Betaflight 4.4 → 4.5: CLI changes

Betaflight 4.5.5 against 4.4.3: 43 new settings, 6 removed, 3 renamed and 16 with a new range, value list or default. A diff all from 4.4 pasted into 4.5 fails on every removed or renamed name below.

Renamed

4.4	4.5	Note
`angle_level_strength`	`angle_p_gain`	Same setting (the level P gain, pid[PID_LEVEL].P), same range 0-200. source
`horizon_tilt_expert_mode`	`horizon_ignore_sticks`	The PR: horizon 'expert mode' re-named to horizon_ignore_sticks. source
`osd_gps_sats_show_hdop`	`osd_gps_sats_show_pdop`	4.5 shows PDOP instead of HDOP, so the value shown reads higher than in 4.4. source

A rename is listed only where the firmware's own change says the old and new name are the same setting. Every other name that disappeared is under “Removed”, even if a new one looks like its successor.

Gyro and D-term filters

New in 4.5

Setting	Type	Range or values	Default
`rpm_filter_weights`	uint8 global	3 comma-separated values, 0 to 255	depends on the build

PID tuning

New in 4.5

Setting	Type	Range or values	Default
`tpa_low_always`	uint8 PID profile	OFF, ON	`OFF`
`tpa_low_breakpoint`	uint16 PID profile	1000 to 2000	`1050`
`tpa_low_rate`	uint8 PID profile	0 to 100	`20`

Changed

Setting	4.4 → 4.5
`feedforward_max_rate_limit`	max 150 → 200
`tpa_breakpoint`	min 750 → 1000; max 2250 → 2000

Angle, horizon and launch modes

New in 4.5

Setting	Type	Range or values	Default
`angle_earth_ref`	uint8 PID profile	0 to 100	`100`
`angle_feedforward`	uint8 PID profile	0 to 200	`50`
`angle_feedforward_smoothing_ms`	uint8 PID profile	10 to 250	`80`
`angle_limit`	uint8 PID profile	10 to 85	`60`
`ez_landing_limit`	uint8 PID profile	0 to 75	`15`
`ez_landing_speed`	uint8 PID profile	0 to 250	`50`
`ez_landing_threshold`	uint8 PID profile	0 to 200	`25`
`horizon_delay_ms`	uint16 PID profile	10 to 5000	`500`
`horizon_limit_degrees`	uint8 PID profile	10 to 250	`135`
`horizon_limit_sticks`	uint8 PID profile	10 to 200	`set by the target`

Removed in 4.5

horizon_tilt_effect, horizon_transition, level_limit

Changed

Setting	4.4 → 4.5
`horizon_level_strength`	max 200 → 100; default 50 → 75

Rates and throttle curve

Removed in 4.5

pitch_level_expo, roll_level_expo

Motors and ESC

New in 4.5

Setting	Type	Range or values	Default
`dyn_idle_start_increase`	uint8 PID profile	10 to 255	depends on the build
`motor_kv`	uint16 global	1 to 40000	`1960`
`rpm_limit`	int8 global	OFF, ON	depends on the build
`rpm_limit_d`	uint16 global	0 to 100	depends on the build
`rpm_limit_i`	uint16 global	0 to 1000	depends on the build
`rpm_limit_p`	uint16 global	0 to 100	depends on the build
`rpm_limit_value`	uint16 global	1 to 65535	depends on the build

