2025.12.1

What's Changed

• Update sysid values by @ratheron in #1559
• Allow runtime switching to/from OOT controllers by @moisesmata in #1574
• Configurable Initial Yaw STD by @ArisMorgens in #1546
• Updated Color LED deck product links by @ArisMorgens in #1582
• Ekf python bindings mocap by @NageshEranki in #1568
• controller_brescianini: use omega_yaw_max in yaw heuristic by @SEOSUK in #1587
• increase syslink uart dma tx buffer size by @VoodooChild99 in #1586
• Increase worker task stack size by @gemenerik in #1589
• Active Marker deck: Read version string in test function instead of init by @gemenerik in #1592

New Contributors

• @moisesmata made their first contribution in #1574
• @NageshEranki made their first contribution in #1568
• @VoodooChild99 made their first contribution in #1586

Full Changelog: 2025.12...2025.12.1

2025.12.1-rc1

Merge pull request #1592 from bitcraze/rik/amd_i2c

Active Marker deck: Read version string in test function instead of init

2025.12

What's Changed

• Arming and Idle Thrust updates by @ArisMorgens in #1535
• Kalman: Fix persistent parameters being overwritten at init by @gemenerik in #1548
• Fixed CFBL mass configuration by @ArisMorgens in #1547
• Add battery compensation and thrust curves for brushless by @Rather1337 in #1526
• Implements powerDistributionForce for force control mode by @FinlaySanders in #1543
• Add Color LED Deck Driver with Generic LED Controller Infrastructure by @gemenerik in #1545
• Add dependency for Color LED deck on DECK_BACKEND_DECKCTRL by @gemenerik in #1552
• Fixed the color deck product link by @ArisMorgens in #1551
• Tidied up the I2C address list by @tobbeanton in #1554
• I2C DFU access to Color deck MCU by @evoggy in #1558
• Enable deck firmware flashing when deck tests fail by @gemenerik in #1562
• Add simultaneous top and bottom Color LED deck support by @gemenerik in #1561
• Fix VL53L1 I2C address allocation for Flow+Multi-ranger compatibility by @gemenerik in #1565
• Handle eeprom with no i2c answer and kvd header error. by @tobbeanton in #1566
• Implement flashing of DeckCtrl MCU by @evoggy in #1567
• Add DeckCtrl memory access and serial number by @evoggy in #1569
• Move worker to its own task by @evoggy in #1571
• Programmatically-readable color led deck self-test results, add I2C address pin test by @gemenerik in #1572
• build: remove duplicate collision_avoidance.o entry by @SEOSUK in #1570
• Add production date for DeckCtrl by @evoggy in #1573
• Accept DeckCtrl decks under production by @evoggy in #1577
• Add dependency for ACCEPT_DECKCTRL_DECKS_UNDER_PRODUCTION on deckctrl backend by @gemenerik in #1578
• Enable OOT estimator in menuconfig by @ArisMorgens in #1579
• Replace luminance-based LED scaling with perceptual balance factors by @gemenerik in #1576
• Color LED effects app by @ArisMorgens in #1580

New Contributors

• @FinlaySanders made their first contribution in #1543
• @SEOSUK made their first contribution in #1570

Full Changelog: 2025.09.1...2025.12

2025.12-rc1

Merge pull request #1580 from bitcraze/Aris/color_LED_effects_app

Color LED effects app

2025.09.1

What's Changed

• Crash handling documentation and small supervisor documentation updates by @enyanil in #1530
• Fix USD deck graceful shutdown file corruption by @gemenerik in #1534
• Fixed quaternion estimate in kalmanCoreUpdateWithPose by @jglane in #1531
• Updated building and flashing instrcutions by @ArisMorgens in #1529
• Implement deckctrl discovery backend by @ataffanel in #1533
• Update debugging documentation with J-Link support and debug builds by @gemenerik in #1536
• Updated the app layer documentation to include macOS GNU error fix by @enyanil in #1537
• Disable UART2 DMA when using DSHOT to avoid DMA conflict by @gemenerik in #1538
• Updated deckctl_protocol doc to fit the website format by @ArisMorgens in #1541

