Betaflight 2026.6.0-rc2

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/15367
• feat(h5): enable LED_STRIP and remaining peripherals, drop VIRTUAL_GYRO by @haslinghuis in https://github.com/betaflight/betaflight/pull/15368

New Contributors

• @dmboyd made their first contribution in https://github.com/betaflight/betaflight/pull/15357
• @ReganLai-Fudan made their first contribution in https://github.com/betaflight/betaflight/pull/15292
• @Grinzzz made their first contribution in https://github.com/betaflight/betaflight/pull/14322
• @orbisai0security made their first contribution in https://github.com/betaflight/betaflight/pull/15389
• @somethingjustlike made their first contribution in https://github.com/betaflight/betaflight/pull/15310
• @marcusamery made their first contribution in https://github.com/betaflight/betaflight/pull/15395

Full Changelog: https://github.com/betaflight/betaflight/compare/2026.6.0-rc1...2026.6.0-rc2