Changed

Setting	4.4 → 4.5
`mixer_type`	new values EZLANDING

Receiver and RC link

New in 4.5

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

Changed

Setting	4.4 → 4.5
`serialrx_provider`	new values NONE

Failsafe and arming

Changed

Setting	4.4 → 4.5
`failsafe_delay`	min 2 → 1
`failsafe_recovery_delay`	min 0 → 1

GPS

New in 4.5

Setting	Type	Range or values	Default
`gps_lap_timer_gate_lat`	int32 global	-900000000 to 900000000	depends on the build
`gps_lap_timer_gate_lon`	int32 global	-1800000000 to 1800000000	depends on the build
`gps_lap_timer_gate_tolerance_m`	uint8 global	1 to 100	depends on the build
`gps_lap_timer_min_lap_time_s`	uint16 global	0 to 3000	depends on the build
`gps_nmea_custom_commands`	uint8 global	text, 1 to 64 characters	`- (empty)`
`gps_ublox_acquire_model`	uint8 global	PORTABLE, STATIONARY, PEDESTRIAN, AUTOMOTIVE, AT_SEA, AIRBORNE_1G, AIRBORNE_2G, AIRBORNE_4G	`STATIONARY`
`gps_ublox_flight_model`	uint8 global	PORTABLE, STATIONARY, PEDESTRIAN, AUTOMOTIVE, AT_SEA, AIRBORNE_1G, AIRBORNE_2G, AIRBORNE_4G	`AIRBORNE_4G`
`gps_ublox_utc_standard`	uint8 global	AUTO, USNO, EU, SU, NTSC	`AUTO`
`gps_update_rate_hz`	uint8 global	1 to 20	`10`

Removed in 4.5

gps_ublox_mode

GPS rescue

New in 4.5

Setting	Type	Range or values	Default
`gps_rescue_imu_yaw_gain`	uint8 global	5 to 20	`10`

Changed

Setting	4.4 → 4.5
`gps_rescue_initial_climb`	type uint8 → uint16
`gps_rescue_max_angle`	min 0 → 30; max 80 → 60
`gps_rescue_return_alt`	type uint8 → uint16; min 2 → 5; max 255 → 1000

OSD

New in 4.5

Setting	Type	Range or values	Default
`osd_show_spec_prearm`	uint8 global	OFF, ON	`set by the target`
`osd_use_quick_menu`	uint8 global	OFF, ON	`ON`

Changed

Setting	4.4 → 4.5
`displayport_msp_fonts`	default 0,0,0,0 → 0,1,2,3
`osd_stat_bitmask`	default 14124 → 1879062316

OSD element positions

New in 4.5

Setting	Type	Range or values	Default
`osd_gps_lap_best3_pos`	uint16 global	0 to 65535	depends on the build
`osd_gps_lap_curr_pos`	uint16 global	0 to 65535	depends on the build
`osd_gps_lap_prev_pos`	uint16 global	0 to 65535	depends on the build

Blackbox and debug

New in 4.5

Setting	Type	Range or values	Default
`blackbox_disable_gyrounfilt`	uint32 global	OFF, ON	`OFF`
`blackbox_disable_rpm`	uint32 global	OFF, ON	depends on the build

Changed

Setting	4.4 → 4.5
`debug_mode`	new values GPS_CONNECTION, GYRO_CALIBRATION, ANGLE_MODE, ANGLE_TARGET, CURRENT_ANGLE, RPM_LIMIT, RC_STATS, MAG_CALIB, MAG_TASK_RATE, EZLANDING

LED strip and beeper

New in 4.5

Setting	Type	Range or values	Default
`ledstrip_rainbow_delta`	uint16 global	0 to 359	`0`
`ledstrip_rainbow_freq`	uint16 global	1 to 2000	`120`

Sensors and board alignment

New in 4.5

Setting	Type	Range or values	Default
`mag_declination`	uint16 global	0 to 3599	`0`

Changed

Setting	4.4 → 4.5
`acc_hardware`	new values LSM6DSV16X, VIRTUAL; values dropped FAKE
`baro_hardware`	new values LPS22DF, VIRTUAL
`mag_hardware`	new values LIS2MDL, MPU925X_AK8963, IST8310; values dropped MAG_MPU925X_AK8963

System and hardware

New in 4.5

Setting	Type	Range or values	Default
`cpu_late_limit_permille`	uint8 global	0 to 100	depends on the build

Other releases: 4.5 → 2025.12 · 2025.12 → 2026.6 · all Betaflight settings by section. Sources: 4.4.3 settings.c, 4.5.5 settings.c.