What's Changed

Fixes

• [4.5.2] FIX: telemetry for Spektrum/SRXL (#13814) by @haslinghuis in #13820
• [4.5.2] FIX: Modify STM32F405 UID Address for MSC Enumeration (#13769) by @ainosukii in #13827
• [4.5.2] Split OSD element rendering into draw and display states (#13813) by @SteveCEvans in #13839
• [4.5.2] Fix angle mode rate change by @ctzsnooze in #13864
• [4.5.2] Fix sbufReadData not advancing src pointer by @haslinghuis in #13873
• [4.5.2] OSD background rendering (#13897) by @SteveCEvans in #13900
• [4.5.2] Fix kiss passthrough by @KissUltra in #13922
• [4.5.2] Don't consider a prior I2C NACK to indicate the bus to be busy (#13917) by @SteveCEvans in #13918
• [4.5.2] Fix build when using SRXL telemetry (#13947) by @haslinghuis in #13950
• [4.5.2] Make jeti telemetry default by @haslinghuis in #13952
• [4.5.2] Fixes #13934: Fix motor(PWM protocol) spin while fc reset. (#13937) by @kedeng in #13958
• [4.5.2] fix timer based bidirectional dshot command not working by @kedeng in #13991
• [4.5.2] Add support for W25N02K 2Gbit/256Mbyte FLASH (#13677) by @SteveCEvans in #13989
• [4.5.2] Fix SITL build by @haslinghuis in #13992
• [4.5.2] Make three attempts to not only write to FLASH, but also validate it by @SteveCEvans in #14002
• [4.5.2] AT32 SD card support by @SteveCEvans in #14081
• [4.5.2] AT32F435 SD card support (#14018) by @SteveCEvans in #14122
• [4.5.2] Leave SPI CPOL/CPHA at default for SD card (#14142) by @SteveCEvans in #14143
• [4.5.2] Fix STM32G4 SPI2/SPI3 busses running at double intended clock rate (#14160) by @SteveCEvans in #14161
• [4.5.2] Fix missing ACCGYRO custom alignment defines (#14092) by @haslinghuis in #14178
• [4.5.2] Fix flash type by @haslinghuis in #14186
• By default mark OSD element as rendered in case it's in the off blink state by @SteveCEvans in #14188
• [4.5.2] Fix G4 SPI clock being double what it should be (#14207) by @SteveCEvans in #14215
• [4.5.2] Fix cli serial buffer overflow by @ledvinap in #14252
• [4.5.2] Maintain state for i2c_ev_handler() for each i2c bus (#14268) by @SteveCEvans in #14269
• [4.5.2] Fix SmartAudio (STM32F4) (#13797) by @haslinghuis in #14283
• [4.5.2] Fix SA for holybro on AT32F4 by @haslinghuis in #14246
• [4.5.2] Make UBLOX_MODEL_AIRBORNE_1G default by @haslinghuis in #14299

Targets

• [4.5.2] AT32 add USE_SPI_DEVICE_4 by @haslinghuis in #14256

Full Changelog: 4.5.1...4.5.2

What's Changed

Improvements

• [4.5.1] AT32: Add PC6 and PC7 I2C pins by @haslinghuis in #13761

Fixes

• [4.5.1] battery - fix BATTERY_NOT_PRESENT detection, detection logic change by @haslinghuis in #13623
• [4.5.1] Remove superfluous checks of useDshotTelemetry by @limonspb in #13634
• [4.5.1] Fix GPS Rescue using MSP is not getting Velocity to Home (#13639) by @haslinghuis in #13644
• [4.5.1] Set next state expected time on per element basis (#13706) by @haslinghuis in #13713
• [4.5.1] FIX: make: Circular configs <- configs dependency dropped. (#13695) by @blckmn in #13726
• [4.5.1] Update to LSM6DSV16X gyro driver (#13724) by @haslinghuis in #13731
• [4.5.1] Fixes #13664 - Smartaudio don't work with Softserial (#13715) by @haslinghuis in #13734
• [4.5.1] fix at32 serial bidir pp od init and smart audio (#13764) by @haslinghuis in #13771
• [4.5.1] Read gyro data from correct lsm6dsv16x registers by @SteveCEvans in #13787

Targets

• [4.5.1] Fix hard-coded TARGET_IO_PORT* defines. by @hydra in #13605

Full Changelog: 4.5.0...4.5.1

Welcome to Betaflight Firmware 4.5.0

Thank you to all those who have contributed to this release, whether it be code or testing.

