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  • Betaflight github 0 is backwards compatible with older versions of Betaflight, but because of a bug in MSP over telemetry it will not work with 4. Flight controller config This project serves as a repository for Betaflight VTX-Tables which were introduced to the public in Betaflight 4. Because i have two different quads with the exact same FC and Reciever, two different transmitters and it's the same issue. If I understand this correctly, there should be some kind of a beep when the GPS This feature would greatly enhance the flexibility and customization options of Betaflight, and would be useful for both hobbyist and professional users. Jun 10, 2023 · 本发布基于betaflight 4. Cross platform configuration tool for the Betaflight firmware - Releases · betaflight/betaflight-configurator This platform serves as a central hub for everything related to Betaflight, a popular open-source flight controller software used in FPV (First Person View) drones. The team has a robust review system in order to maintain clean code, and we are always looking for talented contributors. Jan 29, 2020 · it was the previous betaflight version before 4. You signed out in another tab or window. 3V level and soft- or hardware pull low) Apr 11, 2022 · # # diff # version # Betaflight / STM32F411 (S411) 4. Jan 1, 2023 · Describe the bug Hello, I flashed the newest firmware of BF (4. According to the manual it's using SmartAudio Lite: (requires 3. 6 and also on 3. Mar 29, 2024 · Describe the bug When I configure a port for mavlink telemetry output nothing comes out. Jun 1, 2020 · Issue-Label Bot is automatically applying the label bug to this issue, with a confidence of 0. Jul 7, 2020 · Open Source Flight Controller Firmware. If you experience graphics display problems or smudged/dithered fonts display issues in Betaflight Configurator, try invoking the betaflight-configurator executable file with the --disable-gpu command line switch. Oct 16, 2022 · Add note about BMP-270 gyro, DPS310 clone, IST8310 mag, to manufacturer guidelines betaflight/betaflight. Cross platform configuration tool for the Betaflight firmware - betaflight-configurator/ at master · betaflight/betaflight-configurator Cross platform configuration tool for the Betaflight firmware - 11. This will switch off hardware graphics acceleration. Betaflight is an open source flight controller firmware for drones and quadcopters. 0 Betaflight Configurator. I believe this feature would be a valuable addition to Betaflight, and would appreciate if the development team could consider implementing it in a future release. Contribute to betaflight/. This is a test version of the nbd_betaflight 4. 1 firmware. 9. Hi, Just got the new DYS F4 it uses the OMNIBUSF4 target, for some reason the SBUS is broken on 3. 2) and there it was again All targets need to include #defines for drivers to be included for hardware drivers, including accelerometer, gyro and OSD chip (if present). 1 for related parameter settings Mar 14, 2020 · Describe the bug If connected to Konfigurator the TinyHawk is in bound mode, red LED is blinking. g. I then tried to flash it to the last stable release (4. 0 Mar 24 2024 / 12:33:47 (3aabaf365) MSP API: 1. 0_FURYF4OSD. Blackbox Log Viewer 3. Earlier configurator versions (e. Is the battery plugged-in? YES `# dump. reaches critical levels, eventually resulting in a FC thermal shutdown. 1 protocol not working. I read datasheet of STM32F411xc(Alternate function mapping,page 48), PB10 can use for I2C2_SCL,alternate is AF4, PB3 can use for I2C2_SDA,al Oct 19, 2019 · Binary: betaflight_4. In order for Betaflight to work, I had to create a specific build with the right arguments, because otherwise i'm in "no gyro". This project provides users with documentation, development guidelines, downloads, build statistics, relations with sponsors, and blog updates. 