Betaflight 4.3
Betaflight 4.3

<<< Update 14/06/2022 >>>
Download : link

🐝 Betaflight 4.3 :

(BetaFlight 10.8 configurator for firmware 4.3)

Betaflight Configurator 4.3 (10.8)
Betaflight Configurator 10.8 (4.3)

Betaflight 4.0

🐝 Betaflight 4.3


Major New Features…

A smoother, more precise flight experience with better propwash perfomance ‘and’ also an easier setup and tuning experience – to release the full potential of Betaflight 4.

4.3 is a significant evolutionary step thanks to a slew of diligently coded and carefully tested updates representing thousands of hours of work from the voluntary development and test team. Credits at the end of the page.

New PID based tuning sliders – Whether you need to tweak the tune or build it from scratch, we now have simpler, more comprehensive, firmware based tuning sliders in the Configurator. These are active by default. Slider positions are stored with the quad, and can be modified via the OSD or LUA. New expert sliders allow fine-tuning of Pitch:Roll balance, DMax:Dmin, and I relative to P.

Presets – A fantastic, comprehensive new preset system! Whether a whoop, a twig, a 5″ racer, a freestyle setup, or an X-class, you can now easily apply a great tune for your quad, out of the box. Presets also exist for radio setups, vtx configurations, and so on. Users can choose from ‘official’ Betaflight Presets and ‘community’ presets. Both are checked by Betaflight developers. Access to external Preset repositories is also provided, but take care when using these, since Betaflight has no control over their content.

Less gyro filtering with higher P and D, providing better ‘out of the box’ performance.

We’ve changed how D is configured. We now have Derivative and D_Max settings. The Derivative value is what sets the D value in smooth flying. When you turn fast, D rises to Dmax, providing more effective damping for fast movements, and when going straight, D back to Derivative and reduce D noise and motor heat. The difference between the two values has been reduced, and the Derivative value is significantly higher. Unlike 4.2, you usually won’t need to push the D slider higher, unless you are seeking stronger straight-line stability in a clean HD or cinematic build.

More accurate loop times – We’ve made massive scheduler and DMA code improvements, including EXTI triggered SPI gyro reads (on supported boards), giving super stable looptimes, smoother filter performance, faster logging and improved CPU efficiency. NOTE: The CPU load reported in 4.3 is higher than reported in 4.2 due to a change in the way it is calculated. It now reports the % of time that the processor is busy running tasks, rather than a figure based on load average.

Multi dynamic notch – We have a completely rewritten, much improved, SDFT based multi-dynamic notches. More than one resonant peak can be tracked at the same time, more accurately and more quickly than before, with low latency cost. This allows for lower overall low pass filtering and better performance.

The above two changes have significantly improved incoming ‘gyro noise’. This has allowed us to push the default gyro filtering higher than before. Coupled with higher D, this improves propwash. Many quads can now fly with the gyro filter slider hard right.

PT3 based RC smoothing – RC smoothing has been completely revised, and is now entirely filter based, using optimised PT3 (third order) smoothing. RC Smoothing now has the ideal filter shape applied with no overshoot and very smooth response. The auto smoothing value provides anything from low-latency to exceptional buttery cinematic smoothness.

RPM crossfading – we now can smoothly disable overlapping RPM filtering notches entirely at low RPM. This greatly reduces filter delay at low throttle. You’ll hear an immediate difference in the sound of the motors, and experience less propwash around low throttle.

PT2 and PT3 lowpass filtering options – The old biquad lowpass filter option is no longer available on Gyro, due to delay, overshoot and resonance issues. Previous Gyro biquad lowpass users should change to PT2, but more likely will find that, in 4.3, single or dual first order filtering is optimal for Gyro. Biquad filtering is still available for D, where a harder cut than PT2 can be useful.

Feedforward jitter reduction – 4.3 introduces feedforward jitter reduction, which is an improvement on feedforward transition. It delivers a ‘dynamic transition’ effect to the feedforward, where you can get silky smooth responses while making slow stick inputs, and immediate, snappy feedforward responses to quick inputs. Usually, Transition is not required any more. Jitter reduction provides the Transition type effect, but at any stick angle. Jitter reduction also attenuates RC link noise during slow movements, especially for the newer higher rate Rx links. Racers will tend to use lower jitter reduction values than Freestylers, since that will attenuate link noise without delaying stick responses.