Release notes for 4.5.0 are here: https://betaflight.com/docs/wiki/release/Betaflight-4-5-Release-Notes

IMPORTANT: Make sure you install and use the latest version of the Betaflight Configurator (10.10.0) before updating your firmware.

Don't forget to check it out all the documentation on https://betaflight.com/.

What's Changed

Features

• OctoSPI and Memory Mapped Flash support by @hydra in #11825
• Angle and Horizon Mode improvements by @ctzsnooze in #12231
• Add rainbow effect to led strip by @ASDosjani in #12323
• Add GPS Lap Timer by @SpencerGraffunder in #11856
• RPM Limiter by @Tdogb in #12054
• Add (e)RPM field to blackbox logs by @tbolin in #12823
• Add support for IST8310 compass by @haslinghuis in #12917
• Adding OSD quick menu by @limonspb in #12977
• Added throttle flight statistics by @limonspb in #12978
• Add support for MSP2_SENSOR_GPS message from RemoteID module by @SteveCEvans in #13062
• STMicro LSM6DSV16X IMU support by @SteveCEvans in #13046
• Additional TPA breakpoint for low Throttle by @pichim in #13006
• STMicro LIS2MDL mag support by @SteveCEvans in #13150
• STMicro LPS22DF baro support by @SteveCEvans in #13054
• Throttlebased EzLanding by @tbolin in #12094

