Betaflight Versionen und Updates

  • Betaflght 2.7.1 ist raus.


    NEU:




    2.7 release


    Patch 1 (2.7.1 notes):


    Fixed Luxfloat drift
    F1 boards defaulted to 1khz


    2.7 Release notes


    Fixed MPU6000 SPI slow speed for some targets
    Fully working SPRACINGF3 Target
    Enable MPU6000 and MPU9250 for Colibri Race Target
    Many code cleanups and optimalisations
    Remove MW23 Pid controller (use rewrite or luxfloat)
    Fix for Dterm scaling in luxfloat. It is now fully matching rewrite. Luxfloat users from 2.6.1 need to multiply their D by 2 to get the same scaling
    Added PID configuration to blackbox header and other configuration parameters
    Added flightmode events to blackbox logging
    Added Optional Super Expo for yaw (CLI: super_expo_factor_yaw, super_expo_yaw)
    Iterm reset converted to Iterm limiter in super expo mode
    Added Optional Iterm reset option even without super expo (CLI: iterm_always_reset)
    Enabled TPA also for Yaw axis
    Increased default min_check value due to many misunderstandings for beginners (lower min_check still recommended)
    Added more debugging options
    Many code optimilisations
    Optimilisations for offline testing
    Change filter cutoff configurations to integers
    Dynamic PID Implementation (P accelerator)
    Added Task Page for OLED display
    Slightly improved biquad coefficients precision
    Fix for out of order PPM ISR
    Increased configurable range for yaw_p_limit
    Improved rc_expo step resolution by factor 5
    Added support for unsynced motor update speeds for fast PWM protocols up to 32k (CLI: unsynced_fast_pwm)
    Added new way of configuring fast PWM protocols (CLI: fast_pwm_protocol (ONESHOT125, ONESHOT42, MULTISHOT))
    Slowed down CPU for F1 targets back to 72Mhz to have better motor timing support. Naze32 may have more difficulties running 4k.
    Configurable Iterm reset offset (CLI: iterm_reset_offset)


    NOTE
    In this version the filters are optimised to provide the best possible flight characteristics. This means that some less agressive filtering is used. In case your setup is too noisy you need to adjust the filters. Here are some of the recommendations. The more filtering you use the less noise will be let into the system, but that will reduce the overall responsitivity of the pid controller and provide less stability in prop wash scenarios for example.


    Default / Optimal flight performance:
    gyro_lowpass = 100
    dterm_lowpass = 110


    Slightly noisy setup:
    gyro_lowpass = 80
    dterm_lowpass = 100


    Very noisy setup
    gyro_lowpass = 50
    dterm_lowpass = 100


    2.6.1 defaults:
    gyro_lowpass = 80
    dterm_lowpass = 70

  • BetaFlight 2.8.0 RC1 ist raus:


    https://github.com/borisbstyle…/releases/tag/v.2.8.0-RC1


    Release 2.8 - RC 1


    *Changed Airmode Low Throttle Protection. Airmode now gets activated when stick moved above certain threshold. (CLI: set airmode_activate_throttle = ). Note that 3D users have to reconfigure their threshold to something else otherwise airmode would be always enabled.
    *Sligthly more Authority on low throttle even without Airmode
    *Added dynamic ki to dynamic PID feature. Iterm is always active at all times, but gets more ignored during fast rotation rates. This enables the possibility for increasing the iterm much more without negative side effects. This also removes the old iterm_reset option
    * Some code cleanups
    New default PIDs
    *Added ledstrip visual beeper (CLI: ledstrip_visual_beeper)
    *yaw_jump_prevention is removed and replaced by yaw D gain! The higher the D the lower the jump_prevention limit will be.
    *Seperated fast_pwm_protocol from ONESHOT125 feature. The feature in GUI will only be green when ONESHOT125 is actually selected. Normal traditional PWM can be now selected with "set fast_pwm_protocol = OFF"

