# Betaflight changelog > Flight controller firmware for multirotors and fixed-wing aircraft. - Vendor: Betaflight - Category: Firmware - Official site: https://betaflight.com - Tracked by: What's New (https://whatsnew.fyi/product/betaflight) - Harvested from: GitHub (betaflight/betaflight) - Entries below: 10 (newest first) What's New is an index, not a publisher: every entry below links to the vendor's own release notes, which are the authoritative source. Entries are labelled where they are hand-curated sample data, pre-releases, or drawn from a secondary source such as a developer blog. Reuse: the summaries, labels and curation here are © What's New. Quote freely with attribution and a link back; wholesale republication of the corpus is not permitted — terms: https://whatsnew.fyi/terms. The vendors' own release notes remain their publishers'. ## Releases ### 2026.6.1 - Date: 2026-08-02 - Version: 2026.6.1 - Original notes: https://github.com/betaflight/betaflight/releases/tag/2026.6.1 - Permalink: https://whatsnew.fyi/product/betaflight/releases/2026.6.1 - **added** — OSD custom text received from serial to be displayed - **added** — Switchable battery profiles - **added** — AssistNow Autonomous into GPS features - **added** — Individual servo channel forwarding support and servo mixer for default frame types - **added** — Upixel UP-T1-001-Plus support and optical flow position hold - **added** — Flight plan PG configuration, CLI waypoint commands, and AUTOPILOT mode - **added** — CAN peripheral support for STM32G4, STM32H7 and STM32C593 - **added** — Nav autopilot - **added** — DroneCAN protocol stack with NodeStatus and GetNodeInfo - **added** — DroneCAN GNSS Fix2 provider - **added** — STM32N6570-DK bring-up with LTDC backend, SSD1306 backend, and dump cmd - **added** — Flight plan guidance implementation - **added** — Telemetry MAVLink HOME_POSITION, SYSTEM_TIME, and STATUSTEXT transmit - **added** — STM32N6 platform support - **added** — Telemetry MAVLink vehicle-setup unlock and custom_mode discovery - **added** — ap_stop_threshold setting - **added** — Telemetry MAVLink MISSION protocol upload and download - **added** — MAVLink packet rates change using Ground Control Station - **added** — Autopilot injected runtime plans, geofence RTH return mission, and LAND loiter - **added** — Autopilot rescue as synthesised mission, TAKEOFF and hold patterns ##### What's Changed ###### Features * OSD: Custom text received from serial to be displayed by @blckmn in https://github.com/betaflight/betaflight/pull/14895 * Add switchable battery profiles by @jury89 in https://github.com/betaflight/betaflight/pull/14965 * Include AssistNow Autonomous into GPS features by @stsypanov in https://github.com/betaflight/betaflight/pull/14987 * Add individual servo channel forwarding support and run servo mixer for default frame types by @blckmn in https://github.com/betaflight/betaflight/pull/15013 * Upixel UP-T1-001-Plus support and optical flow position hold by @SteveCEvans in https://github.com/betaflight/betaflight/pull/14922 * Add flight plan PG configuration, CLI waypoint commands, and AUTOPILOT mode by @blckmn in https://github.com/betaflight/betaflight/pull/15030 * feat: add CAN peripheral support for STM32G4, STM32H7 and STM32C593 (ENABLE_CAN) by @blckmn in https://github.com/betaflight/betaflight/pull/15115 * Nav autopilot by @SteveCEvans in https://github.com/betaflight/betaflight/pull/15026 * feat: DroneCAN protocol stack (NodeStatus + GetNodeInfo) by @blckmn in https://github.com/betaflight/betaflight/pull/15137 * SITL: gate bridge-specific transforms on SITL_BRIDGE_GAZEBO by @blckmn in https://github.com/betaflight/betaflight/pull/15158 * feat: DroneCAN GNSS Fix2 provider (drives gpsSol) by @blckmn in https://github.com/betaflight/betaflight/pull/15143 * feat: STM32N6570-DK bring-up — LTDC backend, SSD1306 backend, dump cmd by @blckmn in https://github.com/betaflight/betaflight/pull/15153 * AUTOPILOT: Step one, Flight plan guidance implementation by @blckmn in https://github.com/betaflight/betaflight/pull/14923 * telemetry/mavlink: add HOME_POSITION/SYSTEM_TIME/STATUSTEXT