WaF Bot

Porsche GT3 RS en cinématique de Baptiste drone FPV, freestyle nocturne en parking avec Jev FPV, et run stickcam ultra nerveux par vivi_fpv. ➡️ https://www.wearefpv.fr/top-3-video-drones-fpv-week-397-20260125/

ImpulseRC ferme ses portes : retour sur l’héritage de la frame Alien, la "golden era" du FPV freestyle et les réactions de la communauté. ➡️ https://www.wearefpv.fr/impulserc-ferme-ses-portes-20260122/

Changes since 3.6.2: Bugfixes Allows updating backpack firmware via USB on S3 #3496 Fix some STM32 builds because of PIO changes #3495 Fix SPI clock rate for 80MHz STM32L432 devices #3493 Disable PA when disabling TX & RX on ESP8285 #3485 Extend VTX Admin disconnect debounce V3 #3460 Extend tcpsocket idle timeout V3 #3444 Only use the default UART0 for passthrough flashing #3441 Fix LR1121 not committing power change when switching band V3 #3431 Fix crash in CRSF parser with CRSF packet length 0 - V3 #3430 Other fixes and improvements Disable backpack in wifi and BLE modes V3 #3432 Merge master elrs.lua changes #3463 Compatibility This is a bugfix/patch release and is compatible with earlier 3.x versions. Who should update from V3.6.2? These are all backports from bugs found during 4.0.0-RC1 testing and seek to improve stability and performance for users experiencing: Rotorflight Configurator over wifi frequently disconnects before the tab can load Poor wifi / bluetooth connection stability caused by backpack being active when in these modes Telemetry stops updating when used with external telemetry sensors that generate malformed packets connected to the receiver SPI receivers constant connect/disconnect cycles due to VTX Admin on connect Note! elrs.lua from V4.0.0-RC2 (r16) can be used with 3.x as well. The version number has been removed and is compatible with ExpressLRS 2.x, 3.x, and 4.x Lire la source

Hello and welcome to INAV 9.0.0 Stable Release This is the stable 9.0.0 release. For a complete list of changes since 8.0.1, please see the 9.0.0 Release Notes Wiki. ⚠️ Important Upgrade Information Flashing Notes Full chip erase REQUIRED when upgrading from 8.x Back up your configuration with diff all before flashing Review 9.0.0 Release Notes for breaking changes and incompatible settings Incompatible Settings Changes The following CLI settings have been renamed or changed in INAV 9.0. When loading an older diff all, these will show errors: Renamed Settings: osd_pan_servo_range_decadegrees replaces the name of the old osd_pan_servo_pwm2centideg Check the 9.0.0 Release Notes Wiki for further information Migration Instructions: Export configuration from 8.x: CLI → diff all → Save to file Flash 9.0.0 firmware with Full Chip Erase Review and update your saved diff for any renamed/removed settings Load edited diff into new CLI Changes in 9.0.0 (since RC4) New Features Pitot Sensor Validation: GPS-based pitot sensor validation with automatic fallback to virtual airspeed on sensor failure (#11222) Adds defensive airspeed clamping to prevent division issues Improves safety for fixed-wing aircraft with pitot sensors MSP_REBOOT DFU Mode: Add optional DFU mode parameter to MSP_REBOOT command for entering bootloader (#11238) Adds payload size validation for command safety Bug Fixes Blackbox: Fix MOTORS condition mismatch causing null byte padding in logs (#11220) APA (Airspeed Pitch Assist): Improve safety by reducing I-term scaling and maximum gain limits Airspeed TPA: Adjust TPA parameters for better fixed-wing aircraft performance Documentation: Fix Settings.md documentation to match settings.yaml definitions Target Changes VANTAC_RF007: Add new FrSky/Rotorflight Vantac RF007 target with magnetometer support (#11082) RADIOLINKF722: Add W25Q128 flash chip support (#11232) Documentation Blackbox DEBUG: Improve DEBUG mode documentation (#11239) README: Add prominent configurator download links (#11221) OSD Elements: Update OSD element documentation Build/CI Nightly Builds: Add maintenance-9.x to nightly build workflow (#11204) MSP Protocol: Deprecate MSP command 8226, add enum parsing improvements (#11185) Major Changes in 9.0 Since 8.0.1 JavaScript Logic Conditions Navigation & Flight Control Improved fixed-wing altitude control with two selectable methods Enhanced position estimator Z velocity accuracy Temperature compensation for accelerometers and barometers Improved VTOL tilt-rotor support with servo speed filtering Enhanced magless multicopter yaw estimation Improved fixed-wing flight detection for auto-disarm Airspeed based PID Attenuation (APA) OSD & Telemetry Rebranded "Vario" as Vertical Speed Indicator Enhanced ADSB aircraft warnings with extended OSD glyphs New vertical digital throttle gauge display Barometer altitude integrated into CRSF telemetry New OSD elements: VERTICAL_SPEED_INDICATOR, ADSB_WARNING, ADSB_INFO, THROTTLE_GAUGE, NAV_MIN_GROUND_SPEED Increased flexibility for fixedwing minimum ground speed settings SmartPort telemetry: Configure sensors for OpenTX widgets and ETHOS dashboards Maps & Mission Planning Bing Maps replaced with Esri World Imagery (no API key needed) Better imagery quality and reliability Programming & Logic Programming Framework enables dynamic minimum ground speed adjustment Extended MSP override capability to 32-bit channels Add MSP2_INAV_SET_GVAR command for global variable manipulation Add MSP2_INAV_LOGIC_CONDITIONS_CONFIGURED command for optimized loading Hardware Support New Targets (32+ additional flight controller targets including): VANTAC_RF007: New FrSky/Rotorflight Vantac RF007 target with magnetometer support OMNIBUSF4V3_ICM: New target variant BLUEBERRYF435WING target added RADIOLINKF722: Add W25Q128 flash chip support New Sensors: QMC5883P magnetometer driver Puya PY25Q128HA flash chip support (16MB SPI NOR) Bug Fixes USB MSC (Mass Storage): Fix H743 USB MSC regression, add timeout protection and retry logic for SD card access Power Limiting: Fix power limiting treating 0 (disabled) as less than continuous current CRSF Telemetry: Fix buffer overflow and dashboard sizeof bug Logic Conditions: Guard against increasing max conditions beyond 64 Critical Bugs: Fix integer overflow and buffer overrun issues (cppcheck) Blackbox: Fix MOTORS condition mismatch causing null byte padding in logs Mission control waypoint landing functionality fixes Servo mixer overflow issues fixed Fixedwing level pitch trim accuracy improvements Performance & Improvements Flight counter addition to statistics tracking Airspeed TPA: Add pitch angle aware TPA with airspeed support Raise pitot_lpf_milli_hz default for better pitot performance Localization Ukrainian language now available Expanded language support across configurator Build/CI & Development Include cygwin1.dll in Windows SITL artifact (fixes Windows SITL) Add maintenance-9.x to nightly build workflow MSP Protocol: Deprecate MSP command 8226, add enum parsing improvements Add maintenance branch workflow documentation Add release creation guide Documentation Add Power and Current Limiting documentation Update JavaScript Programming documentation for namespaced syntax Improve DEBUG mode documentation Add prominent configurator download links to README Update OSD element documentation Fix Settings.md documentation to match settings.yaml definitions Update LedStrip.md documentation Full Changelog: 8.0.1...9.0.0 Wiki Release Notes: https://github.com/iNavFlight/inav/wiki/9.0.0-Release-Notes Lire la source

Top 3 drone FPV : cinématique alpin sur Paradiski, bando acier ultra technique et freestyle enneigé à ras du sol. ➡️ https://www.wearefpv.fr/top-3-video-drones-fpv-week-395-20260111/

Actualités FPV: JeNo 5" (maj, versioning), retour sur les O4 Lite, les lens mods, les JeNo Pocket/Fit, Caddx Ascent, BetaFPV P1 et Betaflight. ➡️ https://www.wearefpv.fr/actus-2026-jeno-lens-mods-ascent-p1-betaflight-20260107/

Premier Top 3 FPV de 2026 : record à 657 km/h, showreel 2025 de COLA et les coulisses d’un show de 5 000 drones à Chongqing. ➡️ https://www.wearefpv.fr/top-3-video-drones-fpv-week-394-20260104/

Profitons de ce dernier jour de l'année pour faire un bilan sur les produits phares, les news et les tutos qui vous auront le plus séduis. ➡️ https://www.wearefpv.fr/bilan-fpv-2025-best-of-20251231/

Au programme de ce dernier top 3 vidéos en drone FPV de 2026 : jungle aux Philippines, Islande, Indonésie et bando envahi par la verdure. ➡️ https://www.wearefpv.fr/top-3-video-drones-fpv-week-393-20251228/

Hello and welcome to INAV 9.0.0 INAV 9.0.0-RC4 Firmware Release Notes Release Candidate 4 for Testing This is a pre-release for testing purposes. Please report issues on GitHub. Please carefully read all of this document for the best possible experience and safety. Contact other pilots, share experiences, suggestions and ask for help on: INAV Discord Server INAV Official on Facebook Note Make sure to remove props and check your motor and servo outputs before powering your upgraded flight controller with a battery for the first time. The changes to enable flexible motor and servo allocation may change what outputs your configuration uses by default. Known Issues in 9.0 Please read INAV Github issue reports for outstanding problems that were not resolved in time for the release. Upgrading from a previous release Upgrading from INAV 8.0 Download and install the new INAV Configurator 9.0 Backup configuration with CLI diff all command or use the Diff All and Save to file buttons. Flash INAV 9.0 WITH Full Chip Erase option enabled Load your 8.0 Diff settings in to the CLI. Then take a note or write down the incompatible settings changes marked in RED. Then copy your 8.0 Diff file and rename it 9.0. And edit the old incompatible settings. Go to CLI and load your edited INAV 9.0 Diff Done Tip Concerning step 6. It can be a safer option to load your Diff All settings in two parts if you are using multiple Profiles. e.g. Control, Mixer or Battery. This can be done by copying and loading the Diff All text setting from the top, down to the bottom of the # master settings category. Then load that into the CLI and press enter. Once it has written, press the Save Settings button. Wait until it reboots and go back to the CLI tab again, then copy and load the rest of the Diff All text file. Starting from the # Control_profile 1 settings category, down