With none doubt, BetaFlight is the preferred open-source flight controller firmware. It’s a mature software program with an important group round it. It’s completely up to date and improved. The newest BetaFlight 4.4 comes with seven vital enhancements and lots of bug fixes. Most F4 and F7 flight controllers assist this firmware. Firstly, I’ll set up the v4.4 BF firmware on my SKYSTARS F722HD FC and all my FPV drones.
BetaFlight differs from Baseflight and Cleanflight in specializing in flight efficiency, modern function additions, and large goal assist. With the Betaflight OSD, you will get all related flight metrics immediately into your FPV video feed. A simple-to-use drag-and-drop configuration permits the position of values like used mAh and LiPo Voltage readings. Moreover, you’ll be able to change most firmware settings utilizing stick instructions with out even eradicating your goggles.
Prime 7 enhancements in Betaflight 4.4 firmware
1. Cloud construct
That is predominantly dropped at you for comfort and to make sure we will hold the 512kb flash targets (STM32F411 and STM32F722) alive and properly for years to return. The cloud construct system will enable the flyer to pick the options you need, and customized firmware can be created for you. Please take a look at the #cloud-build-issues Discord channel for any points with the cloud-build course of. Assist us that can assist you, by profiting from the brand new Assist button within the Command Line Interface (CLI) tab in Configurator 10.9.0 (RC4 onwards). This can give us beneficial info in attempting to diagnose your challenge.
When you’ve got one thing lacking, we recommend flashing the core model. This can load all of the {hardware} drivers (however not all options), after which you’ll be able to submit a Assist degree of element from the CLI tab. As well as, you should use the customized defines enter field proven when “Skilled Mode” is enabled.
For these lacking a barometer: You possibly can attempt all or any of BARO_MS5611 BARO_SPI_MS5611 BARO_BMP280 BARO_SPI_BMP280 BARO_BMP388 BARO_SPI_BMP388 BARO_LPS BARO_SPI_LPS BARO_QMP6988 BARO_SPI_QMP6988 BARO_DPS310 BARO_SPI_DPS310 BARO_BMP085 BARO_2SMBP_02B BARO_SPI_2SMBP_02B within the customized defines enter field.
For these lacking the flash chip: You possibly can attempt all or any of FLASH_W25P16 FLASH_W25Q128FV FLASH_W25M02G FLASH_W25N01G FLASH_W25M within the customized defines enter field.
Thanks all in your persistence and help in working via what boards have what {hardware}. Sadly, we’d like our flyers to assist crowd-source this info – as such numerous {hardware} is on the market!
NOTE: When you’ve got one thing lacking out of your cloud construct that you’d usually anticipate to be current, e.g., a flash chip or barometer, the reason being that the board configuration (in unified targets) has not been up to date with this info (both by the group, or the producer).
2. HD Digital OSD (DJI)
HD OSD is now supported and provides the next options. Not all HD Goggle/VTX mixtures assist all options however hopefully will accomplish that in time.
If the OSD possibility alone or the OSD (HD) possibility is included within the construct choices, then HD assist can be included.
To allow HD assist, choose VTX (MSP + Displayport) on the ports tab for the UART to which the VTX is related. The MSP possibility will mechanically be chosen.
The OSD HD preview could also be manually chosen on the OSD tab alongside the PAL and NTSC choices; nonetheless, this isn’t crucial as the primary time the HD Goggle/VTX system is powered, the FC detects it and mechanically applies the next settings, saves and reboots mechanically. This solely occurs if the setting under is just not already utilized. This can be a new function and will not be supported by your HD system but, so if the OSD tab doesn’t mechanically change to HD, please enter the instructions under manually.
set osd_displayport_device = MSP
set vcd_video_system = HD
The scale of the canvas (seen variety of columns/rows) defaults to 53×20 (in comparison with 30×16 for PAL and 30×13 for NTSC). The VTX can modify this by sending an MSP command to regulate the canvas measurement. WTFOS will set this to 60×22, for instance. This can be automated, with no person interplay required. Ought to the goggles vendor resolve to assist alternate canvas sizes, then they might be chosen within the goggles menus, and the brand new canvas measurement communicated to Betaflight, which might then modify the usable variety of OSD rows/columns accordingly.
