Betaflight 4.5 → 2025.12: CLI changes

Betaflight 2025.12.5 against 4.5.5: 136 new settings, 28 removed, 1 renamed and 20 with a new range, value list or default. A diff all from 4.5 pasted into 2025.12 fails on every removed or renamed name below.

Renamed

4.5	2025.12	Note
`dshot_idle_value`	`motor_idle`	DShot users set motor_idle to their old dshot_idle_value; minthrottle was removed in the same change. 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

Changed

Setting	4.5 → 2025.12
`dyn_notch_count`	max 5 → 7

PID tuning

New in 2025.12

Setting	Type	Range or values	Default
`chirp_amplitude_pitch`	uint16 PID profile	0 to 500	depends on the build
`chirp_amplitude_roll`	uint16 PID profile	0 to 500	depends on the build
`chirp_amplitude_yaw`	uint16 PID profile	0 to 500	depends on the build
`chirp_frequency_end_deci_hz`	uint16 PID profile	1 to 10000	depends on the build
`chirp_frequency_start_deci_hz`	uint16 PID profile	1 to 1000	depends on the build
`chirp_lag_freq_hz`	uint8 PID profile	0 to 255	depends on the build
`chirp_lead_freq_hz`	uint8 PID profile	0 to 255	depends on the build
`chirp_time_seconds`	uint8 PID profile	1 to 255	depends on the build
`d_max_pitch`	uint8 PID profile	0 to 250	`46`
`d_max_roll`	uint8 PID profile	0 to 250	`40`
`d_max_yaw`	uint8 PID profile	0 to 250	`0`
`feedforward_yaw_hold_gain`	uint8 PID profile	0 to 100	`15`
`feedforward_yaw_hold_time`	uint8 PID profile	10 to 250	`100`
`s_pitch`	uint8 PID profile	0 to 250	depends on the build
`s_roll`	uint8 PID profile	0 to 250	depends on the build
`s_yaw`	uint8 PID profile	0 to 250	depends on the build
`simplified_d_max_gain`	uint8 PID profile	0 to 200	`100`
`spa_pitch_center`	uint16 PID profile	0 to 65535	depends on the build
`spa_pitch_mode`	uint8 global	OFF, I_FREEZE, I, PID, PD_I_FREEZE	depends on the build
`spa_pitch_width`	uint16 PID profile	0 to 65535	depends on the build
`spa_roll_center`	uint16 PID profile	0 to 65535	depends on the build
`spa_roll_mode`	uint8 global	OFF, I_FREEZE, I, PID, PD_I_FREEZE	depends on the build
`spa_roll_width`	uint16 PID profile	0 to 65535	depends on the build
`spa_yaw_center`	uint16 PID profile	0 to 65535	depends on the build
`spa_yaw_mode`	uint8 global	OFF, I_FREEZE, I, PID, PD_I_FREEZE	depends on the build
`spa_yaw_width`	uint16 PID profile	0 to 65535	depends on the build
`tpa_curve_expo`	int8 PID profile	-100 to 100	depends on the build
`tpa_curve_pid_thr0`	uint16 PID profile	0 to 1000	depends on the build
`tpa_curve_pid_thr100`	uint16 PID profile	0 to 1000	depends on the build
`tpa_curve_stall_throttle`	uint8 PID profile	0 to 100	depends on the build
`tpa_curve_type`	uint8 PID profile	CLASSIC, HYPERBOLIC	depends on the build
`tpa_speed_adv_drag_k`	uint16 PID profile	1 to 65535	depends on the build
`tpa_speed_adv_mass`	uint16 PID profile	1 to 65535	depends on the build
`tpa_speed_adv_prop_pitch`	uint16 PID profile	0 to 65535	depends on the build
`tpa_speed_adv_thrust`	uint16 PID profile	1 to 65535	depends on the build
`tpa_speed_basic_delay`	uint16 PID profile	1 to 65535	depends on the build
`tpa_speed_basic_gravity`	uint16 PID profile	1 to 65535	depends on the build
`tpa_speed_max_voltage`	uint16 PID profile	0 to 65535	depends on the build
`tpa_speed_pitch_offset`	int16 PID profile	-32768 to 32767	depends on the build
`tpa_speed_type`	uint8 PID profile	BASIC, ADVANCED	depends on the build
`yaw_type`	uint8 global	RUDDER, DIFF_THRUST	depends on the build