Other feedforward improvements – We now have second order smoothing on boost, soft interpolation during slow stick moves, and more accurate duplicate packet interpolation. Most slower radio links won’t need averaging, which is now off by default. High speed radio links (250hz and higher) will typically benefit from 2 point averaging and stronger smoothing. Presets to suit most common link types make Radio link configuration easy.

AntiGravity improvements – P boost has been added, along with I boost timing optimisation to peak when it is most needed. This provides greater stability during rapid throttle changes. The default value of 3.5 should not be increased without careful testing.

Dynamic gyro filter expo curve – Adjusting filter expo curves improves propwash by raising dynamic gyro filter cutoff values more quickly as you throttle up.

Improved dynamic idle – The dynamic idle code has been heavily revised, and can now keep RPM at a more stable value, more quickly and more precisely than before, and can be fine-tuned with its new single sided PID controller. It is now much simpler to set up. There is no need to measure RPM or change your D_Shot idle percentage value – leave that value at your normal setting. Just enable DShot Telemetry (and check it is working), and set a suitable idle RPM value in the PID Tuning page. Typically 3000-4000 rpm works great. This improves motor spin-up-from-low-rpm behaviour, enhancing low throttle input responsiveness, and reduces the risk of desyncs, while allowing motor drive to go all the way to zero for enhanced braking when appropriate and for longer inverted hang times.

Linear and Dynamic mixer options – These are alternatives to the stock Betaflight mixer code. The dynamic option may result in less aggressive bump and landing responses for level mode or cinematic flights.

Feedforward in Level and Horizon Modes – Feedforward is now active in Horizon, Level, and Level Race modes, leading to quicker level mode angle changes, and making Horizon mode as responsive as Acro for flips and other fast moves. The amount of feedforward in these modes can be adjusted and saved in the profile, like for the other PID parameters.

Actual Rates is the new Betaflight default – Actual rates provide a simpler and more intuitive way to set your Rates, and are now the default. Default rates are less aggressive in the centre, but more progressive around mid-stick, than the previous defaults. Full-stick default max roll rate is the same as before. Betaflight rates are optional and can still be used. Take care when updating! If you copy and paste your old rates values, be sure to copy and paste the rates type also! Use this calculator to convert your old rates to Actual rates.

CrossfireV3 and Ghost RC link improvements – As well as support for the latest Crossfire, ELRS and Ghost protocols, the internal betaflight RC code now supports 12bit or higher RC data in a float data path, handles very low RC Links (down to 16hz) better than before, fully supports high speed links to 1000hz, and better attenuates feedforward glitches when the RC link returns after dropouts.

ELRS over SPI support for ELRS V2 on-board receivers. Many thanks to Phobos and the other ELRS devs for helping make this happen.

FrSky OSD fix – Asizon fixed it!

Lua script updates – we now have RSSI in your OSD via LUA, Slider control from the radio, and lots of other changes.

Changed CLI command names – many CLI parameters are re-named. As a result, a lot of copy and paste efforts will fail to make all the changes you intended. Using the CLI ‘get’ command now finds related values more easily. For example, get gyro_lp will find all gyro lowpass filter settings, get feed will find all feedforward values, etc.


🐝  Betaflight configurator 10.8.0


CLI Command Reference Betaflight

Click on a command to jump to the relevant documentation page.



Command Description
1wire <esc> passthrough 1wire to the specified esc
adjrange show/set adjustment ranges settings
aux show/set aux settings
mmix design custom motor mixer
smix design custom servo mixer
color configure colors
defaults reset to defaults and reboot
dump print configurable settings in a pastable form
feature list or -val or val
get get variable value
gpspassthrough passthrough gps to serial
led configure leds
map mapping of rc channel order
mixer mixer name or list
mode_color configure mode colors
motor get/set motor output value
play_sound index, or none for next
profile index (0 to 2)
rateprofile index (0 to 2)
rxrange configure rx channel ranges (end-points)
rxfail show/set rx failsafe settings
save save and reboot
serialpassthrough serial passthrough mode, reset board to exit
set name=value or blank or * for list
status show system status
version show version
serial configure serial ports
servo configure servos
sd_info sdcard info
tasks show task stats

Tuning Notes

Quick settings

These snippets are suggestions for how some of the less common settings might be adjusted to suit a certain type of flying. The defaults should be fine for fast freestyle and general racing requirements. I can’t say that they will be perfect on your quad, and they do not include PID tuning or filter values, but they might show the kind of ranges for some of these numbers.