to the bottom. Press enter. Once written, it will save by itself. Diff update tool Rather than steps 4 and 5 above. You can try this diff update tool. This is a work in progress. Currently it will try to update version 7 or later diffs to version 8 or later. Just paste your full diff all (not dump) in to the tool. Select the INAV version you're upgrading to. Then press the button. It will create a new diff for you and give you warnings about anything you should check. INAV CLI Update Tool Upgrading from older versions Please follow the instructions on this page. Changes in RC4 (since RC3) Bug Fixes USB MSC (Mass Storage): Fix H743 USB MSC regression, add timeout protection and retry logic for SD card access Power Limiting: Fix power limiting treating 0 (disabled) as less than continuous current CRSF Telemetry: Fix buffer overflow and dashboard sizeof bug Airspeed TPA: Fix floating-point division in throttle adjustment calculation Logic Conditions: Guard against increasing max conditions beyond 64 Critical Bugs: Fix integer overflow and buffer overrun issues (cppcheck) New Features Puya Flash Support: Add support for Puya PY25Q128HA flash chip (16MB SPI NOR) Airspeed TPA: Add pitch angle aware TPA with airspeed support MSP Protocol: Add MSP2_INAV_LOGIC_CONDITIONS_CONFIGURED command for optimized loading Pitot: Raise pitot_lpf_milli_hz default Target Changes BLUEBERRYF435WING: Disable dynamic notch filter by default OMNIBUSF4V3_ICM: New target variant Documentation Add Power and Current Limiting documentation Update JavaScript Programming documentation for namespaced syntax Add maintenance branch workflow documentation Build/CI Include cygwin1.dll in Windows SITL artifact (fixes Windows SITL) Testing Focus for RC4 Please test and report issues with: USB Mass Storage on H7 boards Power limiting functionality Airspeed TPA if using pitot Puya PY25Q128HA flash chip detection Windows SITL functionality Highlights of the INAV 9 series: Fixedwing airspeed APA/TPA support Fixeding aircraft can now use a Pitot sensor or virtual airspeed to dynamically adjust the PIDFF gains inflight. This adds the advantage of a tighter stabilization response across the whole flight speed envelope. Full details of setup and tuning can be found here. Under the topics APA and TPA and Pitch angle. Do not tune your PIFF too tight! Minimum ground speed flexibility Via the Programming Framework. It allows the user to have more flexibility when flying in higher wind conditions. To ensure the airplane makes headway. In addition, you can program it to dynamically adjust the minimum ground speed according to the Wind direction and Wind speed. More information can be found in this link. OSD throttle gauge Allows the pilot to see the throttle as a vertical digital gauge. Functional information can be found here in the PR link Fixed wing altitude controller Changes have been made to improve its operation on a broader range of airframes. One of two methods can be selected to better suited different climb rate conditions. Altitude Velocity controller nav_fw_alt_use_position = OFF (default) Altitude Position controller nav_fw_alt_use_position = ON See here for more information. And the required PID tune settings for either control method. Position estimator improvements Changes to the position estimator are mainly intended to improve issues with Z velocity accuracy but also includes code clean-ups and fixes. There has also been setting changes added with the code alterations. Depending on the sensor data quality. It may be beneficial in some cases to revert your settings back to the old ones, or somewhere in between the two. Name CLI Old New w_z_baro_v 0.1 0.35 inav_w_z_gps_p 0.2 0.35 inav_w_z_gps_v 0.1 0.35 More information directly related to the changes can be found here. Sensor addition QMC5883P magnetometer driver Other changes: Barometer altitude added to CRSF telemetry. Better Fixed wing flight detection to handle auto disarm on landing. PR link Lulu filter fixes and improvements. PR Link Accelerometer and Barometer temperature compensation for better altitude control - Calibration method and PR link. Add flights counter to stats PR link Servo speed filter for tilt-rotor VTOL. PR link Enhance VTOL tilt-rotor support. To assist transition smoothness PR link Better air cushion compensation for multicopters and rangefinder fix. PR link Improved yaw estimation for magless multicopter operation. PR link - The default ahrs_acc_ignore_rate setting has also been lowered from 20 to 15. Mavlink clean-ups and fixes - 11060 11061 11062 MSP changes - 11146 11171 11093 11032 10571 11099 JavaScript support tab for INAV programming framework. PR link Docs update OSD/CMS changes Name Function OSD_VERTICAL_SPEED_INDICATOR New name for OSD vario OSD_ADSB_WARNING CMS stick menu OSD_ADSB_INFO CMS stick menu OSD_THROTTLE_GAUGE OSD OSD_NAV_MIN_GROUND_SPEED OSD Functions Function Name Values Battery SMARTPORT vbat_meter_type , current_meter_type Programming Framework Gimbal Sensitivity Scales Operand A from [-16 : 15] Programming Framework Override Minimum Ground Speed When active, sets the minimum ground speed to the value specified in Operand A [m/s]. Minimum allowed value is set in nav_min_ground_speed. Maximum value is 150 Programming Framework Minimum Ground Speed [m/s] The current minimum ground speed allowed in navigation flight modes Programming Framework Horizontal Wind Speed [cm/s] Estimated wind speed. If the wind estimator is unavailable or the wind estimation is invalid, -1 is returned Programming Framework Wind Direction [deg] Estimated wind direction. If the wind estimator is unavailable or the wind estimation is invalid, -1 is returned Programming Framework Relative Wind Offset [deg] The relative offset between the heading of the aircraft and the heading of the wind. 0 indicates flying directly into a headwing. Negative numbers are a left offset. For example, if -20° is shown, turning right will correct towards 0. If the wind estimator is unavailable or the wind estimation is invalid, 0 is returned CLI New Settings Name Description blackbox_arm_control Can extend blackbox logging up to 60 seconds after disarming acc_temp_correction Accelerometer temperature correction factor to compensate for acceleromter drift baro_temp_correction Baro temperature correction factor to compensate for Baro altitude drift osd_adsb_warning_style ADSB warning element style - COMPACT or EXTENDED nav_fw_alt_use_position Use position for fixed wing altitude control rather than velocity osd_pan_servo_range_decadegrees Replaces the name of the old osd_pan_servo_pwm2centideg mavlink_autopilot_type Sets the Mavlink telemetry type - GENERIC or ARDUPILOT transition_pid_mmix_multiplier_pitch Intended to solve pitch coupling in transtion mode on tilting rotor VTOL transition_pid_mmix_multiplier_roll intended to solve roll/yaw coupling oscillation in transtion mode on tilting rotor VTOL transition_pid_mmix_multiplier_yaw Intended to solve yaw/roll coupling oscillation in transtion mode on tilting rotor VTOL apa_pow Sets the strength and range of dynamic airspeed PID scaling tpa_pitch_compensation Sets the strength which pitch angle will override throttle dynamic PID scaling New targets BLUEBERRYF435WING BLUEBERRYF435WING_SD BOTWINGF405 BOTWINGF722 BRAHMA_F405 BROTHERHOBBYH743 BROTHERHOBBYF405V3 CORVON743V1 CORVON743V1 CORVON405V2 DAKEFPVF722X8 DAKEFPVH743PRO DAKEFPVF435 HAPPYMODELF405 HUMMINGBIRD_FC305 FLYINGRCF4WINGMINI FLYCOLORF4 FLYSPARKF4V4 FOXEERF405V2 JHEMCUF435 JHEMF435AIO MICOAIR743AIO ORBITH743 ORBITF435 ORBITF435_SD RADIOLINKF405 SKYSTARSF405V2 TBS_LUCID_H7_WING TBS_LUCID_H7_WING_MINI SPEEDYBEEF405WINGV2 WARPF7 What's Changed Update Aocodarcf7mini by @dlt2018 in #9312 Add a template for new target PR by @mmosca in #9946 Add flights counter to stats by @ TransientTetra in #10020 Update Buzzer.md by @wchnflr in #10121 Added Zerodrag WARP7 by @vishnumda in #10262 Enable MSP override build flag by default by @xznhj8129 in #10330 Accelerometer and Barometer temperature compensation by @breadoven in #10382 Change gimbal sensitivity from programming framework by @error414 in #10405 MSP DisplayPort add DJI Native video system by @mmosca in #10440 Lulu fixes and improvements by @pjpei in #10416 Add new targets: MicoAir743AIO and MicoAir743v2 by @Minderring in #10557 MSP command to get radar position of other planes from esp32radar by jeffhendrix in #10571 Add new target ORBITF435 by @orbittechnologyx in #10578 Update libraries - pre-req for H7A3 by @mmosca in #10593 Fixed wing flight detection fix by @breadoven in #10621 Matekf405 spi flash blackbox fix by @mmosca in #10630 TBS_LUCID_H7: fix gyro2 by @bkleiner in #10678 fix LTM attitude (mis-cast) by @stronnag in #10680 Enable second dynamic gyro only if primary is enabled by @DzikuVx in #10687 Add barometer altitude to CRSF telemetry by @her01n in #10694 improve cli status NAV reasons by @stronnag in #10696 Updates to Iterm Lock for better readability by @DzikuVx in #10699 Add more flexibility for minimum ground speed by @MrD-RC in #10720 Update OSD.md by @MrD-RC in #10722 Add throttle gauge option to OSD by @MrD-RC in #10725 Update VTOL.md by DanielOBenson in 10775, 10779, 10780 fixed crash: Firmware crash when OSD is disabled but MSP Display UART is allocated by @RomanLut in #10792 Brother h743 by @sensei-hacker in #10805 Add new target: DAKEFPVF722X8 by @ThanYangFPV in #10811 Position estimator improvements by @breadoven in #10818 Add ADSB to CMS menu by @P-I-Engineer in #10820 New target JHEMCUF435 (non-AIO) by @sensei-hacker in #10825 Change the spelling error by @shivam-daksh in #10827 Docs: LED pin PWM as PINIO by @sensei-hacker in #10831 DAKEFPVF722X8: Add UART3 by @sensei-hacker in #10832 dmesg: log init messages to RAM until serial init by @sensei-hacker in #10836 Add new target CORVON743V1 by @holydust in #10839 F435 correct uart->tx_af by @sensei-hacker in #10840 New target DAKEFPVH743 by @sensei-hacker in #10843 Programming Framework.md - typo by @sensei-hacker in #10861 Use Nav max bank angle for multirotor ATTI mode by @breadoven in #10866 Fix cardinal OSD icon for DJI by @error414 in #10871 Add functions to serial.md by @sensei-hacker in #10880 Fix osd.md, add missing OSD_NAV_FW_ALT_CONTROL_RESPONSE by @druckgott in #10882 