4. Global: Unlocked VTX. Jan 23, 2018 · Cross platform configuration tool for the Betaflight firmware - Releases · betaflight/betaflight-configurator Contribute to betaflight/. To Reproduce Use TBS Unify HV Race v2 Configure SmartAudio Does not work Expected behavior SmartAudio 2. Next, Clone the Betaflight repository. so I compared the INAV code with betaflight code. Feb 1, 2022 · # # diff # version # Betaflight / BETAFPVF4SX1280 (BHER) 4. Jul 10, 2024 · A collection of Betaflight configurations for different flight controllers and receivers. To associate your repository with the betaflight topic Mar 15, 2019 · Open Source Flight Controller Firmware. The fact is that the HMC5883 has a maximum I2C frequency of 400 kHz, and in betaflight, by default, all I2Cs are overclocked (i2c1_overclock = ON). Explore their repositories, code, issues, and topics on GitHub. I have a few questions: The Alt hold mode should never be implemented in betaflight because this feature does n Oct 16, 2019 · # diff # version # Betaflight / MATEKF411 (MK41) 4. 42 manufacturer_id: DIAT board_name: FURYF4OSD custom defaults: YES start the command batch. 4. Betaflight的主要特点; 如何在GitHub上找到Betaflight项目; Betaflight的安装步骤; Betaflight的配置和使用; 常见问题解答（FAQ） 什么是Betaflight？ Betaflight 是一个专为无刷飞行器设计的开源飞行控制器软件，旨在提供高度的可定制性和优化的飞行性能。它在多旋翼、飞机和 Oct 18, 2016 · When you take into account the default quad mixer configuration, the PIDsum limit will actually always be (maxThrottle - minThrottle) / 2. I configured the Pin of SCL is PB10,SDA is PB3. board_name DALRCF405 manufacturer_id DALR. 6. 1 Jul 27 2024 / 22:26:09 (77d01ba3b) MSP API: 1. github development by creating an account on GitHub. Could someone please compile the betaflight firmware betaflight_4. If you have a flight video, you can load that in as well and it'll be played behind the log. Implement Mavlink RC_CHANNELS_OVERRIDE commands in Feb 26, 2018 · I'm running Betaflight 3. hex Date: 11-04-2019 02:58 Release notes: Important A number of users reported issues with their craft taking off with throttle at idle when running on Betaflight 4. net> Co-authored Mar 23, 2025 · Describe the bug Hello, I have SpeedyBee F405 V4 FC with TBS Unify Pro2 Nano 5G8 V1. Follow their code on GitHub. 5 master) (at least on F7X2 (Foxeer F7 V4) + BLHELI_32. Learn how to flash Betaflight firmware on your flight controller using online or local files. Nov 2, 2021 · diff # version # Betaflight / STM32F7X2 (S7X2) 4. All Power Levels, All Frequencies. To Reproduce Install Betaflight 4. To make sure you get the latest version of your target installed, head over to the GitHub Betaflight Configurator Releases page and install at least version 10. For the purposes of this repository, I have reserved the channels for overwriting ROLL, PITCH, YAW, THROTTLE for flight control, and AUX2 (associated with the SERVO1 module) to release the bomb. Apr 19, 2018 · I have seen in a couple of cases now where the MCU core temp. Mar 7, 2020 · FC: Mamba f405 Target: fury f4 osd Betaflight firmware version: 4. INAV has the ability to select the I2C speed, but in Betaflight, you need to set i2c1_overclock = OFF in the cli. 2) and #12685 (4. This page is a bit ligh Cross platform configuration tool for the Betaflight firmware - Releases · betaflight/betaflight-configurator After updating to Betaflight 4. I configured the [10. 3 Jan 16 2020 / 11:34:00 (543a5e1) MSP API: 1. 44 # start the command batch batch start board_name BETAFPVF4SX1280 manufacturer_id BEFH # name: Meteor65-ELRS # feature feature -LED_STRIP feature -ANTI_GRAVITY # serial serial 0 1 115200 57600 0 115200 serial 30 2048 115200 57600 0 115200 # aux aux 0 0 0 1950 2050 0 0 aux 1 1 1 1425 Feb 26, 2018 · I can't get SmartAudio to work on a TBS Unify Pro Nano. Discuss code, ask questions & collaborate with the developer community. 7 and is working on 3. Jan 14, 2023 · diff # version # Betaflight / STM32F405 (S405) 4. 2 24Khz. Sep 18, 2024 · # diff all # version # Betaflight / AT32F435G (A435) 4. 73. I started to get following issues: a) I am running ICM gyroscope (set gyro-to-use = 0) b) I turn on 32K mode c) I set 16K/16K gyro-PID loops d) Other settings Jan 29, 2020 · it was the previous betaflight version before 4. I used the instructions on this page to build the SITL target and then tried to connect to it using mavproxy and a custom receiver that uses pymavlink. Jul 16, 2024 · Is your feature request related to a problem? Please describe As a developer, I need the additional telemetry provided by the flight controller, such as the rotation speed of each of the motors. To Reproduce Set up the VTX table and press save. Betaflight has 22 repositories available. 