ATBetaflight 4.3.2 Release Candidate 1

正好赶上了割韭菜的时间.../ Just in time for cutting leeks...

请仔细阅读这些重要的介绍性说明/Please read these important introductory notes carefully

1. 本发布基于betaflight 4.3.1，请暂时使用betaflight配置程序10.8.0来设置飞控参数，相关参数设置请参阅betaflight 4.3.1。/ This release is based on betaflight 4.3.1, please temporarily use the betaflight configurator 10.8.0 to configure settings, please refer to betaflight 4.3.1 for related parameter settings
2. 我们的固件仅可用于基于AT32F435/7芯片的飞控，请勿尝试在基于STM32芯片的飞控上烧写本固件。强行刷入所造成的任何后果均与FlightNG团队无关。/ Our firmware can only be used for flight controllers based on AT32F435/7 chips, please do not try to flash this firmware on flight controllers based on STM32 chips. Any consequences caused by forced flashing have nothing to do with the FlightNG team.
3. 请使用雅特力 ISP Tools 刷写固件。/ Please flash new firmware using Artery ISP Tools.
4. 核心团队目前正在主持一个QQ群用于固件讨论，欢迎加入：428787190

• betaflight_4.3.1_EMSRPROTO2_8ef8e77.bin: LQFP100 AT32F435/7 VMT7 target
• betaflight_4.3.1_NEUTRONRCF435AIO_8ef8e77.bin: LQFP64 NeutronFCF435AIO target

改进/Improvements

• 为BMI270添加了CAS(跨轴灵敏度因子)补偿/Added CAS compensation for BMI270 (#4)
• 为LSM6DSO添加锁定和SPI DMA支持，并允许手动调整内置低通滤波器DLPF的截止频率/Add locked/SPI DMA support for LSM6DSO, and allowed users to adjust DLPF cutoff manually (#2)
• 加强BMI270、LSM6DSO的加速度计滤波强度以降低混叠/Strengthened acc anti-aliasing filter for reducing aliasing (#8)

错误修复/Fixes

• 修复电调透传协议读取失败的错误。/ Fixed a bug that causes esc-4-way-interface fail to read. (#9)
• 修复使用I2C中断式传输中的错误。/Fixed a bug that causes the wrong byte when using the interrupt transmit method. (#12)
• 修复NEUTRONRCF435AIO的LED行为错误的问题。/ Fixed wrong behaviour for NEUTRONRCF435AIO. (#7)

贡献者/Contributors

• @DusKing1 made their first contribution in #4
• @shanggl made their first contribution in #7

祝大家：快乐飞行、永不炸鸡
Wish you happy flying and never crash :)