Betaflight 2026.6.1

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 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 @haslinghuis in https://github.com/betaflight/betaflight/pull/14892
• Add ACCGYRO_LSM6DSK320X by @haslinghuis in https://github.com/betaflight/betaflight/pull/14891
• Add MSP support for Attitude quaternions by @Robolightning in https://github.com/betaflight/betaflight/pull/14761
• Refactor release workflow to streamline artifact handling by @blckmn in https://github.com/betaflight/betaflight/pull/14910
• PICO: bidirectional DShot telemetry with edge detection by @andyp1per in https://github.com/betaflight/betaflight/pull/14887
• Add Nooploop TOFSense rangefinder family support by @ArturPelicho in https://github.com/betaflight/betaflight/pull/14896
• Add support for ICM42622P by @haslinghuis in https://github.com/betaflight/betaflight/pull/14918
• Add DEFAULT_BEEPER_OFF_FLAGS for reset of beeper_off_flags. by @mjs1441 in https://github.com/betaflight/betaflight/pull/14809
• Strengthen MSP/CRSF Packet Validation by @VoodooChild99 in https://github.com/betaflight/betaflight/pull/14842
• CRSF AHRS Support by @andyp1per in https://github.com/betaflight/betaflight/pull/14870
• Adding Simplifed Master Slider to Adjustments by @spatzengr in https://github.com/betaflight/betaflight/pull/14371
• MSP-adjCenter_adjScale by @spatzengr in https://github.com/betaflight/betaflight/pull/14920
• feat(driver): add MMC5603 magnetometer driver by @gintaris in https://github.com/betaflight/betaflight/pull/14924
• SITL: add -z,noexecstack linker flag to suppress RWX segment warning by @blckmn in https://github.com/betaflight/betaflight/pull/14938
• Feature/bmp580 barometer by @gintaris in https://github.com/betaflight/betaflight/pull/14925
• Flash/MT29F - First cut of support for the MT29F1G01ABAFDWB-IT:F flash chips (1Gb NAND) by @hydra in https://github.com/betaflight/betaflight/pull/14828
• SPI ExpressLRS 4.0 support by @CapnBry in https://github.com/betaflight/betaflight/pull/14932
• Move SCHEDULER_RELAX_RX/OSD STM32F411xE override from src/main to src/platform with fallback defaults by @blckmn in https://github.com/betaflight/betaflight/pull/14958
• Move GPIO_TypeDef and IO_GPIO out of common drivers into platform-specific headers to decouple IO implementation from hardware details by @blckmn in https://github.com/betaflight/betaflight/pull/14962
• CLI: Adding "options" for outputting the msp_build_info equivalent in the CLI by @blckmn in https://github.com/betaflight/betaflight/pull/14951
• Remove unused EXTITrigger_TypeDef mock definitions from SITL target and unit test platform headers by @blckmn in https://github.com/betaflight/betaflight/pull/14963
• faster cos and sin method by @Quick-Flash in https://github.com/betaflight/betaflight/pull/14790
• Move SmartAudio UART bidir push-pull prepend logic from MCU ifdef to UART_TRAIT_BIDIR_PP_PREPEND platform trait by @blckmn in https://github.com/betaflight/betaflight/pull/14956
• MSP: validate servo mixer targetChannel and inputSource bounds in MSP_SET_SERVO_MIX_RULE by @blckmn in https://github.com/betaflight/betaflight/pull/14952
• Add support for GigaDevice GD25Q16E and Zetta ZD25WQ32CE flash memories by @jwoloch in https://github.com/betaflight/betaflight/pull/14970
• BLACKBOX: log GPS epoch timestamp in H-frame and msToW in G-frame by @blckmn in https://github.com/betaflight/betaflight/pull/14950
• Sensors: Add initial support for ICM42686P by @haslinghuis in https://github.com/betaflight/betaflight/pull/14941
• SITL: Add ability to specify a command line argument and load a text file for writing config. by @blckmn in https://github.com/betaflight/betaflight/pull/14935
• Move timer functions to accept timerHardware_t*, rename platform-specific abbreviations, and relocate platform-only declarations to platform/timer.h by @blckmn in https://github.com/betaflight/betaflight/pull/14967