Improvements

• Default blackbox device to NONE on reset by @haslinghuis in #12221
• Cleanup make by @blckmn in #12179
• Add Octo X8 + to mixer defaults by @VirtualEnder in #12175
• Add GYRO_CALIBRATION debug mode by @SteveCEvans in #12241
• Enable retrieval of the BUILD_KEY using MSP2 by @blckmn in #12264
• Source file re-arrangement for better separation of MCU types by @blckmn in #12268
• ELRS - Simplify deferred ISR by @hydra in #12303
• NVIC - Update ELRS and SPI atomic_block usage to use appropriate priority levels. by @hydra in #12302
• add thrust_linear to blackbox header by @nerdCopter in #12337
• Method for adding defaults using defines for resources. by @blckmn in #12342
• Refactor GPS state_position by @haslinghuis in #12330
• Makefile Cleanup - further simplification of local building by @blckmn in #12354
• timerHardware removal - all targets use fullTimerHardware now. by @blckmn in #12349
• Simplified platform.h by @blckmn in #12355
• Adding additional MOTOR pin mappings for defaults by @blckmn in #12364
• Refactor I2C to use I2Cx_SCL_PIN and I2Cx_SDA_PIN by @blckmn in #12357
• Remove USE_SWDIO, simply refer to DEBUG by @blckmn in #12361
• Using SPI default pins by @blckmn in #12367
• To enable display of pin mapping for config.h by @blckmn in #12363
• Added SITL Gazebo by @ahcorde in #12346
• Move FLASH_PAGE_SIZE definition to CPU specific target.h files by @SteveCEvans in #12394
• Add CMS support on TX for ELRS by @SteveCEvans in #12308
• Auto generation of config.h from unified target repo by @blckmn in #12353
• REFACTOR: moving timer definitions to MCU locations. by @blckmn in #12397
• Enable cloud build features at runtime by @haslinghuis in #12388
• Removing Custom Defaults by @blckmn in #12425
• Rename ACC to ACC_REGS by @SteveCEvans in #12429
• AT32F435 BlackBox FLASH support by @SteveCEvans in #12431
• Rename MOSI and MISO to SDO and SDI by @haslinghuis in #12469
• Removing Brushed ESC auto detect by @blckmn in #12479
• Cleanup of USB drivers for AT32F4 by @blckmn in #12441
• AT32 initial dshot support by @JBKingdon in #12464
• FIX: If local config applied, do not include all drivers. by @blckmn in #12483
• Make dyn idle startup increase configurable by @tbolin in #12432
• FIX: SPI PIN defaults cleanup #2 by @blckmn in #12487
• Debug 8 columns by @bw1129 in #12445
• Remove SPEK1024 as the default RX (set to NONE) by @blckmn in #12500
• Rename FAKE to VIRTUAL by @TheIsotopes in #12493
• Add USB MSC support to AT32 by @SteveCEvans in #12481
• Set DSHOT default by @haslinghuis in #12508
• WORKFLOW: Adding call to create or update target list in API from config.h by @blckmn in #12540
• Remove getRcStickDeflection and areSticksInApModePosition by @ctzsnooze in #12198
• Update RSSI_DBM to include diversity antenna in OSD element (CRSF) by @haslinghuis in #12359
• gyro_init.c remove duplicate include line for icm20689.h by @nerdCopter in #12582
• Remove code comments using word retarded by @Quick-Flash in #12592
• More efficient PTn gain calculation by @KarateBrot in #12610
• Cleanup + led overlay expansion by @ASDosjani in #12554
• add getCoreTemp by @HThuren in #12608
• Add more info for sensor in (get) MSP_SENSOR_CONFIG by @HThuren in #12626
• Implement Stopwatch by @KarateBrot in #12623
• Make UBLOX models more configurable by @ASDosjani in #12587
• Obtain HSE_VALUE from config.h where provided. by @blckmn in #12632
• UBLOX Full Power mode + default STATIONARY model by @ASDosjani in #12659
• Optimise DSHOT cache management loops by @SteveCEvans in #12672
• Send motor data and then immediately decode prior telemetry data for bitbanged DSHOT by @SteveCEvans in #12685
• Lead-Lag Compensator by @KarateBrot in #12730
• Add GPS Status Line to CLI Status Output by @ZzyzxTek in #12769
• Minor pid.c refactoring by @ctzsnooze in #12722
• TPA optimisations by @ctzsnooze in #12721
• DShot bitbang decode - simple refactor by @ctzsnooze in #12688
• Allow custom H7 HSE freqs. Allow H7 HSI. Limit H723 speed to 520Mhz by @David-OConnor in #12291
• Add NMEA Custom commands by @ASDosjani in #12591
• Thrust linear code optimisations by @ctzsnooze in #12720
• Improve behaviour when GPS Rescue is initiated close to home by @ctzsnooze in #12715
• Removing Timer Usage Flags by @blckmn in #12862
• Enables retrieval of the RELEASE_NAME using MSP2 by @haslinghuis in #12878
• GPIO alternate function initialisation removal for HAL. by @blckmn in #12888
• Separate resources for SOFTSERIAL_TX & SOFTSERIAL_RX by @DieHertz in #11786
• IMU - increase gain on large Course over ground error by @ledvinap in #12792
• Refactor imuCalcKpGain by @ledvinap in #12859
• Add un...

Welcome to Betaflight 4.5.0-RC4

This is the fourth and likely final Release Candidate for 4.5.0.

Release notes for 4.5.0 are here: https://betaflight.com/docs/wiki/release/Betaflight-4-5-Release-Notes

IMPORTANT: Make sure you install and use the latest version of the Betaflight Configurator (10.10.0-RC4) before updating your firmware.

Don't forget to check it out all the documentation on https://betaflight.com/.