ProRace (aggressive feed forward, requires a really clean RC signal or might jitter from RC steps and get hot motors)

set iterm_relax_cutoff = 30
set rc_smoothing_auto_smoothness = 5
set ff_interpolate_sp = ON
set ff_smooth_factor = 0
set ff_spike_limit = 60
set ff_boost = 20
set feedforward_transition = 0
set yaw_lowpass_hz = 100
set throttle_boost = 7
set throttle_boost_cutoff = 25
set dyn_lpf_dterm_curve_expo = 7
set gyro_rpm_notch_q = 600

(enable sag compensation, as high as suits you, and D expo also)

Race/Fast Freestyle (strong feed forward, tolerates a typical RC signal, very responsive)

set iterm_relax_cutoff = 20
set rc_smoothing_auto_smoothness = 7
set ff_interpolate_sp = AVERAGED_2
set ff_smooth_factor = 20
set ff_spike_limit = 70
set ff_boost = 15
set feedforward_transition = 0
set yaw_lowpass_hz = 100
set throttle_boost = 7
set throttle_boost_cutoff = 25
set dyn_lpf_dterm_curve_expo = 7
set gyro_rpm_notch_q = 700

HD (smoothed FF for HD cameras, strong low turn rate smoothness, low iterm relax to minimise bounce back)

set iterm_relax_cutoff = 10
set rc_smoothing_auto_smoothness = 20
set ff_interpolate_sp = AVERAGED_3
set ff_smooth_factor = 40
set ff_spike_limit = 55
set ff_boost = 0
set feedforward_transition = 40
set yaw_lowpass_hz = 70
set throttle_boost = 5
set throttle_boost_cutoff = 10
set dyn_lpf_dterm_curve_expo = 7
set gyro_rpm_notch_q = 800

Cinematic (For slow rate turns only, may feel a bit ‘dull’ otherwise)

set iterm_relax_cutoff = 5
set rc_smoothing_auto_smoothness = 40
set ff_interpolate_sp = AVERAGED_4
set ff_smooth_factor = 50
set ff_spike_limit = 50
set ff_boost = 0
set feedforward_transition = 70
set yaw_lowpass_hz = 50
set throttle_boost = 2
set throttle_boost_cutoff = 10
set dyn_lpf_dterm_curve_expo = 8
set gyro_rpm_notch_q = 900
set iterm_windup = 75

The following tuning suggestions may help minimise minor random wobbles in HD footage:

  • disable D_min,
  • set D about 20% above P, using the P:D ratio slider
  • set TPA to D only, to start at your cruising throttle value, and increase the cut percentage a little
  • set the D lowpass expo value as high as possible (you’ll be limited by mid-throttle D noise) (with the extra D, you may need more D filtering, e.g. 2 clicks left on the D filter slider)
  • use about 20% less P than your normal freestyle tune, just barely enough to provide basic P stability.
  • and about half the default I on pitch and roll
  • high FF transition eg 0.7
  • make sure the ADC is not ticked in the hardware settings of OpenTx
  • use Actual Rates with centre set to 10-50, expo to 0, and your usual max rate. Actual with zero expo gives a soft centre with quicker return to normal responsiveness out of centre. Transition and/or deadband may not be required when the centre sensitivity is very low.

For zero throttle instability

  • go back to 24kHZ PWM if you’ve set the ESc to 48kHz
  • raise DShot idle progressively until it becomes floaty, and tune dynamic idle appropriately
  • try thrust linear at 25
  • try disabling Dmin and slightly higher overall PIDs

Return to defaults (zero values mean ‘off’)

set iterm_relax_cutoff = 15
set rc_smoothing_auto_smoothness = 10
set ff_interpolate_sp = AVERAGED_2
set ff_smooth_factor = 37	
set ff_spike_limit = 60
set ff_boost = 15
set feedforward_transition = 0
set yaw_lowpass_hz = 0
set throttle_boost = 5
set throttle_boost_cutoff = 15
set dyn_lpf_dterm_curve_expo = 5
set gyro_rpm_notch_q = 500
set iterm_windup = 100

Description of arming prevention flags

What each flag means and what you should do to (probably) fix the issue.

