betalink
Betalink is a modified Betaflight firmware that adds one serial command to the MSP protocol that controls the motor velocity and retrieve the state of the FC in only one transaction. It adds a motor velocity PID on the FC that uses bidirectional DSHOT telemetry as feedback. A command line program called "betalink" is provided to test the firmware. A Simulink block is also provided within the project "RPIt" to interface the FC within Simulink thanks to a dedicated betalink block.