE_OSD not defined by @klutvott123 in #12513
Revert 12302 NVIC SPI Priority by @ctzsnooze in #12505
CONFIG: Fix VTX feature by @haslinghuis in #12512
CONFIG: Add CAMERA_CONTROL if PIN defined by @haslinghuis in #12516
Fixes #12521 Add separate AAF values for ICM-42605 by @tbolin in #12524
FIX: IBUS telemetry by @haslinghuis in #12541
Keep sending DShot 0 packets between beacon commands by @ctzsnooze in #12544
Restore DShot Beacon control for 4.5 by @ctzsnooze in #12558
Enable OSD feature if USE_OSD_SD or USE_OSD_HD is defined by @SteveCEvans in #12563
Fix H7EXTREME by @haslinghuis in #12596
If DSHOT telemetry is still being received, wait by @SteveCEvans in #12612
Fix PG initialization of DMA defaults for TIMUP configuration by @blckmn in #12633
Position: Remove 15 m/s limit on estimated vario by @mluessi in #12669
Fix flash M25P16 ID with QUADSPI by @mluessi in #12670
fix bootloader jump for g4 mcu by @freasy in #12675
Fix missing cfg_pms.version by @SteveCEvans in #12695
Fix Softserial by @haslinghuis in #12679
Increment parameter group version of GPS config by @KarateBrot in #12681
Fix handling of attribute byte by @SteveCEvans in #12701
Refactor Feedforward Angle and RC Smoothing - mashup of 12578 and 12594 by @ctzsnooze in #12605
Detect if no motor GPIO is specified during DSHOT intialisation by @SteveCEvans in #12745
Tri-state USART TX output if load due to powered down peripheral is detected by @SteveCEvans in #12760
If CS is asserted between transfers then consider bus to be busy for all but owning device by @SteveCEvans in #12604
Converge IMU faster at higher groundspeed during GPS Rescue by @ctzsnooze in #12738
Fix GNSS new data by @haslinghuis in #12725
Fix bidirectional dshot on F7 by @haslinghuis in #12796
fixes not working Ghost on F4xx by @TheIsotopes in #12809
GPS Rescue Bugfix to ensure IMU adaptation to GPS course over ground by @ctzsnooze in #12789
Handle invalid baro pressure values by @haslinghuis in #12815
GPS rescue IMU adaptation 0.2 by @ctzsnooze in #12841
Fix wrong test for BOXMSPOVERRIDE channel by @ledvinap in #12857
Call updateInit() before writing motor command data by @SteveCEvans in #12865
Fix MAG redefines by @haslinghuis in #12882
G4 LPUART rework by @DieHertz in #11821
fix led strip for h7 by @freasy in #12890
Fix g force calculation by @Schuwi in #12892
Fix rcSmoothing warning beeper by @haslinghuis in #12893
Fix rcSmoothing warning OSD by @haslinghuis in #12898
Platform target evaluation fix by @ASDosjani in #12904
Fix Serial USB COM port by @freasy in #12911
Handle USART TX pulldown by @SteveCEvans in #12929
GPS rescue IMU, velocity iTerm and other fixes by @ctzsnooze in #12900
Revert 12577 change for F4 by @haslinghuis in #12969
Rename flight mode by @haslinghuis in #12983
Fix MSP_DISPLAYPORT_UART assignment by @SteveCEvans in #13000
Remove cs lock device by @SteveCEvans in #12999
Fix escserial for HAL targets. by @hydra in #12992
Fix: disable sag compensation if RPM limit is active by @limonspb in #12918
Enable/disable the UART TX before changing the TX pin mode by @SteveCEvans in #13017
UART enable disable f4 by @SteveCEvans in #13019
Allow for F7 UART idle preamble to be sent on startup by @SteveCEvans in #13021
AT32F43x: make sure the SRAM configuration is valid by @cruwaller in #13031
Fix MAX7456 clock configuration by @haslinghuis in #13030
