SITL Forge started on 5 kg+ heavy lifters. It goes small now.

What's new

• First 2" micro. Mirro20 frame, 1103 11000KV, 2023 tri-blades, 2S 550 mAh — 70 g all-up, 5.1:1 thrust-to-weight, around 9 minutes.
• Rotational inertia is computed from your actual build. Every airframe used to share one fixed value; now each carries its own mass distribution. A micro and a heavy lifter no longer spin up the same way.
• Parts check physical fitment. Connectors, stack mounting and leg mounts — batteries, stacks and landing gear that don't fit the frame won't mount.
• Steadier at the limits. Betaflight's own I-term limit and anti-windup, so the controller stops asking for authority the motors can't deliver.
• New Interface tab in Settings: crosshair and horizon toggles.

For existing pilots

Default rates are now Betaflight stock — 200 / 670 / 0.54 on all three axes. Saved rate profiles are untouched.

3", 2.5" and 5" are next.