44 # config: manufacturer_id: BEFH, board_name: BETAFPVF722, version: 150f0b6f, date: 2020-08-16T02:29:24Z # start the command batch batch start # reset configuration to default settings defaults nosave board_name BETAFPVF722 manufacturer Mar 6, 2022 · # version # Betaflight / STM32F7X2 (S7X2) 4. 46 # config rev: 6440ad8 # start the command batch batch start # reset configuration to default settings defaults nosave board_name IFLIGHT_BLITZ_F435 manufacturer_id IFRC mcu_id 00a12bf01dc580000d55870f signature # name: Mario8 # feature feature GPS feature TELEMETRY feature LED_STRIP Open Source Flight Controller Firmware. By using it, you'll be among the first testers—wear this badge with pride! 😊 Jan 23, 2018 · On my target,just for test,MCU is STM32F411CEU6. Betaflight is 'Open Source', so you can look at the source code and contribute to the project on GitHub. i wish i understood it better or have the time to figure it out and learn but i have to work and make living. Sep 2, 2024 · Explore the GitHub Discussions forum for betaflight betaflight. 0 that makes it impossible to open log files that were created with firmware older than Betaflight 4. 41 # start the command batch batch start board_name MATEKF411 manufacturer_id # name name Invert WhrlyGig # resources resource MOTOR 1 B06 resource MOTOR 2 B07 resource MOTOR 3 B05 resource MOTOR 4 B04 resource SERVO 1 A08 resource LED_STRIP 1 NONE resource LED 1 NONE # timer # dma # mixer mixer Cross platform configuration tool for the Betaflight firmware - Releases · betaflight/betaflight-configurator Jan 10, 2022 · # # diff all # version # Betaflight / STM32F7X2 (S7X2) 4. 10. Betaflight is a project that develops software for multi-rotor and fixed wing craft. If you turn on the RTF radio a green LED appears to the red, seems to be the vtx. May 3, 2024 · Important. Jan 3, 2022 · # diff # version # Betaflight / STM32F411 (S411) 4. Mar 28, 2023 · A number of people on the Betaflight Discord have reported issues w Describe the bug Edit: see next comment for additional clarification. 42 manufacturer_id: DALR board_name: DALRCF405 custom defaults: YES start the command batch. You switched accounts on another tab or window. For a project of multi (and evolutive) flight mode quadcopters for "funny flightschool", we need to add a optical flow and Lidar sensor. 44 # config: manufacturer_id: DIAT, board_name: MAMBAF411, version: a074838b, date: 2021-06-14T21:36:54Z # start the command batch batch start board_name MAMBAF411 manufacturer_id DIAT # master set pid_process_denom = 1 set gyro_1_align_yaw = 1800 profile 0 rateprofile 0 # end the command May 31, 2018 · Sent from Yahoo Mail on Android On Thu, Jun 28, 2018 at 5:05 PM, Bruce Luckcuck<notifications@github. To Reproduce put an oscilloscope on the configured uart Expected behavior see s Open Source Flight Controller Firmware. @hydra To Reproduce Get any Flight Controller with an SD Card reader. Contribute to Drone-Sports/Betaflight development by creating an account on GitHub. 4 releases. You signed in with another tab or window. 7 Firmware Omnib Open Source Flight Controller Firmware. Betaflight is a UAV performance software that can be configured and flashed with Betaflight Configurator. On one hand, it was a great resource to find all sorts of info on the other, it was pretty clunky, outdated and hard to maintain. 8) will not work properly with 4. resources I see that MSP_SET_RAW_RC is supported for the MSP protocol, but for the Mavlink protocol only telemetry info is available. 1. 0. com> wrote: All it would take is a loose component, cracked solder joint, etc. Can you add this gyro to this flight controller? The gyro also makes a lot of noise. 43 # config: manufacturer_id: DIAT, board_name: MAMBAF722, version: ec268d11, date: 2021-07-26T13:10:45Z # start the command batch batch start board_name MAMBAF722 manufacturer_id DIAT # dma dma pin A09 1 # pin A09: DMA2 Stream 2 Channel 6 # feature feature GPS # map map TAER1234 # serial serial Open Source Flight Controller Firmware. 