Removed in 2025.12

d_min_pitch, d_min_roll, d_min_yaw, iterm_limit, simplified_dmax_gain

Changed

Setting	4.5 → 2025.12
`feedforward_averaging`	default OFF → 2_POINT
`feedforward_smooth_factor`	default 25 → 65
`iterm_windup`	min 30 → 20; default 85 → 80
`tpa_low_rate`	type uint8 → int8

Angle, horizon and launch modes

New in 2025.12

Setting	Type	Range or values	Default
`angle_pitch_offset`	int16 PID profile	-450 to 450	depends on the build
`landing_disarm_threshold`	uint8 PID profile	0 to 250	`0`

Changed

Setting	4.5 → 2025.12
`angle_limit`	max 85 → 80
`launch_control_mode`	default NORMAL → PITCHONLY

Rates and throttle curve

New in 2025.12

Setting	Type	Range or values	Default
`thr_hover`	uint8 rate profile	0 to 100	`50`

Motors and ESC

New in 2025.12

Setting	Type	Range or values	Default
`crashflip_auto_rearm`	int8 global	OFF, ON	`set by the target`
`crashflip_rate`	uint8 global	0 to 250	`set by the target`

Removed in 2025.12

crashflip_expo, dyn_idle_start_increase, min_throttle

Changed

Setting	4.5 → 2025.12
`dshot_edt`	new values FORCE

Servos and gimbal

New in 2025.12

Setting	Type	Range or values	Default
`gimbal_pitch_gain`	int8 global	-100 to 100	depends on the build
`gimbal_pitch_high_limit`	int8 global	-100 to 100	depends on the build
`gimbal_pitch_low_limit`	int8 global	-100 to 100	depends on the build
`gimbal_pitch_offset`	int8 global	-100 to 100	depends on the build
`gimbal_pitch_rc_high_gain`	int8 global	-100 to 100	depends on the build
`gimbal_pitch_rc_low_gain`	int8 global	-100 to 100	depends on the build
`gimbal_pitch_rc_thr_gain`	int8 global	-100 to 100	depends on the build
`gimbal_roll_gain`	int8 global	-100 to 100	depends on the build
`gimbal_roll_limit`	int8 global	-100 to 100	depends on the build
`gimbal_roll_offset`	int8 global	-100 to 100	depends on the build
`gimbal_roll_rc_gain`	int8 global	-100 to 100	depends on the build
`gimbal_sensitivity`	int8 global	-16 to 15	depends on the build
`gimbal_stabilisation`	int8 global	0 to 7	depends on the build
`gimbal_yaw_gain`	int8 global	-100 to 100	depends on the build
`gimbal_yaw_limit`	int8 global	-100 to 100	depends on the build
`gimbal_yaw_offset`	int8 global	-100 to 100	depends on the build
`gimbal_yaw_rc_gain`	int8 global	-100 to 100	depends on the build

Receiver and RC link

Removed in 2025.12

expresslrs_rate_index, expresslrs_switch_mode, rc_smoothing_feedforward_cutoff

Changed

Setting	4.5 → 2025.12
`serialrx_provider`	new values MAVLINK

Failsafe and arming

New in 2025.12

Setting	Type	Range or values	Default
`failsafe_landing_time`	uint8 global	0 to 250	`60`
`prearm_allow_rearm`	uint8 global	OFF, ON	`OFF`

Removed in 2025.12

failsafe_off_delay

GPS

Changed

Setting	4.5 → 2025.12
`gps_provider`	new values VIRTUAL

GPS rescue

Removed in 2025.12

gps_rescue_landing_alt, gps_rescue_throttle_d, gps_rescue_throttle_hover, gps_rescue_throttle_i, gps_rescue_throttle_max, gps_rescue_throttle_min, gps_rescue_throttle_p

Changed

Setting	4.5 → 2025.12
`gps_rescue_disarm_threshold`	default 20 → 30
`gps_rescue_velocity_d`	max 255 → 200
`gps_rescue_velocity_i`	max 255 → 200
`gps_rescue_velocity_p`	max 255 → 200
`gps_rescue_yaw_p`	max 255 → 200