This list should be kept up to date with the code in master (armingDisableFlags_e in src/main/fc/runtime_config.h) so can be used to find what flag corresponds to a certain index, however if you run an older version you’d have to check this manually as mentioned above.

Name Description Beep code Required Actions
NOGYRO A gyro was not detected 1 You may have a hardware failure, if a previous firmware version works then it may be a firmware issue.
FAILSAFE Failsafe is active 2 Rectify the failure condition and try again.
RXLOSS(1) No valid receiver signal is detected 3 Your receiver is either faulty or has no link to the transmitter.
BADRX(1) Your receiver has just recovered from receiver failsafe but the arm switch is on 4 Switch the arm switch off.
BOXFAILSAFE The ‘FAILSAFE’ switch was activated 5 See FAILSAFE
RUNAWAY Runway Takeoff Prevention has been triggered 6 Disarm to clear this condition.
CRASH Crash Recovery has been triggered 7 Disarm to clear this condition.
THROTTLE Throttle channel is too high 8 Lower throttle below min_check.
ANGLE Craft is not level (enough) 9 Level craft to within small_angle degrees (default 25).
BOOTGRACE Arming too soon after power on 10 Wait until pwr_on_arm_grace seconds (default 5) have elapsed.
NOPREARM Prearm switch is not activated or prearm has not been toggled after disarm 11 Toggle the prearm switch.
LOAD System load is too high for safe flight 12 Revisit configuration and disable features.
CALIB Sensor calibration is still ongoing 13 Wait for sensor calibration to complete.
CLI CLI is active 14 Exit the CLI.
CMS CMS (config menu) is Active – over OSD or other display 15 Exit the CMS (or OSD menu).
OSD OSD menu is active Exit OSD menu.
BST A Black Sheep Telemetry device (TBS Core Pro for example) disarmed and is preventing arming 16 Refer to the manual for your hardware.
MSP MSP connection is active, probably via Betaflight Configurator 17 Terminate the Betaflight Configurator connection (disconnect).
PARALYZE Paralyze mode has been activated 18 Power cycle/reset FC board.
GPS GPS rescue mode is configured but required number of satellites has not been fixed 19 Wait for GPS fix, enable arming without GPS fix, or disable GPS rescue mode.
RESCUE_SW GPS Rescue switch is in an unsafe position 20 Turn off the GPS Rescue switch to arm.
RPMFILTER(2) Motor RPM-based filtering is not functioning 21 One or more ESC’s are not supplying valid RPM telemetry.
REBOOT_REQD Reboot required 22 Reboot the flight controller for settings changes to take effect.
DSHOT_BBANG DSHOT Bitbang is not working 23 (3)
NO_ACC_CAL Accelerometer calibration required 24 Calibrate the accelerometer or disable features that use it
MOTOR_PROTO ESC/Motor Protocol not configured 25 Select the ESC/Motor protocol to use on the Configuration tab.
ARMSWITCH Arm switch is in an unsafe position 26 Toggle the arm switch to arm.

[FR] probleme installation BF

Si vous avez un problème comme : *Betafligh 1.7 * » est endommagé et ne peut être ouvert. Vous devriez éjecter l’image disque. »

Ouvrez Applications > Utilitaires > Terminal.

Entrez la commande suivante dans le terminal, suivi de votre mot de passe administrateur lorsque demandé :

sudo spctl –master-disable

Une fois l’installation terminée, retournez dans l’utilitaire Terminal et entrez la commande suivante, suivie de votre mot de passe administrateur lorsqu’il sera demandé :


sudo spctl –master-enable

Allez dans les Preferences Système. > Sécurité et Confidentialité de votre Mac. Cliquez sur le cadenas et entrez votre mot de passe administrateur. Choisissez N’importe où sous Autoriser les applications téléchargée.

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