Fix AT32 UART 7 and 8 by @haslinghuis in #13027
Fix debug_gps_altitude values by @ctzsnooze in #12803
Fix OSD VTX band/channel info when direct frequency is used by @cruwaller in #13032
Fix GPS Rescue parameters confusion by @haslinghuis in #13047
Only allow arming when valid Rx signals are received by @ctzsnooze in #13033
GPS Lap Timer: Fix best 3 not being calculated by @SpencerGraffunder in #13065
Remove dshot_telemetry_start_margin setting and auto-tune instead by @SteveCEvans in #13075
Fix circling behaviour during GPS Rescue descent phase by @ctzsnooze in #13091
Fix missing target define by @haslinghuis in #13078
Fix marking of softserial port usage by @SteveCEvans in #13097
fix ARTERY UART4 pin 'PH2&PH3' by @BAYCKRC in #13108
Removed SITL hardcoded state port number by @JacopoPan in #13117
Fix buffer overflow in JETIEXBUS character reception by @SteveCEvans in #13130
Disable ICM426XX AFSR feature to prevent stalls by @SteveCEvans in #13132
Check tx on MSP and GPS only by @SteveCEvans in #13100
Remove Special Chars from eRPM Blackbox Field by @KarateBrot in #13123
Fix compass loop time by @SteveCEvans in #13125
Update esc_sensor.h to support higher esc telemetry voltage display by @AlexRice13 in #13115
Increase PG version for rpm_filter by @haslinghuis in #13172
Fix Dshot telemetry by @haslinghuis in #13140
Mag scheduling improvements by @ctzsnooze in #13166
Fix disabling sensor configuration (when device needs battery power) by @haslinghuis in #13177
Fix: ledstrip vtx freq based color selection in RACE mode by @cruwaller in #13096
Fix default PID DENOM by @haslinghuis in #12509
Allow CRSF RX binding via cli by @Auster in #13119
Fixed incorrect accelerometer scaling in MSP by @flaviopinzarrone in #13026
Fix #12908 Add ICM-42688-P IMU to list of IMUs with overflow protection by @tbolin in #13013
Keep I-terms at zero throttle for fixed wings by @limonspb in #13127
Add RPM Limiter to baseline build by @KarateBrot in #13190
Fix # 12991 Change LSM6DSO gyro scaling to 70 mdps/LSB by @tbolin in #13014
Add LPS22DF to core build by @KarateBrot in #13197
Add ICM-42605 to list of gyros with overflow protection by @tbolin in #13194
Rpm limiter initial throttle cap prediction fix by @Tdogb in #13039
fix iterm bug introduced in PR13127 by @ctzsnooze in #13201
Fix OSD Quick Menu by @haslinghuis in #13211
Fix jumpy baro debug by @haslinghuis in #13217
Fix: RPM Limit - reset I-term at arm by @limonspb in #13214
Break LED_STRIP update into 20us chunks by @SteveCEvans in #13218
Added d_min for PID osd elements by @limonspb in #13227
Remove custom defaults and enable features on boot by @haslinghuis in #13216
Fix dma pin list by @SteveCEvans in #13233
Change MAX7456 AUTO default to PAL by @haslinghuis in #13235
Fix builds when PWM motor protocol is used by @haslinghuis in #13236
Add MSP request for UBLOX SatInfo and disable SatInfo on ARMING. by @haslinghuis in #13240
Fix arming when GPS included in build but no active GNSS device attached + revert msp request for SatInfo by @haslinghuis in #13244
Led task optimistion by @SteveCEvans in #13247
Fix BMI160 gate, improve MPU6500 initialization and optimize directives for maintenance by @haslinghuis in #13237
Increasing frequency of MSP protocol in SITL by @Tuxliri in #13253
Fix missing GPS PG parameter by @haslinghuis in #13248
