Possibly worth mentioning. I am not testing these as I build them - just dumping and sharing...
3.1.7
https://drive.google.com/drive/folders/0B8QyP4KbOlfQUGJsMU9xb1dBa0E
3.1.5
https://drive.google.com/drive/folders/0B8QyP4KbOlfQX0M4RUUtRmlWcGs?usp=sharing
3.1.3
https://drive.google.com/drive/folders/0B8QyP4KbOlfQalp6WXhkTDFWUEk?usp=sharing
3.1.1
https://drive.google.com/drive/folders/0B8QyP4KbOlfQbDVsUXFDRDk3M2c?usp=sharing
3.1.0
https://drive.google.com/drive/folders/0B8QyP4KbOlfQcjdSbHVydzgwRGM?usp=sharing
3.0.1
https://drive.google.com/open?id=0B8QyP4KbOlfQaHRrYlppRDlmU0k
I haven't tried it with airmode so it quite possibly does not work with it. Also, this only works with BLHeli_s ESCs.
This is how I have been setting it up.
Flash the firmware for your FCB. If your FCB already has the same version (e.g. 3.0.1) then un-check "full chip erase". You can go back to the same version of the stock firmware at any time - also with "full chip erase" UN-checked.
With your ESCs in non-bidirectional mode (normal or reverse), set min_command/min_throttle both to 2000. Power up ESCs. You should hear calibration tones. Set min_command/min_throttle to 1100. More calibration tones from ESCs.
At this point, you might want to set min_throttle to some higher value. I found that having them both 1100 can cause some instability but setting min_throttle to 1130 (which is the highest I can go without motors spinning) eliminates this instability.
Go to blheli_suite. One ESC at a time... Change motor direction from normal to bidirectional or reverse to bidirectional rev. Copy min throttle value (e.g. 1120) to throttle center and put throttle min to 1000. You may have to just remember the min throttle value, slide min throttle to 1000 *then* set throttle center as blheli_suite won't let the two get too close together.
Go back to betaflight configurator in modes tab and assign an aux switch to turtle mode at the bottom. I also always enable MOTOR_STOP. Might also want to consider setting small_angle to 180.
Now, to actually use it. Place quad upside-down while already armed and throttle at zero. Flip turtle mode switch. Give full elevator or aileron throw in the direction you want to flip, Give full throttle. Kill throttle once quad is righted. Disable turtle mode. Fly away!