• flash_m25p16: Add support for GD25Q128 flash chip by @HGLRC-T in https://github.com/betaflight/betaflight/pull/14983
• Refactor DMA driver to abstract platform-specific types and functions behind a hardware-agnostic API by @blckmn in https://github.com/betaflight/betaflight/pull/14990
• Consolidate ENABLE_SDIO_INIT definitions in platform.h with explicit per-MCU family settings by @blckmn in https://github.com/betaflight/betaflight/pull/14991
• Move NVIC priority utility macros from nvic.h to per-platform platform.h headers by @blckmn in https://github.com/betaflight/betaflight/pull/14996
• Move platform-specific Bit_RESET definition from serial_4way to platform headers as GPIO_PIN_RESET by @blckmn in https://github.com/betaflight/betaflight/pull/14997
• Move expressLrsTimerEnableIRQs to platform common to remove USE_HAL_DRIVER from src/main by @blckmn in https://github.com/betaflight/betaflight/pull/14998
• Replace F7 platform guard for SERIAL_CHECK_TX with ENABLE_SERIAL_SKIP_CHECK_TX macro by @blckmn in https://github.com/betaflight/betaflight/pull/15001
• Refactor transponder IR DMA buffer type to uint32_t to remove platform dependency by @blckmn in https://github.com/betaflight/betaflight/pull/14995
• Replace STM32H7 preprocessor checks in asyncfatfs with ENABLE_AFATFS_DMA_CACHE feature flag by @blckmn in https://github.com/betaflight/betaflight/pull/14994
• Move platform-specific MSC/SDIO type abstractions and DMA init from src/main/msc to src/platform headers and common source by @blckmn in https://github.com/betaflight/betaflight/pull/14993
• Move overclock frequency options from chip-specific ifdefs in settings.c to ENABLE_OVERCLOCK_XXX_MHZ defines in platform headers by @blckmn in https://github.com/betaflight/betaflight/pull/14999
• Move hardware-specific OctoSPI/QuadSPI definitions and GPIO config from src/main headers to platform files by @blckmn in https://github.com/betaflight/betaflight/pull/14992
• Deprecate gyro_hardware and introduce cli sensor_hardware command by @haslinghuis in https://github.com/betaflight/betaflight/pull/15009
• Replace recursive submodule checkout with on-demand SDK hydration and selective per-platform caching in CI by @blckmn in https://github.com/betaflight/betaflight/pull/15021
• Improve handling of GPS messages by @stsypanov in https://github.com/betaflight/betaflight/pull/15020
• Replace SIMULATOR_BUILD with ENABLE_SIMULATOR flags in src/main and add platform stubs to eliminate simulator ifdefs from init.c by @blckmn in https://github.com/betaflight/betaflight/pull/15017
• Replace void* and MCU-specific TypeDef pointers with opaque resource types in driver interfaces by @blckmn in https://github.com/betaflight/betaflight/pull/15033
• Remove airmode lpf by @Quick-Flash in https://github.com/betaflight/betaflight/pull/15029
• Migrate UART from HAL to LL, eliminating HAL handle dependencies by @blckmn in https://github.com/betaflight/betaflight/pull/15035
• Migrate STM32 I2C from HAL to LL with register-level state machine by @blckmn in https://github.com/betaflight/betaflight/pull/15037
• STM32H5: convert lib/main/STM32H5 to STM32CubeH5 submodule (v1.6.0) by @blckmn in https://github.com/betaflight/betaflight/pull/15054
• GPS: reorder UBLOX procession to have NAV_PVT and NAV_SAT messages first by @stsypanov in https://github.com/betaflight/betaflight/pull/15044
• Add MSP2_CLI_SETTING (0x300E) command for getting and setting CLI settings over MSP by @blckmn in https://github.com/betaflight/betaflight/pull/14972
• Guard escSensorPassthrough with USE_PWM_OUTPUT in CLI serialpassthrough by @blckmn in https://github.com/betaflight/betaflight/pull/15067
• Fix SDK hydration race condition in parallel builds by @blckmn in https://github.com/betaflight/betaflight/pull/15083
• feat: add support for Macronix MX25L12845G flash by @oskarsselis in https://github.com/betaflight/betaflight/pull/15065