1 to 4. 5. The aim of this is to contain readymade VTX-Tables for all the VTX out there. resource Jun 2, 2023 · Describe the bug Motor direction wizard stopped working after #12709 (4. 5 Other issue FIY that UART3 tx and rx on the documenta Open Source Flight Controller Firmware. 1] macos-13 github runner build system improvement #4387 opened Mar 13, 2025 by nerdCopter Loading… 10. batch start. I'm trying to get Betaflight-SITL to listen/send MAVLink messages over port 5761. Download the latest release or nightly builds, or access the source code on the Betaflight GitHub Repository. In the CLI, paste in "SET blackbox_mode = ALWAYS" and "SAVE" [ENTER] IF - and that's a big IF - the S Dec 24, 2019 · Betaflight 4. Reload to refresh your session. I started to get following issues: a) I am running ICM gyroscope (set gyro-to-use = 0) b) I turn on 32K mode c) I set 16K/16K gyro-PID loops d) Other settings After updating to Betaflight 4. This typically presents as an OSD, telemetry, RC freeze, with a solid status led indicator. 9) IFLIGHT F4 seems to be working (maybe because it's also blheli_s esc) Also a couple of r Apr 25, 2017 · I have formatted the SD multiple times, but once I plug it into my quadcopter and go to the blackbox tab in Betaflight it says "Free space for logs 4. Find drivers, tools and tips for different FC types and operating systems. Building AutoComplete Cache Done! diff version Betaflight / STM32F405 (S405) 4. 4 on Matek F405CTR flight controller and the "TBS Unify Pro32 HV 5G8" VTX and the SA feature failed to work. ive tried to install and use my beloved Betaflight but i cant connect trough usb. I've installed Betaflight 4. You may or may not know that there was an old GitHub wiki. Nov 10, 2017 · Another important point is I2C speed. Just handling the board, plugging/unplugging USB and temperature changes (the MAX7456 OSD chips tend to run pretty hot) could contribute to an intermittent problem. . I also tried to enable the telemetry mode, that did not work either. 0, you MUST use the latest 10. 0 RC2 on Omnibus F7 V2 FC (original, from Airbot). x branch. 2 and importing saved config file, SmartAudio stopped working: Any ideas? Describe the bug SmartAudio 2. Welcome to the Wiki Find everything betaflight related . It would be nice if Mavlink's RC_CHANNELS_OVERRIDE is implemented for Betaflight for integration with autonomy stacks like Mavros. name: jar@ resources. Pros/cons, which RTOS to use etc. Contribute to betaflight/config development by creating an account on GitHub. More than 150 million people use GitHub to discover, fork, and contribute to over 420 million projects. I have a AKK reciever so I'm forced to use the patch from betaflight in order to use smart audio. After upgrading BTFL 4. Compare and download the code, notes, and snippets for various settings and features. 1 Nov 15 2019 / 12:54:53 (1e5e3d3) MSP API: 1. 4 Issue: cannot detect external I2C magnetometer. No new F3 based targets will be accepted; Open Source Flight Controller Firmware. 11_STM32F411. :( Describe the solution you'd like Implement position hold and optical flow (lidar sensors like the MFT-01) Describe alt Jan 29, 2022 · Describe the bug Hi there, can someone please check the functioning of the READY_BEEP switch, located in the Configuration tab under "Beeper configuration". 1，请暂时使用betaflight配置程序10. I'm using 3. Mar 15, 2024 · Is your feature request related to a problem? Please describe The problem is having to use iNAV for these features. 0 Apr 6 2022 / 07:57:09 (2fd2e8eca) MSP API: 1. Apr 14, 2024 · ## # # # Problem description # # # ### # version # Betaflight / STM32F405 (S405) 4. 0-RC3) on my MAMBA F722_I2C flight controller and onboard barometer is not recognisable. 1。/ This release is based on betaflight 4. 