New Contributors

• @enyanil made their first contribution in #1530

Full Changelog: 2025.09...2025.09.1

2025.09

What's Changed

• Fix i2c address collisions by @ToveRumar in #1458
• Add docs that you could disable the bat_compensation by @ToveRumar in #1462
• Add nix develop support by @ataffanel in #1450
• Updated Propeller Test in cfclient by @ArisMorgens in #1471
• Added new packet type to handle manual flight setpoints by @ArisMorgens in #1470
• Fixed enabling-the-BigQuad issues by @ArisMorgens in #1475
• Fix pitch rotation sign in accelerometer alignment by @gemenerik in #1478
• Update documentation/constants in motors.h by @jullanggit in #1480
• Make number of loco nodes configurable again, and overhaul Doxygen handling by @gemenerik in #1464
• Unblocking Doxygen build and enabling config generation in doc CI by @gemenerik in #1485
• Fix typos in app_api/README.md by @valeriyvan in #1488
• Fix typo in examples/app_appchannel_test/README.md by @valeriyvan in #1489
• Fix typo in examples/app_appchannel_test/src/appchannel_test.c by @valeriyvan in #1490
• add supervisor infoBitFields for high level controller by @dcconner in #1487
• New method for battery compensation by @Rather1337 in #1465
• The max size of the data in crtp is 30 not 31. by @ToveRumar in #1460
• Fix typo in src/utils/src/kve/kve.c by @valeriyvan in #1493
• Fix typo in log mesages by @valeriyvan in #1495
• Added support for fully-relative trajectories by @johnnwallace in #1377
• Fix typo in var lenghtToCopy -> lengthToCopy by @valeriyvan in #1496
• Fix typo in define MESSAGE_LENGHT -> MESSAGE_LENGTH by @valeriyvan in #1498
• Add general purpose mode to kbuild for the kalman estimator by @krichardsson in #1484
• Fix typo by @valeriyvan in #1502
• Fixes missing restart of lower prio LED sequence at stop by @krichardsson in #1500
• Enable kalman estimator attitude reversion based on deck requirements by @krichardsson in #1483
• Add basic user notification as a platform service by @krichardsson in #1499
• Fix typo in file header by @valeriyvan in #1504
• Fix typo in log message in test by @valeriyvan in #1509
• Fix DEBUG_DECK_IGNORE_OWS spelling by @evoggy in #1511
• Fix asserts in test by @valeriyvan in #1510
• Add streaming service for matched LH samples by @krichardsson in #1491
• Fix Doxygen parameter docs by @gemenerik in #1514
• CF_MASS update depending on the Battery compensation method by @ArisMorgens in #1515
• Flapper Roll bias fix by @sstroobants in #1518
• Implement generic deck discovery backend system by @gemenerik in #1519
• Further generalize deck backend architecture by @gemenerik in #1522
• Update brushless thrust coefficients by @jglane in #1521
• Fix broken config merge by @gemenerik in #1525
• Clean up defconfig architecture by @gemenerik in #1527

New Contributors

• @ArisMorgens made their first contribution in #1471
• @jullanggit made their first contribution in #1480
• @dcconner made their first contribution in #1487
• @Rather1337 made their first contribution in #1465
• @johnnwallace made their first contribution in #1377
• @sstroobants made their first contribution in #1518
• @jglane made their first contribution in #1521

Full Changelog: 2025.02...2025.09

2025.09-rc1

Merge pull request #1527 from bitcraze/rik/clean_defconfigs

Clean up defconfig architecture

2025.02

What's Changed

• ESC configuration guide by @ToveRumar in #1436
• Fix esc configuration documentation by @gemenerik in #1437
• Added documentation for LED-ring with CF21-BL by @tobbeanton in #1440
• Automatically disarm after N seconds without flying by @gemenerik in #1441
• Update brushless platform defaults by @gemenerik in #1442
• Added ESC bootloader wakeup signal. by @tobbeanton in #1444
• Fixed cf21bl propeller test that asserted by @tobbeanton in #1452
• Add Lee Controller as option in Kconfig by @logdog in #1454
• Revert " #338: Fix yawrate sign in commander_generic packets" by @gemenerik in #1456

New Contributors

• @logdog made their first contribution in #1454

Deprecated

• parameter system.arm, removed after june 2024
• Config ESTIMATOR_KALMAN_TDOA_OUTLIERFILTER_FALLBACK, removed after September 2023
• function [bool outlierFilterTdoaValidateSteps()](https://github.com/bitcraze/crazyflie-
  firmware/blob/7d40b541108582d822b11fc0a5c194bf0fe07392/src/modules/interface/outlierfilter/outlierFilterTdoaSteps.h#L33), removed after September 2023
• parameter sys.canfly, removed after June 2024
• parameter sys.isFlying, removed after June 2024
• parameter sys.isTumbled, removed after June 2024
• parameter system.arm, removed after June 2024
• function appchannelHasOverflowOccured(), removed after August 2023
• parameter [deck.bcDWM1000](https://github.com/bitcraze/crazyflie firmware/blob/0f2f0f07d2c2463cb07e4b187f9a9a58b689d124/src/deck/drivers/src/locodeck.c#L603-L608), removed after August 2023
• parameter [commander.enHighLevel](https://github.com/bitcraze/crazyflie
• firmware/blob/0f2f0f07d2c2463cb07e4b187f9a9a58b689d124/src/modules/src/commander.c#L168-L174), removed after August 2023
• Function [appchannelSendPacket()](https://github.com/bitcraze/crazyflie
• firmware/blob/0f2f0f07d2c2463cb07e4b187f9a9a58b689d124/src/modules/interface/app_channel.h#L36-L52), removed after August 2023
• Function appchannelReceivePacket(), removed after August 2023
• Function sitAwTuDetected(), removed after August 2023
• CRTP message, Port=CRTP_PORT_SETPOINT_HL(8), command=COMMAND_TAKEOFF(1), removed after August 2023
• CRTP message, Port=CRTP_PORT_SETPOINT_HL(8), command=COMMAND_LAND(2), removed after August 2023
• Log group ext_pos, removed after August 2023
• Parameter lighthouse.bsAvailable, removed after August 2023

Full Changelog: 2024.10.2...2025.02

2024.10.2

What's Changed

• Add POC Rust Crazyflie app example by @ataffanel in #1429
• Remove the RPM test from the exp deck driver completely by @ToveRumar in #1433
• Fix stabilizer locked assert when passthrough interface is active by @tobbeanton in #1432

Full Changelog: 2024.10.1...2024.10.2

2024.10.1

What's Changed

• Disarming improvements by @gemenerik in #1426
• Expose production test rpm values as params by @ToveRumar in #1427

Full Changelog: 2024.10...2024.10.1