Whatever the canvas measurement, the boot emblem, armed message, stats, CMS menu, and many others. can be centered appropriately.
If the canvas measurement is diminished, both by deciding on the PAL/NTSC choices or by the VTX sending a special canvas measurement, all OSD parts can be moved onto the obtainable canvas to allow them to be repositioned utilizing the configurator.
Along with the same old OSD parts, it’s now attainable, the place supported by the FPVGoggles/VTX vendor, to allow/disable and reposition the next OSD parts. If none are explicitly enabled, all these supported can be displayed at their default places.
- Goggle battery voltage
- VTX voltage
- Bit-rate
- Delay
- Distance
- Video hyperlink high quality
- Goggle DVR icon
- VTX DVR icon
- VTX warnings
- VTX temperature
- Goggle fan pace
To make higher use of the color OSD capabilities of the HD methods, 4 fonts at the moment are supported. The intent is that these be used to show textual content and different icons in white, inexperienced, amber and purple equivalent to regular, good, marginal, and significant circumstances, respectively. This can enable the hyperlink high quality textual content and icon to be displayed in purple when crucial, amber when marginal, and inexperienced when good, for instance.
To allow this function set the displayport_msp_fonts array to pick the font quantity (0-4) to make use of for every of regular, good, marginal, and significant circumstances, respectively.
To allow all 4 fonts: set displayport_msp_fonts = 0,1,2,3
To solely use the default (predominantly white) font: set displayport_msp_fonts = 0,0,0,0
To show crucial warnings in purple, choose the primary font for regular, good, and marginal OSD parts, and for crucial OSD parts, choose the third font: set displayport_msp_fonts = 0,0,0,3
3. Preset Favourites
This function reduces the quantity of looking the customers need to do within the presets tab. The BetaFligh configurator will bear in mind the presets you’re utilizing, mechanically marking them with the “star”. Favourite presets will all the time seem first within the preliminary checklist and the search outcomes. Mixed with the repair that preselects the present firmware from the plugged-in FC, customers can keep away from altogether looking of the generally used presets and decide them instantly. The UI “stars” are clickable, so customers can manually add/take away favourite presets.
4. GPS Return to House enhancements
GPS “Rescue” has been extensively revised and vastly improved. The quad ought to reliably return on the set pace, descend at an angle, land inside a number of meters of the house level, and disarm mechanically on touch-down. There are separate PID management parts for altitude and return velocity t house; the defaults work very properly for ‘typical’ quads. The system ought to initially be examined with a change at a fairly shut vary and low altitude. Establishing and testing GPS Rescue to offer a dependable return in case of a RxLoss failsafe is a non-trivial job however properly well worth the bother.
The BetaFlight workforce strongly recommends studying the wiki entry and following the directions.
Keep in mind that in any true failsafe, the quad will all the time enter Failsafe Stage 1 section for 1s (user-configurable) earlier than initiating the Rescue. You MUST set the Stage 1 conduct NOT to DROP, or it’ll disarm and drop in Stage 1 and by no means enter GPS Rescue. The most secure possibility for Stage 1 is to configure Angle Mode on an aux change and set Stage 1 Failsafe to allow Angle Mode at a hard and fast hover/mild climb throttle worth with all different sticks compelled to middle. Once you get a sign lack of greater than 300ms, you’ll enter Angle Mode, and it’ll begin to degree out. That may clearly warn you that you’re getting a sign breakup. Alternatively, you’ll be able to set Failsafe Stage 1 to carry all present values; the quad will then proceed on the identical path till Stage 1 Failsafe expires and the Rescue begins.
Please disable the compass/magnetometer except:
- it has been totally calibrated, and
- You may have confirmed, by logging, that the magnetometer heading values are noise-free and replicate the true angle of the quad.
In most quick flights, utilizing the Baro considerably improves altitude management. Baro information is up to date extra continuously than GPS information and infrequently varies much less. The person can management how a lot belief they place on the Baro vs GPS altitude information. Over lengthy flights and with some specific Baro models or installations, Baro drift will be extra of an issue, and the GPS information needs to be trusted extra.
There are three new and useful GPS Rescue debugging modes. One reveals how precisely the quad tracks the requested altitude and the requested velocity. The opposite two are used for tuning the GPS Rescue PIDs. If Magazine is enabled, Magazine info is mechanically recorded.