Add support for SKYSTARSF405V2 by @DusKing1 in #10884 Add new target ORBITH743 by @orbittechnologyx in #10889 Reversible motor fixes by @breadoven in #10890 Extend msp_override_mask to 32bits / channels by @stronnag in #10891 Removed dead links from the beepers list by @medvedev in #10894 Add custom targets for BOTWINGF405 and BOTWINGF722 flight controllers by @PrateekShanker99 in #10895 Add new target CORVON405V2 by @holydust in #10897 Corrected approach length marker by @b14ckyy in #10899 For burst mode dmar, define as DMA_REQUEST_TIMx_UP by @sensei-hacker in #10900 Update Bug_report.md by @b14ckyy in #10902 Option to use position for fixed wing nav altitude control by @breadoven in #10903 Docs: create contributing.md by @sensei-hacker in #10905 Nav RTH climb first fix by @breadoven in #10908 Add TBS_LUCID_H7_WING by @bkleiner in #10909 Add TBS_LUCID_H7_WING_MINI by @bkleiner in #10910 LED pin PWM.md: update link to screenshot by @sensei-hacker in #10914 Nav position estimator baro air cushion compensation fix by @breadoven in #10925 ADSB - Use extended OSD glyphs for dot in numbers and improve aircraft warning by @error414 in #10927 Branches clean up : merge docs from master to maintenance-8.x.x by @sensei-hacker in #10932 Add New Target: DAKEFPVH743PRO by @ThanYangFPV in #10940 Backport #10382 baro temp compensation to maintenance-8.x.x by @sensei-hacker in #10946 8.1 change gimbal sensitivity from programming framework by @sensei-hacker in #10950 CADDXF4_AIO_ELRS baro uses i2c2 by @sensei-hacker in #10951 8.1 JH fix matek f405 variants by @sensei-hacker in #10952 ADD NEW TARGET HUMMINGBIRD_FC305 by @LYNHQQ in #10954 Blackbox logging arm behaviour setting option by @breadoven in #10955 Add New Target DAKEFPVF435 by @ThanYangFPV in #10956 Create Building in Github Codespace.md by @WizzardDr in #10957 Flycolorf4 target by @DzikuVx in #10963 Foxeer F405V2 by @DzikuVx in #10964 Targets for darkmatter BRAHMA boards by @DzikuVx in #10965 Fix changing msp receiver crash by @stronnag in #10971 Jh fix gcc15 warnings by @stronnag in #10972 SpeedyBeeF405Wing V2 target by @DzikuVx in #10976 Fixes Building in Docker by @Lebensgefahr in #10982 Better default display i2c bus by @sensei-hacker in #10984 Allow servo speed filter carry over on the mixer profile switch by @shota3527 in #10986 Fixes for Brahma targets: F405 and F722 by @DzikuVx in #10987 Add New Target HAPPYMODELF405 by @githubDLG in #10989 Add QMC5883P driver by @BortEngineerDude in #10994 Fix some typos by @valeriyvan in #11003 Add target RADIOLINKF405 by @radiolinkW in #11006 Blackbox servos fix by @breadoven in #11010 Added ICM42605 IMU support for SKYSTARSH743HD by @DusKing1 in #11014 Fix Mac SITL CI by @Scavanger in #11017 DAKEFPVF722 SPL06 support by @sensei-hacker in #11022 Lucid_h7: add pc13 for 9v en by @bkleiner in #11023 DAKEFPVF722 support for DPS310 by @ThanYangFPV in #11041 New feature: SmartPort battery sensor by @functionpointer in #11045 Ublox: include array index to set satellites with no signal as unused by @sensei-hacker in #11064 Dakefpvf435 by @sensei-hacker in #11066 Update (fixed spelling mistakes in the page) GPS_fix_estimation.md by @Fire18Parrot in 11068 and 11071 Brotherhobbyf405 v3 - tested correct by @sensei-hacker in #11073 Add new target blueberryF435wing by @sunyanmeng963 in #11074 Replace "exposition" with "exponential" in Settings.md by @jp39 in #11084 Rename numeric vario to vertical speed indicator by @MrD-RC in #11085 Fix typo in Control Profiles documentation by @sensei-hacker in #11086 Update external mag I2C driver registration for HUMMINGBIRD_FC305 @LYNHQQ in #11090 Update CRSF telemetry modes sensor to better reflect INAV modes by @MrD-RC in #11094 Update Geofence AUTO mode to GEO by @MrD-RC in #11096 Corrected mode display ordering by @MrD-RC in #11097 Fix buffer overflow from deprecated MSP2_INAV_LOGIC_CONDITIONS by @MrD-RC in #11099 Update throttle gauge skip by @MrD-RC in #11101 Made SITL ports configurable by @xznhj8129 in #11103 Update SmartPort telemetry to reflect latest flight modes by @MrD-RC in #11104 Update status flag check for QMC5883 by @sensei-hacker in #11105 Updates to wind in the IPF by @MrD-RC in #11109 Update cygwin ci script for the sitl by @stronnag in #11111 Update "Building SITL" document by @stronnag in #11113 Add scaling to pan servo offset by @MrD-RC in #11072 Vtol.md: s/pid_profile/control_profile/ by @sensei-hacker in #11108 Raise the limit to display CRSF SNR values on OSD by @rmaia3d in #9793 Better yaw estimation for mulitirotor(magless operation) by @shota3527 in #11114 MSP2 via CSFR/SmartPort telemetry by @error414 in #11093 MSP protocol JSON definition file + derived documentation generation by @xznhj8129 in #11088 Remove legacy option of rebooting fc without using MSP by @mmosca in #9970 Fix ADSB cardinal for broken mag direction by @error414 in #11076 Mavlink systemid cli by @xznhj8129 in #11062 MAV_CMD_DO_REPOSITION to WP#255 for GCS NAV by @xznhj8129 in #11061 Regen mavlink headers + add missing values to funcs in mavlink.c by @xznhj8129 in #11060 Add options to adjust motor RPY when transition mode is activate(vtol) by @shota3527 in #10996 MSP json rev2 by @xznhj8129 in #11115 Battery control profile off by 1 by @sensei-hacker in #11118 Update references to that should be control_profile by @MrD-RC in #11122 New target: FlyingRC F4wing mini by @dixi83 in #11092 Update FlyingRC F4Wing Mini target by @MrD-RC in #11131 NEXUSX: USE_DSHOT_DMAR, use TIM2 instead of TIM5 by @functionpointer in #11129 Add I2C compass driver registration for HUMMINGBIRD FC305 by @LYNHQQ in #11134 Normalize line endings to LF in src/main/target/FLYSPARKF4V4 in #11137 Revert #11025 "[crsf] add temperature, RPM and AirSpeed telemetry" in #11139 Add JavaScript programming documentation by @sensei-hacker in #11143 Add flyspark target by @FlySparkfpv in #10788 Dynamic Custom OSD Elements position changing by companion computer by @Ahmed-hadzi in #11095 Add JHEMCU F435 AIO target board support by @jhemcu in #10740 MSP2 message exposing 3D attitude, position, and velocity by @yakorch in #11032 MSP2_INAV_SET_GVAR by @xznhj8129 in #11146 Add release creation guide by @sensei-hacker in #11152 Update LedStrip.md by @Barnabasek in #11159 Fix missing magnetometer support on NEXUSX target by @sensei-hacker in #11157 Add MSP2_INAV_LOGIC_CONDITIONS_CONFIGURED command by @sensei-hacker in #11171 Fix H743 USB MSC regression and SDIO reliability issues by @sensei-hacker in #11194 Add airspeed TPA support by @shota3527 in #11042 Full Changelog: 8.0.1...9.0.0 Lire la source

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 hardware targets, and refines the core codebase for maintainability and performance. Please use the online Betaflight App for configuring this release. It can be found here: https://app.betaflight.com 🚀 Key New Features Autonomous & Safety Features: New capabilities include Altitude Hold, Position Hold, Collision Detection, and an auto-disarm function that triggers on landing impact. Fixed-Wing Enhancements: A major focus of this release, with many new tools for wings, such as an S-term for smoother flight, Throttle and PID Attenuation (TPA) modes based on airspeed, and specialized PID multiplier curves. Flight & User Experience: Updated Turtle/Crashflip Mode: Improvements to the mode that helps you flip your drone back over after a crash. Launch Timer: A new timer specifically for launches. LED Dimmer & Functions: Added an LED dimmer and new LED bar indicators for GPS, battery, and altitude. ✨ Improvements & Optimizations Hardware Support: Support has been added for new gyros (like IIM42653, ICM456xx), flash memory chips, rangefinders, and a CADDX camera gimbal. Protocols & Communication: Enhancements have been made to various communication protocols, including CRSF (vario and barometer support), ELRS (FLRC F-modes, Model Match ID), and MAVLink. MSP has been expanded to support more commands and pass-through CLI commands. Blackbox & OSD: Blackbox logging is now more comprehensive, with the ability to log servo data, GPS home altitude, IMU attitude, and MCU ID. The On-Screen Display (OSD) also gains new elements and display options. Code Refactoring: A massive effort was undertaken to clean up and reorganize the codebase. This involves moving platform-specific code (for different microcontrollers) into dedicated directories, which simplifies future development and improves maintainability. 🛠️ Bug Fixes This release addresses a vast number of bugs. Check the full change log below for a comprehensive list. 🎯 New Hardware Targets Support has been added for new microcontrollers, significantly expanding the range of compatible flight controllers. This includes initial support for: Raspberry Pi PICO (RP2350) APM32F40X series Contributor Thanks 🙏 New Contributors Special thanks to our new contributors for this release! The Betaflight community continues to grow and thrive thanks to your efforts. @jonas-becker, @AZDane, @Hochmueller, @LuckkMaker, @ainosukii, @anti-social, @kedeng, @demvlad, @KissUltra, @henrywarhurst, @mywinchester, @ahmedsalah52, @vmzhivetyev, @timmyfpv, @jpmreece, @DrAtomic, @dakejahl, @Stepandrr, @ggabriel-airmod, @jefffhaynes, @kensherman, @fluke9, @LYNHQQ, @marc-frank, @Claucdan, @The-Real-Thisas, @AlexKlimaj, @mjs1441, @hmz06967, @heronprecision-1, @katzfey, @osirisinferi, @LarryKarhu, @LukasLendvorsky, @bradselph 🙌 Existing Contributors A huge thank you to our regular and returning contributors, who continue to drive Betaflight forward with ongoing improvements, feature development, bugfixes, reviews, and community support. Your dedication is what makes Betaflight possible! @blckmn, @ctzsnooze, @haslinghuis, @SteveCEvans, @limonspb, @ledvinap, @KarateBrot, @Quick-Flash, @bw1129, @CapnBry, @mituritsyn, @bkleiner, @cvetaevvitaliy (For a full, up-to-date list, see https://github.com/betaflight/betaflight/graphs/contributors) Upgrading & Feedback As always, we recommend backing up your configuration before upgrading. Please report any issues via GitHub or join our Discord for discussions and troubleshooting. Thank you for flying Betaflight! Full Changelog Features New led functions gps bar battery bar altitude by @jonas-becker in #13404 Add MSP support for gyro_cal_on_first_arm by @haslinghuis in #13626 Add RSSI dBm alarm to MSP by @McGiverGim in #13682 S-term (for wings) by @limonspb in #13679 Add DEBUG_TASK mode by @SteveCEvans in #13799 Piecewise linear interpolation routine (for wings) by @limonspb in #13798 Auto-disarm on landing impact by @ctzsnooze in #13803 Hyperbolic PID multiplier curve (for wings) by @limonspb in #13805 Altitude hold for 4.6 by @ctzsnooze in #13816 Added 'Storage mode' action in Blackbox part of OSD menu by @demvlad in #13899 Minor CLI update to give a noreboot option so save and exit by @blckmn in #13904 Adding CLI command pass through for MSP by @blckmn in #13940 Update turtle / crashflip mode by @ctzsnooze in #13905 Log servos in blackbox by @henrywarhurst in #13944 TPA air speed speed estimation instead of TPA delay (for wings) by @limonspb in #13895 Yaw type rudder/diff_thrust for TPA calculations (for wings) by @limonspb in #13929 Add PRBS checking of BB FLASH with USE_FLASH_TEST_PRBS by @SteveCEvans in #13987 Driver for CADDX camera GM3 gimbal by @SteveCEvans in #13926 TPA mode PDS + Wing setpoint attenuation (for wings) by @limonspb in #14010 Collision Detection by @KarateBrot in #13010 Position hold for 4.6 and Altitude Hold updates by @ctzsnooze in #13975 PreArm allow Re-Arm (without resetting PreArm AUX) by @nerdCopter in #14013 LED Dimmer by @jpmreece in #13776 Chirp signal generator as flight mode by @pichim in #13105 Added virtual blackbox for SITL by @demvlad in #14325 hover point throttle curve adjustment by @marc-frank in #14229 Add Launch Timer by @Claucdan in #14332 Adds font write support over MSP DisplayPort by @freasy in #14391 PICO: Adding support for standard PWM servos by @blckmn in #14787 Improvements Add CRSF vario sensor support by @haslinghuis in #13558 Make Cppcheck happier revived by @haslinghuis in #13566 Display one of four logos on arming by @SteveCEvans in #13057 Improve features (+ cli) by @ledvinap in #13494 Tune huffman table to save nearly 500B by @daleckystepan in #11171 Add support for W25N02K 2Gbit/256Mbyte FLASH by @SteveCEvans in #13677 Cleanup HAL usb driver by @blckmn in #13669 TPA delay in ms (for wings) by @limonspb in #13662 Allow TPA_LOW to be negative (for wings) by @limonspb in #13661 Move launch control default to pitchonly by @blckmn in #13699 CLEANUP: small adjustment to the legacy gyro directory by @blckmn in #13693 Node 16 based github actions no longer supported by @blckmn in #13705 CLEANUP: MCU file locations by @blckmn in #13692 CLEANUP: Move flash drivers to their own directory by @blckmn in #13691 Setpoint PID attenuation (for wings) by @limonspb in #13719 Add altitude variant for OSD by @haslinghuis in #13716 Put gyro debug axis in header by @bw1129 in #13752 at32: add PC6 and PC7 as i2c pins by @bkleiner in #13760 Add FLRC F-modes to ELRS SPI implementation by @CapnBry in #12936 Add SPI ELRS Model Match ID by @haslinghuis in #13774 TPA gravity factor (for wings) by @limonspb in #13778 Increase Number of Available Dynamic Notches to 7 by @bw1129 in #13750 Add OSD display of 2nd block of debug values by @SteveCEvans in #13800 Add MCU ID to blackbox by @haslinghuis in #13825 Reschedule stats saving on disarm, if quad still moving by @limonspb in #13637 Re-name ezDisarm variables and tidying up by @ctzsnooze in #13835 CLEANUP: Removing source wild cards from makefiles by @blckmn in #13834 Feedforward improvements for 4.6 by @ctzsnooze in #13576 GPS GPS_home refactor by @ledvinap in #12870 if USE_WING is defined then define also ADVANCED_TPA and SERVOS by @limonspb in #13860 Refactor debugType by @haslinghuis in #13866 pinio: add set custom string for PINIO box name by @cvetaevvitaliy in #13883 Vector library expansion by @KarateBrot in #12968 CRSF Flight Mode Sensor Value update by @haslinghuis in #13854 Remove d min confusion by @mituritsyn in #13908 Use static idle value to set the initial dynamic idle limit before takeoff by @ctzsnooze in #13906 GPS Home altitude is added to blackbox logging by @demvlad in #13939 Some defines removed from USE_WING build that is not useful for planes by @limonspb in #13941 Always USE_TPA_MODE by @limonspb in #13942 Refactor Rx code and better support 25Hz links by @ctzsnooze in #13435 Shared altitude control parameters by @ctzsnooze in #13884 refactor motor idle, rename dshot_idle_value to motor_idle by @ctzsnooze in #13936 Code re-organisation: src/platform/xxx for the MCU type by @blckmn in #13955 Use wasThrottleRaised in place of isAirmodeActivated where appropriate by @ctzsnooze in #13968 Add CRSF baro altitude sensor by @haslinghuis in #13840 add spi nor flash support winbond W25Q64JW by @mywinchester in #13977 Refactor gps by @ledvinap in #13853 Add support external clock for gyro ICM42688P by @cvetaevvitaliy in #13912 Allow configuration for ibat_lpf_period using DEFAULT_IBAT_LPF_PERIOD define by @haslinghuis in #13903 removed RESCUE_COMPLETE from gps rescue since it's not used by @limonspb in #13993 Refactor uart by @ledvinap in #13585 Change default I2C adddress for IST8310 by @haslinghuis in #13995 Angle pitch offset (for wings) by @limonspb in #14009 Chainable vector operations by @KarateBrot in #13996 MSP Range finder added by @ahmedsalah52 in #13980 Logging of the S -term values in blackbox for Fixed wings. by @demvlad in #14012 Added flight IMU pitch, roll, yaw attitudes to blackbox log by @demvlad in #14020 Adding common source location in ./src/platform by @blckmn in #14044 Add Winbond W25Q512J support by @haslinghuis in #14036 ./src/platform stage 3 by @blckmn in #14051 Adding check for speed optimised source validity by @blckmn in #14055 Update external defines for ALT / POS HOLD by @haslinghuis in #14069 OSD - fix macro arguments by @ledvinap in #14074 Adjust BOX3D boxname by @haslinghuis in #14078 Adjust info/warning status by @SteveCEvans in #14088 Corrected missed USE_ACC logic and some minor cleanup by @blckmn in #14093 Improve serial_post.h by @ledvinap in #14096 opticalflow mt sensor added by @ahmedsalah52 in #14038 Refactoring of PR 13050 - support for custom OSD messages from external device by @ledvinap in #14097 Ditching default target for make in favour of make all by @blckmn in #14099 Adding support for UART0 by @blckmn in #14094 Separate autopilot multirotor from autopilot wing - dummy files for wing by @limonspb in #14108 Adds missing ACCGYRO defines and remove legacy drivers by @haslinghuis in #14087 Moving io_def_generated to platform by @blckmn in #14120 Move STM (and clone) related SPI implementation to platform by @blckmn in #14124 Move STM (and clone) specific IO initialisation to platform by @blckmn in #14123 Moved IO_GPIOPortIdx to platform by @blckmn in #14127 Move STM (and clone) related config in flash implementation to platform by @blckmn in #14103 FIX: Flash page size check is STM (or clone) specific by @blckmn in #14130 FIX: explicit specification of float (build for RPI) by @blckmn in #14132 FIX: Adding init for SPIDEV_0 by @blckmn in #14134 FIX: Adding USE_DMA wrapper around those only available with USE_DMA active by @blckmn in #14133 Add gyro and magnetic custom alignment to MSP by @haslinghuis in #14019 Move STM (and clone) related UART implementation to platform by @blckmn in #14128 FIX: RCC is platform specific by @blckmn in #14137 Adding ability to configure USB positive data pin (PA12 is STM specific) by @blckmn in #14141 h7: spi: SPI1 MISO add PG9 as AF option by @dakejahl in #14144 h7: sdmmc: add SDIO_USE_PULLUP option for config.h by @dakejahl in #14147 h7: sdmmc: add PG11 for SDIO_D2_PIN by @dakejahl in #14146 Add IIM42653 IMU support by @dakejahl in #14095 The imitation of GPS is added for SITL by @demvlad in #14131 h7: sdio: allow custom clock divider by @dakejahl in #14167 Refactor compass align defines by @haslinghuis in #14159 Flip FM priority for ALTH / POSH (OSD, CRSF, LTM) by @haslinghuis in #14165 Remove MCU name table from CLI (rely on build info), add MCU info MSP2 command by @blckmn in #14148 lis2mdl: Enable OFF_CANC and BDU by @dakejahl in #14176 Tidy up MSP protocol header by @SteveCEvans in #14166 FIX: USE_STDPERIPH_DRIVER incorrectly defined for all targets (legacy) by @blckmn in #14181 Improve accuracy of dT used to update RPM filter by @Quick-Flash in #14150 Add ability to specify a config.c file for a config target by @blckmn in #14180 Refactor SPI pre init to make it generic and usable from io.h by @blckmn in #14174 GPS - simplify GPS baudrate handling by @ledvinap in #14195 Refactoring motor to simplify implementation on other platforms by @blckmn in #14156 Add 230K4 baudrate support for GPS by @haslinghuis in #14192 h7: enable ports H and I by @dakejahl in #14199 FIX: Missing IFDEF USE_TIMER and USE_RPM_FILTER by @blckmn in #14201 h7: add timer pins by @dakejahl in #14153 Remove redundant SITL ioPortDef_s array definition by @blckmn in #14202 Refactor missing prototypes 2 by @ledvinap in #14170 Make number of rate profiles conditional using define by @haslinghuis in #14239 Consistent autopilot variable names, use alt_hold_climb_rate by @ctzsnooze in #14136 Fix codestyle by @haslinghuis in #14245 Reduce required motors for MIXER_CUSTOM_AIRPLANE by @haslinghuis in #14257 increasing number of msp ports by @kensherman in #14263 Adding simplified timer calls for enabling ESC Serial and Soft Serial for AT32 by @blckmn in #14228 REFACTOR: Remove unused drivers/dma.c file by @blckmn in #14346 Add variant for RTC OSD element by @haslinghuis in #14344 REFACTOR: SPI segment handling by @mjs1441 in #14345 Use opaque struct to define linker symbols for eeprom by @ledvinap in #14382 Remove #ifdef USE_TIMER from motorConfig reset function. by @mjs1441 in #14389 Increase the PINIO Limit to 8 by @heronprecision-1 in #14378 PICO: Adding pico-sdk as sub module by @blckmn in #14400 Add rangefinder TF-Nova by @LarryKarhu in #14376 Implementation of the ICM456xx gyroscope driver by @cvetaevvitaliy in #14348 Implementation of the ICM-40609D gyroscope driver by @cvetaevvitaliy in #14367 Platform-dependent IO_GPIO.. functions, IO tags allow single port, more pins. by @mjs1441 in #14407 rangefinderTF refactor + add TF-Nova by @ledvinap in #14379 Improve 426xx detection time using soft reset by @haslinghuis in #14414 Removing PICO directory, to be reinstated from RP2350 branch by @blckmn in #14413 PICO: Makefile uf2 support using picotool