EmuFlight 0.3.2

This release is a target and feature-fix release.

WARNING: DJI components bypass Configurator safety-checks. Do not attempt arming while connected to Configurator with LiPo plugged. Always remove propellers and use a smoke-stopper for extra safety.

EmuFlight is software that is open source and is available free of charge without warranty of any kind. Contributions are always welcome via https://github.com/emuflight/

Imperative

• Flash with full-chip erase.
• 0.3.1 tunes/pids are good for 0.3.2; however, do not paste entire diffs/dumps from 0.2.X or older and do not use tunes/pids from other flightware.
• iterm_windup value is reversed in this version with a new default of 70 (70% motor saturation).
• Use latest EmuConfigurator https://github.com/emuflight/EmuConfigurator/releases
• It is ideally best to tune Lowpass Filters per BlackBox analysis. Do not full-send without motor temperature tests. i.e. Do not flash and "rip" or risk "R.I.P."

Changelog:

• Altitude OSD fixes
• Avg cell Voltage in DJI OSD fix (mbilozub)
• Fix GPS Rescue throttle PID calc
• Allow dynNotch and staticNotch for Helio/Strix
• Add DShot2400 and DShot4800
• Modify Kalman Calculation (Paweł Spychalski)
• Revert to old lower DTerm LPF's (for those that fail to tune or bad builds)
• RC-Smoothing defaults BiQaud 50/75
• dTerm calc bugfix for Angle-Mode
• OSD Advanced PID sub-Menu
• iDecay version 2, fixes drift, adds cutoff
• DTerm Boost
• Simplified iTerm Relax and reverse iterm_windup value
• Warnings for DJI OSD (mbilozub)
• Sharpness Fix for non-Helio (only when deg/s >= 20), turn off with imuf_sharpness = 0
• rateDynamics fix when CRSF automatically jumps between 50hz and 150hz
• CRSF LQ with configurable blink-threshold and OSD Styles (Enable RSSI_ADC and enable RSSI OSD in Configurator.
• New targets: AIRF7 APEXF7 BETAFPVF405 DFRF722DUALHD FOXEERF722V2 HGLRCF722 HIFIONRCF7 JBF7 MAMBAF722 MATEKF411SE MATEKF722PX PYRODRONEF7 SPEEDYBEEF7 TRANSTECF411 TRANSTECF411HD ZEEZF7 ZEEZWHOOP
• Fixed targets: AIKONF7 BETAFPVF411 CLRACINGF7 FLYWOOF405 FLYWOOF411 FURYF4 HGLRCF411 HGLRCF722 IFF7_TWIN_G MAMBAF405US MATEKF722HD NBDHMBF41S TALONF7FUSION TALONF7V2

Agenda:

• Continue minor 0.3.X fixes.
• Angle mode fixes.
• Long-term: Work toward a full 1.0.0 release.

EmuFlight Features

• Rate Dynamics.
• EmuBoost (pTerm) / dTerm Boost.
• iDecay
• Simplified iTerm relax
• Sharpness
• PID Throttle Point Attenuation (TPA)
• Setpoint Attenuation (SPA)
• Kalman-based filtering for non-Helio FC.
• Per axis Dynamic Gyro Notch (Matrix) from Paweł Spychalski.
• Gyro and dTerm Lowpass Filters per axis in Configurator's expert-mode.
• Angle/Horizon/NFE (expert-mode).
• WitchCraft filter from RaceFlight (expert-mode).
• Smart Dterm Smoothing (expert-mode).
• Preset-tunes via Configurator.
• Voltage throttle compensation.
• Motor Output Limit.
• Configurable turtle mode power (crashflip_power_percent).

Tips:

• Save a dump all from any existing Flight Controller configurations. Reference it for resources, OSD, serial, etc.
• You must re-tune for EmuFlight 0.3.X . Do not use 0.2.0 PID's. Do not use another flightware's PIDs.
• Most all tuning options can be set using the OSD!
• Reference firmware release notes, EmuFlight wiki and EmuConfigurator wiki for additional information.
• Join Discord for help: https://discord.gg/gdP9CwE

Immeasurable thanks to:

• Dev-team, Contributors, Testers and more: QuickFlash, Andrey, Loutwice, Kaiowarez, MadChiller, nerdCoper, Risko, DzikuVx, Shikijo, pleasuretek, mbilozub, tylercorleone, Marinus, NFE, Pierre Meunier, Skylion, PJC, 3dracingman, Denovich, NiceCrash, ehitaja, Filthrillz, kumokraft, TintFPV, MrNoizeFPV, Vitales, WhiteHat(Binary)FPV, teklust5401, ill bro, Vanadio, Kore, Gaétan, gretel, Mike P, Mainbrain, OGL, t0t0, hakintosh, Inva, gcc.quader, Dogsock, Juelz, DrSchnickistein, countless Discordians that assist each other, and third-party github contributors.
• If you contributed and was inadvertently missed, apologies and please notify a dev for inclusion.
• Thanks to other projects, teams and vendors: BaseFlight, CleanFlight, BetaFlight, ButterFlight, SilverWare, Project Mocking Bird, iNav, RaceFlight, HelioRC, NewBeeDrone, HGLRC, Diatone, APCProps, and Trappy/TBS. Each of which have been valuable for resources and communications.
• Without the help of all these contributors, EmuFlight would not be what it is today! Big round of applause to all who were and are a part of this adventure! For the glory of Emu!

Please report Configurator-specific bugs to

• https://github.com/emuflight/EmuConfigurator/issues

Please report Firmware-specific bugs to

• https://github.com/emuflight/EmuFlight/issues

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