Knowledge acquisition from GPS {hardware} now makes use of the UBlox protocol, at 10hz, by default. NMEA mode has been improved and, in some circumstances, will run at 10hz. We will now log the Dilution Of Precision values for future enhancements.
There are in depth adjustments to sanity checks, and usually, the quad will try and land itself relatively than disarm, if crucial, utilizing solely the Baro sign.
WARNING: ALWAYS CHECK that the House Arrow factors immediately again in direction of house after takeoff! Typically, in the event you take off and spin round throughout arming or instantly on takeoff, the quad’s angle info can turn into corrupted, and the House Arrow can level the flawed means. It’s greatest to arm cleanly and fly away from House in a straight line at an affordable pace instantly after takeoff. Watch the House Arrow rigorously to make sure it shortly factors again to House. If the House Arrow factors the flawed means when a failsafe happens, the GPS Rescue will initially fly off within the flawed path, and in some circumstances, you might lose the quad.
5. Different OSD enhancements
Choice to indicate ‘READY’ within the OSD with a mode change. This can be a area of interest enchancment for racing conditions the place all pilot video feeds are on one central display screen. The pilot can flick a change to point that they’re able to fly, and the phrase READY seems on their OSD. The race director can then inform if all pilots are prepared by trying on the central display screen. On arming, the READY textual content disappears.
6. Assist for prolonged DShot Telemetry
If the ESC helps it, we will get per-motor temp, present, and voltage through DSHot Telemetry.
7. Flight enhancements
BetaFlight 4.4: Antigravity
AntiGravity has been tweaked, leading to better stability throughout speedy throttle adjustments, by:
- Not making use of AntiGravity P enhance to yaw, stopping extra yaw wobbles throughout speedy throttle adjustments
- Lowering the general AntiGravity P enhance to scale back the prospect of undesirable P wobbles
- Permits the relative P achieve throughout AntiGravity to be set independently of the I enhance, with anti_gravity_p_gain. The default is 100, that means ‘regular’. A decrease quantity will give proportionally much less P enhance than the default for machines that get P wobbles readily throughout throttle enhance, and vice versa.
- Additional optimizations of the timing of the enhance impact. A PT2 filter is used at 6Hz by default. The worth will be tweaked to focus the enhance when wanted most by altering the anti_gravity_cutoff worth. Greater values will make the enhance a bit stronger however of a shorter length. Decrease values may match higher for much less responsive builds or for a extra extended enhance.
- Making use of iTerm windup constraints to antigravity-induced iTerm will increase
- Eradicating the outdated ‘step’ mode, which wasn’t working as supposed, the AntiGravity worth is now immediately associated to the quantity of iTerm enhance. The default is 80, that means 8x iTerm enhance on quick throttle cuts. Don’t improve AntiGravity except you’ve made a log and confirmed that there isn’t a P wobble.
7. ELRS 3.x assist for ELRS SPI boards
Sadly, ELRS 2. x transmitters will be unable to bind to ELRS SPI Boards flashed with Betaflight 4.x.
Different adjustments
- 4 PID profiles (was 6), and 4 charge profiles (was 3) – thanks @haslinghuis
- TPA settings contained in the PID profile – thanks @haslinghuis
- improved barometer smoothing and calibration, angle calculation fixes, filter fixes – thanks @karatebrot
- HD OSD assist – thanks @SteveCEvans
- VTX system over MSP PR11705 – thanks @phobos
- parse and log GPS diploma of precision (DOP) values PR11912 – thanks @karatebrot
- {hardware} assist for newer gyro chips, improved filtering for BMI160/270, and many others – thanks @SteveCEvans and others
- decrease minimal of 20Hz for dynamic notch, helpful for low RPM setups with very massive props
- elevated dynamic idle minimal RPM from 100 (10k RPM) to 200 (20k rpm) for quads with very small props
- assist for 64 discrete LEDs through cloud construct possibility – PR12064 – thanks @Limonspb
- Fixes to NMEA at 10hz and UBlox comms – thanks @Karatebrot, @krzysztofkuczek
- Winbond W25q80 flash assist – thanks @David-OConnor
- Many bugfixes, goal updates, driver updates, and fixes – because of too many individuals to say individually
