naze32 wobbles violently with cleanflight firmware upgrade

accelerometer calibration is now required before arming is allowed if any feature is enabled that requires the accelerometer.

Manual configuration of the yaw spin threshold is still possible This new mode is the default for yaw spin threshold, since it provides a setting that is safe to use for most users.

the threshold for activation of the yaw spin recovery feature has had an automatic mode added - this mode sets the threshold to a value that is based on the currently configured maximum yaw rate, with a buffer added on top of it.

In particular, this means that with Dshot300 and bidirectional Dshot, the maximum PID loop speed is 4 kHz

when enabling bidirectional Dshot, the maximum possible PID loop speed for Dshot protocols will be reduced by half to accommodate for the time taken by the ESC to send the RPM data packet to the flight controller.

Arming will be disabled and a warning displayed in configurator until a motor output protocol has been selected But this also removed the limitation on the maximum possible PID loop speed imposed by the pre-selected legacy protocol (OneShot125) in earlier versions, resulting in the maximum possible PID loop speed for each MCU type being pre-selected. This means that the correct motor protocol has to be selected before the craft can be armed. after installing new firmware or resetting the configuration, the motor output protocol selected by default is now 'disabled'.Some defaults have been changed, and some parameters are used in different ways, so previous tuning settings will not work well with Cleanflight 4.2 please do not paste tuning configurations from previous versions of the firmware.This includes changes to go with Cleanflight 4.2 (installation instructions here) version 1.5.0 of the Cleanflight TX lua scripts will be released soon.if you are using the Blackbox Explorer, there will be an updated version 3.5.0 to go with Cleanflight 4.2 (installation instructions here).For this reason it is important that you update to the version 2.6.0 or newer of Cleanflight Configurator (installation instructions here) in order to get the latest version of your targets installed

The latest release of Cleanflight Configurator, 2.6.0, contains the changes necessary to support this. Cleanflight 4.2 brings some changes to how targets are downloaded and installed.Please use it with caution and report back any issues at.

It is intended for testing, and some things still need fixing and fine tuning.

Naze32 wobbles violently with cleanflight firmware upgrade