What's Changed

Improvements

• Fix bmp388 spi (and add BMP390) by @ledvinap in #13458
• Extend build info with defined flags by @atomgomba in #13333
• Add support for SPL07_003 barometer - based on DPS310 by @haslinghuis in #13427
• Add resource for LPUART by @haslinghuis in #13306
• mag cal improvements by @ctzsnooze in #13487

Fixes

• In GPS Rescue current altitude mode, ensure that return height is not less than climb height by @ctzsnooze in #13276
• Fix #13452 Write gps altitude to blackbox as signed value (was unsigned) by @tbolin in #13453
• Render spec screen over normal OSD by @SteveCEvans in #13460
• Use intptr_t for casting void * to an integer by @SteveCEvans in #13463
• Fix qmc5883l lockup by @ledvinap in #13467
• Improve IMU responsiveness, refactor by @ctzsnooze in #13373
• Add ez_landing_speed parameter by @tbolin in #13411
• Use PDOP consistently, since it replaces HDOP by @ctzsnooze in #13477
• Fix config write by @ledvinap in #13503
• Blackbox - use llog2 instead of LOG2 by @ledvinap in #13495
• Baro and Mag driver check for I2C bus being busy by @SteveCEvans in #13509
• Fix for ITCM overflow for F722 by @blckmn in #13521

New Contributors

• @RoboSchmied made their first contribution in #13398

Full Changelog: 4.5.0-RC3...4.5.0-RC4

Welcome to Betaflight 4.5.0-RC3

This is the third Release Candidate for 4.5.0.

Release notes for 4.5.0 are here: https://betaflight.com/docs/wiki/release/Betaflight-4-5-Release-Notes

IMPORTANT: Make sure you install and use the latest version of the Betaflight Configurator (10.10.0-RC3) before updating your firmware.

Don't forget to check it out all the documentation on https://betaflight.com/.

What's Changed

Improvements

• Do not permit MSP on softserial ports as the load on the CPU is too great by @SteveCEvans in #13303
• Use cpu_late_10ths_percent_limit to set limit on % of late tasks in 10th of a % by @SteveCEvans in #13330
• Log the standard deviation of gyro cycle time in SCHEDULER_DETERMINISM and TIMING_ACCURACY by @SteveCEvans in #13377
• Make servos great again by @StNekroman in #13451

Fixes

• Fix ESC-Sensor RPM by @haslinghuis in #13286
• BLHeliSuite32 holds 4wayif code in indefinite loop waiting for ESC so remove timeout by @SteveCEvans in #13287
• Make high rate IMU DcmKp change relative to user value by @ctzsnooze in #13304
• Fix OSD defaults based on SD/HD by @SteveCEvans in #13320
• Enable PINIO if PIN defined in config by @haslinghuis in #13315
• Do not return MSP_RESULT_ERROR when succesful by @haslinghuis in #13328
• Ensure MSP channel data is valid by @SteveCEvans in #13352
• Voltage detection method by @freasy in #13350
• Allow overriding the spi clock speed for icm42688 by @JBKingdon in #13346
• TPA_LOW tidy up by @limonspb in #13337
• Use fixed LED color table in RACE / BEACON LED profiles by @CapnBry in #13339
• Naming LED Strip overlay rates by @ASDosjani in #13363
• Update SERIALRX_PROVIDER default by @haslinghuis in #13371
• Spektrum telemetry minor fix to address false Fastboot alerts on radios with latest update by @SpektrumRC in #13383
• Increase ez_landing_limit default to 15 (was 5) by @tbolin in #13375
• Fix Galileo toggling by @haslinghuis in #13384
• Fix timer interval for battery and RSSI LED indication by @SteveCEvans in #13412
• Do not go into failsafe when the correct roll/pitch/yaw/throttle are sent via MSP_OVERRIDE by @yrik in #13380
• Fix space in status output when gps version is unknown by @haslinghuis in #13423
• Fix code style by @haslinghuis in #13429
• Fix OSD task timing when using MSP by @SteveCEvans in #13388
• Include a target's config.h before common_pre.h. by @hydra in #13439
• Fix rx spi processing required by @ledvinap in #13454

Targets

• Permit 8kHz PID loop on F405 overclocked to 216MHz by @SteveCEvans in #13356

New Contributors

• @yrik made their first contribution in #13380
• @StNekroman made their first contribution in #13451

Full Changelog: 4.5.0-RC2...4.5.0-RC3

Welcome to Betaflight 4.5.0-RC2

Happy New Year Flyers! This is our second Release Candidate for 4.5.0.