Autopilot, position and altitude hold

New in 2025.12

Setting	Type	Range or values	Default
`alt_hold_climb_rate`	uint8 global	0 to 200	`50`
`alt_hold_deadband`	uint8 global	0 to 70	`20`
`ap_altitude_d`	uint8 global	0 to 200	`15`
`ap_altitude_f`	uint8 global	0 to 200	`15`
`ap_altitude_i`	uint8 global	0 to 200	`15`
`ap_altitude_p`	uint8 global	0 to 200	`15`
`ap_hover_throttle`	uint16 global	1100 to 1700	`1275`
`ap_landing_altitude_m`	uint8 global	0 to 200	`4`
`ap_max_angle`	uint8 global	10 to 70	`50`
`ap_position_a`	uint8 global	0 to 200	`30`
`ap_position_cutoff`	uint8 global	10 to 250	`80`
`ap_position_d`	uint8 global	0 to 200	`30`
`ap_position_i`	uint8 global	0 to 200	`30`
`ap_position_p`	uint8 global	0 to 200	`30`
`ap_throttle_max`	uint16 global	1400 to 2000	`1700`
`ap_throttle_min`	uint16 global	1050 to 1400	`1100`
`pos_hold_deadband`	uint8 global	0 to 50	`5`
`pos_hold_without_mag`	uint8 global	OFF, ON	`OFF`

OSD

New in 2025.12

Setting	Type	Range or values	Default
`osd_arming_logo`	uint8 global	0 to 3	`0`

OSD element positions

New in 2025.12

Setting	Type	Range or values	Default
`osd_debug2_pos`	uint16 global	0 to 65535	`set by the target`
`osd_lidar_dist_pos`	uint16 global	0 to 65535	`set by the target`

Blackbox and debug

New in 2025.12

Setting	Type	Range or values	Default
`blackbox_disable_attitude`	uint32 global	OFF, ON	`OFF`
`blackbox_disable_servos`	uint32 global	OFF, ON	`OFF`

Changed

Setting	4.5 → 2025.12
`blackbox_device`	new values VIRTUAL
`debug_mode`	new values MULTI_GYRO_RAW, MULTI_GYRO_DIFF, OPTICALFLOW, D_MAX, MULTI_GYRO_SCALED, AUTOPILOT_ALTITUDE, TPA, S_TERM, SPA, TASK, GIMBAL, WING_SETPOINT, AUTOPILOT_POSITION, CHIRP, FLASH_TEST_PRBS, MAVLINK_TELEMETRY; values dropped GYRO_SCALED, DUAL_GYRO_RAW, DUAL_GYRO_DIFF, D_MIN, DUAL_GYRO_SCALED, GPS_RESCUE_THROTTLE_PID

Telemetry and serial

New in 2025.12

Setting	Type	Range or values	Default
`mavlink_ext_status_rate`	uint8 global	0 to 50	`2`
`mavlink_extra1_rate`	uint8 global	0 to 50	`2`
`mavlink_extra2_rate`	uint8 global	0 to 50	`2`
`mavlink_extra3_rate`	uint8 global	0 to 50	`1`
`mavlink_min_txbuff`	uint8 global	1 to 100	`35`
`mavlink_pos_rate`	uint8 global	0 to 50	`2`
`mavlink_rc_chan_rate`	uint8 global	0 to 50	`1`