  • BetaFlight 2.8.0 RC2 ist raus:


    https://github.com/borisbstyle/betaflight/releases


    *Changed Airmode Low Throttle Protection. Airmode now gets activated when stick moved above certain threshold. (CLI: set airmode_activate_throttle = ). Note that 3D users have to reconfigure their threshold to something else otherwise airmode would be always enabled.
    *Sligthly more Authority on low throttle even without Airmode
    *Added dynamic ki to dynamic PID feature. Iterm is always active at all times, but gets more ignored during fast rotation rates. This enables the possibility for increasing the iterm much more without negative side effects. This also removes the old iterm_reset option
    *Some code cleanups
    *New default PIDs
    *Added ledstrip visual beeper (CLI: ledstrip_visual_beeper)
    *yaw_jump_prevention is removed and replaced by yaw D gain! The higher the D the lower the jump_prevention limit will be.
    *Seperated fast_pwm_protocol from ONESHOT125 feature. The feature in GUI will only be green when ONESHOT125 is actually selected. Normal traditional PWM can be now selected with "set fast_pwm_protocol = OFF"
    *Fix for beeper during boot. (Not beeping anymore)
    *Experimental Anti ESC desync option. FC's can be pretty rough when it comes to throttle changes towards the ESC. This option allows you to set the maximum power increment / decrement to the ESC. You can declare the maximum change within 1ms. (CLI: set anti_desync_power_step = )

  • BetaFlight 2.8.0 ist Stable:


    https://github.com/borisbstyle/betaflight/releases


    NEU:


    Release 2.8 ("Rates Redesign")


    *Changed Airmode Low Throttle Protection. Airmode now gets activated when stick moved above certain threshold. (CLI: set airmode_activate_throttle = ). Note that 3D users have to reconfigure their threshold to something else otherwise airmode would be always enabled.
    *Sligthly more Authority on low throttle even without Airmode
    *Added dynamic ki to dynamic PID feature. Iterm windups now won't increase instability. Iterm is better smoothed in dynamic situations
    *Some code cleanups
    *New default PIDs
    *Added ledstrip visual beeper (CLI: ledstrip_visual_beeper)
    *yaw_jump_prevention is removed and replaced by yaw D gain! The higher the D the lower the jump_prevention limit will be.
    *Seperated fast_pwm_protocol from ONESHOT125 feature. The feature in GUI will only be green when ONESHOT125 is actually selected. Normal traditional PWM can be now selected with "set fast_pwm_protocol = OFF"
    *Fix for beeper during boot. (Not beeping anymore)
    *On the fly Rc Expo calculations (No more pre computed points)
    *Experimental Anti ESC desync option. FC's can be pretty rough when it comes to throttle changes towards the ESC. This option allows you to set the maximum power increment / decrement to the ESC. You can declare the maximum change within 1ms. (CLI: set anti_desync_power_step = )
    *Reworked Super Expo is now by default on as feature SUPEREXPO_RATES. You will like the new smoother stick feel! Check Rate calculator for rates. You still can disable it to get the old style rates. The new rates have smoothed mid stick so I don't recommend using the deadband anymore. Also there are no more super expo factors
    *Yaw rate is same scaling like roll and pitch. It only has the fixed Rc Rate of 1.00 (100)
    *SUPEREXPO_RATES and AIRMODE are both features now! When features enabled that means that airmode or superexpo are always enabled. When feature AIRMODE disabled it still can put on a switch. (Use feature command to enable or disable airmode)
    *Added new Target SINGULARITY (Built in VTX)
    *Added Rc Rate for Yaw! Will in the future also be added in the configurator. ("set rc_rate_yaw = ")
    *Added rate limitations to 2000deg/sec. You cannot ever set the rates higher than the gyro can handle.
    *New rate calculations allows to change everything via Rates and RC Rate. You actually dont even need to use RC Expo, but you still can. Check the rate calculator!

  • Betaflight 2.9.0


    - Fixed PID controller reset from Configurator
    - Fixed Airmode Feature bug when Motor Stop enabled
    - Added more Configurable options for the new Betaflight 1.3 Configurator
    - Changed the default parameters (All accessible in Configurator)
    - Default Derivative method is changed back to Measurement. To get the 2.8.1 behaviour you can change it back to Error in the new configurator. You can play with this setting to find your preferenced style. Freestyle pilot would prefer more Measurement method and racing pilots might like tigher stick feel with delta on Error. Delta from measurement will feel more smooth and natural, while delta from Error may feel a bit more robotic.
    - New default filters. These are now all accessible in the configurator
    - Added new parameter (rc_smooth_interval_ms). Dont use it if you dont know what you are doing. 0 means disabled


    https://github.com/betaflight/betaflight/releases/tag/v2.9.0

  • Seit nen paar Tagen ist der grosse Sprung auf die Betaflight 3.0-RC4 verfügbar


    NEU:


    Betaflight 3.0.0-RC4 (F4 Support)
    This is really a major release. The full detailled change list can be found in the the commit history.
    https://github.com/betaflight/betaflight/commits/master
    Short Summary of changes:

