Please read the Betaflight 4.0 Release Notes.
This release contains bugfixes and target changes only. For a full list of new features see 4.0.0.
We have tried to make this release as bug free as possible. If you still find a bug, please report it back to us by opening an issue here.
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 in the Slack messaging platform. Register here, and then come join us in Slack. 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.
Important information when upgrading from an earlier version of 4.0
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 was added to the defaults in 4.0.1. It is recommended that you upgrade directly to 4.0.1 or newer, to eliminate the risk of unintended flyaways introduced by this problem (#8043);
Betaflight 4.0.1 has a bug that is affecting all F3 based flight controllers, stopping them from working. A fix for this bug is included in 4.0.2. Users with F3 based flight controllers should upgrade directly to 4.0.2 or newer (#8148);
the format of the CLI timer command that is used to configure a timer has been changed. It now uses the alternate function index that is also used in the hardware manufacturer's reference documentation: timer <pin> af<alternate function>. The format that was introduced with Betaflight 4.0.0 that used an arbitrary option number (timer <pin> <option>) is deprecated and will be dropped in Betaflight 4.1 (#8305, #8306, #8320);
unfortunately, bugfixes in the flight controller core functionality have led to an increase of the firmware size, causing it to overflow the available space on a number of F3 based flight controllers. As a result, some features have had to be removed from a number of F3 based flight controllers in order to make the firmware fit into flash. The following targets are affected: AIORACERF3 (#8178).
fixed inconsistency in the D_min configuration (#8167);
fixed USB ID pin support (#8170);
fixed crash in CMS (#8222);
fixed flash initialisation (#8238);
fixed bug causing blackbox header corruption (#8284);
fixed setting / printing of 32 bit values in CLI (#8302);
fixed printing of DMA options in CLI 'diff' (#8303);
changed CLI 'timer' command to use alternate functions (#8305, #8306, #8320);
removed RTC6705 VTX clock hack (#8322);
fixed bug affecting copying of profiles (#8331);
fixed bug corrupting the configuration when setting VTX frequency directly (#8338);
fixed bug in flash erasing (#8342);
fixed bug allowing distance for descent to go negative in GPS rescue (#8356).
added gyro support for the Viva F4 AIO board to the DALRCF405 target (#8097, #8349);
added new target MAMBAF722 (#8182);
removed the FURYF7 target (#8205);
added new target AIRBOTF7 (#8208, #8328);
added new target XILOF4 (#8209);
added new target OMNIBUSF7NANOV7 (#8210);
removed unneeded pin definition on NUCLEOF722 target (#8220);
added new target TRANSTECF7 (#8243);
added new target VGOODRCF4 (#8249);
added camera control pin to FURYF4 target (#8264);
added support for multi gyro on OMNIBUSF4NANOV7 target (#8267);
removed deprecated use of USE_MULTI_GYRO (#8281);
removed deprecated ACC_x_ALIGN defines (#8287);
added barometer support to SPRACINGF3NEO target (#8321);
added barometer, flash, softserial to EXF722DUAL target (#8333);
fixed barometer support for SPARKY2 target (#8346).
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