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betaflight release notes Betaflight 4.1.0 Release Candidate 5

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This is a release candidate. It is intended for testing, and some things still need fixing and fine tuning. Please use it with caution and report back any issues at Thank you.

Important information when upgrading

  • A number of changes and improvements in this release require changes to the Betaflight configurator. These changes have been added to Betaflight configurator 10.6.0 (to be released in the coming days, installation instructions here). Please update your Betaflight configurator to version 10.6.0 (or newer) as soon as it is available, or use the CLI for now;
  • if you are using the Blackbox Log Viewer, there will be an updated version 3.4.0 to go with Betaflight 4.1 (installation instructions here). Please update as soon as it becomes available;
  • bidirectional Dshot, which is the basis for RPM based filtering, has been improved and is now available with BLHeli_32 (from version 32.7 on) and on BLHeli_S hardware (by using the JESC firmware). Use these instructions to get it set up (#8554, #8779);
  • as you have come to expect, there is a detailed Tuning Notes for Betaflight 4.1. Use them, or use the new tuning sliders in the Betaflight configurator 10.6.0 to get your craft tuned. Please do not paste tuning configurations from previous versions of the firmware. Some defaults have been changed, and some parameters are used in different ways, so previous tuning settings will not work well with Betaflight 4.1 (#8623, #8736);
  • with the introduction of fully configurable VTX control (VTX tables), after flashing the firmware you now have to load a VTX tables appropriate for your VTX and for the country you are flying in before you can control your VTX through Betaflight. Support for loading VTX tables from files will be integrated in the upcoming Betaflight configurator 10.6.0, for now you have to use CLI to set up the VTX tables, see here for details (#7251);
  • some optimisations were made to the OSD fonts, and some characters were improved. In order to get a properly working OSD with Betaflight 4.1, the font loaded onto the OSD needs to be updated to the latest version (available in configurator 10.6.0 or newer) (#8390);
  • as announced before the release of Betaflight 4.0, support for F3 based flight controllers has been removed from Betaflight 4.1.

Major features:

  • new and improved feed forward 2.0 (#8623, #8736);
  • reworked bidirectional Dshot (#8554, #8779);
  • dynamic idle management using RPM telemetry (#8604);
  • fully configurable VTX control with VTX tables (#7251).

Minor features:

  • support for the Spektrum SRXL2 serial protocol (#8606);
  • support for board-specific custom defaults (#8707);
  • support for arbitrary gyro and mag alignment (#8474).

Changes from the previous Release Candidate:


  • fixed issue with yaw being included in ff_max_rate_limit limiting (#8926);
  • fixed issue preventing ESC initialisation when ESC beacon active at startup (#8927);
  • fixed compile errors when USE_DSHOT is not defined (#8928);
  • fixed the power level for vtx_low_power_disarm on Unified Targets (#8936);
  • added information about Unified Target manufacturer / board name / custom defaults to the diff header to facilitate debugging (#8937);
  • fixed pit mode for SmartAudio 2.1 devices (#8940);
  • fixed application of custom defaults with missing trailing newline (#8942);
  • fixed possible lockup on defaults nosave when RX_SERIAL is enabled (#8946).

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