• Expand chirp debug channels for offline system identification by @blckmn in https://github.com/betaflight/betaflight/pull/15113
• Remove STM32 MCU-family ifdefs from src/main by @blckmn in https://github.com/betaflight/betaflight/pull/15122
• Update mt29f flash support by @hydra in https://github.com/betaflight/betaflight/pull/15134
• Add by25 q128 es memory ic support by @MatviiG in https://github.com/betaflight/betaflight/pull/15042
• Expose transponder provider and data via CLI by @blckmn in https://github.com/betaflight/betaflight/pull/15126
• SITL: Gazebo Harmonic model fixes and UDP RX path by @blckmn in https://github.com/betaflight/betaflight/pull/15140
• Add CLI 'env' command; drop compiled-in MCU type ID by @blckmn in https://github.com/betaflight/betaflight/pull/15139
• feat: LCD console subsystem for runtime debug output by @blckmn in https://github.com/betaflight/betaflight/pull/15148
• PICO: gyro_clkin platform abstraction so RP2350 can use USE_GYRO_CLKIN by @blckmn in https://github.com/betaflight/betaflight/pull/15162
• Add support for the BOYAMICRO BY25Q64 flash. by @LYNHQQ in https://github.com/betaflight/betaflight/pull/15025
• Speed up serial GPS message decoding by @stsypanov in https://github.com/betaflight/betaflight/pull/15129
• MSP: Expose additional rpm fields by @haslinghuis in https://github.com/betaflight/betaflight/pull/15144
• usb: derive product name from BOARD_NAME when a config is built by @blckmn in https://github.com/betaflight/betaflight/pull/15182
• GPS: replace full a calendar to epoch round trip with a direct field copy by @stsypanov in https://github.com/betaflight/betaflight/pull/15184
• drivers/flash: OctoSPI multichip support + MX66UW1G45G driver by @blckmn in https://github.com/betaflight/betaflight/pull/15199
• telemetry/mavlink: add RX dispatch and handshake responders by @blckmn in https://github.com/betaflight/betaflight/pull/15211
• GPS: add fast-path for UBX_PARSE_PAYLOAD_CONTENT state by @stsypanov in https://github.com/betaflight/betaflight/pull/15183
• test: compute CRSF CRC at runtime in ELRS MSP version test by @ChrisRosser in https://github.com/betaflight/betaflight/pull/15204
• feat(flash): add support for XTX XT25F128F by @gaoyu2144287 in https://github.com/betaflight/betaflight/pull/15219
• ComputeLedStripColorByVtxFreq by @ctzsnooze in https://github.com/betaflight/betaflight/pull/15135
• refactor: make ELRS V3 default, require USE_ELRSV4 for V4 by @haslinghuis in https://github.com/betaflight/betaflight/pull/15232
• Move submodules from lib/main to lib/modules by @blckmn in https://github.com/betaflight/betaflight/pull/15241
• chore: remove dead code in #if 0 blocks by @haslinghuis in https://github.com/betaflight/betaflight/pull/15237
• Improve the speed of scaleRangef by @Quick-Flash in https://github.com/betaflight/betaflight/pull/15048
• AT32: add gyro_clkin platform implementation by @blckmn in https://github.com/betaflight/betaflight/pull/15251
• PICO: Simplify pico_trace by @mjs1441 in https://github.com/betaflight/betaflight/pull/15263
• Replace Biquad with SVF by @Quick-Flash in https://github.com/betaflight/betaflight/pull/15056
• Task stats improvements for state-based tasks by @mjs1441 in https://github.com/betaflight/betaflight/pull/15276
• Share common/stm32 source list across STM32-style families by @blckmn in https://github.com/betaflight/betaflight/pull/15307
• Apply serialRxBytesWaiting-related optimization to /src/main/telemetry by @stsypanov in https://github.com/betaflight/betaflight/pull/15305
• refactor(axis): sign-bearing earth-frame axis enums (ENU/NWU/EF) across IMU & navigation by @haslinghuis in https://github.com/betaflight/betaflight/pull/15346
• 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
• 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