    • STM32 F4 support (working blheli passthrough)
    • Full IO rework
    • Major target seperations. Easy implementation for new targets
    • PWM code rework
    • Major code cleanups and rewrites
    • More configurator integration
    • New Betaflight PID controller based on deg/sec. All of the future development will all happen in this single pid controller. There is still a Legacy PID controller, which is pretty much evolved rewrite. That one will stay the same.
    • The new Betaflight 2DOF PID controller has some additional extra parameters for configuring. Check out the config options in the configurator. This PID controller allowes less overshoot percentage and less Derivative needed to get the same affect.
    • RC Interpolation added back with multiple options. (Use Auto for automatic rx rate configuration)

    RC2 - Changed defaults / cleanup ONESHOT125 feature
    RC3 - Defaults based on feedback // yaw_axis added to interpolation // add additional config parameters // FIX PPM on KISS
    RC4 - Defaults based on new public tests // Fixed some wrong denom defaults for SPI targets
    New 1.7.1 configurator supports some additional tuning parameters. Don't fotget to check tooltips for explainations!
    The PID from 2.x versions can transfer to 3.0 as the scaling is the same, but you may expect that it should be possible to get higher PID's despite the same PID scaling due to new PID controller functionalities.

  • Inzwischen ist die RC7 erschienen:


    New:

    RC2 - Changed defaults / cleanup ONESHOT125 feature
    RC3 - Defaults based on feedback // yaw_axis added to interpolation // add additional config parameters // FIX PPM on KISS
    RC4 - Defaults based on new public tests // Fixed some wrong denom defaults for SPI targets
    RC5 - Defaults based on new public tests // Fix for higher CPU due to filter reinitialisations // Add Sparky2 // Fixes for various targets
    RC6 - Defaults // rename zero throttle stabilisation to pid_at_min_throttle // CLI cleanups
    RC7 - Fix F4 diff/dump crashes // Fix for Sparky2 // Fix for d filter coefficients bug with higher pid denoms // Add new blackbox headers

  • Moin,


    Betaflight 3.0 ist jetzt Stable: https://github.com/betaflight/betaflight/releases


    NEU:


    Betaflight 3.0.0 (F4 Support)
    This is really a major release. The full detailed change list can be found in the the commit history.
    https://github.com/betaflight/betaflight/commits/master
    Short Summary of changes:

    • STM32 F4 support (working blheli pass-through)
    • Full IO rework
    • Major target separations. Easy implementation for new targets
    • PWM code rework
    • Added OSD integration
    • Major code cleanups and rewrites
    • More configurator integration
    • New Betaflight PID controller based on deg/sec. All of the future development will all happen in this single pid controller. There is still a Legacy PID controller, which is pretty much evolved rewrite. That one will stay the same.
    • The new Betaflight 2DOF PID controller has some additional extra parameters for configuring. Check out the config options in the configurator.
    • RC Interpolation added back with multiple options. (Use Auto for automatic rx rate configuration)
    • Added "diff" cli command for easier backup of config.
    • Removed Super expo as it is a part of Super Rates and enabled by default.


    • Increased linear rate range. rc_rate higher than 2.0 will become stronger and 255 will give full linear 2000deg/sec. Use configurator rate tool to see visual representation of rates.
    • Smoother RC EXPO curve (Use rate tool in configurator for optimal rate tuning)

    New 1.8.0 onfigurator supports some additional tuning parameters. Don't forget to check tool tips for explanations!
    New blackbox 2.5.6 supports all new parameters

  • Neue 3.1 RC1 ist seit 22 Stunden verfügbar:


    https://github.com/betaflight/betaflight/releases


    Betaflight 3.1.0 (Release Candidate 1)
    Betaflight firmware has undergone some major changes under the hood. Hardware drivers have been optimised to improve future maintainibility, but also easier target and hardware support. The efficiency of the code has also been improved by a lot as the Betaflight team reviewed each line of the code to squeeze every possible performance win out of it for flight performance purposes. The difference between the current release and previous one is over 1600 code commits by various developers. Only release note highlights are represented. For full change history github commit history can be reviewed.
    Release note highlights:

