madflight v1.3.0

Examples

• Modify: Declutter examples
• Modify: Place madflight library config in madflight_config.h, keep only vehicle configuration in .ino
• Modify: Move madflight library initialization from .ino to madflight.h
• Modify: Move global vars from .ino to madflight library modules
• Remove: PID-Tune example

Madflight Library

• Add: Interactive radio calibration (rcin, cli)
• Add: BMP390 and BMP388 barometers (baro)
• Add: Logging queue now keeps some spots free for important messages (bb)
• Add: Improved IMU statistics (imu, cli)
• Add: New module for motor and servo output (out)
• Modify: Blackbox task now runs with same priority as loop(), was higher priority (out)
• Modify: Parameters/config names are now uppercase (cfg)
• Modify: Move radio normalization to RCIN module (rcin)

Madflight library components work with all platforms, with the following exceptions:

Component	Exception
BB_USE_SD	Not for STM32 (not implemented yet)
BB_USE_SDMMC	Only for ESP32-S3 (has hardware MMC interface)
CLI ps	Not for ESP32-S3/ESP32 (because FreeRTOS TRACE not enabled in arduino-ESP32, and enabling it is not trivial)

madflight v1.2.2

Quadcopter Advanced Example

• Add: Yaw position hold controller
• Remove: control_Angle2()

Madflight Library

• Fix: pins for SPI MOSI/MISO were swapped (RP2350/RP2040)
• Fix: GPS pins (RP2350/RP2040)
• Fix: keep LED ON during setup()
• Add: FreeRTOS
• Add: CLI ps command to show running tasks
• Add: buffered high speed SDCARD logging (using FreeRTOS Task & Queue)
• Remove: logging to flash/RAM
• Refactor: pin mapping

Madflight library components work with all platforms, with the following exceptions:

Component	Exception
BB_USE_SD	Not for STM32 (not implemented yet)
BB_USE_SDMMC	Only for ESP32-S3 (has hardware MMC interface)
CLI ps	Not for ESP32-S3/ESP32 (because FreeRTOS TRACE not enabled in arduino-ESP32)

madflight v1.2.1

• Add ArduPilot Binary Logs. These logs can be read by third party log analyzers, see here
• Add logging to SDCARD

madflight v1.2.0

• Add support for RP2350, thanks to arduino-pico v4
• Add airplane example
• Add AHRS module
• Add VQF sensor fusion
• Add raw sensor data to MPU driver

madflight v1.1.4

v1.1.4

madflight v1.1.3

Add support for Arduino-ESP v3.x.x (new major release)

madflight v1.1.2

Improved RP2040 support

• IMU loop now executes on the second core, freeing up the first core for USB and CLI
• Custom Serial driver with buffered TX and RX

madflight v1.1.1

Changes

• Pinout can be changed in the main .ino file (no need to edit header files)
• IMU update now interrupt driven only (removed polling option)
• IMU interrupt code moved to imu.h
• Reduce number of global variables

madflight v1.0.3

Add ESP32-S3

madflight v1.0.2

Create madflight Arduino library