Rotorflight Snapshot 4.3.0-20231118

Snapshot Release

This version is a development snapshot, intended to be used only for beta-testing.
It is not fully working nor stable, and should not be used by end-users.

Rotorflight-2 is based on Betaflight-4.3, and is rewritten from ground up,
with the experience learned from Rotorflight-1.

For more information, please join the Rotorflight Discord chat.

Changes from 4.3.0-20231018

• Realtime scheduling refactored
• Blackbox buffering refactored
• Gyro and PID loop speed limits added
• Multi-gyro support disabled on F411 and G4
• Attitude telemetry reuse added to CRSF/ELRS
• Gyro drivers updated from BF/master
• ICM42688P AFSR fix integrated
• W25N01G flash chip driver fixed
• rc_arm_throttle parameter added
• gov_handover_throttle parameter added
• Default telemetry sensor list updated
• Default swashplate type changed to CP120
• DFU mode entry fixed with G4
• TTA gain doubled (half your TTA gain!)

Rotorflight Snapshot 4.3.0-20231018

Snapshot Release

This version is a development snapshot, intended to be used only for beta-testing.
It is not fully working nor stable, and should not be used by end-users.

Rotorflight-2 is based on Betaflight-4.3, and is rewritten from ground up,
with the experience learned from Rotorflight-1.

For more information, please join the Rotorflight Discord chat.

Changes from 4.3.0-20230912

• RX subsystem refactored
• RX failsafe refactored
• Dynamic Notch filter adapted for helis
• ESC telemetry implemented for various ESCs
  • Hobbywing Platinum V4
  • Hobbywing Platinum V5
  • Hobbywing FlyFun V5
  • Scorpion UNC
  • Kontronik
  • OMP Hobby
  • ZTW Skyhawk
  • APD Pro/HV
• Servo speed calculation fixed to use ms/60°
• PID Mode 3 fixed to use P-term on error
• PT1 filter cutoff calculation fixed
• MSP over FrSky telemetry speed improved
• RPM calculation accuracy improved
• More CRSF FM reuse options added

Rotorflight Snapshot 4.3.0-20230912

Snapshot Release

This version is a development snapshot, intended to be used only for beta-testing.
It is not fully working nor stable, and should not be used by end-users.

Rotorflight-2 is based on Betaflight-4.3, and is rewritten from ground up,
with the experience learned from Rotorflight-1.

For more information, please join the Rotorflight Discord chat.

Changes from 4.3.0-20230822

• Governor gov_max_throttle parameter added
• Governor tracking_speed fixed in passthrough mode
• RPM filter fixed if only main rotor RPM available
• RPM filter update fixed for lower CPU load
• Cyclic Cross-Coupling refactored
• Collective-to-yaw precomp not used during spoolup
• TTA Collective correction refactored
• TTA not used during spoolup
• H7 TIMUP configuration bug fixed
• BlackBox multi-file logging fixed (works on W25N01G too)
• BlackBox erase refactored - works also while logging
• Boost and Offset terms added to BlackBox
• PID Test Mode 3 added for HSI testing
• Tail center trim scaling changed
• Tail motor thrust law changed to linear
• Many new parameters added to MSP
• Many new parameters added to Adjustment Functions

Rotorflight Snapshot 4.3.0-20230822

Snapshot Release

This version is a development snapshot, intended to be used only for beta-testing.
It is not fully working nor stable, and should not be used by end-users.

Rotorflight-2 is based on Betaflight-4.3, and is rewritten from ground up,
with the experience learned from Rotorflight-1.

For more information, please join the Rotorflight Discord chat.

Changes from 4.3.0-20230724

• Add linear decay limit to error decay
• Add tail_center_trim parameter
• Add cyclic servo speed equaliser
• Add cyclic crosstalk precomp
• Add setpoint boost (B-term)
• Fix cyclic limit handling in the mixer
• Fix collective rates default from 25° to 12.5°
• Fix PID gain defaults
• Remove PID Mode 9

Rotorflight Snapshot 4.3.0-20230724

Snapshot Release

This version is a development snapshot, intended to be used only for beta-testing.
It is not fully working nor stable, and should not be used by end-users.

Rotorflight-2 is based on Betaflight-4.3, and is rewritten from ground up,
with the experience learned from Rotorflight-1.

For more information, please join the Rotorflight Discord chat.

NOTE! This Snapshot changes the PID gain scaling.

You MUST modify your PID gains as follows:

• Pitch and Roll I-gain: divide by 2
• Pitch D-gain: divice by 10

NOTE! This Snapshot changes the Collective curve scaling.

You MUST check and fix the Collective "rates" curve in the Rates tab.