Fix CLI command "bind_rx" for CRSF by @KarateBrot in #13267
Scale heading appropriately by @SteveCEvans in #13269
Add timeout to serial four way interface for ESC programming by @SteveCEvans in #13277
Fix F7X2 AXIM flash region by @haslinghuis in #13270
Rename USE_QUICK_OSD_MENU by @haslinghuis in #13273
Fix ESC-Sensor RPM by @haslinghuis in #13286
BLHeliSuite32 holds 4wayif code in indefinite loop waiting for ESC so remove timeout by @SteveCEvans in #13287
Make high rate IMU DcmKp change relative to user value by @ctzsnooze in #13304
Fix OSD defaults based on SD/HD by @SteveCEvans in #13320
Enable PINIO if PIN defined in config by @haslinghuis in #13315
Do not return MSP_RESULT_ERROR when succesful by @haslinghuis in #13328
Ensure MSP channel data is valid by @SteveCEvans in #13352
Voltage detection method by @freasy in #13350
Allow overriding the spi clock speed for icm42688 by @JBKingdon in #13346
TPA_LOW tidy up by @limonspb in #13337
Use fixed LED color table in RACE / BEACON LED profiles by @CapnBry in #13339
Naming LED Strip overlay rates by @ASDosjani in #13363
Update SERIALRX_PROVIDER default by @haslinghuis in #13371
Spektrum telemetry minor fix to address false Fastboot alerts on radios with latest update by @SpektrumRC in #13383
Increase ez_landing_limit default to 15 (was 5) by @tbolin in #13375
Fix Galileo toggling by @haslinghuis in #13384
Fix timer interval for battery and RSSI LED indication by @SteveCEvans in #13412
Do not go into failsafe when the correct roll/pitch/yaw/throttle are sent via MSP_OVERRIDE by @yrik in #13380
Fix space in status output when gps version is unknown by @haslinghuis in #13423
Fix code style by @haslinghuis in #13429
Fix OSD task timing when using MSP by @SteveCEvans in #13388
Include a target's config.h before common_pre.h. by @hydra in #13439
Fix rx spi processing required by @ledvinap in #13454
In GPS Rescue current altitude mode, ensure that return height is not less than climb height by @ctzsnooze in #13276
Fix #13452 Write gps altitude to blackbox as signed value (was unsigned) by @tbolin in #13453
Render spec screen over normal OSD by @SteveCEvans in #13460
Use intptr_t for casting void * to an integer by @SteveCEvans in #13463
Fix qmc5883l lockup by @ledvinap in #13467
Improve IMU responsiveness, refactor by @ctzsnooze in #13373
Add ez_landing_speed parameter by @tbolin in #13411
Use PDOP consistently, since it replaces HDOP by @ctzsnooze in #13477
Fix config write by @ledvinap in #13503
Blackbox - use llog2 instead of LOG2 by @ledvinap in #13495
Baro and Mag driver check for I2C bus being busy by @SteveCEvans in #13509
Fix for ITCM overflow for F722 by @blckmn in #13521
hmc5883l - fix wrong register value by @ledvinap in #13537
STM32H725 - fix USE_SOFTSERIAL by @ledvinap in #13546
Fix setting pid denom by @haslinghuis in #13535
Make w25n01g FLASH driver non-blocking for SPI by @SteveCEvans in #13555
Fix debug mode DEBUG_ATTITUDE by @KarateBrot in #13570
Nonblocking w25n01g code tidy up by @SteveCEvans in #13562
Remove functionality to enter flash bootloader by sending 'F' on a UART configued for MSP. by @hydra in #13572
Fix smartport over softserial using override by @haslinghuis in #13540
Fix W25N01G lockup when using QUAD/OCTO SPI by @haslinghuis in #13584
Use the cached value of useDshotTelemetry to ensure consistent runtime use if dshot_bidir is changed by @SteveCEvans in #13589