by @blckmn in #14402 Allow for builds with certain features disabled. by @mjs1441 in #14420 PICO: Preparing for I2C device using I2C0 by @blckmn in #14422 Adjusting SPI traits inline with recent i2c updates by @blckmn in #14428 Move RCC from drivers to platform by @blckmn in #14430 Add support for IIM42652 by @haslinghuis in #14424 Move bus_i2c_config.c to platform by @mjs1441 in #14439 PICO: Adding RP2350A MCU by @blckmn in #14437 i2c changes required for I2CDEV_0 usage by @blckmn in #14443 Removing -fsingle-precision-constant by @blckmn in #14444 REFACTOR: Removing platform specific defines from init.c by @blckmn in #14463 REFACTOR: More platform specific defines moved to platform by @blckmn in #14471 Disable entering CMS menu when armed by @LukasLendvorsky in #14470 Add 3+ IMU support (Gyro Fusion) by @Quick-Flash in #14383 REFACTOR: Adding DMA_FIRST_HANDLER by @blckmn in #14474 Add support for SPI DMA by @SteveCEvans in #14483 Move beeper pwm functions to platform. by @mjs1441 in #14478 Update the google olc code to not have compiler warnings by @Quick-Flash in #14484 PICO: Renamed MCU FAMILY to RP2350 by @blckmn in #14497 SITL: Minor changes to simplify platform by @blckmn in #14501 Fix length for manufacturer and board name by @haslinghuis in #14518 REFACTOR: Moving code sections to platform by @blckmn in #14509 refactor dshot_decode_telemetry_value to prevent EDT data in RPM by @kedeng in #14490 rename Dual Gyro to Multi Gyro by @nerdCopter in #14533 SPI: Extract common preInit code from spiInternalInitStream, and fix Pico SPI implementation by @mjs1441 in #14525 Add FORCE option to dshot_edt by @kedeng in #14532 PICO: Implement debug pin by @blckmn in #14526 REFACTOR: Remove platform specific defines from ./src/main for ADC by @blckmn in #14522 PICO: Initial implementation of led strip by @blckmn in #14530 Improve rc filter updating and initialization by @Quick-Flash in #14411 PICO: Minor led strip clean up of logic, and rename refactoring (simplification) by @blckmn in #14603 REFACTOR: Remove unused regions/aliases from linker scripts. by @blckmn in #14606 REFACTOR: Renaming SPIDevice enum to the consistent pattern spiDevice_e by @blckmn in #14605 Allow builds with USE_DSHOT_TELEMETRY but without USE_ESC_SENSOR. by @mjs1441 in #14612 REFACTOR: Rename I2CDevice to i2cDevice_e for consistent naming pattern for enums by @blckmn in #14613 REFACTOR: Corrected SOFT_I2C to USE_SOFT_I2C by @blckmn in #14622 Replace powf (a, 2) with sq(a) by @ctzsnooze in #14609 REFACTOR: Minor enum cleanup by @blckmn in #14621 PRE-RELEASE: Preparing for beta release named 2025.12.0-beta by @blckmn in #14642 allow custom define for MAX_CHANNEL_ACTIVATION_CONDITION_COUNT by @nerdCopter in #14630 GYRO: Remove ability for user to set the gyro alignment at run time. by @blckmn in #14648 Updating CLI device output for status command by @blckmn in #14650 Ghost: adding armed status to telemetry by @MatajZ in #14623 Added flow control for MAVLink telemetry by @demvlad in #14651 Sanatize TARGET_BOARD_IDENTIFIER by @haslinghuis in #14671 Independent D_Max Advance by @ctzsnooze in #14629 Update gyro sensor info by @haslinghuis in #14677 GYRO: Remove ability to set custom gyro alignment by @blckmn in #14688 MAVLink serial RX provider by @demvlad in #14681 PICO RP2350 bidirectional dshot by @mjs1441 in #14618 Adding support for MAVlink 460K8 baudrate by @haslinghuis in #14697 Safety Improvement (crashflip): Introduce explicit auto-rearm control by @nerdCopter in #14734 Added flash driver def for Cypress S25FL128S. by @ThomasVestergaard in #14751 QMC5883 unified driver for L and P variant by @haslinghuis in #14713 MAVLink data streams rates are added into cli settings by @demvlad in #14729 Implement SPI DMA support on QSPI interface by @SteveCEvans in #14748 Support for XMC flash chip XM25QH256B by @fpvfeline in #14737 NED velocities are added into GPS data by @demvlad in #14762 Refactor crashflip to fix issues reported while disarmed by @ctzsnooze in #14777 Fixes battery - fix BATTERY_NOT_PRESENT detection, detection logic change by @ledvinap in #13599 Fix ICM20469 by @haslinghuis in #13616 minor define fixes found during documentation work by @ctzsnooze in #13631 Update CRSF spec by @haslinghuis in #13614 Remove superfluous checks of useDshotTelemetry by @SteveCEvans in #13633 GPS Rescue using MSP is not getting Velocity to Home by @AZDane in #13639 Do not enable features by default by @haslinghuis in #13608 Fix Wstringop-overflow warning on latest ARM SDK by @haslinghuis in #13659 FIX: make: Circular configs <- configs dependency dropped. by @blckmn in #13695 Set next state expected time on per element basis by @SteveCEvans in #13706 FIX: Broken nightly build by @blckmn in #13718 Fix redundant debug by @haslinghuis in #13711 FIX: Release build asset name change by @blckmn in #13722 Update to LSM6DSV16X gyro driver by @SteveCEvans in #13724 Fixes #13664 - Smartaudio don't work with Softserial by @Hochmueller in #13715 fix at32 serial bidir pp od init and smart audio by @bkleiner in #13764 Read gyro data from correct lsm6dsv16x registers by @SteveCEvans in #13784 Fix unused variable compile time error by @SteveCEvans in #13707 Fix flash_scan by @SteveCEvans in #13789 FIX: make: Circular configs <- configs dependency dropped. #13695 by @blckmn in #13815 Fix telemetry for Spektrum/SRXL by @haslinghuis in #13814 Modify STM32F405 UID Address for MSC Enumeration by @ainosukii in #13769 Fix searching a resource by @anti-social in #13826 bbx 3d speed when gps_use_3d_speed==true by @limonspb in #13831 Fix d adjustment by @mituritsyn in #13822 Split OSD element rendering into draw and display states by @SteveCEvans in #13813 Disable SPA for angle mode - fix (for wings) by @limonspb in #13848 Fix angle mode rate profile change bug by @ctzsnooze in #13862 Apply iterm_windup per-axis by limiting iTerm based on pidSum by @ctzsnooze in #13543 Fix sbufReadData by @haslinghuis in #13869 cli - fix gpspassthrouh when GPS port is not open by @ledvinap in #13878 MSP - fix buffers in MSP_MULTIPLE_MSP by @ledvinap in #13881 Fix FEATURE_RX_PPM by @haslinghuis in #13891 rc-modes bugfix - prevent buffer overflow when serializing box names by @ledvinap in #13880 Fix MSP output buffer overflow by @haslinghuis in #13879 OSD background rendering by @SteveCEvans in #13897 Fix: the wrong ability to turn on HORIZON_MODE without ACC sensors by @demvlad in #13892 Fixes #13220: Fix kiss esc passthrough, Fix castle (escprog cc) command. by @KissUltra in #13911 Don't consider a prior I2C NACK to indicate the bus to be busy by @SteveCEvans in #13917 Fix: Hyperbolic TPA curve initialization (for wings) by @limonspb in #13932 Fix DMax calculations by @ctzsnooze in #13933 Fix custom box names by @haslinghuis in #13935 Fix build when using SRXL telemetry by @haslinghuis in #13947 Make telemetry default for jeti by @haslinghuis in #13951 Fixes #13934: Fix motor(PWM protocol) spin while fc reset. by @kedeng in #13937 Make the imuGyroFilter actually filter by @Quick-Flash in #13961 Fix pt2 and pt3 filter initialization in gyro_init.c by @Quick-Flash in #13960 Fixes #13930: fix timer based bidirectional dshot command not working issue by @kedeng in #13978 Fix SITL build by @haslinghuis in #13972 Fix SmartAudio (STM32F4) by @haslinghuis in #13797 Make three attempts to not only write to FLASH, but also validate it by @SteveCEvans in #14001 Serial refactor fix by @ledvinap in #14007 Revert restriction of reading across page boundary by @SteveCEvans in #14015 Workaround: SERIAL_CHECK_TX is broken on F7 by @ledvinap in #14052 Fixed FLIGHT_MODE(PASSTHRU_MODE) not displayed in OSD by @vmzhivetyev in #14054 Fix arming disable flag and OSD warning buffer size by @haslinghuis in #14057 AT32 SD card support by @SteveCEvans in #14070 Fix PPM feature by @haslinghuis in #14072 MAKE - improvement by @ledvinap in #14079 Don't handle non-MSP characters on VTX MSP port by @SteveCEvans in #14091 Position hold depends on GPS by @haslinghuis in #14101 update serTcpOpen declaration to fix compile errors by @DrAtomic in #14113 AT32F435 SD card support by @SteveCEvans in #14018 Initialize all assigned servos even if some are missing (fix) by @limonspb in #14121 Fixed - reset all PID controller terms when PASSTHRU_MODE is active by @vmzhivetyev in #14058 FIX: Adding RP2350B as MCU type and correcting lookup table error by @blckmn in #14138 FIX: Missing USE_DMA conditions by @blckmn in #14139 Leave SPI CPOL/CPHA at default for SD card by @SteveCEvans in #14142 FIX: Invalid references when neither DSHOT nor PWM_OUTPUT is defined. by @blckmn in #14135 Don't waste time displaying an empty OSD string by @SteveCEvans in #14152 lis2mdl: fix align define typo by @dakejahl in #14154 mag: lis2mdl: fix axes by @dakejahl in #14155 Fix STM32G4 SPI2/SPI3 busses running at double intended clock rate by @SteveCEvans in #14160 Serial - BUGFIX - USART10 instead of UART10 by @ledvinap in #14171 AT32 - invalid names of timer IRQ handlers by @ledvinap in #14172 config submodule - follow master by @ledvinap in #14175 Fix missing ACCGYRO custom alignment defines (used in config) by @haslinghuis in #14092 By default mark OSD element as rendered in case it's in the off blink state (#14188) by @SteveCEvans in #14189 FIX: REVISION length not more than 7 symbols by @Stepandrr in #14151 Fix GPS UART representation (status command) by @haslinghuis in #14193 Update mag_declination range in settings.c by @ot0tot in #14206 Fix G4 SPI clock being double what it should be by @SteveCEvans in #14207 Fix GYRO_CLKIN by @haslinghuis in #14213 FIX: Serial ESC communication when using digital protocols by @blckmn in #14214 FIX: AT32 not reading ESC by @blckmn in #14220 Fix MSP memory issue by @jefffhaynes in #14221 fix compilation without ACC by @ledvinap in #14218 Fix PG ID and corruption in MSP_SET_SENSOR_CONFIG by @haslinghuis in #14230 lis2mdl: fix read by @dakejahl in #14227 Fix opticalflow detection (msp) by @haslinghuis in #14241 CLI - prevent serial overflow by @ledvinap in #14251 STM32G4: Add option to use external 26 MHz clock by @crteensy in #14261 Maintain state for i2c_ev_handler() for each i2c bus by @SteveCEvans in #14268 Blackbox - IMU quaternion - fix case when w is negative by @ledvinap in #14275 Update io_preinit.c by @haslinghuis in #14273 