Sensors and board alignment

New in 2025.12

Setting	Type	Range or values	Default
`gyro_1_enabled`	uint8 global	OFF, ON	depends on the build
`gyro_2_enabled`	uint8 global	OFF, ON	depends on the build
`gyro_3_bustype`	uint8 global	NONE, I2C, SPI, SLAVE	depends on the build
`gyro_3_enabled`	uint8 global	OFF, ON	depends on the build
`gyro_3_i2cBus`	uint8 global	0 to 0 / I2CDEV_COUNT	depends on the build
`gyro_3_i2c_address`	uint8 global	0 to 119	depends on the build
`gyro_3_spibus`	uint8 global	0 to 0 / SPIDEV_COUNT	depends on the build
`gyro_4_bustype`	uint8 global	NONE, I2C, SPI, SLAVE	depends on the build
`gyro_4_enabled`	uint8 global	OFF, ON	depends on the build
`gyro_4_i2cBus`	uint8 global	0 to 0 / I2CDEV_COUNT	depends on the build
`gyro_4_i2c_address`	uint8 global	0 to 119	depends on the build
`gyro_4_spibus`	uint8 global	0 to 0 / SPIDEV_COUNT	depends on the build
`gyro_5_bustype`	uint8 global	NONE, I2C, SPI, SLAVE	depends on the build
`gyro_5_enabled`	uint8 global	OFF, ON	depends on the build
`gyro_5_i2cBus`	uint8 global	0 to 0 / I2CDEV_COUNT	depends on the build
`gyro_5_i2c_address`	uint8 global	0 to 119	depends on the build
`gyro_5_spibus`	uint8 global	0 to 0 / SPIDEV_COUNT	depends on the build
`gyro_6_bustype`	uint8 global	NONE, I2C, SPI, SLAVE	depends on the build
`gyro_6_enabled`	uint8 global	OFF, ON	depends on the build
`gyro_6_i2cBus`	uint8 global	0 to 0 / I2CDEV_COUNT	depends on the build
`gyro_6_i2c_address`	uint8 global	0 to 119	depends on the build
`gyro_6_spibus`	uint8 global	0 to 0 / SPIDEV_COUNT	depends on the build
`gyro_7_bustype`	uint8 global	NONE, I2C, SPI, SLAVE	depends on the build
`gyro_7_enabled`	uint8 global	OFF, ON	depends on the build
`gyro_7_i2cBus`	uint8 global	0 to 0 / I2CDEV_COUNT	depends on the build
`gyro_7_i2c_address`	uint8 global	0 to 119	depends on the build
`gyro_7_spibus`	uint8 global	0 to 0 / SPIDEV_COUNT	depends on the build
`gyro_8_bustype`	uint8 global	NONE, I2C, SPI, SLAVE	depends on the build
`gyro_8_enabled`	uint8 global	OFF, ON	depends on the build
`gyro_8_i2cBus`	uint8 global	0 to 0 / I2CDEV_COUNT	depends on the build
`gyro_8_i2c_address`	uint8 global	0 to 119	depends on the build
`gyro_8_spibus`	uint8 global	0 to 0 / SPIDEV_COUNT	depends on the build
`gyro_enabled_bitmask`	uint8 global	0 to 0 / (1 << GYRO_COUNT) - 1	depends on the build
`opticalflow_flip_x`	uint8 global	OFF, ON	depends on the build
`opticalflow_hardware`	uint8 global	NONE, MT	depends on the build
`opticalflow_lpf`	uint16 global	0 to 10000	depends on the build
`opticalflow_rotation`	int16 global	0 to 359	depends on the build

Removed in 2025.12

gyro_1_align_pitch, gyro_1_align_roll, gyro_1_align_yaw, gyro_1_sensor_align, gyro_2_align_pitch, gyro_2_align_roll, gyro_2_align_yaw, gyro_2_sensor_align, gyro_to_use

Changed

Setting	4.5 → 2025.12
`acc_hardware`	new values IIM42653, ICM45605, ICM45686, ICM40609D, IIM42652; values dropped ADXL345, MMA8452, BMA280, LSM303DLHC
`mag_declination`	type uint16 → int16; min 0 → -300; max 3599 → 300
`rangefinder_hardware`	new values MTF01, MTF02, MTF01P, MTF02P, TFNOVA

System and hardware

New in 2025.12

Setting	Type	Range or values	Default
`i2c0_clockspeed_khz`	uint16 global	100 to 1300	depends on the build
`i2c0_pullup`	uint8 global	OFF, ON	depends on the build
`scheduler_debug_task`	uint16 global	0 to 0 / TASK_COUNT	`0`
`stats_save_move_limit`	uint8 global	0 to 255	`20`

Other releases: 4.4 → 4.5 · 2025.12 → 2026.6 · all Betaflight settings by section. Sources: 4.5.5 settings.c, 2025.12.5 settings.c.