• Add pre-engagement Position Hold readiness OSD element by @nerdCopter in https://github.com/betaflight/betaflight/pull/15465

Fixes

• Fix custom mag_align_yaw by @haslinghuis in https://github.com/betaflight/betaflight/pull/14849
• Fix ICM-40609D accelerometer reading 0.5g instead of 1.0g by @nerdCopter in https://github.com/betaflight/betaflight/pull/14834
• PICO dshot timing update - fix erratic motor movement when disarmed by @qqqlab in https://github.com/betaflight/betaflight/pull/14864
• Scheduler - upgrade taskCount and lateTaskCount to uint32_t. by @mjs1441 in https://github.com/betaflight/betaflight/pull/14889
• CRSF: fix race condition in subset frame handling by @andyp1per in https://github.com/betaflight/betaflight/pull/14893
• [RX] Fix RX_MSP: missing CLI feature name and RX rate always 0 by @Remenby31 in https://github.com/betaflight/betaflight/pull/14861
• Fix error in blackbox.c when building without LTO by @mjs1441 in https://github.com/betaflight/betaflight/pull/14816
• Fix battery percentage calculation with battery capacity set to 0 by @michaeldebacker in https://github.com/betaflight/betaflight/pull/14899
• Define USE_LED_STRIP if USE_LED_STRIP_64 is defined by @osirisinferi in https://github.com/betaflight/betaflight/pull/14916
• fix: remove beacon timestamp update when blocked by @nerdCopter in https://github.com/betaflight/betaflight/pull/14904
• Fix motor output not restored after ESC passthrough exit by @kedeng in https://github.com/betaflight/betaflight/pull/14917
• PICO DShot bidir - clarify code to prevent build error with DEBUG=GDB by @mjs1441 in https://github.com/betaflight/betaflight/pull/14926
• Fix use of uninitialised variables in acceleration.c, gyro.c by @mjs1441 in https://github.com/betaflight/betaflight/pull/14928
• Remove linker script for SITL target on MacOS x86-64 by @tstibor in https://github.com/betaflight/betaflight/pull/14934
• FIX: Virtual GPS provider does not need a serial port by @blckmn in https://github.com/betaflight/betaflight/pull/14936
• Update camera control condition in common_post.h by @haslinghuis in https://github.com/betaflight/betaflight/pull/14948
• CLI: fix NULL pointer dereference in help search by @jury89 in https://github.com/betaflight/betaflight/pull/14947
• FIX: dshot beacon by @haslinghuis in https://github.com/betaflight/betaflight/pull/14869
• PICO DSHOT (bidir) - fix for telemetry sampling. by @mjs1441 in https://github.com/betaflight/betaflight/pull/14968
• Constrain GYRO_CLKIN to supported IMU sensors by @haslinghuis in https://github.com/betaflight/betaflight/pull/14971
• fix: initialize vtxtable powerlabels buffer to prevent strncpy stack corruption (#14835) by @nerdCopter in https://github.com/betaflight/betaflight/pull/14979
• Drivers: correct LSM6DSV16X FS_G_4000DPS encoding by @zebulon-86 in https://github.com/betaflight/betaflight/pull/15043
• Fix calib arm disable flag for SITL by @haslinghuis in https://github.com/betaflight/betaflight/pull/15073
• SITL: move .pg_registry out of the executable segment by @blckmn in https://github.com/betaflight/betaflight/pull/15116
• Pico Fix UART issues and implement SERIAL_CHECK_TX option by @mjs1441 in https://github.com/betaflight/betaflight/pull/15117
• Display altitude in sensors tab even if not armed by @SteveCEvans in https://github.com/betaflight/betaflight/pull/15119
• fix: escprog ki 255 (KISSALL) broken on DShot builds (fixes #15114) by @nerdCopter in https://github.com/betaflight/betaflight/pull/15132
• Resolved wrong string buffers size issue by @demvlad in https://github.com/betaflight/betaflight/pull/15141
• Send 0x03 gps time CRSF message by @ot0tot in https://github.com/betaflight/betaflight/pull/15167
• drivers/bus: NULL-check dev->bus in busBusy() by @blckmn in https://github.com/betaflight/betaflight/pull/15188
• Fix QMC5883P by @haslinghuis in https://github.com/betaflight/betaflight/pull/15174