Properly handle HSI if selected by @crteensy in #14259 Fix virtualled by @ledvinap in #14276 fix: led strip not working (#14279) by @fluke9 in #14286 Change airborne default by @haslinghuis in #14271 Fix gimbalCmdIn.u.crc to gimbalCmdIn.u.gimbalCmd.crc by @nerdCopter in #14311 Add NULL check for vTable->decodeTelemetry by @kedeng in #14321 fix: missing sitl motor count by @AJ92 in #14319 Revert GPS flight model change by @haslinghuis in #14333 Jetiexbus -> function unused without GPS enabled. by @blckmn in #14336 fix rtc6705 drive by @LYNHQQ in #14296 Properly handle USE_BARO_LPS22DF by @SteveCEvans in #14340 Fix ATRN by @haslinghuis in #14360 Fix turtle mode motor direction on rearm by @haslinghuis in #14362 throttle lookup table increase size, fix linear interpolation and improve bezier interpolation logic by @marc-frank in #14356 fix format overflow in blackboxVirtualBeginLog by @DrAtomic in #14373 Update pwm_output_hw.c by @hmz06967 in #14385 Fix compiler errors if you remove -flto=auto from standard build flags by @mjs1441 in #14381 Fix osd_esc_rpm_alarm by @haslinghuis in #14361 Changed logical OR to bitwise OR in register value definitions by @katzfey in #14395 Added float specifier to literal to prevent compile error by @katzfey in #14396 Added missing GCC diagnostic push pragma by @katzfey in #14397 Fix inevitable timer overflow by @haslinghuis in #14374 Initialized a local variable that could otherwise be used uninitialized by @katzfey in #14399 Move flash_read arguments around in CLI help by @osirisinferi in #14404 EXTI priority by @SteveCEvans in #14401 Only wait for ESC to recognise DSHOT signal once at startup by @SteveCEvans in #14408 Ensure that crash flip behaviour is consistent on every arm attempt by @SteveCEvans in #14410 Add missing OCTOX8P definition by @SteveCEvans in #14418 Fix ICM40609D reset register by @haslinghuis in #14415 Fix misplaced #else/#endif in accgyro_spi_icm456xx.c by @mjs1441 in #14445 Removed extraneous parentheses to resolve compiler warning by @katzfey in #14441 Pico - fix getCycleCounter by @mjs1441 in #14446 Remove duplicate files from source.mk by @katzfey in #14448 Fix uninitialised loop variable in msp.c by @mjs1441 in #14479 Fix ICM426XX_RA_DEVICE_CONFIG by @SteveCEvans in #14487 Move DMA IRQ acknowledge to before the callback as it's edge triggered by @SteveCEvans in #14514 Fix missing #if for PINIO_COUNT by @mjs1441 in #14515 Fix a CLI status crash when no gyro present by @mjs1441 in #14524 accgyro_mpu initialise gyro->segments. by @mjs1441 in #14528 Fix incorrect TIMUP DMA configuration dump on H743 by @kedeng in #14502 FIX: Skip undetected gyros (blocking VCP connection) by @haslinghuis in #14543 Fix IMU switching by @haslinghuis in #14552 🔧 Fix timer wraparound issue when tring to arm by @haslinghuis in #14562 Fix QMC5883L oversampling by @haslinghuis in #14555 Add missing DMA request for PB9 on STM32G4 by @haslinghuis in #14557 Backport Jeti fixes by @haslinghuis in #14578 PICO Fix: don't use IO_Pin(0) in exti_pico.c. Implement EXTIRelease by @mjs1441 in #14583 Fix ADC by @haslinghuis in #14584 Fix camera control by @haslinghuis in #14580 Enable telemetry by default by @haslinghuis in #14579 BUG: CAMERA_CONTROL_SOFTWARE_PWM_AVAILABLE not available on F411 (only F405) by @blckmn in #14597 Default to 2 point FF averaging and alter debug by @ctzsnooze in #14600 Fix RPM alarm check by @haslinghuis in #14566 Fix configurator status crash when no osdDisplayPort. by @mjs1441 in #14614 BUGFIX: Inoperative ADC due to internal readings returning 0 by @blckmn in #14628 IBUS: Add defensive bounds checking to extended channel parsing by @valeriyvan in #14631 fix-undefined-customAlignment1-variable by @bradselph in #14644 Fix mag custom alignment configuration by @haslinghuis in #14637 Fix FrSky OSD by @haslinghuis in #14640 Switch to ODR 10Hz and 512 sample averaging at STMicroelectronics' request by @SteveCEvans in #14633 Prioritise SPI RX DMA over TX to prevent overrun by @SteveCEvans in #14656 Add a NOP to give processor time to handle interrupts by @SteveCEvans in #14658 Fix tautological comparison in APM32F4 USB wake-up handler by @Copilot in #14653 sensors: esc: fix temperature encoding, int8 to uint8 by @dakejahl in #14657 Fix MSP OSD initialization stuck in OSD_STATE_INIT by @chibaron in #14675 BUG: Custom config location (when using BETAFLIGHT_CONFIG) throws errors if not a valid git repo by @blckmn in #14674 Use octal escape for preprocessor guard hash by @SupaflyFPV in #14676 Fix gyro enable mask field by @haslinghuis in #14684 Fix RC smoothing by @haslinghuis in #14683 Correctly right align new version string in OSD by @SteveCEvans in #14696 Resolved mavlink telemetry transmit data issue by @demvlad in #14700 Fix Dshot Beacon Logic by @SupaflyFPV in #14672 Initialize 8 servos when available in the target (instead of 4) by @limonspb in #14703 Fix BEEPER_GET_FLAG macro by @KarateBrot in #14704 Added MAVLink telemetries battery status data send by @demvlad in #14701 Fix: add non-string attribute to prevent unterminated string initialization warning by @haslinghuis in #14708 MAVLink serial RX providers improvement by @demvlad in #14702 PICO IOConfigGPIO don't change output level when calling a second time by @mjs1441 in #14707 The radio links quality is added into MAVLink serial RX provider by @demvlad in #14719 fix(icm456xx): Remove invalid bank select register writes and add proper initialization by @nerdCopter in #14733 Fix QMC5883P detection by @haslinghuis in #14782 Fix detection for QMC5883L using mode mask by @haslinghuis in #14785 Fix ICM45686 by @haslinghuis in #14766 Fix openEscSerial by @haslinghuis in #14794 Fix MSPv2 over SmartPort: repeated START frames after header-only first chunk by @robthomson in #14749 cli: strToPin: handle Port I by @dakejahl in #14802 FIX: Return initialisation to exact order for AT32 by @blckmn in #14804 fix bug in crashflip auto rearm mode by @ctzsnooze in #14803 Fix QSPI flash detection on STM32 MCUs. by @hydra in #14824 Cli - Fix a bug with flash_write. by @hydra in #14826 Fix w25n flash read by @hydra in #14827 Added backwards compatibility for motor protocols by @haslinghuis in #14840 Fix CLI flash_erase command (for W25N01G) by @haslinghuis in #14839 Targets Fix stm32h730 hardcoded target IO by @hydra in #13604 Adding initial H563 target files in preparation by @blckmn in #13686 Initiate APM32F40X MCU Support in Betaflight by @LuckkMaker in #13709 Add apm32f405/f407 support by @LuckkMaker in #13796 Update timer_at32f43x.c by @ot0tot in #13909 Move USE_SOFTSERIAL to build options by @haslinghuis in #13305 Adding RP2350 SDK and target framework by @blckmn in #13988 PICO changes by @blckmn in #14105 Add SPI_DEVICE_4 to AT32 targets by @haslinghuis in #14255 Add PB0 to AT32 SPI3 mosi pins by @haslinghuis in #14324 STM32H7 add UART4 pins by @AlexKlimaj in #14341 PICO: Adding PICO tooling to CI by @blckmn in #14503 Allow OSD on RP2350B target by @SteveCEvans in #14538 PICO RP2350 target updates by @mjs1441 in #14588 PICO: Adding ADC by @blckmn in #14587 PICO trace use defines from config to select UART pins. by @mjs1441 in #14610 PICO: Adding reboot to flashing rom (like DFU) by @blckmn in #14634 Add support for PICO onboard QSPI FLASH by @SteveCEvans in #14607 stm32g4: add QSPI support by @Jorropo in #14586 PICO - New PIO-based UART devices PIOUART0, PIOUART1 by @mjs1441 in #14635 H735 working (on the CHONKERH735 hardware) by @RubberQuads in #14669 Enable SPI6 on H7 by @haslinghuis in #14717 Add SPI pins for larger H7 packages by @osirisinferi in #14711 Fix AT32F435 I2C GPIO MUX by @ot0tot in #14778 Add multi-core support offloading interrupt handling to the second core by @SteveCEvans in #14796 New Contributors @jonas-becker made their first contribution in #13404 @AZDane made their first contribution in #13639 @Hochmueller made their first contribution in #13715 @LuckkMaker made their first contribution in #13709 @ainosukii made their first contribution in #13769 @anti-social made their first contribution in #13826 @kedeng made their first contribution in #13841 @demvlad made their first contribution in #13899 @KissUltra made their first contribution in #13911 @henrywarhurst made their first contribution in #13944 @mywinchester made their first contribution in #13977 @ahmedsalah52 made their first contribution in #13980 @vmzhivetyev made their first contribution in #14054 @timmyfpv made their first contribution in #14065 @jpmreece made their first contribution in #13776 @DrAtomic made their first contribution in #14113 @dakejahl made their first contribution in #14144 @Stepandrr made their first contribution in #14151 @ggabriel-airmod made their first contribution in #14212 @jefffhaynes made their first contribution in #14221 @kensherman made their first contribution in #14263 @fluke9 made their first contribution in #14286 @LYNHQQ made their first contribution in #14296 @marc-frank made their first contribution in #14229 @Claucdan made their first contribution in #14332 @The-Real-Thisas made their first contribution in #14284 @AlexKlimaj made their first contribution in #14341 @mjs1441 made their first contribution in #14345 @hmz06967 made their first contribution in #14385 @heronprecision-1 made their first contribution in #14378 @katzfey made their first contribution in #14395 @osirisinferi made their first contribution in #14404 @LarryKarhu made their first contribution in #14376 @LukasLendvorsky made their first contribution in #14470 @bradselph made their first contribution in #14644 @chexov made their first contribution in #14647 @Jorropo made their first contribution in #14586 @Copilot made their first contribution in #14653 @MatajZ made their first contribution in #14623 @RubberQuads made their first contribution in #14669 @ThomasVestergaard made their first contribution in #14751 @jianpingwu1 made their first contribution in #14519 @fpvfeline made their first contribution in #14737 @robthomson made their first contribution in #14749 Full Changelog: 4.5.0...2025.12.1 Lire la source