TX by @blckmn in https://github.com/betaflight/betaflight/pull/15213 * STM32N6 platform support by @blckmn in https://github.com/betaflight/betaflight/pull/15214 * telemetry/mavlink: vehicle-setup unlock + custom_mode discovery by @blckmn in https://github.com/betaflight/betaflight/pull/15220 * Add ap_stop_threshold setting and improve braking performance by @SteveCEvans in https://github.com/betaflight/betaflight/pull/15150 * telemetry/mavlink: MISSION protocol upload/download by @blckmn in https://github.com/betaflight/betaflight/pull/15224 * The MAVLink packets rates change by using Ground Control Station by @demvlad in https://github.com/betaflight/betaflight/pull/15291 * Autopilot: injected runtime plans, geofence RTH return mission, LAND loiter by @blckmn in https://github.com/betaflight/betaflight/pull/15409 * Autopilot: rescue as a synthesised mission, TAKEOFF and hold patterns, SITL fidelity by @blckmn in https://github.com/betaflight/betaflight/pull/15413 * SITL harness: per-run session id in the telemetry stream by @blckmn in https://github.com/betaflight/betaflight/pull/15417 * Autopilot: OSD waypoint elements, CLI mission status, MAVLink SET_CURRENT by @blckmn in https://github.com/betaflight/betaflight/pull/15416 * The MAVLink serial RX provider is connected to telemetry incomming message handler by @demvlad in https://github.com/betaflight/betaflight/pull/15374 * DroneCAN ESC: RawCommand output, Status telemetry, dynamic node-ID allocation by @blckmn in https://github.com/betaflight/betaflight/pull/15350 * Autopilot: position-hold stick feedforward split from damping, braking state machine by @blckmn in https://github.com/betaflight/betaflight/pull/15435 * Autopilot: in-flight waypoint capture on a switch by @morrob955 in https://github.com/betaflight/betaflight/pull/15445 * OSD: flight-plan navigation minimap element by @morrob955 in https://github.com/betaflight/betaflight/pull/15447 * Unify autopilot position control on a velocity primitive; fly GPS rescue as a flight-plan mission by @blckmn in https://github.com/betaflight/betaflight/pull/15485 ###### Improvements * PICO use timeUs_t return types for time _[Truncated at 4000 characters — full notes: https://github.com/betaflight/betaflight/releases/tag/2026.6.1]_ ### 2026.6.0-rc3 - Date: 2026-07-23 - Version: 2026.6.0-rc3 - Original notes: https://github.com/betaflight/betaflight/releases/tag/2026.6.0-rc3 - Permalink: https://whatsnew.fyi/product/betaflight/releases/2026.6.0-rc3 - Labels: Pre-release - **added** — Autopilot: injected runtime plans, geofence RTH return mission, LAND loiter - **added** — Autopilot: rescue as a synthesised mission, TAKEOFF and hold patterns, SITL fidelity - **added** — SITL harness: per-run session id in the telemetry stream - **added** — Autopilot: OSD waypoint elements, CLI mission status, MAVLink SET_CURRENT - **added** — MAVLink serial RX provider connected to telemetry incoming message handler - **added** — DroneCAN ESC: RawCommand output, Status telemetry, dynamic node-ID allocation - **added** — Autopilot: position-hold stick feedforward split from damping, braking state machine - **added** — Autopilot: in-flight waypoint capture on a switch - **added** — OSD: flight-plan navigation minimap element - **changed** — Autopilot: nav velocity mode with drag feedforward - **changed** — Add support for MX35LF2GE4AD flash chip - **changed** — STM32H5: enable instruction cache - **changed** — CLI: show live GPS detail in status output - **changed** — Autopilot: cross waypoint gates at corner speed with chase-lag braking, carrot measurement filtering, governor hysteresis - **changed** — Autopilot: don't fail position hold on a single bad GPS fix - **changed** — STM32C5: enable instruction cache - **fixed** — Fix H7 FDCAN bring-up: kernel clock query and transceiver silent pin - **fixed** — STM32H5: ADC circular GPDMA so battery/current track live values - **fixed** — RTC is not set from GPS time using UBLOX M10 - **fixed** — STM32H5/N6: drive WS2811 LED strip correctly on GPDMA ##### What's Changed ###### Features * Autopilot: injected runtime