A clean-sheet layout: validity helpers at L1 to L4, then recording, battery and GPS in the order I use them. Plus a minimum-voltage readout that speaks punch-out sag while I am still flying.

Failsafe is what happens when the RC link dies mid-flight. Without correct configuration, a link-loss event sends the quad flying away at full throttle or drops it like a stone. Neither is good. Two-Stage Failsafe Betaflight uses a two-stage system: flowchart TD A([RC signal<br/>lost]) --> B{Stage 1<br/>guard time} B …