• Fix CLI entry race condition in MSP serial processing (fixes #14169, #15071) by @nerdCopter in https://github.com/betaflight/betaflight/pull/15193
• fix(config): unconditionally clamp failsafe_procedure to valid range by @nerdCopter in https://github.com/betaflight/betaflight/pull/15192
• telemetry/mavlink: send GLOBAL_POSITION_INT.hdg in centidegrees by @blckmn in https://github.com/betaflight/betaflight/pull/15205
• Improve OSD VTX information in non factory band by @chibaron in https://github.com/betaflight/betaflight/pull/15175
• fix(uart): guard half-duplex pinless UART modes by @kedeng in https://github.com/betaflight/betaflight/pull/15218
• CRSF: bound subset RC channel unpacking by @Symmetricity in https://github.com/betaflight/betaflight/pull/15249
• cli: NULL-safe nextArg, fix CLI null-deref crashes in aux/color/led by @blckmn in https://github.com/betaflight/betaflight/pull/15253
• fix(common): guard atoi() with PLATFORM_NO_LIBC by @katzfey in https://github.com/betaflight/betaflight/pull/15260
• fix: IST8310 magnetometer check DRDY before reading data by @haslinghuis in https://github.com/betaflight/betaflight/pull/15243
• Fix duplicate PG ID by @haslinghuis in https://github.com/betaflight/betaflight/pull/15225
• PICO: Fix unsafe use of naive MAX, MIN macros by @mjs1441 in https://github.com/betaflight/betaflight/pull/15269
• STM32H5: fix SPEEDYBEEH5 bring-up (clock tree, SPI kernel clock, ADC null-deref) by @haslinghuis in https://github.com/betaflight/betaflight/pull/15293
• Althold fixes by @ctzsnooze in https://github.com/betaflight/betaflight/pull/15299
• allow for POS_HOLD in SITL by @ehenry344 in https://github.com/betaflight/betaflight/pull/15280
• Ensure heading is known before enabling GPS based position hold by @SteveCEvans in https://github.com/betaflight/betaflight/pull/15240
• STM32C5: C562 platform bring-up (I3C-as-I2C, SPA06 baro, ADC mux, baro pacing) by @blckmn in https://github.com/betaflight/betaflight/pull/15302
• Adjust PIDs and fix FF scaling in Altitude Hold by @ctzsnooze in https://github.com/betaflight/betaflight/pull/15303
• STM32C5: fix I3C legacy-I2C register reads for the SPA06 baro by @blckmn in https://github.com/betaflight/betaflight/pull/15328
• STM32C5: bound ADC internal-sensor waits so a stalled ADC can't hang the scheduler by @blckmn in https://github.com/betaflight/betaflight/pull/15329
• Fix GPS distance calculation and sign of accelEast by @SteveCEvans in https://github.com/betaflight/betaflight/pull/15321
• fix(accgyro): IIM-42652 FSR/AAF + restore IIM-42653 AAF placement by @haslinghuis in https://github.com/betaflight/betaflight/pull/15261
• fix(baro): close negation around all default-baro defines by @katzfey in https://github.com/betaflight/betaflight/pull/15259
• fix(msp): cancel pendingRequest on '$' only, restoring per-byte lastActivityMs by @nerdCopter in https://github.com/betaflight/betaflight/pull/15323
• fix(dshot): remove stale requestTelemetry bridge in AT32/APM32 bitbang bbWriteInt by @tracycam in https://github.com/betaflight/betaflight/pull/15326
• dshot_bitbang: replace telemetry busy-wait with non-blocking DMA abort by @ChrisRosser in https://github.com/betaflight/betaflight/pull/15332
• Fix OSD RTC short timezone offset by @anoshyn in https://github.com/betaflight/betaflight/pull/15312
• fix(position): correct East-West inversion in getLinearAccelENU by @haslinghuis in https://github.com/betaflight/betaflight/pull/15342
• fix(sitl): restore Gazebo gyro Z sign lost in #15280 by @nerdCopter in https://github.com/betaflight/betaflight/pull/15354
• RX MSP Override: require fresh MSP RC data before substituting channels by @EdikSimonian in https://github.com/betaflight/betaflight/pull/15217
• Position hold =Update 2026-6 by @ctzsnooze in https://github.com/betaflight/betaflight/pull/15361