    • Added F7 support (ANYFCF7 as the first supported target)
    • Dynamic IO / pin allocation
    • DSHOT support for F3 and F4 (read wiki about board supported hardware)
    • Full Floating Point Logic for flight behaviour
    • Many new dynamic configurations (filters, setpoint weights etc.)
    • Support for KISS esc telemetry (only with DSHOT)
    • Many code optimisations (faster pid speeds possible on F3 and F4)
    • Added serial esc pass-through for KISS24 and CASTLE esc's
    • New target support
    • Added CMS display support
    • Added CSRF support for TBS receivers and associated telemetry
    • Added additional OSD parameters like pids and power
    • Added unify smartaudio support
    • Auto Video Format support for OSD
    • New "anti_gravity_threshold" parameter to improve stability in fast changing G forces during flight. This applies to quick throttle jumps where multirotor can go through weightless transitions. In these cases the iterm can cause unwanted effects like pitching up or yawing due to strong changes in accumulation polarities.
    • Protection against selecting motor protocols that are too slow (e.g. when ONESHOT125 is selected the maximum allowed pid and motor update frequency will be 2khz)and many more..
  • RC 11 Erschienen:


    Betaflight 3.1.0 (Release Candidate 11)
    Betaflight firmware has undergone some major changes under the hood. Hardware drivers have been optimised to improve future maintainibility, but also easier target and hardware support. The efficiency of the code has also been improved by a lot as the Betaflight team reviewed each line of the code to squeeze every possible performance win out of it for flight performance purposes. The difference between the current release and previous one is over 1800 code commits by various developers. Only release note highlights are represented. For full change history github commit history can be reviewed.
    Release note highlights:

    • Added F7 support with already few supported targets - @sambas
    • Dynamic IO / pin allocation - @blckmn
    • DSHOT support for F3 and F4. DSHOT150, 300, 600, and 1200 supported (read wiki about board supported hardware) - @blckmn
    • Full Floating Point Logic for flight behaviour - @borisbstyle
    • Many new dynamic configurations (filters, setpoint weights etc.) - @borisbstyle
    • Many code optimisations (faster pid speeds possible on F3 and F4) - @martinbudden and @borisbstyle
    • Support for KISS ESC telemetry (only with DSHOT) - @basdelfos
    • Added temperature and RPM to KISS ESC telemetry - @mikeller
    • Added serial esc pass-through for KISS24 and CASTLE esc's - @sambas
    • New target support
    • Added CMS display support - @jflyper
    • Added CSRF support for TBS receivers and associated telemetry - @martinbudden and @blckmn
    • Added additional OSD parameters like pids and power - @martinbudden and @rafl
    • Added unify smartaudio support - @jflyper
    • Added MSP over Smartport - @raphaelcoeffic
    • Auto Video Format support for OSD
    • Configurator enhancements - @mikeller
    • Speeded up build system, needed now there are so many targets - @AndersHoglund
    • Fixed JUMBO frame handling on VCP targets, so blackbox logs can be downloaded more quickly - @AndersHoglund
    • New "anti_gravity_threshold" and "anti_gravity_gain" parameter to improve stability in fast changing G forces during flight. This applies to quick throttle jumps where multirotor can go through weightless transitions. In these cases the iterm can cause unwanted effects like pitching up or yawing due to strong changes in accumulation polarities. - @borisbstyle
    • Protection against selecting motor protocols that are too slow (e.g. when ONESHOT125 is selected the maximum allowed PID and motor update frequency will be 2kHz) - @borisbstyle
    • Added experimental 32kHz support for gyros that support it - @martinbudden. Usually F4 board will run fine on 32kHz gyro and 16kHz pid loop. 32/32 is slightly too much for CPU. F7 target is now the only one able to run 32kHz/32kHz flawlessly with even accelerometer enabled.To enable 32kHz mode use CLI setting gyro_use_32khz = ON. (Configurator will not display correct speed until the next configurator update, but you will see the real cycletime). NOTE - only flight controllers with MPU6500, MPU9250, and ICM-series (eg ICM20689) gyro support 32kHz mode.
    • Blackbox enhancements (use 2.5.8 blackbox-viewer) - @GaryKeeble
    • Added new level sensitivity and level limit parameters in degrees. level_limit is the maximum allowed angle. Level_sensitivity is the max deflection on full stick @borisbstyle
    • Added IRC Tramp VTX support. Changable channel, band, power and pitmode @jflyper
    • and many more: https://github.com/betaflight/betaflight/commits/master