45 # config: YES # start the command batch batch start board_name TALONF7FUSION manufacturer_id HENA # resources resource SERIAL_TX 3 NONE resource SERIAL_RX 3 NONE resource I2C_SCL 2 B10 resource I2C_SDA 2 B11 # feature feature -TELEMETRY feature GPS # serial serial 0 0 115200 57600 0 115200 Open Source Flight Controller Firmware. At minThrottle=1050 and maxThrottle=2000 this would be 475. Describe the solution you'd like. 44 # config: manufacturer_id: FLWO, board_name: FLYWOOF411, version: 7b156dec, date: 2021-07-26T13:19:23Z # start the command batch batch start board_name FLYWOOF411 manufacturer_id FLWO # name: AOS Toothpick # feature feature -RX_PARALLEL_PWM # serial serial 0 64 115200 57600 0 115200 serial Mar 25, 2024 · Is your feature request related to a problem? Please describe. Jan 17, 2022 · Hi. 0 Jan 14 2023 / 16:21:30 (2417d50d8) MSP API: 1. 1 was released to fix a bug in 3. After updating to Betaflight 4. This issue is to discuss the use of an RTOS with betaflight. Later versions of Configurator should work, but may have minor issues. We assume no responsibility for any irreversible consequences that may result from flashing, such as flight controller burnout, irreversible failure of the gyroscope, or ignition of the ESC. 5 days ago · Open Source Flight Controller Firmware Project. Thank you for your Open Source Flight Controller Firmware. External compass QMC5883 is not recognized in betaflight (but yes in inav) Apr 8, 2025 · Dear Smarter guys then i am! I am a big fan of fpv and ive built 22 racing quads so farand i cant stop! I recently had enough of windows and ive changed to ubuntu which im loving big time. The pit mode switch automatically turns Open Source Flight Controller Firmware. board_name FURYF4OSD manufacturer_id DIAT. If I understand this correctly, there should be some kind of a beep when the GPS Open Source Flight Controller Firmware. x. 0 Jan 9 2022 / 11:51:40 (ee8560af4) MSP API: 1. Hello. It was identified that the default settings did not have enough filtering for setups with a lot of vibrations. 6 Sep 1 2019 / 00:50:01 (2a64051a2) MSP API: 1. Betaflight target definitions. See the latest releases, changelogs, contributors and assets for Betaflight Firmware on GitHub. In general, I am not sure if the I/O capabilities of the ESP32 would be sufficient to meet the requirements of a flight controller (multiple high-throughput SPI peripherals, multiple fast I/O channels for motor control, multiple UARTS). I would be glad to continue discussion in previous issues: #6675 and #10511 but it looks like discussion there is closed. Clone and edit Betaflight locally on your platform. Mostly not legal in the EU or in FCC regions Jan 17, 2023 · diff # version # Betaflight / STM32F7X2 (S7X2) 4. 0 to configure settings, please refer to betaflight 4. 0 GB" even though its a 32gb SD card with nothing on it. Betaflight configurations. 1 Jul 19 2020 / 06:19:20 (caa0d683c) MSP API: 1. 4 on Matek F405CTR FC and setup the smart audio to work on UART3 with TBS Unify PRO32 HV 5G8. com#334 Merged Make high rate IMU DcmKp change relative to user value #13304 In Betaflight, the msp_override_channels_mask variable defines which channels on your transmitter (radio controller) will be overwritten by the autopilot. 4 has a new Cloud Building System. Nightly builds of the Betaflight Configurator. The OSD issues seem to be non-repeatable, but blackbox logs seem to be missing data or are corrupt. 3 移植至Artery Tek AT32F435/7 的一个分支。这是我们的第一个尝试 - flightng/atbetaflight Apr 2, 2018 · @TwoToneEddy: Looking at the code, it looks like the INFLIGHT_ACC_CAL feature makes accelerometer calibration available on a stick command: THR_LO + YAW_LO + PIT_HI + ROL_HI. Learn how to contribute to Betaflight, a popular open source flight controller firmware and configurator for drones. 1 4 Oct 19, 2019 · Binary: betaflight_4. Note that hardware such as barometer and magnetometer, even if on the hardware, can be activated by the user select MAG or BARO in the configurator, and the system will load all the drivers. the I2c addresses are same in both 0x0d however detection and reset codes are different, I think betaflight has the right I2C address but looking at wrong register to detect whether compass is present or not. 0 Feb 1 2022 / 20:14:54 (3267f0417) MSP API: 1. 