• 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
• 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
• fix: keep the beeper and RX_LOST beacon alive after a USB session by @haslinghuis in https://github.com/betaflight/betaflight/pull/15477
• Align BMI270 axes to ICM42688 on shared-footprint boards by @blckmn in https://github.com/betaflight/betaflight/pull/15484
• X32M7B: relocate CLI command handlers from ITCM to AHB_SRAM by @nerdCopter in https://github.com/betaflight/betaflight/pull/15463
• PICO: Fix up RP2350.mk to find extra linker file in new config folder by @mjs1441 in https://github.com/betaflight/betaflight/pull/15503
• fix(h5): correct USART10 AF, drop invalid I2C4 pin, add missing UART/I2C pins by @haslinghuis in https://github.com/betaflight/betaflight/pull/15506
• fix(g4,n6): correct alternate-function errors in the I2C and UART tables by @haslinghuis in https://github.com/betaflight/betaflight/pull/15508
• fix(crsf): don't gate chunked MSP replies on inbound frames by @haslinghuis in https://github.com/betaflight/betaflight/pull/15501
• fix(STM32C5): bound I3C-as-I2C flag waits by time, not loop count by @haslinghuis in https://github.com/betaflight/betaflight/pull/15479
• fix(spi): re-assert CS when repeating a DMA segment by @haslinghuis in https://github.com/betaflight/betaflight/pull/15478
• Flash/MT29F - Add support for multi-plane variants. by @hydra in https://github.com/betaflight/betaflight/pull/15474
• Optimize timer-based bidirectional DShot on F4 MCUs to reduce scheduler jitter by @ot0tot in https://github.com/betaflight/betaflight/pull/15437
• GT25Q-series flash updates by @somethingjustlike in https://github.com/betaflight/betaflight/pull/15402
• fix(osd): use battery state when battery capacity is unset by @michaeldebacker in https://github.com/betaflight/betaflight/pull/15415
• Fix beeper never sounding when BEEPER_USB off-flag is set (restores battery gate) by @nerdCopter in https://github.com/betaflight/betaflight/pull/15424
• Bound VCP TX waits to fix TASK_SERIAL maxload corruption by @nerdCopter in https://github.com/betaflight/betaflight/pull/15449
• cli.c: Average reported task rates for consistent status output by @ot0tot in https://github.com/betaflight/betaflight/pull/15436

Targets

• Enable important features for RP2350B by @andyp1per in https://github.com/betaflight/betaflight/pull/14875
• Update mk/config.mk to allow include of board-specific config.mk by @mjs1441 in https://github.com/betaflight/betaflight/pull/14810
• Add STM32N6 HAL/LL drivers and USB device library by @blckmn in https://github.com/betaflight/betaflight/pull/15000
• STM32N6: move vendor HAL to STM32CubeN6 submodule (v1.3.0) by @blckmn in https://github.com/betaflight/betaflight/pull/15011
• Add ESP32-S3 platform scaffold with stub drivers, build system integration, and split platform-specific tools into platform mk directories by @blckmn in https://github.com/betaflight/betaflight/pull/15016
• STM32H5: add SPI bus support with GPDMA infrastructure by @blckmn in https://github.com/betaflight/betaflight/pull/15063
• Add ESP32 interrupt infrastructure, harden UART driver, and fix opaque resource types by @blckmn in https://github.com/betaflight/betaflight/pull/15064
• STM32H5: add UART driver support with CLI enabled by @blckmn in https://github.com/betaflight/betaflight/pull/15068
• Add GDMA-backed SPI DMA transfers for ESP32-S3 by @blckmn in https://github.com/betaflight/betaflight/pull/15069
• Update APM32F4 and USB libraries by @LuckkMaker in https://github.com/betaflight/betaflight/pull/15098
• PICO: Initial commit for framebuffer OSD displayport device (FB_OSD) with RP2350 implementation. by @mjs1441 in https://github.com/betaflight/betaflight/pull/14882
• Add apm32f425/427 support by @LuckkMaker in https://github.com/betaflight/betaflight/pull/15138
