Merge remote-tracking branch 'betaflight/master' into RP2350

Makefile

@@ -16,7 +16,6 @@
 #
 
 # The target to build, see BASE_TARGETS below
-DEFAULT_TARGET ?= STM32F405
 TARGET    ?=
 CONFIG    ?=
 
@@ -124,12 +123,6 @@ FC_VER       := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
 # import config handling
 include $(MAKE_SCRIPT_DIR)/config.mk
 
-ifeq ($(CONFIG),)
-ifeq ($(TARGET),)
-TARGET := $(DEFAULT_TARGET)
-SKIPCHECKS := yes
-endif
-endif
 
 # default xtal value
 HSE_VALUE       ?= 8000000
@@ -141,7 +134,9 @@ TARGET_PLATFORM     := $(notdir $(patsubst %/,%,$(subst target/$(TARGET)/,, $(di
 TARGET_PLATFORM_DIR := $(PLATFORM_DIR)/$(TARGET_PLATFORM)
 LINKER_DIR          := $(TARGET_PLATFORM_DIR)/link
 
+ifneq ($(TARGET),)
 include $(TARGET_PLATFORM_DIR)/target/$(TARGET)/target.mk
+endif
 
 REVISION := norevision
 ifeq ($(shell git diff --shortstat),)
@@ -182,6 +177,8 @@ endif
 
 VPATH 			:= $(VPATH):$(MAKE_SCRIPT_DIR)
 
+ifneq ($(TARGET),)
+
 # start specific includes
 ifeq ($(TARGET_MCU),)
 $(error No TARGET_MCU specified. Is the target.mk valid for $(TARGET)?)
@@ -202,9 +199,6 @@ SIZE_OPTIMISED_SRC  :=
 
 include $(TARGET_PLATFORM_DIR)/mk/$(TARGET_MCU_FAMILY).mk
 
-# openocd specific includes
-include $(MAKE_SCRIPT_DIR)/openocd.mk
-
 # Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
 ifeq ($(TARGET_FLASH_SIZE),)
 ifneq ($(MCU_FLASH_SIZE),)
@@ -221,8 +215,12 @@ DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 endif
 
 TARGET_DIR     = $(TARGET_PLATFORM_DIR)/target/$(TARGET)
+endif # TARGET specified
 
-.DEFAULT_GOAL := hex
+# openocd specific includes
+include $(MAKE_SCRIPT_DIR)/openocd.mk
+
+.DEFAULT_GOAL := all
 
 INCLUDE_DIRS    := $(INCLUDE_DIRS) \
                    $(ROOT)/lib/main/MAVLink
@@ -234,7 +232,7 @@ VPATH           := $(VPATH):$(TARGET_DIR)
 
 include $(MAKE_SCRIPT_DIR)/source.mk
 
-ifneq ($(SKIPCHECKS),yes)
+ifneq ($(TARGET),)
 ifneq ($(filter-out $(SRC),$(SPEED_OPTIMISED_SRC)),)
 $(error Speed optimised sources not valid: $(strip $(filter-out $(SRC),$(SPEED_OPTIMISED_SRC))))
 endif
@@ -642,7 +640,7 @@ help: Makefile mk/tools.mk
 	@echo "Or:"
 	@echo "        make <config-target> [V=<verbosity>] [OPTIONS=\"<options>\"] [EXTRA_FLAGS=\"<extra_flags>\"]"
 	@echo ""
-	@echo "To pupulate configuration targets:"
+	@echo "To populate configuration targets:"
 	@echo "        make configs"
 	@echo ""
 	@echo "Valid TARGET values are: $(BASE_TARGETS)"

