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danik released this
2026-07-03 19:14:18 +03:00 | 118 commits to master since this releaseReady-to-flash Betaflight-ADRC firmware for flight testing — no compiling needed.
How to flash: Betaflight Configurator → Firmware Flasher → Load Firmware [Local] → pick the
.hexfor your board → Flash Firmware (Full chip erase recommended on the first flash).Before the first flight: read the README — ADRC parameters go into the ordinary P/I/D cells of the PID Tuning tab (P = control bandwidth, I = observer bandwidth, D = system gain), and
set pid_at_min_throttle = offis strongly recommended. The tuning procedure and example tunes are in the README; what changed vs the original ADRC code is in ADRC_FIXES.md.Your board is not in the named list? Use the generic hex for your board's MCU — e.g.
STM32F7X2for any F722 board,STM32F405for F405 boards,STM32H743,AT32F435M/G, etc. (this is exactly how official Betaflight releases ship). On first connect the Configurator will offer to Apply custom defaults for your board — accept it. If you'd rather have a board-baked build, open an issue and we'll add it to the matrix, or build it yourself withmake <TARGET>.⚠️ Experimental flight-controller firmware, so far tested by a handful of pilots. Fly in an open area, keep props away from people, and please report results (good or bad) in issue #1.
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