Betaflight 4.4.0

Wie immer kann die neue Version im Configurator oder auf der Releases-Seite auf Github heruntergeladen werden.

Features

Add OSD_CRAFTNAME_MSGS to insert additional data into CraftName by @howels in #11771
Ghost MSP support by @daleckystepan in #11242
ExpressLRS 3.0 compatibility mode by @phobos- in #11783
VTX Device over MSP by @phobos- in #11705
Feature/dshot extended telemetry on unused ranges by @damosvil in #11694
Set PID profile count and RATE profile count to 4 by @haslinghuis in #11770
Implement battery continuation by @rvdveen in #11084
Watt Hours Drawn OSD Element and Post Flight Stat by @jonmahoney15 in #11843
CLOUD_BUILD enablement. Supporting the use of a cloud build server. by @blckmn in #11850
Add AUX channel value to OSD (e.g. for Pilot’s Heart Rate) by @alexeystn in #10789
Ready Mode by @jonmahoney15 in #11886
Add support for getting/setting elrs uid via msp API by @jeffpearce in #11192
Rename ‘display_name’ to ‘pilot_name’; rename ’name’ to ‘craft_name’ ;Add the ‘MSP2_GET_TEXT’ and ‘MSP2_SET_TEXT’ MSP commands by @krasiyan in #11391
Add HD OSD support by @SteveCEvans in #11964
MSP messages to get and set PID and rate profile names. by @qvasic in #12020
Show PID and rate profile names in OSD menu. by @qvasic in #11962
Improvements
Add angle limit to OSD settings menu by @SpencerGraffunder in #11257
Adds blackbox fields_disabled_mask to msp by @fgiudice98 in #10054
Remove unused rxRefreshRate by @daleckystepan in #11668
Update GPS Rescue by @ctzsnooze in #11579
Extract function toUpperCase for osd elements by @limonspb in #11670
Only write to FLASH once 64 bytes are buffered by @SteveCEvans in #11697
Save flash: Replace CLI params for OSD stats and warnings with bitmasks by @limonspb in #11671
Use timed timeouts for USB HAL functions, not simple counts, as per H7 by @SteveCEvans in #11669
Use macros for power with integer exponents by @mathiasvr in #11126
Style: Use angle brackets with standard library headers by @mathiasvr in #11196
Remove USE_EXTI, USE_GYRO_EXTI and USE_MPU_DATA_READY_SIGNAL defines by @SteveCEvans in #11585
MAX7456 cleanups 1 by @hydra in #11662
Refactoring IMU, ACC and small PID loop improvements by @daleckystepan in #11326
Move to Github Actions for PRs by @blckmn in #11723
Don’t set sleepTime to ut_delay in BARO_STATE_PRESSURE_SAMPLE state by @SteveCEvans in #11740
CLI: Raise upper limit of dyn_idle_min_rpm by @KarateBrot in #11769
Allow dyn_notch_min_hz as low as 20Hz by @bw1129 in #11795
Refactor barometer as floats with pt2 smoothing by @ctzsnooze in #11775