46 # config rev: 74e7e57 # board: manufacturer_id: MTKS, board_name: MATEKF405CTR # status MCU F40X Clock=168MHz (PLLP-HSE), Vref=3. Jul 19, 2023 · The feature is enabled by default but has a bug where it gives "stuck" gyro values for short periods (between 1ms and 2ms):, leading to a significant gyro bias at longer time scales, enough to in some cases cause a vehicle to crash if it is unable to switch to an alternative IMU Co-authored-by: Andrew Tridgell <andrew@tridgell. Jan 30, 2023 · For instructions on how to install and use, have a look at the README. Jul 23, 2020 · Describe the bug On the VTX page in betaflight, the pit mode switch is permanently switched on, I am unable to turn it off and it shows in the OSD. Please mark this comment with 👍 or 👎 to give our bot feedback! Links: app homepage, dashboard and code for this bot. 45 # config: YES # start the command batch batch start board_name FURYF4OSD manufacturer_id DIAT # feature feature GPS # serial serial 2 2 115200 57600 0 115200 serial 5 64 115200 57600 0 115200 # aux aux 0 0 0 1700 2100 0 0 aux 1 1 2 1300 1700 0 0 aux 2 46 1 1700 2100 0 0 aux 3 13 1 1300 1700 0 Mar 24, 2021 · @tausif-sama: No, Betaflight has not been ported to ESP32, and there are (to my knowledge) no efforts being made to do so. link to youtube video. All Presets go through a checking and approval process before being made publicly available. Jan 19, 2023 · Hi All I am thinking of designing a flight controller board and would like ask if there and useful guides so that the hardware is compatible with Betaflight (and Ardupilot). 2. Find out how to report bugs, suggest features, translate languages, write code and run tests on GitHub. version Betaflight / STM32F405 (S405) 4. Contribute to betaflight/cloudbuild development by creating an account on GitHub. The Betaflight Preset system makes it easy for a user to find and apply CLI 'snippets' to configure or modify their firmware settings. It has not been fully verified for the target board and is intended for testing purposes only. May 7, 2023 · In Betaflight, this FC is provided with a BMI270 (same to manufacturer site), but unfortunately it has an ICM-42688P. This tool allows you to open logs recorded by Betaflight's Blackbox feature in your web browser. hex , with a Uart1' in MSP. 3. I have this exact issue. 0 Dec 24 2021 / 18:32:13 (norevision) MSP API: 1. 0 Jan 17 2023 / 15:40:16 (a7cf8f0c6) MSP API: 1. (Note the below link is for the main Betaflight project atbetaflight 是一个基于betaflight 4. 6 before updating your firmware. Nov 13, 2018 · Betaflight 4. You can seek through the log to examine graphed values at each timestep. 0来设置飞控参数，相关参数设置请参阅betaflight 4. Actually no support for this sensor. The following new requirements for pull requests adding new targets or modifying existing targets are put in place from now on: Read the hardware specification. Expected behavior Sep 10, 2022 · Describe the bug Betaflight 4. Open Source Flight Controller Firmware. 0's default settings. 0 Feb 1 2022 / 20:04:33 (3267f0417) MSP API: 1. Contribute to betaflight/betaflight development by creating an account on GitHub. 1 should work. **Note: Version 1. 0 Milestone · betaflight/betaflight-configurator Open Source Flight Controller Firmware. 1 JESC 2. 6 Important Notes: Betaflight's wings/planes code is very new and has been tested by only a few individuals. I can't do it in Docker. We read every piece of feedback, and take your input very seriously. 11. This image will take it from there and turn your code into a binary which you then can flash to your flight controller with the Betaflight Configurator. 1 VTX. 44 # config: manufacturer_id: ZEEZ, board_name: ZEEZF7, version: 309c0f10, date: 2021-06-14T21:40:58Z # start the command batch batch start board_name ZEEZF7 manufacturer_id ZEEZ # feature feature -LED_STRIP feature -ESC_SENSOR feature GPS feature TELEMETRY # serial serial 2 0 115200 57600 0 115200 Nov 16, 2024 · This is a draft for the future wing setup page on Betaflight 4. Contribute to betaflight/betaflight-configurator-nightlies development by creating an account on GitHub. 2 versions earlier than 4. May 12, 2021 · Describe the bug. 8. x fails to recognize the SD Card. Was your issue fixed after 4. 28V, Core temp=37degC Stack size: 2048, Stack address: 0x1000fff0 Configuration After updating to Betaflight 4. 1, please temporarily use the betaflight configurator 10. zlmrwxi ywhos loop kiw vgwkg xixdp ymcn anqn vdijbk hgstk