    NOTE: You will need to use configurator 1.8.9 and blackbox 2.5.9 or higher for the features in this release
    PLEASE RESET YOUR SETTINGS AFTER UPGRADING FROM RC10
    RC2 - Fix in rc expo symmetry // fix missing baro on some targets
    RC3 - Enable experimental 32khz support
    RC4 - Fix non MPU INT supporting targets // Added MPU Int NAZE // Fix adjustment for setpoint // Some cleanups
    RC5 - Fix more non MPU INT supporting targets // fixed RACEBASE and some SPRACINGF3 variants // Fix ledstrip on BETAFLIGHTF3 // DSHOT900 and DSHOT1200 added for testing (only to be enable through cli for now)
    RC6 - Fix ledstrip IMPULSERCF3 // Fix DSHOT for SIRINFPV // Add PODIUMF4 // Improved CPU usage // Optimised RC interpolation // Improve DSHOT speed // Add more safety in DSHOT limits (DSHOT150 is limited to 4khz)
    RC7 - Fix gyro detection handling for 32k mode // Improved target limitiation
    RC8 - Added RG_SSD_F3 target // SPRACINGF3NEO DSHOT optimalisations // CC3D_OPBL fix // Remove MSP from UART1 by default // Added debug for gyro calibration noise // Minor optimalisations
    RC9 - Fix servo mixer scaling for tricopters // Add softserial for NAZE // Add IRC Tramp VTX support // Fix FPV angle mix
    RC10 - Added anti_gravity_gain // KISSFC dshot support motor 5 and 6 // CC3D startup issue solved // new defaults for level and PID's
    RC11 - Fix spectrum bind PIN on BFF3 // Fix connection to some targets // Restore missing blackbox log fields

  • Moin zusammen,


    Betaflight 3.1 ist jetzt endlich final:
    https://github.com/betaflight/betaflight/releases


    Es hat sich wirklich eine Menge getan:


    Betaflight firmware has undergone some major changes under the hood. Hardware drivers have been optimised to improve future maintainibility, but also easier target and hardware support. The efficiency of the code has also been improved by a lot as the Betaflight team reviewed each line of the code to squeeze every possible performance win out of it for flight performance purposes. The difference between the current release and previous one is over 1900 code commits by various developers. Only release note highlights are represented. For full change history github commit history can be reviewed.
    Click here to watch @joshuabardwell overview about 3.1
    [IMG:https://camo.githubusercontent.com/55d1154700aa26ff971920caa937fba329c1732a/687474703a2f2f696d672e796f75747562652e636f6d2f76692f2d31796a4f6f70585f39632f302e6a7067]
    Release note highlights:

    NOTE: You will need to use configurator 1.9.0 and blackbox 2.5.9 or higher for the features in this release

  • Beta 3.1.1 wurde schon hinterher geschoben


    Maintanence Release 3.1.1
    New:

    Fixed:

    • Improved Iterm windup handling @borisbstyle @martinbudden
    • Fixed "diff" output for few OSD parameters @DanNixon
    • Simplified cli on F1 and F3 targets for more flash space @mikeller
    • Fixed REVONANO target @blckmn
    • Minor Code optimalisations @borisbstyle
    • Improved default configuration (higher default idle offset and new anti windup parameters) @borisbstyle
    • Fixed OSD switch @DanNixon
    • Fixed motor mapping on RCExplorer target @blckmn
    • Improved boot issues on wrong resource mappings @blckmn
  • gleich nen Tag später die 3.1.2 hinterher geschoben:


    Maintanence Release 3.1.2

    For full release info see 3.1:


    https://github.com/betaflight/betaflight/releases/tag/v3.1.0

    • Fixed scaling issue where min_throttle would affect rcCommand Throttle
    • Replaced old multiwii throttle expo by new floating point version
    • Simplified few cli commands
    • Lowered strength for some default settings like the new anti_gravity_gain
  • Moin zusammen,


    die 3.1.4 haben wir da gleich mal ausgelassen ;)


    Maintanence Release 3.1.5

    For full release info see 3.1:


    https://github.com/betaflight/betaflight/releases/tag/v3.1.0

    • Restore multiwii throttle expo
    • Fix Motor 6 for SIRINFPV
    • [VTX SmartAudio] Fix status string for user frequency mode
    • Fix broken standard PWM
    • Change default current meter scale for BFF3 // Enable Serial RX by default on UART2
    • Register SDCard DMA in resource list
    • Configurable starting AUX channel for CHANNEL_FOWARDING
    • Fixed for Tramp Power menu
    • Simplify anti gravity gain parameters (disabled by default)
    • Fix multiple changes through MSP for tramp
    • Fix Tramp display issue for Raceband Channel 7 (was showing F8)
    • Decouple min_throttle and max_throttle from altitude hold