plans, geofence RTH return mission, LAND loiter by @blckmn in https://github.com/betaflight/betaflight/pull/15409 * Autopilot: rescue as a synthesised mission, TAKEOFF and hold patterns, SITL fidelity by @blckmn in https://github.com/betaflight/betaflight/pull/15413 * SITL harness: per-run session id in the telemetry stream by @blckmn in https://github.com/betaflight/betaflight/pull/15417 * Autopilot: OSD waypoint elements, CLI mission status, MAVLink SET_CURRENT by @blckmn in https://github.com/betaflight/betaflight/pull/15416 * The MAVLink serial RX provider is connected to telemetry incomming message handler by @demvlad in https://github.com/betaflight/betaflight/pull/15374 * DroneCAN ESC: RawCommand output, Status telemetry, dynamic node-ID allocation by @blckmn in https://github.com/betaflight/betaflight/pull/15350 * Autopilot: position-hold stick feedforward split from damping, braking state machine by @blckmn in https://github.com/betaflight/betaflight/pull/15435 * Autopilot: in-flight waypoint capture on a switch by @morrob955 in https://github.com/betaflight/betaflight/pull/15445 * OSD: flight-plan navigation minimap element by @morrob955 in https://github.com/betaflight/betaflight/pull/15447 ###### Improvements * Autopilot: nav velocity mode with drag feedforward by @blckmn in https://github.com/betaflight/betaflight/pull/15410 * flash_w25n: Add support for MX35LF2GE4AD flash chip by @RunnyCow in https://github.com/betaflight/betaflight/pull/15008 * perf(STM32H5): enable instruction cache by @haslinghuis in https://github.com/betaflight/betaflight/pull/15421 * cli: show live GPS detail in status output by @blckmn in https://github.com/betaflight/betaflight/pull/15450 * Autopilot: cross waypoint gates at corner speed - chase-lag braking, carrot measurement filtering, governor hysteresis by @morrob955 in https://github.com/betaflight/betaflight/pull/15453 * Autopilot: don't fail position hold on a single bad GPS fix by @morrob955 in https://github.com/betaflight/betaflight/pull/15454 * perf(STM32C5): enable instruction cache by @haslinghuis in https://github.com/betaflight/betaflight/pull/15434 ###### Fixes * Fix H7 FDCAN bring-up: kernel clock query and transceiver silent pin by @blckmn in https://github.com/betaflight/betaflight/pull/15429 * STM32H5: ADC circular GPDMA so battery/current track live values by @haslinghuis in https://github.com/betaflight/betaflight/pull/15419 * RTC is not set from GPS time using UBLOX M10 by @stsypanov in https://github.com/betaflight/betaflight/pull/15394 * STM32H5/N6: drive WS2811 LED strip correctly on GPDMA by @haslinghuis in https://github.com/betaflight/betaflight/pull/15438 * PICO: Allow non-inverted BEC enable on GPIOs, add missing dma include by @mjs1441 in https://github.com/betaflight/betaflight/pull/15444 * STM32: align MPU regions to actual size by @morrob955 in https://github.com/betaflight/betaflight/pull/15441 * fix(cli): don't dereference NULL sensor hardware names by @haslinghuis in https://github.com/betaflight/betaflight/pull/15456 * optimize at32f43x vbat and current more accurate when punch throttle by @shanggl in https://github.com/betaflight/betaflight/pull/15418 ##### New Contributors * @RunnyCow made their first contribution in https://github.com/betaflight/betaflight/pull/15008 * @morrob955 made their first contribution in https://github.com/betaflight/betaflight/pull/15445 * @shanggl made their first contribution in https://github.com/betaflight/betaflight/pull/15418 **Full Changelog**: https://github.com/betaflight/betaflight/compare/2026.6.0-rc2...2026.6.0-rc3 ### 2026.6.0-rc2 - Date: 2026-07-12 - Version: 2026.6.0-rc2 - Original notes: https://github.com/betaflight/betaflight/releases/tag/2026.6.0-rc2 - Permalink: https://whatsnew.fyi/product/betaflight/releases/2026.6.0-rc2 - Labels: Pre-release - **added** — Add support for FMSH FM25Q series (64Mb, 128Mb, 256Mb) SPI Flash - **added** — Add autopilot flight plan safety features including rx-loss policy, sanity checks, geofence, and arming gate - **fixed** — Use correct system bootloader address for software DFU entry on H5 - **fixed** — Enable