Release notes for 4.5.0 are here: https://betaflight.com/docs/wiki/release/Betaflight-4-5-Release-Notes

IMPORTANT: Make sure you install and use the latest version of the Betaflight Configurator (10.10.0-RC2) before updating your firmware.

Don't forget to check it out all the documentation on https://betaflight.com.

What's Changed

Fixes

• Fix arming when GPS included in build but no active GNSS device attached + revert msp request for SatInfo by @haslinghuis in #13244
• Led task optimistion by @SteveCEvans in #13247
• Fix BMI160 gate, improve MPU6500 initialization and optimize directives for maintenance by @haslinghuis in #13237
• Increasing frequency of MSP protocol in SITL by @Tuxliri in #13253
• Fix missing GPS PG parameter by @haslinghuis in #13248
• Fix CLI command "bind_rx" for CRSF by @KarateBrot in #13267
• Scale heading appropriately by @SteveCEvans in #13269
• Add timeout to serial four way interface for ESC programming by @SteveCEvans in #13277
• Fix F7X2 AXIM flash region by @haslinghuis in #13270
• Rename USE_QUICK_OSD_MENU by @haslinghuis in #13273

New Contributors

• @Tuxliri made their first contribution in #13253

Full Changelog: 4.5.0-RC1...4.5.0-RC2

Introducing: Betaflight 4.5.0-RC1

Merry Christmas Flyers! This is our first Release Candidate for 4.5.0.

Release notes for 4.5.0 are here: https://betaflight.com/docs/wiki/release/Betaflight-4-5-Release-Notes

IMPORTANT: Make sure you install and use the latest version of the Betaflight Configurator (10.10.0-RC1) before updating your firmware.

Don't forget to check it out all the documentation on https://betaflight.com.

What's Changed

Features

• OctoSPI and Memory Mapped Flash support by @hydra in #11825
• Angle and Horizon Mode improvements by @ctzsnooze in #12231
• Add rainbow effect to led strip by @ASDosjani in #12323
• Add GPS Lap Timer by @SpencerGraffunder in #11856
• RPM Limiter by @Tdogb in #12054
• Add (e)RPM field to blackbox logs by @tbolin in #12823
• Add support for IST8310 compass by @haslinghuis in #12917
• Adding OSD quick menu by @limonspb in #12977
• Added throttle flight statistics by @limonspb in #12978
• Add support for MSP2_SENSOR_GPS message from RemoteID module by @SteveCEvans in #13062
• STMicro LSM6DSV16X IMU support by @SteveCEvans in #13046
• Additional TPA breakpoint for low Throttle by @pichim in #13006
• STMicro LIS2MDL mag support by @SteveCEvans in #13150
• STMicro LPS22DF baro support by @SteveCEvans in #13054
• Throttlebased EzLanding by @tbolin in #12094