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Changes Since RC1 Fix for PWM receivers not showing the connection page in the Web UI #3467 Only use the low bit of the extended channels packet for arm status #3461 Extend VTX Admin disconnect debounce #3459 Prevent POWER_VALUES OOB array access #3458 Ensmallen 8266 firmware binary, switch to LittleFS for all #3457 Remove reference to 750us servo mode in webui #3452 Can't bind RX after RX had connection #3450 Set LQ=0 when handset disconnects #3447 Dual band binding happening on wrong rate TX/RX #3446 #3448 Only use the default UART0 for passthrough flashing #3442 Fix broken I2C on 8285 based receivers #3440 Extend TcpMspConnector idle timeout #3437 Proper packet rate config migration for LR1121 #3439 Move from version-labeled lua to just elrs.lua #3436 Wrong feature flags names being used in webui hardware page #3434 Add isArmed as CH14 #3433 Compatibility Not compatible with ExpressLRS 3.x.x, 2.x.x, or 1.x.x. ExpressLRS major versions are not cross compatible therefore this version 4 OTA is incompatible prior versions and will not connect at all (theoretically). Support for STM32-based hardware has been removed, including all R9M hardware, your ExpressLRS PP, and Ghost devices. NDAA Blue can eat our shorts. Fullres packet modes users in 8ch and 12ch mode will find CH9 or CH13 missing, and Arm moved to CH14. See "Optional Arming Method" below. Any custom hardware.json and options.json (set from the webui Options tab) will be lost due to the flash filesystem update, back them up before updating. See "Flash Filesystem Changed". Highlights Automatic Antenna Modes Stop babysitting your receiver antenna modes. Updated RX/TX syncing now automatically select between True Diversity and Gemini mode based on the transmitter setting so you don't have to. If you connect to a single RF chip receiver, the transmitter also automatically steps down from Gemini mode to antenna switch mode. Optional alternative arming method (requires EdgeTX 2.11.0 or higher) The alternative arming method doesn’t use CH5 to communicate the user’s arming request to the TX module leaving CH5 free to use as a regular control channel. Arming is performed by user selected sources, e.g. physical or logical switches, anything EdgeTX offers as a source really. The alternative arming method works for all packet rates and switch modes but is especially useful for the fullres packet rates in connection with PWM receivers. No more “remapping CH5” required to use CH5 as control channel. The optional arming method can be enabled in the EdgeTX Internal/External RF Model Setup menu by changing “Arm using” to “Switch”. Due to this change, fullres modes no longer "skip" CH5. Previously, 8ch and 12ch modes would generate 9ch or 13ch but now generate exactly the number of full resolution channels specified and CH5 is always a full channel. Users may shift CH6+ down by one or use a higher channel count to account for the change. CH14 now carries the 1 bit arming flag in 8ch and 12ch mode. Expanded PWM receiver output offerings You bought the whole servo, use the whole servo, available servo stretch mode now extends the channel input to 500-2500us output Failsafe ranges have been extended to 476-2523 allow you to failsafe wherever you want on the dial DSHOT 3D mode added as an available output option Statistical Adaptive Dynamic Power Instead of fixed SNR values compiled into the firmware, the dynamic power system now statistically models the SNR expected to result in 99%+ LQ and adjusts power to achieve that. This majorly improves dynamic power for LR1121 systems, which in 3.x tend greatly toward full blast output. Now it goes up, up, up, for a moment... but you're gonna be, gonna be golden. New WebUI New modern WebUI with an updated look and beautiful organized code instead of a pile of javascript that didn’t even have any consistent whitespace. Improved telemetry bandwidth Double telemetry bandwidth when operating in Gemini mode. We're putting eggs in every basket now. Instead of redundant packets, the telemetry downlink now sends data across both Gemini packets, doubling the telemetry bandwidth. All my single ladies aren't left out either. OTA rejiggering means improved telemetry bandwidth for all non-Fullres packet modes too. Std telemetry rate on 500Hz shows a 30% increase in bandwidth, reducing the time to receive 14 Betaflight telemetry items from 6.6s to 5.1s. Combined with the Gemini telemetry change, this provides 66% additional improvement, from 5.1s to 3.1s. Headtracking tracking more than heads Headtracking through the backpack now supports sending the data to EdgeTX instead, and an arbitrary number of channels. Designed for wireless connected pedals (available now) and built in wireless trainer mode (future). New DJI output protocol Slap that DJI Air Unit out of low power mode without needing a flight controller. ExpressLRS now has the ability to arm DJI air units, either tied to arm state or permanently on. New input telemetry protocols supported A NMEA-output GPS can now be attached directly (115200 baud) for sending position, ground speed. Altitude, and satellite count. HoTT telemetry has been extended to support the VSpeak turbine protocol including RPM, fuel level and flow, EGT, ECU voltage, pump and throttle % and status. (Image credit: StartZero100) More robust syncing The OTA now requires a counter synchronization lock to function, ensuring that TX and RX share a consistent state. There were certain cases where you could start a connection, but the Link Quality would stay very low (10-20%) even at close range. Instead of this failed sync going on indefinitely, the connection can no longer progress without proper sync and the RX will automatically retry the connection. Solves the “radio off to check failsafe” issue where sometimes the receiver behaved erratic after re-connect. Making our code less garbagey Core code refactors mean our interface is more CRSF spec compliant, and a new CRSF packet routing system allows data to move data between more than just a handset and flight controller. There's an expanded event flags system and other framework optimizations for the internal device framework that runs peripherals. STM32 support has removed, and our platforms and libraries have been updated to the latest versions. Expanded packet modes for LR1121 The whole reason 4.0 needed to happen! The new sync structure means being able to support more packet modes. LR1121 gets more, up to a staggering 20 packet modes. The Team900, Team2.4, and GemX modes are also no longer mixed in one list and are selectable by band. New modes: K1000 2.4 - 1000Hz FSK (module baud rate must be 921k or higher) DK250 2.4 - 250Hz DVDA FSK D50 LoRa 900 - 50Hz DVDA 25Hz LoRa 900 - 25Hz LoRa 900 Flash Filesystem Changed The internal flash filesystem has been changed from the deprecated SPIFFS to LittleFS. There is no way to upgrade the filesystem in place. This means custom changes made on the old hardware.html page will be erased during the upgrade, along with items from the Options tab in the webui (receiver baud, airport, wifi and regulatory domain overrides, etc). The hardware.json can be downloaded from the webui before updating and then replaced after updating. PWM mappings and serial protocols are not affected. Minor changes Backpack is now disabled in wifi and BLE modes Wide switch mode is always 6-bit now instead of switching between 6 and 7 bit modes, returning boost telemetry performance back to levels before 3.5.4 TQly telemetry item now samples the last 100 telemetry receives, up from 25 Reduced jitter in receiver serial output by always sending synced with the packet timer instead of at packet reception time. Linkstats are always sent to the handset, even when disconnected. This allows a more immediate notice if the TX believes telemetry has stopped, and in the future we hope this will allow EdgeTX to display more TX status information while disconnected. Lua r16 - Still labeled elrsv3.lua for now, contains bugfixes but old r15 or whatever is on your handset is probably fine. Complete List Fix crash in CRSF parser with CRSF packet length 0 #3429 Use invalid CRSF value to differentiate from an actual 0 ChannelData value #3405 Extended pwm failsafe values #3394 HoTT TLM / Support VSpeak turbine protocol #3382 Upgraded Web UI #3381 CRSF handling on the transmitter side #3378 Remove redundant tlmConfirm bit in OTA, increasing tlm bandwidth #3377 Allow arbitrary number of headtrack channels #3373 Change TQly counter to 100 items #3370 Fix DEBUG_INIT not working, unify logger name, simplify some log msgs #3369 Always send LinkStats to handset #3367 Allow secondary CRSF port to send RC data #3364 Atomic channel data updates #3363 Platform upgrade #3341 Statistical Adaptive SNR Thresholds #3302 Wide switch mode always 6 bit, boost to 1:2 #3295 Add OtaNonce to OtaCrcInitializer #3294 CRSF rewrite to be 'more' spec compliant #3198 Dshot 3D mode, allowing for both forward and reverse rotation #3139 Support directly-attached GPS inputs to RX #3086 Mavlink to Ardupilot Custom Telemetry CRSF translation for Yaapu Telemetry Script #3077 Pass HeadTracking Pan/Tilt/Roll back to EdgeTX #3076 Backpack device refactor #3075 Device/event framework optimisation #3049 Communicate Rx available antenna mode to the Tx #3039 Double MSP (TLM and MAVLink) throughput for Gemini hardware #3037 STM32 removal #3033 #3027 #3016 #2960 #2956 Permanently arm DJI (or other MSP displayport) air units using an RX #3028 Adds optional arming method and provides contiguous proportional channels for all full-res modes #3008 Auto configure Rx OTA protocol from the Tx #2994 Auto set True Diversity Rx into Diversity or Gemini mode based on Tx antenna mode #2993 Add tlmConfirm to tlm_dl ota packet-structure #2991 set OtaCrcInitializer to OTA_VERSION_ID during binding #2983 Reduce jitter for CRSF RC packets on the receiver #2943 Disable backpack in wifi and BLE modes #2940 Fix ESP32 based PWM receivers in debug mode #2939 Update OTA_VERSION_ID to V4 #2933 Send RF Mode Enum in place of RF Index in the Sync packet #2932 Split RC data sending from polling and queued data sending V4.0 #2931 Arm DJI O3 directly from an ELRS receiver #2926 Servo stretch feature for wider range servo PWM pulses #2773 D modes for Team900 #2089 Lire la source

