Betaflight 2026.6.0-rc3

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