myBF 3.61 with Custom features (based on 3.4.0 development)

I made some customisation in the code, and for better debug also changed the flight mode name to display each phase of the rescue mode, so I can look at OSD what is the current working phase and check heading and altitude and picture.

It helps a lot for understanding and tuning it.

On the lower right above coordinates is the flight mode.
During manual or when I quickly turn off GPS rescue to not let it “land’ by itself you can see AIR text.

Instead of RESC you will se the following flight mode short names:

IDLE: “REID”
INITIALIZE: “REIT”
ATTAIN_ALT: “REAA”
CROSSTRACK: “RECT”
APPROACH: “RELA”
LANDING: “RELD”
COMPLETE: “RECP”
ABORT: “REAB”

The visual beeper blinks the calculater altitudes for AA (attaining altitude phase) and CT (crosstrack) phases.

Some extra features to list:

Enabling GPS rescue for F3 FC (ex.:SPRACINGF3 target) by disabling some functionality
adding NMEA fix for GSP, supports now GNGGA GNRMC and GPGGA and GPRMC too
adding 3.5.1 major bugfixes
calculating different safe crosstrack and attain altitude alts
not climbing to max ever altitude during this flight
having a fixed altitude max if above 200meters
does not failsafe and disarm if switching to rescue mode to close to home
OSD:visual beeper showing calculated altitued for stages
OSD:custom flight mode names for rescue phases

Here comes original BF readme:

Betaflight

Betaflight is flight controller software (firmware) used to fly multi-rotor craft and fixed wing craft.

This fork differs from Baseflight and Cleanflight in that it focuses on flight performance, leading-edge feature additions, and wide target support.

Events

Date	Event
22 July 2018	Start of feature freeze / Release Candidate window for Betaflight 3.5
05 August 2018	Planned release date for Betaflight 3.5
01 January 2019	Planned release date for Betaflight 4.0

Features

Betaflight has the following features:

Multi-color RGB LED strip support (each LED can be a different color using variable length WS2811 Addressable RGB strips - use for Orientation Indicators, Low Battery Warning, Flight Mode Status, Initialization Troubleshooting, etc)
DShot (150, 300, 600 and 1200), Multishot, and Oneshot (125 and 42) motor protocol support
Blackbox flight recorder logging (to onboard flash or external microSD card where equipped)
Support for targets that use the STM32 F7, F4, F3 and F1 processors
PWM, PPM, and Serial (SBus, SumH, SumD, Spektrum 1024/2048, XBus, etc) RX connection with failsafe detection
Multiple telemetry protocols (CSRF, FrSky, HoTT smart-port, MSP, etc)
RSSI via ADC - Uses ADC to read PWM RSSI signals, tested with FrSky D4R-II, X8R, X4R-SB, & XSR
OSD support & configuration without needing third-party OSD software/firmware/comm devices
OLED Displays - Display information on: Battery voltage/current/mAh, profile, rate profile, mode, version, sensors, etc
In-flight manual PID tuning and rate adjustment
Rate profiles and in-flight selection of them
Configurable serial ports for Serial RX, Telemetry, ESC telemetry, MSP, GPS, OSD, Sonar, etc - Use most devices on any port, softserial included
VTX support for Unify Pro and IRC Tramp
and MUCH, MUCH more.

Installation & Documentation

See: https://github.com/betaflight/betaflight/wiki

IRC Support and Developers Channel

There’s a dedicated Slack chat channel here:

https://slack.betaflight.com/

Etiquette: Don’t ask to ask and please wait around long enough for a reply - sometimes people are out flying, asleep or at work and can’t answer immediately.

Configuration Tool

To configure Betaflight you should use the Betaflight-configurator GUI tool (Windows/OSX/Linux) that can be found here:

https://chrome.google.com/webstore/detail/betaflight-configurator/kdaghagfopacdngbohiknlhcocjccjao

The source for it is here:

https://github.com/betaflight/betaflight-configurator

Contributing

Contributions are welcome and encouraged. You can contribute in many ways:

Documentation updates and corrections.
How-To guides - received help? Help others!
Bug reporting & fixes.
New feature ideas & suggestions.

The best place to start is the IRC channel on gitter (see above), drop in, say hi. Next place is the github issue tracker:

https://github.com/betaflight/betaflight/issues
https://github.com/betaflight/betaflight-configurator/issues

Before creating new issues please check to see if there is an existing one, search first otherwise you waste peoples time when they could be coding instead!