Betaflight 2025.12 → 2026.6: CLI changes

Betaflight 2026.6.2 against 2025.12.5: 73 new settings, 15 removed, 0 renamed and 23 with a new range, value list or default. A diff all from 2025.12 pasted into 2026.6 fails on every removed or renamed name below.

PID tuning

Removed in 2026.6

abs_control_cutoff, abs_control_error_limit, abs_control_gain, abs_control_limit, transient_throttle_limit

Changed

Setting	2025.12 → 2026.6
`d_max_advance`	default 20 → 35
`d_max_gain`	default 37 → 0

Motors and ESC

Changed

Setting	2025.12 → 2026.6
`motor_pwm_protocol`	new values DRONECAN

GPS

New in 2026.6

Setting	Type	Range or values	Default
`gps_ublox_enable_ana`	uint8 global	OFF, ON	`OFF`

GPS rescue

Removed in 2026.6

gps_rescue_disarm_threshold, gps_rescue_imu_yaw_gain, gps_rescue_max_angle, gps_rescue_pitch_cutoff, gps_rescue_roll_mix, gps_rescue_use_mag, gps_rescue_velocity_d, gps_rescue_velocity_i, gps_rescue_velocity_p

Changed

Setting	2025.12 → 2026.6
`gps_rescue_descent_dist`	min 10 → 5
`gps_rescue_min_start_dist`	min 10 → 5

Autopilot, position and altitude hold

New in 2026.6

Setting	Type	Range or values	Default
`ap_geofence_action`	uint8 global	LAND, RTH	`LAND`
`ap_hold_figure8_width`	uint16 global	500 to 10000	`2000`
`ap_hold_orbit_radius`	uint16 global	300 to 5000	`1000`
`ap_l1_enable`	uint8 global	OFF, ON	`ON`
`ap_l1_max_cross_track_error`	uint16 global	1000 to 50000	`10000`
`ap_l1_max_lookahead`	uint16 global	1000 to 50000	`10000`
`ap_l1_min_lookahead`	uint16 global	100 to 5000	`1000`
`ap_l1_period`	uint16 global	5 to 100	`20`
`ap_l1_turn_rate`	uint8 global	0 to 90	`8`
`ap_landing_descent_rate`	uint8 global	10 to 200	`50`
`ap_landing_detection_time`	uint8 global	5 to 50	`10`
`ap_landing_spiral_enable`	uint8 global	OFF, ON	`ON`
`ap_landing_spiral_radius`	uint16 global	50 to 2000	`200`
`ap_landing_spiral_rate`	uint8 global	1 to 45	`10`
`ap_landing_throttle_threshold`	uint16 global	10 to 500	`100`
`ap_landing_velocity_threshold`	uint8 global	10 to 200	`50`
`ap_max_distance_from_home`	uint16 global	0 to 10000	`0`
`ap_max_turn_rate`	uint8 global	1 to 90	`3`
`ap_max_velocity`	uint16 global	100 to 5000	`500`
`ap_max_yaw_rate`	uint16 global	10 to 360	`30`
`ap_min_forward_velocity`	uint16 global	10 to 500	`300`
`ap_min_nav_altitude_m`	uint8 global	0 to 50	`5`
`ap_nav_accel`	uint16 global	20 to 1000	`250`
`ap_nav_carrot_lead_max`	uint16 global	600 to 6000	`2500`
`ap_nav_carrot_lead_time`	uint8 global	2 to 40	`12`
`ap_nav_corner_delta_v`	uint16 global	100 to 4000	`440`
`ap_nav_corner_speed`	uint16 global	50 to 2000	`220`
`ap_nav_decel`	uint16 global	20 to 1000	`250`
`ap_nav_preturn_dist`	uint16 global	500 to 5000	`1500`
`ap_position_f`	uint8 global	0 to 200	`30`
`ap_rx_loss_policy`	uint8 global	DISABLE, CONTINUE, LAND	`DISABLE`
`ap_stick_deadband`	uint16 global	0 to 500	`50`
`ap_stop_threshold`	uint8 global	0 to 100	`10`
`ap_throttle_deadband`	uint16 global	0 to 500	`50`
`ap_velocity_buildup_max_pitch`	uint8 global	0 to 20	`8`
`ap_velocity_drag_coeff`	uint8 global	0 to 100	`50`
`ap_waypoint_arrival_radius`	uint16 global	100 to 5000	`500`
`ap_waypoint_hold_radius`	uint16 global	50 to 1000	`200`
`ap_yaw_d`	uint16 global	0 to 200	`10`
`ap_yaw_mode`	uint8 global	VELOCITY, BEARING, HYBRID, FIXED, DAMPENER	`VELOCITY`
`ap_yaw_p`	uint16 global	0 to 500	`50`
`poshold_opticalflow_max_range`	uint16 global	50 to 1000	`400`
`poshold_opticalflow_quality_min`	uint8 global	0 to 100	`30`
`poshold_position_source`	uint8 global	AUTO, GPS_ONLY, OPTICALFLOW_ONLY	`AUTO`
`rangefinder_max_range_cm`	uint16 global	50 to 1000	`400`

