2.0.1-B41

• Added inflight tuning for rates and TPA
• Added reminder to save config after inflight tuning
• Added inflight tuning selector in ULTRA SETUP (last page)
• Fixed DJI (MSP) voltage overflow bug when LIPO voltage more then 25.5v (Thank you Aron!)
• Fixed TPA bug when BP2 is set to 100%
• Fixed ESC temperature sensor visibility if no telemetry enabled
• Fixed beeping buzzer ;) (Thank you Alin Victor!)

2.0.1-B40

• Added support for Motor Wizard
• Fixed blheli beep code. Now u have signature kiss 3 beeps on all escs. Some small bugs fixed on the way.
• Config bumped to 137

2.0.1-B39

• Added Inflight Tuning
• Config bumped to 136 (KKC FW will follow)

Information about how to set it up and how to use it available in the WIKI.

2.0.1-B38

• Added "ULTR" as FC identifier for msp_osd package.
  No more need for fonts for DJI OSD on SD Card. Fonts are INCLUDED to the DJI FW
  and will be automatically selected. You need msp_osd package version v0.6.9 or newer.

2.0.1-B37

• Added Ghost GPS telemetry
• Added Ghost startup icon and radio mode

2.0.1-B36

• Added HD OSD editor (No more OSD mirror editing for HD people)
• Added BLHELI32 settings (reverse and 3d mode) from OSD and GUI (Thank you Mike P.)
• Added BLHELI32 ESC name in OSD ESC Setup menu (telemetry wire needed!) (Thank you Mike P.)

2.0.1-B35

• Added Ultra OSD support for HDZero
• Added Ultra OSD support for DJI WTF Hack
• Added Ultra OSD support for Avatar
• Allow use of any serial for crossfire protocol
• Added full support for ULTRA v2

PS OSD editor for HD is planned for next version, meanwhile please use osd mirror.

2.0.1-B34

• Added SOFT ARM option.

It works in certain conditions (when adapter filter is ON, launch control is OFF and level mode NOT engaged). PIDs will be NOT active (0) right after you arm your quad. Instead, they will be increased gracefully from 0% to 100% when you move your throttle stick from 0% to 5% of the throttle. When you went over 5% of the throttle, PIDS are ALWAYS active until you disarm your quad. Basically, just arm and fly away, or idle a bit on armed - not pids will wind up or anything like this.

Positive things:

• Sticks are NOT active when you just arm your quad (Better safety)
• Motors are not affected by vibrations - clean sound (Nicer HD sound)
• Motors slow start is NOT interrupted by pid controller (Works with KISS and FETTEC)

2.0.1-B33

• Added PreArm mode (Thanks to Mike P. for reporting)

Basically you have 3 modes now

• No PreArm.
• PreArm on first arm only
• PreArm on every arm

In addition to that, arm always inhibited when

• Throttle is not idle
• RTH switch engaged
• USB connected

2.0.1-B32

• PID controller changes. Lots of improvements in yaw axis handling. Thanks to GavinLee and Proskate (and others) for reporting.