Yes, there are. For freestyle and racing, there are EMU Flight, FlightOne, and Kiss which are the most popular. If you fly using GPS you may want to consider INAV.
Here I will discuss the advantages/disadvantages of each when compared to Betaflight:
KISS: Advantages - Very simple interface without a lot of confusing options. The defaults are very good for 5-inch quads. The disadvantage of Kiss is that it has a smaller user base than Betaflight and it may be harder to find help from the community when you need assistance. Kiss hardware, flight controllers and ESCs often times cost more than their betaflight and FlightOne counterparts.
FlightOne: Advantages - The new FalcoX firmware is very easy to set up on your quad using the graphical OSD wizard. No computer necessary. The software has many presets from which you can choose to find which may work best for your quad. The disadvantage of FlightOne is hardware availability. Often times their FCs and ESCs aren't available. If you experience failure you may wait a while for a spare ESC or FC.
EMU Flight: Advantages - EMU Flight is a fork (a derivative of BetaFlight). Their goal is to focus on flight handling as opposed to Betaflight which appears to focus on features. EMU Flight is very good for those who fly whoops or sub 4 inch (prop diameter) quads. They use innovative filtering which is beyond the scope of this discussion. Disadvantages, EMU Flight is one of the smaller communities so getting help may take a while.
INAV: Unfortunately I do not have any experience with INAV.