• add gd32h7xx firmware library support by @jianpingwu1 in https://github.com/betaflight/betaflight/pull/14985
• STM32C5: add STM32C562 platform support (NUCLEO-C562RE bring-up) by @blckmn in https://github.com/betaflight/betaflight/pull/15172
• STM32C5: source SYSCLK from HSE via PSI (with HSI fallback) by @blckmn in https://github.com/betaflight/betaflight/pull/15177
• Add STM32H757 dual-core MCU support by @andyp1per in https://github.com/betaflight/betaflight/pull/15234
• STM32N6: working CONFIG_IN_MEMORY_MAPPED_FLASH on OPENN657V1 by @blckmn in https://github.com/betaflight/betaflight/pull/15246
• Add xcore32m7 platform support by @LYNHQQ in https://github.com/betaflight/betaflight/pull/15169
• STM32N6 OBL + BF NS bring-up: USB VCP enumerates, CLI responsive by @blckmn in https://github.com/betaflight/betaflight/pull/15257
• STM32C5: enable SPI DMA on the STM32C562 target by @blckmn in https://github.com/betaflight/betaflight/pull/15322
• STM32C5: config partition at end of flash; C591 UART pins by @blckmn in https://github.com/betaflight/betaflight/pull/15335
• 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

• @PD45-46 made their first contribution in https://github.com/betaflight/betaflight/pull/14843
• @qqqlab made their first contribution in https://github.com/betaflight/betaflight/pull/14863
• @andyp1per made their first contribution in https://github.com/betaflight/betaflight/pull/14875
• @Remenby31 made their first contribution in https://github.com/betaflight/betaflight/pull/14861
• @b-r-y made their first contribution in https://github.com/betaflight/betaflight/pull/14829
• @michaeldebacker made their first contribution in https://github.com/betaflight/betaflight/pull/14899
• @Robolightning made their first contribution in https://github.com/betaflight/betaflight/pull/14761
• @ArturPelicho made their first contribution in https://github.com/betaflight/betaflight/pull/14896
• @VoodooChild99 made their first contribution in https://github.com/betaflight/betaflight/pull/14842
• @spatzengr made their first contribution in https://github.com/betaflight/betaflight/pull/14371
• @gintaris made their first contribution in https://github.com/betaflight/betaflight/pull/14924
• @jury89 made their first contribution in https://github.com/betaflight/betaflight/pull/14946
• @jwoloch made their first contribution in https://github.com/betaflight/betaflight/pull/14970
• @remete618 made their first contribution in https://github.com/betaflight/betaflight/pull/14982
• @HGLRC-T made their first contribution in https://github.com/betaflight/betaflight/pull/14983
• @Manwe-777 made their first contribution in https://github.com/betaflight/betaflight/pull/14945
• @stsypanov made their first contribution in https://github.com/betaflight/betaflight/pull/14987
• @hanneskaeufler made their first contribution in https://github.com/betaflight/betaflight/pull/15045
• @zebulon-86 made their first contribution in https://github.com/betaflight/betaflight/pull/15043
• @oskarsselis made their first contribution in https://github.com/betaflight/betaflight/pull/15065
• @MatviiG made their first contribution in https://github.com/betaflight/betaflight/pull/15042
• @gaoyu2144287 made their first contribution in https://github.com/betaflight/betaflight/pull/15219
• @Romin0615 made their first contribution in https://github.com/betaflight/betaflight/pull/15242
• @Symmetricity made their first contribution in https://github.com/betaflight/betaflight/pull/15249
• @ehenry344 made their first contribution in https://github.com/betaflight/betaflight/pull/15280
• @anoshyn made their first contribution in https://github.com/betaflight/betaflight/pull/15312
• @EdikSimonian made their first contribution in https://github.com/betaflight/betaflight/pull/15217
• @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
• @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/2025.12.1...2026.6.1