Change Dynamic Notch Min Hz default to 100Hz by @SupaflyFPV in #11827
Unify all eRPM to RPM calculations into one single function by @damosvil in #11772
GPS Rescue smoothed with upsampled inputs, bug fixes by @ctzsnooze in #11834
Cleanup some switch-case-s by @DusKing1 in #11810
Add MSP displayport sub-command definitions by @SteveCEvans in #11864
Enhancements for ICM-426xx (gyro and acc) by @KarateBrot in #11866
Fix function brace style by @mathiasvr in #11191
ExpressLRS: Minor style fix and clean up by @mathiasvr in #11195
Use ARRAYLEN macro where applicable by @mathiasvr in #11190
Populate unified targets as separate target folders by @blckmn in #11885
Move TPA to PID profile by @haslinghuis in #11779
Use std abs() instead of ABS() macro by @mathiasvr in #11097
Use lrintf for explicit rounding of float to integer by @mathiasvr in #11102
Remove old style definitions by @KarateBrot in #11887
BMI160/270: Stronger acc anti-aliasing by @KarateBrot in #11895
Revert GPS satellite minimums to single gps_rescue_min_sats value by @ctzsnooze in #11905
Removing ‘UNIFIED_TARGET’ by @blckmn in #11909
Remove duplicate DSHOT port configuration by @SteveCEvans in #11915
Lock altitude task at 100Hz & fix baro calibration by @KarateBrot in #11911
use PWM_RANGE consistently by @ctzsnooze in #11921
Enable MSP Displayport on a serial port using FUNCTION_MSP_DISPLAYPORT by @SteveCEvans in #11913
Moving OSD to cloud build option by @blckmn in #11926
Final target clean up by @blckmn in #11925
Adding board scratch space. by @blckmn in #11920
Parse GPS DOP values by @KarateBrot in #11912
Dedicated task for GPS Rescue by @KarateBrot in #11972
Refactor RPM Filter by @KarateBrot in #11765
Add HD OSD system elements for VTX temp and goggle fan speed by @SteveCEvans in #11999
Fix/enhance NMEA & Ublox message polling for GPS by @KarateBrot in #12022
NMEA ATGM336 - support 10Hz refresh rate by @krzysztofkuczek in #12008
Display FLASH JEDEC ID in status and flash_info by @SteveCEvans in #12051
Extend error output by @haslinghuis in #12063
Cloud build option for 64 leds by @limonspb in #12064
Add support for Omron 2SMBP-02B barometer by @mluessi in #11173
Display OSD canvas size in status command by @SteveCEvans in #12108
Improved SDFT windowing by @KarateBrot in #12117
Disarm on fail-safe when allow arming without fix is enabled and failsafe procedure is set to GPS-RESCUE by @haslinghuis in #12120
Flash M25P16: Add QSPI support by @mluessi in #12103
Add osd_canvas_width/height variables by @SteveCEvans in #12164
Automatically apply HD settings if HD VTX is detected by @SteveCEvans in #12184