mk/source.mk

@@ -1,7 +1,9 @@
 PG_SRC = \
             pg/adc.c \
-            pg/alt_hold.c \
+            pg/alt_hold_multirotor.c \
-            pg/autopilot.c \
+            pg/alt_hold_wing.c \
+            pg/autopilot_multirotor.c \
+            pg/autopilot_wing.c \
             pg/beeper.c \
             pg/beeper_dev.c \
             pg/board.c \
@@ -15,17 +17,20 @@ PG_SRC = \
             pg/gimbal.c \
             pg/gps.c \
             pg/gps_lap_timer.c \
-            pg/gps_rescue.c \
+            pg/gps_rescue_multirotor.c \
+            pg/gps_rescue_wing.c \
             pg/gyrodev.c \
             pg/max7456.c \
             pg/mco.c \
             pg/motor.c \
             pg/msp.c \
             pg/pg.c \
+            pg/pilot.c \
             pg/piniobox.c \
             pg/pinio.c \
             pg/pin_pull_up_down.c \
-            pg/pos_hold.c \
+            pg/pos_hold_multirotor.c \
+            pg/pos_hold_wing.c \
             pg/rcdevice.c \
             pg/rpm_filter.c \
             pg/rx.c \
@@ -153,11 +158,14 @@ COMMON_SRC = \
             fc/rc_adjustments.c \
             fc/rc_controls.c \
             fc/rc_modes.c \
-            flight/alt_hold.c \
+            flight/alt_hold_multirotor.c \
-            flight/autopilot.c \
+            flight/alt_hold_wing.c \
+            flight/autopilot_multirotor.c \
+            flight/autopilot_wing.c \
             flight/dyn_notch_filter.c \
             flight/failsafe.c \
-            flight/gps_rescue.c \
+            flight/gps_rescue_multirotor.c \
+            flight/gps_rescue_wing.c \
             flight/imu.c \
             flight/mixer.c \
             flight/mixer_init.c \
@@ -165,7 +173,8 @@ COMMON_SRC = \
             flight/pid.c \
             flight/pid_init.c \
             flight/position.c \
-            flight/pos_hold.c \
+            flight/pos_hold_multirotor.c \
+            flight/pos_hold_wing.c \
             flight/rpm_filter.c \
             flight/servos.c \
             flight/servos_tricopter.c \
@@ -209,7 +218,8 @@ COMMON_SRC = \
             cms/cms_menu_blackbox.c \
             cms/cms_menu_failsafe.c \
             cms/cms_menu_firmware.c \
-            cms/cms_menu_gps_rescue.c \
+            cms/cms_menu_gps_rescue_multirotor.c \
+            cms/cms_menu_gps_rescue_wing.c \
             cms/cms_menu_gps_lap_timer.c \
             cms/cms_menu_imu.c \
             cms/cms_menu_ledstrip.c \
@@ -512,7 +522,8 @@ SIZE_OPTIMISED_SRC += \
             cms/cms_menu_blackbox.c \
             cms/cms_menu_failsafe.c \
             cms/cms_menu_firmware.c \
-            cms/cms_menu_gps_rescue.c \
+            cms/cms_menu_gps_rescue_multirotor.c \
+            cms/cms_menu_gps_rescue_wing.c \
             cms/cms_menu_gps_lap_timer.c \
             cms/cms_menu_imu.c \
             cms/cms_menu_ledstrip.c \

src/main/blackbox/blackbox.c

@@ -81,8 +81,9 @@
 #include "pg/alt_hold.h"
 #include "pg/autopilot.h"
 #include "pg/motor.h"
-#include "pg/rx.h"
+#include "pg/pilot.h"
 #include "pg/pos_hold.h"
+#include "pg/rx.h"
 
 #include "rx/rx.h"
 
@@ -744,7 +745,7 @@ static void writeIntraframe(void)
     if (testBlackboxCondition(CONDITION(ACC))) {
         blackboxWriteSigned16VBArray(blackboxCurrent->accADC, XYZ_AXIS_COUNT);
     }
-    
+
     if (testBlackboxCondition(CONDITION(ATTITUDE))) {
         blackboxWriteSigned16VBArray(blackboxCurrent->imuAttitudeQuaternion, XYZ_AXIS_COUNT);
     }
@@ -929,7 +930,7 @@ static void writeInterframe(void)
     if (testBlackboxCondition(CONDITION(ACC))) {
         blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, accADC), XYZ_AXIS_COUNT);
     }
-    
+
     if (testBlackboxCondition(CONDITION(ATTITUDE))) {
         blackboxWriteMainStateArrayUsingAveragePredictor(offsetof(blackboxMainState_t, imuAttitudeQuaternion), XYZ_AXIS_COUNT);
     }
@@ -1243,14 +1244,14 @@ static void loadMainState(timeUs_t currentTimeUs)
         blackboxCurrent->axisPID_F[i] = lrintf(pidData[i].F);
 #ifdef USE_WING
         blackboxCurrent->axisPID_S[i] = lrintf(pidData[i].S);
-#endif        
+#endif
         blackboxCurrent->gyroADC[i] = lrintf(gyro.gyroADCf[i] * blackboxHighResolutionScale);
         blackboxCurrent->gyroUnfilt[i] = lrintf(gyro.gyroADC[i] * blackboxHighResolutionScale);
 
 #if defined(USE_ACC)
         blackboxCurrent->accADC[i] = lrintf(acc.accADC.v[i]);
         STATIC_ASSERT(offsetof(quaternion_t, w) == 0, "Code expects quaternion in w, x, y, z order");
-        blackboxCurrent->imuAttitudeQuaternion[i] = lrintf(imuAttitudeQuaternion.v[i + 1] * 0x7FFF);  //Scale to int16 by value 0x7FFF = 2^15 - 1; Use i+1 index for x,y,z components access, [0] - w 
+        blackboxCurrent->imuAttitudeQuaternion[i] = lrintf(imuAttitudeQuaternion.v[i + 1] * 0x7FFF);  //Scale to int16 by value 0x7FFF = 2^15 - 1; Use i+1 index for x,y,z components access, [0] - w
 #endif
 #ifdef USE_MAG
         blackboxCurrent->magADC[i] = lrintf(mag.magADC.v[i]);
@@ -1694,6 +1695,7 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_LPF, "%d",         positionConfig()->altitude_lpf);
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALTITUDE_D_LPF, "%d",       positionConfig()->altitude_d_lpf);
 
