WaF Bot Posté(e) Décembre 25, 2025 Signaler Posté(e) Décembre 25, 2025 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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