Fixes

Fix compilation error when USE_RX_MSP_OVERRIDE is defined without USE_RX_MSP. by @hydra in #11661
IRC Ghost protocol improvements by @daleckystepan in #10801
Ghost jitter fix by @daleckystepan in #11234
Fixing segmentation fault of SITL. by @xuhao1 in #11302
Fix mcu types by @daleckystepan in #11716
Add support for BMI160 gyro for unified targets where TARGET_FLASH_SIZE > 512 by @SteveCEvans in #11707
Make sure to write dshot stop cmd to all other motors when targeting … by @RoarFPV in #11672
Fix debug mode D_LPF by @KarateBrot in #11721
Fix data overwriting in VCP_DataTx on F4 by @daleckystepan in #11713
Fix cli unit test on Clang 13 by @daleckystepan in #11184
Flashfs: Add support for asynchronous complete erase by @mluessi in #11719
Revert b6e2790 as this broke FrSky SPI by @SteveCEvans in #11750
Remove superfluous double ; by @SteveCEvans in #11761
Lower max CraftName length to avoid ugly truncation errors by @howels in #11801
Gps rescue - default to Ublox, fix landing phase criteria, fix level mode offsets by @ctzsnooze in #11756
Maintain previous MSP GPS Heading resolution by @ctzsnooze in #11814
MSC - Fix MSC on H7. by @hydra in #11804
Fix SD card initialisation by @SteveCEvans in #11839
Hide accel related modes if accel disabled by @mituritsyn in #11665
Negate CS at end of SPI accesses by @SteveCEvans in #11845
Fix for old telemetry sent to RPM filter during a re-arming sequence by @damosvil in #11847
Restore iTerm Windup to all axes, active by default by @ctzsnooze in #11806
Fix the normal airmode mixer by @Quick-Flash in #11857
Fixes for maxAlt and gpsTrust bugs by @ctzsnooze in #11841
Defer DSHOT telemetry calculations to avoid overload on F411 MCUs by @damosvil in #11851
Ensure that airmode off to on always has a smooth transition by @Quick-Flash in #11867
Fix MSP removed parameter comment by @klutvott123 in #11873
Fix CMS anti gravity gain by @klutvott123 in #11872
Make anti-windup affect the gain from Anti Gravity by @tbolin in #11878
Use SPI DMA for single segments if negateCS false on end marker by @SteveCEvans in #11883
ICM-426xx AAF bugfix & refactoring by @KarateBrot in #11880
Add def for AKK/RDQ SmartAudio bug by @howels in #11891
Fix read of DPS310 coef C11 by @SteveCEvans in #11898
Beeper READY_BEEP when home fix is first achieved by @ctzsnooze in #11896
Fix chaining of FLASH SPI transactions by @SteveCEvans in #11897
Fix osd_aux_channel range by @haslinghuis in #11902
Fixes for SITL - adding to the standard list of targets by @blckmn in #11910
Fix SITL build by @haslinghuis in #11917
Fix for OSD Aux Value channel selection by @haslinghuis in #11919
Set GPIOs to GPIO_SPEED_FREQ_LOW for timer based DSHOT by @SteveCEvans in #11916
Add case for MSP OSD device detection by @haslinghuis in #11931
Allow serial port to share all MSP functions at once by @SteveCEvans in #11950
Fix debug GPS_DOP by @KarateBrot in #11956
Enable Instruction and Data cache and prefetch on G4 by @SteveCEvans in #11973
Added RSNR to the OSD by @TonyBlit in #11062
Fix ATTITUDE task rate by @KarateBrot in #11975
Fix RPM Filter copy instructions by @KarateBrot in #11988
Fix compatibility for name field by @haslinghuis in #11980
Revert RPM Filter copy instructions to old method by @KarateBrot in #11994
Add missing gyro check by @ASDosjani in #12000
Fix msp API_VERSION_MINOR by @KarateBrot in #12001
Fix OSD_X macro to correctly load the high bit by @bri3d in #12038
Gps Rescue: Fix “velocityD” filtering by @KarateBrot in #12042
Use USE_DMA_SPEC without preconditions by @haslinghuis in #12050
Fix ELRS gating issues. by @hydra in #12055
Center logo and CMS display for HD OSD by @SteveCEvans in #12056
Small fix for msp vtx over crsf framing by @phobos- in #12059
Fixed edt telemetry initial value assignation by @damosvil in #12074
FIX: USE_RX_CC2500 was not gating correctly by @blckmn in #12083
Center ARMED message and stats by @SteveCEvans in #12086
FIX: MSP Displayport now has dependency on OSD config by @blckmn in #12106
FIX: CC2500 not building due to undefined pins. by @blckmn in #12125
FIX: SPI_DPS310 not gated correctly by @blckmn in #12131
Ensure OSD elements are on canvas by @SteveCEvans in #12144
Fix reset PG behaviour and configurator interactions based on USE_OSD_SD and USE_OSD_HD definitions by @SteveCEvans in #12152
Avoid debugging other data than RPM telemetry when decoding DSHOT RPM by @damosvil in #12166
Improve performance for ELRS SX1280 SPI callbacks and SPI/ELRS handlers. by @hydra in #11460
FIX: Hard fault on dump of settings if no OSD selected by @blckmn in #12171
Fixed getDshotAverageRpm function by @damosvil in #12178
Minor fixes for Dyn Notch & SDFT by @KarateBrot in #12199
GPS Rescue Bugfix, add a failsafe debug, refactor stick deflection by @ctzsnooze in #12195
Include MSP over telemetry for ghost by @klutvott123 in #12208
Fix DEBUG_ALTITUDE by @KarateBrot in #12213
Fix SITL by @haslinghuis in #12217
Fix SDFT batch process by @KarateBrot in #12218
fix SITL by @ykeuter in #12220