serial +++ escape to exit passthrough on DTR-less links - **fixed** — Improve position hold functionality - **fixed** — Display battery usage estimation in OSD when battery capacity is set to 0 - **fixed** — Bound MSP stream reads against payload length to prevent out-of-bounds reads - **fixed** — Fix start frame detection for fast refresh (1 mS between frames) - **fixed** — Guard spurious pullup edge in dshot telemetry packet decoding - **fixed** — Fix SPI and SDMMC on x32m7b - **fixed** — Apply all active VTX activation conditions - **fixed** — Fix CRSF frame length validation - **fixed** — Set d_max_advance default to 0 to match configurator guidance - **fixed** — Suppress BEEPER_USB when battery present and configurator active - **fixed** — Improve GPS Rescue functionality - **fixed** — Fix request parser buffer overflow in rcdevice.c - **fixed** — Avoid blocking MSP during NOR chip erase in flashfs - **fixed** — Rate-limit crsfTelemetryUpdateCheck to prevent scheduler starvation - **fixed** — Detect SBUS frame boundary via interbyte timeout - **fixed** — Fix inverted timeout condition in W25Q128FV write-enable poll - **changed** — Enable UART2-8 on STM32H5 H562/H563 and fix UART open hard fault ##### What's Changed ###### Improvements * fix(sitl): harden Gazebo gyro yaw sign against silent regression (follow-up to #15354) by @haslinghuis in https://github.com/betaflight/betaflight/pull/15355 * add support for FMSH FM25Q series (64Mb, 128Mb, 256Mb) SPI Flash by @ReganLai-Fudan in https://github.com/betaflight/betaflight/pull/15292 * Autopilot: flight plan safety — rx-loss policy, sanity checks, geofence, arming gate by @blckmn in https://github.com/betaflight/betaflight/pull/15408 ###### Fixes * fix(h5): use correct system bootloader address for software DFU entry by @haslinghuis in https://github.com/betaflight/betaflight/pull/15369 * serial: +++ escape to exit passthrough on DTR-less links by @dmboyd in https://github.com/betaflight/betaflight/pull/15357 * Position hold small improvements by @ctzsnooze in https://github.com/betaflight/betaflight/pull/15366 * Display battery usage estimation in OSD when battery capacity is set to 0 by @michaeldebacker in https://github.com/betaflight/betaflight/pull/15038 * msp: bound stream reads against payload length to prevent OOB reads by @blckmn in https://github.com/betaflight/betaflight/pull/15379 * Fix start frame detection for fast refresh (1 mS between frames) by @Grinzzz in https://github.com/betaflight/betaflight/pull/14322 * fix(dshot): guard spurious pullup edge in decodeTelemetryPacket by @nerdCopter in https://github.com/betaflight/betaflight/pull/15343 * fix(x32m7b): fix spi and sdmmc by @Romin0615 in https://github.com/betaflight/betaflight/pull/15371 * fix(vtx): apply all active VTX activation conditions (#15362) by @haslinghuis in https://github.com/betaflight/betaflight/pull/15363 * docs: accgyro_spi_icm20689.c 8Mhz comment correction by @nerdCopter in https://github.com/betaflight/betaflight/pull/15365 * fix(filter): correct fq comment in svfNotchFilter_t by @nerdCopter in https://github.com/betaflight/betaflight/pull/15300 * fix(barometer): replace VLA with fixed array in dps310 coefficient read by @nerdCopter in https://github.com/betaflight/betaflight/pull/15266 * Fix CRSF frame length validation by @Symmetricity in https://github.com/betaflight/betaflight/pull/15254 * Set d_max_advance default to 0 to match configurator guidance by @ChrisRosser in https://github.com/betaflight/betaflight/pull/15221 * FIX: BEEPER_USB suppression when battery present and configurator active by @haslinghuis in https://github.com/betaflight/betaflight/pull/14976 * GPS Rescue2026_6a by @ctzsnooze in https://github.com/betaflight/betaflight/pull/15382 * fix: the request parser writes data into a fixed-siz... in rcdevice.c by @orbisai0security in https://github.com/betaflight/betaflight/pull/15389 * fix(flashfs): avoid blocking MSP during NOR chip erase by @kedeng in https://github.com/betaflight/betaflight/pull/15273 * fix(crsf): rate-limit crsfTelemetryUpdateCheck to prevent scheduler starvation by @nerdCopter in https://github.com/betaflight/betaflight/pull/15358 * rx: detect sbus frame boundary via interbyte timeout by @blckmn in https://github.com/betaflight/betaflight/pull/15388 * Fix inverted timeout condition in W25Q128FV write-enable poll by @nerdCopter in https://github.com/betaflight/betaflight/pull/15396 * bus_quadspi_hal: capture HAL status in quadSpiSequence() by @nerdCopter in https://github.com/betaflight/betaflight/pull/15397 * flash_w25n: remove dead/buggy BBLUT read/write code by @nerdCopter in https://github.com/betaflight/betaflight/pull/15398 * fix: prevent spurious blackbox erase before RX link by @nerdCopter in https://github.com/betaflight/betaflight/pull/15404 * STM32C5: correct timer AF tables and complete timer coverage by @blckmn in https://github.com/betaflight/betaflight/pull/15405 ###### Targets * STM32H5: enable UART2-8 on H562/H563 and fix UART open hard fault by @haslinghuis in https://github.com/betaflight/betaflight/pull/153 _[Truncated at 4000 characters — full notes: https://github.com/betaflight/betaflight/releases/tag/2026.6.0-rc2]_ ### 4.5.5 - Date: 2026-06-28 - Version: 4.5.5 - Original notes: https://github.com/betaflight/betaflight/releases/tag/4.5.5 - Permalink: https://whatsnew.fyi/product/betaflight/releases/4.5.5 - **fixed** — Cancel pendingRequest on '$' only, restoring per-byte lastActivityMs in MSP ##### What's Changed ###### Fixes * [4.5] fix(msp): cancel pendingRequest on '$' only, restoring per-byte lastActivityMs by @nerdCopter in https://github.com/betaflight/betaflight/pull/15330 **Full Changelog**: https://github.com/betaflight/betaflight/compare/4.5.4...4.5.5 ### 2025.12.5 - Date: 2026-06-28 - Version: 2025.12.5 - Original notes: https://github.com/betaflight/betaflight/releases/tag/2025.12.5 - Permalink: https://whatsnew.fyi/product/betaflight/releases/2025.12.5 - **fixed** — Clear ORE when RXNEIE is enabled in HAL uartIrqHandler - **fixed** — Cancel pendingRequest on '$' only, restoring per-byte lastActivityMs in MSP ##### What's Changed ###### Fixes * [2025.12] fix(uart): clear ORE when RXNEIE is enabled in HAL uartIrqHandler (fixes #15317, #15306) by @tracycam in https://github.com/betaflight/betaflight/pull/15325 * [2025.12] fix(msp): cancel pendingRequest on '$' only, restoring per-byte lastActivityMs by @nerdCopter in https://github.com/betaflight/betaflight/pull/15324 **Full Changelog**: https://github.com/betaflight/betaflight/compare/2025.12.4...2025.12.5 ### 2026.6.0-rc1 - Date: 2026-06-27 - Version: 2026.6.0-rc1 - Original notes: https://github.com/betaflight/betaflight/releases/tag/2026.6.0-rc1 - Permalink: https://whatsnew.fyi/product/betaflight/releases/2026.6.0-rc1 - Labels: Pre-release - **added** — OSD custom text received from serial to be displayed - **added** — Switchable battery profiles - **added** — AssistNow Autonomous into GPS features - **added** — Individual servo channel forwarding support and servo mixer for default frame types - **added** — Upixel UP-T1-001-Plus support and optical flow position hold - **added** — Flight plan PG configuration, CLI waypoint commands, and AUTOPILOT mode - **added** — CAN peripheral support for STM32G4, STM32H7 and STM32C593 - **added** — Nav autopilot - **added** — DroneCAN protocol stack with NodeStatus and GetNodeInfo - **added** — DroneCAN GNSS Fix2 provider - **added** — STM32N6570-DK bring-up with LTDC backend and SSD1306 backend - **added** — Flight plan guidance implementation - **added** — MAVLink HOME_POSITION, SYSTEM_TIME, and STATUSTEXT telemetry transmission - **added** — STM32N6 platform support - **added** — MAVLink vehicle-setup unlock and custom_mode discovery - **added** — ap_stop_threshold setting - **added** — MAVLink MISSION protocol upload and download - **added** — MAVLink packet rates change using Ground Control Station - **added** — Support for ICM42622P sensor - **added** — Nooploop TOFSense rangefinder family support - **changed** — Improve braking performance - **changed** — Report sensor hardware names per sensor type - **changed** — Add MSP support for Attitude quaternions - **changed** — PICO bidirectional