Changes Since RC1 Only use the low bit of the extended channels packet for arm status #3461 Extend VTX Admin disconnect debounce #3459 Prevent POWER_VALUES OOB array access #3458 Ensmallen 8266 firmware binary, switch to LittleFS for all #3457 Remove reference to 750us servo mode in webui #3452 Can't bind RX after RX had connection #3450 Set LQ=0 when handset disconnects #3447 Dual band binding happening on wrong rate TX/RX #3446 #3448 Only use the default UART0 for passthrough flashing #3442 Fix broken I2C on 8285 based receivers #3440 Extend TcpMspConnector idle timeout #3437 Proper packet rate config migration for LR1121 #3439 Move from version-labeled lua to just elrs.lua #3436 Wrong feature flags names being used in webui hardware page #3434 Add isArmed as CH14 #3433 Compatibility Not compatible with ExpressLRS 3.x.x, 2.x.x, or 1.x.x. ExpressLRS major versions are not cross compatible therefore this version 4 OTA is incompatible prior versions and will not connect at all (theoretically). Support for STM32-based hardware has been removed, including all R9M hardware, your ExpressLRS PP, and Ghost devices. NDAA Blue can eat our shorts. Fullres packet modes users in 8ch and 12ch mode will find CH9 or CH13 missing, and Arm moved to CH14. See "Optional Arming Method" below. Any custom hardware.json and options.json (set from the webui Options tab) will be lost due to the flash filesystem update, back them up before updating. See "Flash Filesystem Changed". Highlights Automatic Antenna Modes Stop babysitting your receiver antenna modes. Updated RX/TX syncing now automatically select between True Diversity and Gemini mode based on the transmitter setting so you don't have to. If you connect to a single RF chip receiver, the transmitter also automatically steps down from Gemini mode to antenna switch mode. Optional alternative arming method (requires EdgeTX 2.11.0 or higher) The alternative arming method doesn’t use CH5 to communicate the user’s arming request to the TX module leaving CH5 free to use as a regular control channel. Arming is performed by user selected sources, e.g. physical or logical switches, anything EdgeTX offers as a source really. The alternative arming method works for all packet rates and switch modes but is especially useful for the fullres packet rates in connection with PWM receivers. No more “remapping CH5” required to use CH5 as control channel. The optional arming method can be enabled in the EdgeTX Internal/External RF Model Setup menu by changing “Arm using” to “Switch”. Due to this change, fullres modes no longer "skip" CH5. Previously, 8ch and 12ch modes would generate 9ch or 13ch but now generate exactly the number of full resolution channels specified and CH5 is always a full channel. Users may shift CH6+ down by one or use a higher channel count to account for the change. CH14 now carries the 1 bit arming flag in 8ch and 12ch mode. Expanded PWM receiver output offerings You bought the whole servo, use the whole servo, available servo stretch mode now extends the channel input to 500-2500us output Failsafe ranges have been extended to 476-2523 allow you to failsafe wherever you want on the dial DSHOT 3D mode added as an available output option Statistical Adaptive Dynamic Power Instead of fixed SNR values compiled into the firmware, the dynamic power system now statistically models the SNR expected to result in 99%+ LQ and adjusts power to achieve that. This majorly improves dynamic power for LR1121 systems, which in 3.x tend greatly toward full blast output. Now it goes up, up, up, for a moment... but you're gonna be, gonna be golden. New WebUI New modern WebUI with an updated look and beautiful organized code instead of a pile of javascript that didn’t even have any consistent whitespace. Improved telemetry bandwidth Double telemetry bandwidth when operating in Gemini mode. We're putting eggs in every basket now. Instead of redundant packets, the telemetry downlink now sends data across both Gemini packets, doubling the telemetry bandwidth. All my single ladies aren't left out either. OTA rejiggering means improved telemetry bandwidth for all non-Fullres packet modes too. Std telemetry rate on 500Hz shows a 30% increase in bandwidth, reducing the time to receive 14 Betaflight telemetry items from 6.6s to 5.1s. Combined with the Gemini telemetry change, this provides 66% additional improvement, from 5.1s to 3.1s. Headtracking tracking more than heads Headtracking through the backpack now supports sending the data to EdgeTX instead, and an arbitrary number of channels. Designed for wireless connected pedals (available now) and built in wireless trainer mode (future). New DJI output protocol Slap that DJI Air Unit out of low power mode without needing a flight controller. ExpressLRS now has the ability to arm DJI air units, either tied to arm state or permanently on. New input telemetry protocols supported A NMEA-output GPS can now be attached directly (115200 baud) for sending position, ground speed. Altitude, and satellite count. HoTT telemetry has been extended to support the VSpeak turbine protocol including RPM, fuel level and flow, EGT, ECU voltage, pump and throttle % and status. (Image credit: StartZero100) More robust syncing The OTA now requires a counter synchronization lock to function, ensuring that TX and RX share a consistent state. There were certain cases where you could start a connection, but the Link Quality would stay very low (10-20%) even at close range. Instead of this failed sync going on indefinitely, the connection can no longer progress without proper sync and the RX will automatically retry the connection. Solves the “radio off to check failsafe” issue where sometimes the receiver behaved erratic after re-connect. Making our code less garbagey Core code refactors mean our interface is more CRSF spec compliant, and a new CRSF packet routing system allows data to move data between more than just a handset and flight controller. There's an expanded event flags system and other framework optimizations for the internal device framework that runs peripherals. STM32 support has removed, and our platforms and libraries have been updated to the latest versions. Expanded packet modes for LR1121 The whole reason 4.0 needed to happen! The new sync structure means being able to support more packet modes. LR1121 gets more, up to a staggering 20 packet modes. The Team900, Team2.4, and GemX modes are also no longer mixed in one list and are selectable by band. New modes: K1000 2.4 - 1000Hz FSK (module baud rate must be 921k or higher) DK250 2.4 - 250Hz DVDA FSK D50 LoRa 900 - 50Hz DVDA 25Hz LoRa 900 - 25Hz LoRa 900 Flash Filesystem Changed The internal flash filesystem has been changed from the deprecated SPIFFS to LittleFS. There is no way to upgrade the filesystem in place. This means custom changes made on the old hardware.html page will be erased during the upgrade, along with items from the Options tab in the webui (receiver baud, airport, wifi and regulatory domain overrides, etc). The hardware.json can be downloaded from the webui before updating and then replaced after updating. PWM mappings and serial protocols are not affected. Minor changes Backpack is now disabled in wifi and BLE modes Wide switch mode is always 6-bit now instead of switching between 6 and 7 bit modes, returning boost telemetry performance back to levels before 3.5.4 TQly telemetry item now samples the last 100 telemetry receives, up from 25 Reduced jitter in receiver serial output by always sending synced with the packet timer instead of at packet reception time. Linkstats are always sent to the handset, even when disconnected. This allows a more immediate notice if the TX believes telemetry has stopped, and in the future we hope this will allow EdgeTX to display more TX status information while disconnected. Lua r16 - Still labeled elrsv3.lua for now, contains bugfixes but old r15 or whatever is on your handset is probably fine. Complete List Fix crash in CRSF parser with CRSF packet length 0 #3429 Use invalid CRSF value to differentiate from an actual 0 ChannelData value #3405 Extended pwm failsafe values #3394 HoTT TLM / Support VSpeak turbine protocol #3382 Upgraded Web UI #3381 CRSF handling on the transmitter side #3378 Remove redundant tlmConfirm bit in OTA, increasing tlm bandwidth #3377 Allow arbitrary number of headtrack channels #3373 Change TQly counter to 100 items #3370 Fix DEBUG_INIT not working, unify logger name, simplify some log msgs #3369 Always send LinkStats to handset #3367 Allow secondary CRSF port to send RC data #3364 Atomic channel data updates #3363 Platform upgrade #3341 Statistical Adaptive SNR Thresholds #3302 Wide switch mode always 6 bit, boost to 1:2 #3295 Add OtaNonce to OtaCrcInitializer #3294 CRSF rewrite to be 'more' spec compliant #3198 Dshot 3D mode, allowing for both forward and reverse rotation #3139 Support directly-attached GPS inputs to RX #3086 Mavlink to Ardupilot Custom Telemetry CRSF translation for Yaapu Telemetry Script #3077 Pass HeadTracking Pan/Tilt/Roll back to EdgeTX #3076 Backpack device refactor #3075 Device/event framework optimisation #3049 Communicate Rx available antenna mode to the Tx #3039 Double MSP (TLM and MAVLink) throughput for Gemini hardware #3037 STM32 removal #3033 #3027 #3016 #2960 #2956 Permanently arm DJI (or other MSP displayport) air units using an RX #3028 Adds optional arming method and provides contiguous proportional channels for all full-res modes #3008 Auto configure Rx OTA protocol from the Tx #2994 Auto set True Diversity Rx into Diversity or Gemini mode based on Tx antenna mode #2993 Add tlmConfirm to tlm_dl ota packet-structure #2991 set OtaCrcInitializer to OTA_VERSION_ID during binding #2983 Reduce jitter for CRSF RC packets on the receiver #2943 Disable backpack in wifi and BLE modes #2940 Fix ESP32 based PWM receivers in debug mode #2939 Update OTA_VERSION_ID to V4 #2933 Send RF Mode Enum in place of RF Index in the Sync packet #2932 Split RC data sending from polling and queued data sending V4.0 #2931 Arm DJI O3 directly from an ELRS receiver #2926 Servo stretch feature for wider range servo PWM pulses #2773 D modes for Team900 #2089 Lire la source

BetaFPV Pavo Pico II DJI O4 : un bon whoop 2S HD ! O4 Lite vs Pro, autonomie, poids, tuning Betaflight, blackbox et stabilisation Gyroflow, découvrez notre test complet 😉 ➡️ https://www.wearefpv.fr/test-betafpv-pavo-pico-ii-20251222/