Improvements

• Default blackbox device to NONE on reset by @haslinghuis in #12221
• Cleanup make by @blckmn in #12179
• Add Octo X8 + to mixer defaults by @VirtualEnder in #12175
• Add GYRO_CALIBRATION debug mode by @SteveCEvans in #12241
• Enable retrieval of the BUILD_KEY using MSP2 by @blckmn in #12264
• Source file re-arrangement for better separation of MCU types by @blckmn in #12268
• ELRS - Simplify deferred ISR by @hydra in #12303
• NVIC - Update ELRS and SPI atomic_block usage to use appropriate priority levels. by @hydra in #12302
• add thrust_linear to blackbox header by @nerdCopter in #12337
• Method for adding defaults using defines for resources. by @blckmn in #12342
• Refactor GPS state_position by @haslinghuis in #12330
• Makefile Cleanup - further simplification of local building by @blckmn in #12354
• timerHardware removal - all targets use fullTimerHardware now. by @blckmn in #12349
• Simplified platform.h by @blckmn in #12355
• Adding additional MOTOR pin mappings for defaults by @blckmn in #12364
• Refactor I2C to use I2Cx_SCL_PIN and I2Cx_SDA_PIN by @blckmn in #12357
• Remove USE_SWDIO, simply refer to DEBUG by @blckmn in #12361
• Using SPI default pins by @blckmn in #12367
• To enable display of pin mapping for config.h by @blckmn in #12363
• Added SITL Gazebo by @ahcorde in #12346
• Move FLASH_PAGE_SIZE definition to CPU specific target.h files by @SteveCEvans in #12394
• Add CMS support on TX for ELRS by @SteveCEvans in #12308
• Auto generation of config.h from unified target repo by @blckmn in #12353
• REFACTOR: moving timer definitions to MCU locations. by @blckmn in #12397
• Enable cloud build features at runtime by @haslinghuis in #12388
• Removing Custom Defaults by @blckmn in #12425
• Rename ACC to ACC_REGS by @SteveCEvans in #12429
• AT32F435 BlackBox FLASH support by @SteveCEvans in #12431
• Rename MOSI and MISO to SDO and SDI by @haslinghuis in #12469
• Removing Brushed ESC auto detect by @blckmn in #12479
• Cleanup of USB drivers for AT32F4 by @blckmn in #12441
• AT32 initial dshot support by @JBKingdon in #12464
• FIX: If local config applied, do not include all drivers. by @blckmn in #12483
• Make dyn idle startup increase configurable by @tbolin in #12432
• FIX: SPI PIN defaults cleanup #2 by @blckmn in #12487
• Debug 8 columns by @bw1129 in #12445
• Remove SPEK1024 as the default RX (set to NONE) by @blckmn in #12500
• Rename FAKE to VIRTUAL by @TheIsotopes in #12493
• Add USB MSC support to AT32 by @SteveCEvans in #12481
• Set DSHOT default by @haslinghuis in #12508
• WORKFLOW: Adding call to create or update target list in API from config.h by @blckmn in #12540
• Remove getRcStickDeflection and areSticksInApModePosition by @ctzsnooze in #12198
• Update RSSI_DBM to include diversity antenna in OSD element (CRSF) by @haslinghuis in #12359
• gyro_init.c remove duplicate include line for icm20689.h by @nerdCopter in #12582
• Remove code comments using word retarded by @Quick-Flash in #12592
• More efficient PTn gain calculation by @KarateBrot in #12610
• Cleanup + led overlay expansion by @ASDosjani in #12554
• add getCoreTemp by @HThuren in #12608
• Add more info for sensor in (get) MSP_SENSOR_CONFIG by @HThuren in #12626
• Implement Stopwatch by @KarateBrot in #12623
• Make UBLOX models more configurable by @ASDosjani in #12587
• Obtain HSE_VALUE from config.h where provided. by @blckmn in #12632
• UBLOX Full Power mode + default STATIONARY model by @ASDosjani in #12659
• Optimise DSHOT cache management loops by @SteveCEvans in #12672
• Send motor data and then immediately decode prior telemetry data for bitbanged DSHOT by @SteveCEvans in #12685
• Lead-Lag Compensator by @KarateBrot in #12730
• Add GPS Status Line to CLI Status Output by @ZzyzxTek in #12769
• Minor pid.c refactoring by @ctzsnooze in #12722
• TPA optimisations by @ctzsnooze in #12721
• DShot bitbang decode - simple refactor by @ctzsnooze in #12688
• Allow custom H7 HSE freqs. Allow H7 HSI. Limit H723 speed to 520Mhz by @David-OConnor in #12291
• Add NMEA Custom commands by @ASDosjani in #12591
• Thrust linear code optimisations by @ctzsnooze in #12720
• Improve behaviour when GPS Rescue is initiated close to home by @ctzsnooze in #12715
• Removing Timer Usage Flags by @blckmn in #12862
• Enables retrieval of the RELEASE_NAME using MSP2 by @haslinghuis in #12878
• GPIO alternate function initialisation removal for HAL. by @blckmn in #12888
• Separate resources for SOFTSERIAL_TX & SOFTSERIAL_RX by @DieHertz in #11786
• IMU - increase gain on large Course over ground error by @ledvinap in #12792
• Refactor imuCalcKpGain by @ledvinap in #12859
• Add unfiltered...