Targets

AT32 development, introduction of AT32F435 target by @blckmn in #12247
Enable DMA on AT32F435 SPI by @SteveCEvans in #12327
Define USE_LATE_TASK_STATISTICS for AT32 by @SteveCEvans in #12328
Simplified Local Build using Permanent Config by @blckmn in #12341
NEW TARGET: AT32 debug targets, ATSTARTF435 and REVO-AT by @SteveCEvans in #12392
Require explicit usage of firmware partition for EXST targets. by @hydra in #12299
Adding VMA address to config.h by @blckmn in #12386
Adding last of the settings in unified targets by @blckmn in #12414
Add AT32F435 I2C support by @SteveCEvans in #12423
OSD is always enabled for SPRACINGH7RF and comments in config fix by @blckmn in #12440
Fix Matek H743 by @haslinghuis in #12447
Fix Config by @haslinghuis in #12448
Adding SERIAL provider defaults. Removing auto-generation comment by @blckmn in #12449
FIX CONFIG: Further config.h mappings - CURR, BATT, BARO and BLACKBOX by @blckmn in #12453
FIX CONFIG: Enabling DSHOT BURST by @blckmn in #12457
FIX: update & clean configuration by @haslinghuis in #12451
FIX CONFIG: ESC and NONE for current meters by @blckmn in #12458
FIX CONFIG: LED INVERSION by @blckmn in #12459
Add configuration by @haslinghuis in #12463
FIX CONFIG: PIN IO CONFIG, PIN IO BOX by @blckmn in #12467
FIX CONFIG: Dashboard I2C bus instance by @blckmn in #12470
FIX CONFIG: Adding DSHOT default settings by @blckmn in #12473
FIX CONFIG: GYRO by @haslinghuis in #12475
FIX CONFIG: BARO by @haslinghuis in #12476
FIX CONFIG: SDCARD Inversion by @blckmn in #12478
FIX CONFIG: Incorrect inverter pin definition by @blckmn in #12485
FIX CONFIG by @haslinghuis in #12480
Add 42688p gyro to JHEF411 by @howels in #12490
CONFIG: Add BMP280 to GEPRCF722 by @haslinghuis in #12491
FIX CONFIG: MATEKF405TE /MINI by @TheIsotopes in #12492
FIX CONFIG: Adding USE_FLASH as a permanent fixture for those targets with flash by @blckmn in #12498
Prevent SPRACINGH7RF accidentally using external storage for logging when required for EXST by @howels in #12495
CONFIG: Update FOXEERH743 by @haslinghuis in #12494
CONFIG: add BMP280 to SKYSTARSH7HD by @nerdCopter in #12518
CONFIG: Add FLASH_W25Q128FV to BETAFPVF722 by @haslinghuis in #12515
CONFIG: Add BMP280 to FLYWOOF411V2 by @haslinghuis in #12514
CONFIG: Add BMP280 to GEPRCF405 by @haslinghuis in #12532
CONFIG: Add BMP280 to SPEEDYBEE_F745_AIO by @haslinghuis in #12530
Add NEUTRONRCF435 support including AT32F435RGT7 1M FLASH by @SteveCEvans in #12534
CONFIG: define W25Q128FV for OMNIBUSF4 by @nerdCopter in #12547
CONFIG: define BMI270 for ATOMRCF405 by @nerdCopter in #12536
CONFIG: Register defaults for align-board by @haslinghuis in #12539
CONFIG: Update TODO by @haslinghuis in #12542
Fix NEUTRONRCG4AIO config file by @ctzsnooze in #12535
AT32: Add AIRBOTF435 REV1.0 by @haslinghuis in #12510
Remove USE_VIRTUAL_GYRO defintion for AT32F435 by @SteveCEvans in #12571
AIRBOTF435 has AT32F435RMT7 processor by @SteveCEvans in #12570
CONFIG: Add BMP280 to TMOTORF7 by @haslinghuis in #12528
Enable AIRBOTF435 MAX7456 by @SteveCEvans in #12584
CONFIG: Add ICM42688P to CRAZYBEEF4FS by @haslinghuis in #12579
CONFIG: Add RUSHF7AIO by @haslinghuis in #12564
CONFIG: Add W25Q128FV to RUSHCORE7 by @haslinghuis in #12586
Add missing rx_spi_bus config to SX1280 targets by @ot0tot in #12567
