Betaflight Firmware 4.5.1

[WaF Bot]

What's Changed

Improvements

• [4.5.1] AT32: Add PC6 and PC7 I2C pins by @haslinghuis in #13761

Fixes

• [4.5.1] battery - fix BATTERY_NOT_PRESENT detection, detection logic change by @haslinghuis in #13623
• [4.5.1] Remove superfluous checks of useDshotTelemetry by @limonspb in #13634
• [4.5.1] Fix GPS Rescue using MSP is not getting Velocity to Home (#13639) by @haslinghuis in #13644
• [4.5.1] Set next state expected time on per element basis (#13706) by @haslinghuis in #13713
• [4.5.1] FIX: make: Circular configs <- configs dependency dropped. (#13695) by @blckmn in #13726
• [4.5.1] Update to LSM6DSV16X gyro driver (#13724) by @haslinghuis in #13731
• [4.5.1] Fixes #13664 - Smartaudio don't work with Softserial (#13715) by @haslinghuis in #13734
• [4.5.1] fix at32 serial bidir pp od init and smart audio (#13764) by @haslinghuis in #13771
• [4.5.1] Read gyro data from correct lsm6dsv16x registers by @SteveCEvans in #13787

Targets

• [4.5.1] Fix hard-coded TARGET_IO_PORT* defines. by @hydra in #13605

Full Changelog: 4.5.0...4.5.1

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