DShot telemetry with edge detection - **changed** — Strengthen MSP and CRSF packet validation - **changed** — Add CRSF AHRS support - **changed** — Change displayed precision of max current in post-flight statistics to float - **added** — MMC5603 magnetometer driver - **added** — BMP580 barometer support - **added** — MT29F1G01ABAFDWB-IT:F flash chip support - **added** — SPI ExpressLRS 4.0 support - **added** — ACCGYRO_LSM6DSK320X sensor support #### Release Notes Betaflight 2025.6.0-rc1 brings a massive range of new features, improvements, fixes, and new hardware support. For comprehensive release nots please see: https://betaflight.com/docs/wiki/release/Betaflight-2026-6-Release-Notes Please use the online pre-release version of the Betaflight App for configuring this release. It can be found here: https://master.app.betaflight.com ##### What's Changed ###### Features * OSD: Custom text received from serial to be displayed by @blckmn in https://github.com/betaflight/betaflight/pull/14895 * Add switchable battery profiles by @jury89 in https://github.com/betaflight/betaflight/pull/14965 * Include AssistNow Autonomous into GPS features by @stsypanov in https://github.com/betaflight/betaflight/pull/14987 * Add individual servo channel forwarding support and run servo mixer for default frame types by @blckmn in https://github.com/betaflight/betaflight/pull/15013 * Upixel UP-T1-001-Plus support and optical flow position hold by @SteveCEvans in https://github.com/betaflight/betaflight/pull/14922 * Add flight plan PG configuration, CLI waypoint commands, and AUTOPILOT mode by @blckmn in https://github.com/betaflight/betaflight/pull/15030 * feat: add CAN peripheral support for STM32G4, STM32H7 and STM32C593 (ENABLE_CAN) by @blckmn in https://github.com/betaflight/betaflight/pull/15115 * Nav autopilot by @SteveCEvans in https://github.com/betaflight/betaflight/pull/15026 * feat: DroneCAN protocol stack (NodeStatus + GetNodeInfo) by @blckmn in https://github.com/betaflight/betaflight/pull/15137 * SITL: gate bridge-specific transforms on SITL_BRIDGE_GAZEBO by @blckmn in https://github.com/betaflight/betaflight/pull/15158 * feat: DroneCAN GNSS Fix2 provider (drives gpsSol) by @blckmn in https://github.com/betaflight/betaflight/pull/15143 * feat: STM32N6570-DK bring-up — LTDC backend, SSD1306 backend, dump cmd by @blckmn in https://github.com/betaflight/betaflight/pull/15153 * AUTOPILOT: Step one, Flight plan guidance implementation by @blckmn in https://github.com/betaflight/betaflight/pull/14923 * telemetry/mavlink: add HOME_POSITION/SYSTEM_TIME/STATUSTEXT TX by @blckmn in https://github.com/betaflight/betaflight/pull/15213 * STM32N6 platform support by @blckmn in https://github.com/betaflight/betaflight/pull/15214 * telemetry/mavlink: vehicle-setup unlock + custom_mode discovery by @blckmn in https://github.com/betaflight/betaflight/pull/15220 * Add ap_stop_threshold setting and improve braking performance by @SteveCEvans in https://github.com/betaflight/betaflight/pull/15150 * telemetry/mavlink: MISSION protocol upload/download by @blckmn in https://github.com/betaflight/betaflight/pull/15224 * The MAVLink packets rates change by using Ground Control Station by @demvlad in https://github.com/betaflight/betaflight/pull/15291 ###### Improvements * PICO use timeUs_t return types for time functions. by @mjs1441 in https://github.com/betaflight/betaflight/pull/14817 * Quick fix for issuix for issue 14819 by @PD45-46 in https://github.com/betaflight/betaflight/pull/14843 * Change displayed precision of max current of the post-flight statistics to float by @qubicllj in https://github.com/betaflight/betaflight/pull/14853 * delete file PICO/dshot.pio.programs by @qqqlab in https://github.com/betaflight/betaflight/pull/14863 * CLEANUP: make clean CONFIG=X by @blckmn in https://github.com/betaflight/betaflight/pull/14830 * REFACTOR: Camera Control in preparation for RP2350 implementation by @blckmn in https://github.com/betaflight/betaflight/pull/14856 * PICO: Use memfunctions.S from rp2040 bootrom source for memset, memcpy. by @mjs1441 in https://github.com/betaflight/betaflight/pull/14876 * PICO: Remove startup .S file (not in use). by @mjs1441 in https://github.com/betaflight/betaflight/pull/14886 * Report sensor hardware names per sensor type by @ha _[Truncated at 4000 characters — full notes: https://github.com/betaflight/betaflight/releases/tag/2026.6.0-rc1]_ ### 2025.12.4 - Date: 2026-06-02 - Version: 2025.12.4 - Original notes: https://github.com/betaflight/betaflight/releases/tag/2025.12.4 - Permalink: https://whatsnew.fyi/product/betaflight/releases/2025.12.4 - **fixed** — CLI MSP race-condition - **fixed** — Unconditionally clamp failsafe_procedure to valid range - **fixed** — Guard half-duplex pinless UART modes ##### What's Changed ###### Fixes * [2025.12] Backport CLI MSP race-condition fix (#15193) by @blckmn in https://github.com/betaflight/betaflight/pull/15201 * [backport] fix(config): unconditionally clamp failsafe_procedure to valid range by @nerdCopter in https://github.com/betaflight/betaflight/pull/15191 * [backport] fix(uart): guard half-duplex pinless UART modes (#15218) by @haslinghuis in https://github.com/betaflight/betaflight/pull/15258 **Full Changelog**: https://github.com/betaflight/betaflight/compare/2025.12.2...2025.12.4 ### 4.5.4 - Date: 2026-05-31 - Version: 4.5.4 - Original notes: https://github.com/betaflight/betaflight/releases/tag/4.5.4 - Permalink: https://whatsnew.fyi/product/betaflight/releases/4.5.4 - **fixed** — Fix CLI MSP race-condition - **fixed** — Unconditionally clamp failsafe_procedure to valid range ##### What's Changed ###### Fixes * [4.5.4] Backport CLI MSP race-condition fix (#15193) by @blckmn in https://github.com/betaflight/betaflight/pull/15200 * [backport] fix(config): unconditionally clamp failsafe_procedure to valid range by @nerdCopter in https://github.com/betaflight/betaflight/pull/15190 **Full Changelog**: https://github.com/betaflight/betaflight/compare/4.5.3...4.5.4 ### 2025.12.2 - Date: 2026-02-08 - Version: 2025.12.2 - Original notes: https://github.com/betaflight/betaflight/releases/tag/2025.12.2 - Permalink: https://whatsnew.fyi/product/betaflight/releases/2025.12.2 - **changed** — Update targets for AIRBOTG4AIO, AXISFLYINGH743PRO, BETAFPVG473_V2, RADIOLINKF722, BLADEF4, BRAHMA_F405, CADDX_PROTOS_F4, JHEH743PRO, DREAMWORKSH743, GEPRCF722_BT_HD, GEPRC_TAKER_F405AIO, GEPRC_TAKER_H743MINI, HGLRC_F405_S, HOBBYWING_XROTORF7CONV, HOBBYWING_XROTORF7CONV2, MADFLIGHT_FC3, RADIOLINKF405, RMNOVAH7, SIMPLIFLYF405, and TAKERG4AIO Target updates for: - AIRBOTG4AIO - AXISFLYINGH743PRO - BETAFPVG473_V2 - RADIOLINKF722 - BLADEF4 - BRAHMA_F405 - CADDX_PROTOS_F4 - JHEH743PRO - DREAMWORKSH743 - GEPRCF722_BT_HD - GEPRC_TAKER_F405AIO - GEPRC_TAKER_H743MINI - RADIOLINKF722 - HGLRC_F405_S - HOBBYWING_XROTORF7CONV - HOBBYWING_XROTORF7CONV - HOBBYWING_XROTORF7CONV2 - JHEH743PRO - MADFLIGHT_FC3 - RADIOLINKF405 - RADIOLINKF722 - RMNOVAH7 - RADIOLINKF722 - SIMPLIFLYF405 - TAKERG4AIO **Full Changelog**: https://github.com/betaflight/betaflight/compare/2025.12.1...2025.12.2 ### 2025.12.1 - Date: 2025-12-25 - Version: 2025.12.1 - Original notes: https://github.com/betaflight/betaflight/releases/tag/2025.12.1 - Permalink: https://whatsnew.fyi/product/betaflight/releases/2025.12.1 - **added** — New LED functions for GPS bar, battery bar, and altitude indicators - **added** — MSP support for gyro calibration on first arm - **added** — RSSI dBm alarm to MSP - **added** — S-term for wings to enable smoother flight - **added** — DEBUG_TASK mode - **added** — Piecewise linear interpolation routine for wings - **added** — Auto-disarm on landing impact - **added** — Hyperbolic PID multiplier curve for wings - **added** — Altitude hold capability - **added** — Storage mode action in Blackbox part of OSD menu - **added** — noreboot option for save and exit CLI commands - **added** — CLI command pass through for MSP - **added** — Position hold capability - **added** — Collision detection capability - **added** — Launch timer for launches - **added** — LED dimmer functionality - **added** — Support for new gyros including IIM42653 and ICM456xx - **added** — Support for new flash memory chips and