ATBetaflight 4.3.2 Release Candidate 3

请仔细阅读这些重要的介绍性说明/Please read these important introductory notes carefully

1. 本发布基于betaflight 4.3.1，请暂时使用这个版本的betaflight配置程序来设置飞控参数，相关参数设置请参阅betaflight 4.3.1。/ This release is based on betaflight 4.3.1, please temporarily use this nightly betaflight configurator to configure settings, please refer to betaflight 4.3.1 for related parameter settings
2. 我们的固件仅可用于基于AT32F435/7芯片的飞控，请勿尝试在基于STM32芯片的飞控上烧写本固件。强行刷入所造成的任何后果均与FlightNG团队无关。/ Our firmware can only be used for flight controllers based on AT32F435/7 chips, please do not try to flash this firmware on flight controllers based on STM32 chips. Any consequences caused by forced flashing have nothing to do with the FlightNG team.
3. 核心团队目前正在主持一个QQ群用于固件讨论，欢迎加入：428787190

• betaflight_4.3.2_EMSRPROTO2_b8d31f4.hex: LQFP100 AT32F435/7 VMT7 target
• betaflight_4.3.2_NEUTRONRCF435SE_b8d31f4.hex: LQFP64 NEUTRONRCF435SE target
• betaflight_4.3.2_NEUTRONRCF435MINI_b8d31f4.hex: QFN48 NEUTRONRCF435MINI target

改进/Improvements

• 添加了对SH3001的支持 | Added support for SH3001 IMU
• 添加了BMI270的CRT功能 | Added CRT for BMI270 IMU
• 添加了对QMI8658的支持 | Added support for QMI8658 IMU
• 添加了对ASM330LHH的支持 | Added support for ASM330LHH IMU
• 对BMI270驱动进行了优化 | Optimized BMI270 driver
• 修改了默认的USBD描述字符串 | Changed default USBD string
• 关闭了所有LSM6Sxx和ASM330LHH中开启的HPM功能 | Disabled HPM on all LSM6Dxx IMUs and ASM330LHH IMU

错误修复/Fixes

• 按照博世API修复了BMI270驱动中的CAS补偿部分 | Fixed CAS compensation part of BMI270 driver according to Bosch API
• 修复了Dshot信标中的错误 | Fixed Dshot beacon

目标更新/Target Updates

• 向EMSRPROTO2添加了更多陀螺仪驱动 | Added more gyro drivers to EMSRPROTO2
• 向EMSRPROTO3添加了更多陀螺仪驱动 | Added more gyro drivers to EMSRPROTO3
• 修复了NEUTRONRCF435MINI目标的2号电机引脚的PWM输出相关问题 | Fixed PWM issue on MOTOR 2 of NEUTRONRCF435MINI target
• 向AT32F437开发板目标添加了ASM330LHH驱动 | Added ASM330LHH driver to AT32F437DEV target

贡献者/Contributors

@DusKing1 @shanggl @ctzsnooze

Full Changelog: v4.3.1-rc2...v4.3.2-rc3