What's Changed

Features

• Add support for MSP2_SENSOR_GPS message from RemoteID module by @SteveCEvans in #13081

Fixes

• Fix USE_TELEMETRY_IBUS by @haslinghuis in #12873
• Call updateInit() before writing motor command data by @SteveCEvans in #12866
• [MAINT] Add dshot_telemetry_start_margin setting (#12912) by @haslinghuis in #12964
• fix led strip for h7 (#12890) by @haslinghuis in #12976
• Enable/disable the UART TX before changing the TX pin mode by @SteveCEvans in #13018
• 4.4 maintenance uart enable/disable f4 by @SteveCEvans in #13020
• Allow for F7 UART idle preamble to be sent on startup - 4.4-maintenance by @SteveCEvans in #13022
• Remove dshot_telemetry_start_margin setting to use auto-tune(#13075) by @haslinghuis in #13082
• Check tx on MSP and GPS only by @haslinghuis in #13113
• Disable ICM4268xx AFSR feature to prevent stalls by @haslinghuis in #13137
• Fix buffer overflow in JETIEXBUS character reception (#13130) by @haslinghuis in #13136

Full Changelog: 4.4.2...4.4.3

What's Changed

Improvements

• [4.4.2] DSHOT timing improvements by @SteveCEvans in #12709
• [4.4.2] Reverting the config.h usage. by @blckmn in #12779

Fixes

• [4.4.2] Fix SDC by @haslinghuis in #12671
• [4.4.2] Fix GNSS new data by @haslinghuis in #12787
• [4.4.2] Tri-state USART TX output if load due to powered down peripheral is d… by @haslinghuis in #12782
• [4.4.2] Remove 15 m/s limit on estimated vario by @haslinghuis in #12788
• [4.4.2] Fix bootloader jump for g4 mcu (#12675) by @haslinghuis in #12783
• [4.4.2] Converge IMU faster at higher groundspeed during GPS Rescue by @haslinghuis in #12785
• [4.4.2] If CS is asserted between transfers then consider bus to be busy for … by @haslinghuis in #12784
• [4.4.2] Revert NVIC SPI priority by @haslinghuis in #12795
• [4.4.2] fixes not working Ghost on F4xx (#12809) by @haslinghuis in #12811
• [4.4.2] GPS Rescue Bugfix to ensure IMU adaptation to GPS course over ground by @haslinghuis in #12821
• [4.4.2] Handle invalid baro pressure values by @haslinghuis in #12824
• [4.4.2] GPS Rescue IMU adaptation 0.2 by @haslinghuis in #12845

Full Changelog: 4.4.1...4.4.2

What's Changed

Improvements

• Fix unified targets that use OctoSPI. (BF4.4.x) by @hydra in #12307
• Increase FF smoothing max to suit elrs 1000hz link rate (#12426) by @limonspb in #12433

Fixes

• Fix max permissible CMS rows and up/down page arrows (#12277) by @SteveCEvans in #12284
• Rollup 1 by @hydra in #12306
• Fix SDFT batchSize rounding by @KarateBrot in #12332
• Latest changes from unified targets, and sdcard build fix. by @blckmn in #12415
• H7 Fix frozen ADC values by @klutvott123 in #12443
• ICM426XX AA filter (#12444) by @sugaarK in #12465
• Blackbox (as applied to 4.5.0) by @blckmn in #12520
• DShot zero between beacon commands for 4.4, from 12544 by @ctzsnooze in #12555
• Restore DShot Beacon control for 4.4 by @ctzsnooze in #12560
• Include smartport telemetry for Fport (#12314) by @klutvott123 in #12572
• Exclude MSP_OSD_CONFIG if USE_OSD not defined (#12513) by @klutvott123 in #12590
• Add separate AAF values for ICM-42605 by @sugaarK in #12616

Targets

• Patch for config.h files by @blckmn in #12380
• Adding support for building by config by @blckmn in #12376
• FIX CONFIG: Adding USE_ACC, USE_GYRO and USE_BARO where appropriate. by @blckmn in #12477
• FIX CONFIG: Adding USE_FLASH to enable where hardware supports by @blckmn in #12499

Full Changelog: 4.4.0...4.4.1