rangefinders - **added** — Support for CADDX camera gimbal - **added** — Support for Raspberry Pi PICO (RP2350) microcontroller #### Release Notes Betaflight 2025.12.1 brings a massive range of new features, improvements, fixes, and new hardware support, making this one of the most significant updates yet. This release continues to expand Betaflight's capabilities for both multirotors and wings, adds new hardware targets, and refines the core codebase for maintainability and performance. Please use the online Betaflight App for configuring this release. It can be found here: https://app.betaflight.com --- ###### 🚀 Key New Features * **Autonomous & Safety Features:** New capabilities include **Altitude Hold**, **Position Hold**, **Collision Detection**, and an **auto-disarm** function that triggers on landing impact. * **Fixed-Wing Enhancements:** A major focus of this release, with many new tools for wings, such as an **S-term** for smoother flight, **Throttle and PID Attenuation (TPA)** modes based on airspeed, and specialized PID multiplier curves. * **Flight & User Experience:** * **Updated Turtle/Crashflip Mode:** Improvements to the mode that helps you flip your drone back over after a crash. * **Launch Timer:** A new timer specifically for launches. * **LED Dimmer & Functions:** Added an LED dimmer and new LED bar indicators for GPS, battery, and altitude. --- ###### ✨ Improvements & Optimizations * **Hardware Support:** Support has been added for new gyros (like IIM42653, ICM456xx), flash memory chips, rangefinders, and a CADDX camera gimbal. * **Protocols & Communication:** Enhancements have been made to various communication protocols, including CRSF (vario and barometer support), ELRS (FLRC F-modes, Model Match ID), and MAVLink. MSP has been expanded to support more commands and pass-through CLI commands. * **Blackbox & OSD:** Blackbox logging is now more comprehensive, with the ability to log servo data, GPS home altitude, IMU attitude, and MCU ID. The On-Screen Display (OSD) also gains new elements and display options. * **Code Refactoring:** A massive effort was undertaken to clean up and reorganize the codebase. This involves moving platform-specific code (for different microcontrollers) into dedicated directories, which simplifies future development and improves maintainability. --- ###### 🛠️ Bug Fixes This release addresses a vast number of bugs. Check the full change log below for a comprehensive list. --- ###### 🎯 New Hardware Targets Support has been added for new microcontrollers, significantly expanding the range of compatible flight controllers. This includes initial support for: * **Raspberry Pi PICO (RP2350)** * **APM32F40X series** --- ##### Contributor Thanks ###### 🙏 New Contributors Special thanks to our new contributors for this release! The Betaflight community continues to grow and thrive thanks to your efforts. - @jonas-becker, @AZDane, @Hochmueller, @LuckkMaker, @ainosukii, @anti-social, @kedeng, @demvlad, @KissUltra, @henrywarhurst, @mywinchester, @ahmedsalah52, @vmzhivetyev, @timmyfpv, @jpmreece, @DrAtomic, @dakejahl, @Stepandrr, @ggabriel-airmod, @jefffhaynes, @kensherman, @fluke9, @LYNHQQ, @marc-frank, @Claucdan, @The-Real-Thisas, @AlexKlimaj, @mjs1441, @hmz06967, @heronprecision-1, @katzfey, @osirisinferi, @LarryKarhu, @LukasLendvorsky, @bradselph ###### 🙌 Existing Contributors A huge thank you to our regular and returning contributors, who continue to drive Betaflight forward with ongoing improvements, feature development, bugfixes, reviews, and community support. Your dedication is what makes Betaflight possible! - @blckmn, @ctzsnooze, @haslinghuis, @SteveCEvans, @limonspb, @ledvinap, @KarateBrot, @Quick-Flash, @bw1129, @CapnBry, @mituritsyn, @bkleiner, @cvetaevvitaliy _(For a full, up-to-date list, see https://github.com/betaflight/betaflight/graphs/contributors)_ ##### Upgrading & Feedback As always, we recommend backing up your configuration before upgrading. Please report any issues via GitHub or join our D _[Truncated at 4000 characters — full notes: https://github.com/betaflight/betaflight/releases/tag/2025.12.1]_