Removed in 2026.6

pos_hold_without_mag

Changed

Setting	2025.12 → 2026.6
`altitude_d_lpf`	max 1000 → 5000; default 100 → 300
`altitude_lpf`	max 1000 → 5000
`altitude_source`	new values RANGEFINDER_PREFER, RANGEFINDER_ONLY
`ap_altitude_d`	default 15 → 30
`ap_altitude_f`	default 15 → 30
`ap_altitude_i`	default 15 → 30
`ap_altitude_p`	default 15 → 30
`ap_hover_throttle`	min 1100 → 0
`ap_position_cutoff`	max 250 → 50; default 80 → 30
`ap_throttle_max`	default 1700 → 1900

Battery and current sensor

New in 2026.6

Setting	Type	Range or values	Default
`battery_profile_name`	uint8 battery profile	text, 1 to 8 characters	`- (empty)`

OSD

New in 2026.6

Setting	Type	Range or values	Default
`osd_custom_serial_text_terminator`	uint8 global	NULL, LF	`LF`
`osd_nav_map_centre`	uint8 global	0 to 1	`0`
`osd_nav_map_min_scale_m`	uint16 global	20 to 5000	`150`
`osd_nav_map_mode`	uint8 global	0 to 1	`0`

Changed

Setting	2025.12 → 2026.6
`osd_displayport_device`	new values FBOSD

OSD element positions

New in 2026.6

Setting	Type	Range or values	Default
`osd_battery_profile_name_pos`	uint16 global	0 to 65535	`set by the target`
`osd_custom_serial_text_pos`	uint16 global	0 to 65535	`set by the target`
`osd_nav_map_pos`	uint16 global	0 to 65535	`set by the target`
`osd_pos_hold_ready_pos`	uint16 global	0 to 65535	`set by the target`
`osd_wp_current_alt_pos`	uint16 global	0 to 65535	`set by the target`
`osd_wp_current_lat_pos`	uint16 global	0 to 65535	`set by the target`
`osd_wp_current_lon_pos`	uint16 global	0 to 65535	`set by the target`
`osd_wp_direction_pos`	uint16 global	0 to 65535	`set by the target`
`osd_wp_distance_pos`	uint16 global	0 to 65535	`set by the target`
`osd_wp_eta_pos`	uint16 global	0 to 65535	`set by the target`
`osd_wp_next_number_pos`	uint16 global	0 to 65535	`set by the target`
`osd_wp_number_pos`	uint16 global	0 to 65535	`set by the target`

Blackbox and debug

Changed

Setting	2025.12 → 2026.6
`debug_mode`	new values AUTOPILOT_PID, AUTOPILOT_STOP; values dropped AUTOPILOT_POSITION

Telemetry and serial

New in 2026.6

Setting	Type	Range or values	Default
`crsf_tlm_accgyro`	uint8 global	OFF, ON	`OFF`

LED strip and beeper

Changed

Setting	2025.12 → 2026.6
`ledstrip_visual_beeper`	default OFF → ON

Sensors and board alignment

New in 2026.6

Setting	Type	Range or values	Default
`trust_mag`	uint8 global	OFF, ON	`OFF`

Changed

Setting	2025.12 → 2026.6
`acc_hardware`	new values LSM6DSK320X, ICM42622P, ICM42686P, ICM56686
`baro_hardware`	new values BMP580, BMP581, SPA06_003
`mag_hardware`	new values QMC5883L, MMC560X, QMC5883P; values dropped QMC5883
`opticalflow_hardware`	new values UPT1
`rangefinder_hardware`	new values NOOPLOOP_F2, NOOPLOOP_F2P, NOOPLOOP_F2PH, NOOPLOOP_F, NOOPLOOP_FP, NOOPLOOP_F2MINI, UPT1

System and hardware

New in 2026.6

Setting	Type	Range or values	Default
`can_bitrate_khz`	uint16 global	125 to 1000	depends on the build
`dronecan_device`	uint8 global	1 to 3	depends on the build
`dronecan_dna_enabled`	uint8 global	OFF, ON	depends on the build
`dronecan_enabled`	uint8 global	OFF, ON	depends on the build
`dronecan_esc_rate_hz`	uint16 global	50 to 500	depends on the build
`dronecan_node_id`	uint8 global	0 to 127	depends on the build
`transponder_data`	uint8 global	9 comma-separated values, 0 to 255	`18,52,86,120,154,188,0,0,0`
`transponder_provider`	uint8 global	NONE, ILAP, ARCITIMER, ERLT	`ILAP`

Other releases: 4.4 → 4.5 · 4.5 → 2025.12 · all Betaflight settings by section. Sources: 2025.12.5 settings.c, 2026.6.2 settings.c.