Add FLASH_W25M512 to EMAX_BABYHAWK_II_HD by @haslinghuis in #12556
Fix NEUTRONRCF7AIO Target Defines by @benjamind2 in #12588
Add MERCURYG4 by @haslinghuis in #12461
CONFIG: Add AOCODARCF722_AIO by @haslinghuis in #12489
Add missing LUXF4OSD flash define by @ot0tot in #12609
CONFIG: Add W25Q128FV to LUXMINIF7 by @haslinghuis in #12603
CONFIG: Add BMI270 to SPEEDYBEEF7MINI by @haslinghuis in #12602
CONFIG: Add SUB250F411 by @haslinghuis in #12593
Fix F411 PA10 Motor DMA Assignment by @ot0tot in #12561
Add SPRO-SPRACINGH7NANO.config by @theojalba in #12575
CONFIG: Fix TMotor F7 BMP280 baro by @dawr68 in #12639
CONFIG: Fix TODO MAG & I2C by @haslinghuis in #12545
CONFIG: Add W25Q128FV to OMNINXT4 by @haslinghuis in #12652
CONFIG: Add BMP280 + W25Q128FV to AIRF7 by @haslinghuis in #12630
CONFIG: Add BARO_SPI_BMP280 to FRSKYF4 by @haslinghuis in #12649
CONFIG: Add BARO_BMP280 to FLYWOOF411 by @haslinghuis in #12650
CONFIG: Add W25Q128FV to REVOLTOSD by @haslinghuis in #12651
CONFIG: Add ICM42688P to AIKONF7 by @haslinghuis in #12627
Fix Mercury G4 and fix TODO for PID_PROCESS_DENOM for all targets by @haslinghuis in #12611
CONFIG: Add FLASH_W25Q128FV to SYNERGYF4 by @haslinghuis in #12660
CONFIG: New Target FOXEERF745V4_AIO by @blckmn in #12677
CONFIG: AOCODAF722MINI Add missing motor 8 output by @dawr68 in #12690
[CONFIG] Updates from master-config and more by @haslinghuis in #12741
[CONFIG] Add NUCLEOF446 Development Board by @haslinghuis in #12678
Implement DShot bit bang for AT32 by @freasy in #12577
[AT32] Change evaluation order by @ASDosjani in #12903
Add H725 target support by @haslinghuis in #12951
Permit 8kHz PID loop on F405 overclocked to 216MHz by @SteveCEvans in #13356
Sync usbd_product_string behavior by @BloodSakura3774 in #13529

Known Issues

BF - Fix QuadSPI include paths. by @hydra in #12298

New Contributors

@VirtualEnder made their first contribution in #12175
@cvetaevvitaliy made their first contribution in #12352
@JBKingdon made their first contribution in #12356
@ahcorde made their first contribution in #12346
@AJ92 made their first contribution in #12474
@ot0tot made their first contribution in #12567
@theojalba made their first contribution in #12575
@dawr68 made their first contribution in #12639
@freasy made their first contribution in #12675
@ZzyzxTek made their first contribution in #12769
@avida made their first contribution in #12880
@Schuwi made their first contribution in #12892
@pichim made their first contribution in #13004
@BAYCKRC made their first contribution in #13108
@JacopoPan made their first contribution in #13117
@valeriyvan made their first contribution in #13164
@AlexRice13 made their first contribution in #13115
@bkleiner made their first contribution in #13187
@Auster made their first contribution in #13119
@flaviopinzarrone made their first contribution in #13026
@mcengiz98 made their first contribution in #13231
@Tuxliri made their first contribution in #13253
@yrik made their first contribution in #13380
@StNekroman made their first contribution in #13451
@RoboSchmied made their first contribution in #13398
@pinhodb made their first contribution in #13549
@BloodSakura3774 made their first contribution in #13529

Full Changelog: 4.4.3...4.5.0

betaflight/betaflight 4.5.0 Betaflight Firmware 4.5.0 on GitHub