Changes from 4.3.0-20230628

• Increase Governer total FF limit to 50%
• Fix Rescue MSP_RESCUE_PROFILE message
• Fix Rescue max_collective parameter handling
• Refactor collective-to-yaw precomp again
• Reorganise Adjustment Functions
• Fix LED strip and ADC on H7
• Change Collective curve (rates) scale
• Change PID gain scaling

Rotorflight Snapshot 4.3.0-20230628

Snapshot Release

This version is a development snapshot, intended to be used only for beta-testing.
It is not fully working nor stable, and should not be used by end-users.

Rotorflight-2 is based on Betaflight-4.3, and is rewritten from ground up,
with the experience learned from Rotorflight-1.

For more information, please join the Rotorflight Discord chat.

Changes from 4.3.0-20230602

• Servo twitch at reboot fixed
• OMP Hobby ESC telemetry protocol added
• HobbyWing ESC telemetry fixed
• ESC telemetry debug refactored
• ESC telemetry stream collection support added
• BLACKBOX_ERASE mode fixed
• Error decay (I-term decay) parameter added for cyclic and yaw
• Collective to Yaw precompensation refactored
• Unsynced motor update rate limits refactored
• MSP message fixes

Rotorflight Snapshot 4.3.0-20230602

Snapshot Release

This version is a development snapshot, intended to be used only for beta-testing.
It is not fully working nor stable, and should not be used by end-users.

Rotorflight-2 is based on Betaflight-4.3, and is rewritten from ground up,
with the experience learned from Rotorflight-1.

For more information, please join the Rotorflight Discord chat.

Changes from 4.3.0-20230508

• RPM filter refactored
• ESC telemetry refactored
• Gyro filter config sanity checks added
• motor_rpm_lpf default changed to 100Hz
• fterm_filter removed in PID mode 9
• pid_dterm_mode and pid_dterm_mode_yaw enabled
• debug_axis parameter changed to an integer value
• led CLI command fixed to be backwards compatible
• SPI ELRS binding bugfix cherry-picked

Rotorflight Snapshot 4.3.0-20230508

Snapshot Release

This version is a development snapshot, intended to be used only for beta-testing.
It is not fully working nor stable, and should not be used by end-users.

Rotorflight-2 is based on Betaflight-4.3, and is rewritten from ground up,
with the experience learned from Rotorflight-1.

For more information, please join the Rotorflight Discord chat.

Changes from 4.3.0-20230417

• CRSF Flight Mode reuse fixed (system lockup with ELRS)
• Governor Mode1 fixed without Voltage sensor
• Filter stack refactored
• PID loop saturation fixed
• CPU and System Load fixed
• BlackBox header improvements
• DEBUG log improvements
• ARM status LED indication improvements

Rotorflight Snapshot 4.3.0-20230417

Snapshot Release

This version is a development snapshot, intended to be used only for beta-testing.
It is not fully working nor stable, and should not be used by end-users.

Rotorflight-2 is based on Betaflight-4.3, and is rewritten from ground up,
with the experience learned from Rotorflight-1.

For more information, please join the Rotorflight Discord chat.

Changes from 4.3.0-20230401

• Add throttle command to BlackBox log
• Add crsf_flight_mode_reuse parameter
• Fix Horizon mode gain
• Fix Error Rotation (piro compensation)
• Fix MIXER MSP format (trims + swash phase)
• Refactor Custom Defaults handling
• Refactor Altitude fusion
• Simplify PID Mode#2
• Improve PID parameter defaults
• Improve Gyro filter parameter defaults

Rotorflight Snapshot 4.3.0-20230401

Snapshot Release

This is the first public snapshot of Rotorflight-2.

This version is a development snapshot, intended to be used only for beta-testing.
It is not fully working nor stable, and should not be used by end-users.

Rotorflight-2 is based on Betaflight-4.3, and is rewritten from ground up,
with the experience learned from Rotorflight-1.

For more information, please join the Rotorflight Discord chat.

New features include:

• New Rescue function
• New Airborne detection
• New Rx signal smoothing
• New rates settings for Collective
• New RPM (frequency) detection driver
• New Adjustment functions
• New ESC telemetry support
• New Servo/Motor Mixer
• New Cyclic Ring and Swash Ring support
• New Swash Phasing support
• New Barometer support for Rescue
• New Scale lights support

Improvements include:

• Better Blackbox Logging support
• Separate loop speed for filtering
• Gyro speed dynamic adjustment
• Servo geometry correction
• Improved RPM filter
• Telemetry support for Hobbywing ESCs
• Support for new hardware
• OSD firmware available in releases