+#ifndef USE_WING
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_LANDING_ALTITUDE, "%d",     apConfig()->landing_altitude_m);
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_HOVER_THROTTLE, "%d",       apConfig()->hover_throttle);
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_THROTTLE_MIN, "%d",         apConfig()->throttle_min);
@@ -1708,6 +1710,7 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_A, "%d",           apConfig()->position_A);
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POSITION_CUTOFF, "%d",      apConfig()->position_cutoff);
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_AP_MAX_ANGLE, "%d",         apConfig()->max_angle);
+#endif // !USE_WING
 
 #ifdef USE_MAG
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_MAG_HARDWARE, "%d",           compassConfig()->mag_hardware);
@@ -1784,6 +1787,7 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_USE_3D_SPEED, "%d",           gpsConfig()->gps_use_3d_speed)
 
 #ifdef USE_GPS_RESCUE
+#ifndef USE_WING
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_MIN_START_DIST, "%d",  gpsRescueConfig()->minStartDistM)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_ALT_MODE, "%d",        gpsRescueConfig()->altitudeMode)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_INITIAL_CLIMB, "%d",   gpsRescueConfig()->initialClimbM)
@@ -1808,21 +1812,25 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_VELOCITY_I, "%d",      gpsRescueConfig()->velI)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_VELOCITY_D, "%d",      gpsRescueConfig()->velD)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_YAW_P, "%d",           gpsRescueConfig()->yawP)
-
 #ifdef USE_MAG
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_GPS_RESCUE_USE_MAG, "%d",         gpsRescueConfig()->useMag)
 #endif // USE_MAG
+#endif // !USE_WING
 #endif // USE_GPS_RESCUE
 #endif // USE_GPS
 
 #ifdef USE_ALTITUDE_HOLD
+#ifndef USE_WING
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_THROTTLE_RESPONSE, "%d", altHoldConfig()->alt_hold_adjust_rate);
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_ALT_HOLD_DEADBAND,    "%d", altHoldConfig()->alt_hold_deadband);
-#endif
+#endif // !USE_WING
+#endif // USE_ALTITUDE_HOLD
 
 #ifdef USE_POSITION_HOLD
+#ifndef USE_WING
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_WITHOUT_MAG, "%d", posHoldConfig()->pos_hold_without_mag);
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_POS_HOLD_DEADBAND,    "%d", posHoldConfig()->pos_hold_deadband);
+#endif // !USE_WING
 #endif
 
 #ifdef USE_WING

src/main/cli/cli.c

@@ -139,6 +139,7 @@ bool cliMode = false;
 #include "pg/max7456.h"
 #include "pg/mco.h"
 #include "pg/motor.h"
+#include "pg/pilot.h"
 #include "pg/pinio.h"
 #include "pg/pin_pull_up_down.h"
 #include "pg/pg.h"
@@ -209,6 +210,7 @@ static bool signatureUpdated = false;
 #endif // USE_BOARD_INFO
 
 static const char* const emptyName = "-";
+static const char* const invalidName = "INVALID";
 
 #define MAX_CHANGESET_ID_LENGTH 8
 #define MAX_DATE_LENGTH 20
@@ -1274,7 +1276,7 @@ static void cliAux(const char *cmdName, char *cmdline)
 
 static void printSerial(dumpFlags_t dumpMask, const serialConfig_t *serialConfig, const serialConfig_t *serialConfigDefault, const char *headingStr)
 {
-    const char *format = "serial %d %d %ld %ld %ld %ld";
+    const char *format = "serial %s %d %ld %ld %ld %ld";
     headingStr = cliPrintSectionHeading(dumpMask, false, headingStr);
     for (unsigned i = 0; i < ARRAYLEN(serialConfig->portConfigs); i++) {
         if (!serialIsPortAvailable(serialConfig->portConfigs[i].identifier)) {
@@ -1285,7 +1287,7 @@ static void printSerial(dumpFlags_t dumpMask, const serialConfig_t *serialConfig
             equalsDefault = !memcmp(&serialConfig->portConfigs[i], &serialConfigDefault->portConfigs[i], sizeof(serialConfig->portConfigs[i]));
             headingStr = cliPrintSectionHeading(dumpMask, !equalsDefault, headingStr);
             cliDefaultPrintLinef(dumpMask, equalsDefault, format,
-                serialConfigDefault->portConfigs[i].identifier,
+                serialName(serialConfigDefault->portConfigs[i].identifier, invalidName),
                 serialConfigDefault->portConfigs[i].functionMask,
                 baudRates[serialConfigDefault->portConfigs[i].msp_baudrateIndex],
                 baudRates[serialConfigDefault->portConfigs[i].gps_baudrateIndex],
@@ -1294,7 +1296,7 @@ static void printSerial(dumpFlags_t dumpMask, const serialConfig_t *serialConfig
             );
         }
         cliDumpPrintLinef(dumpMask, equalsDefault, format,
-            serialConfig->portConfigs[i].identifier,
+            serialName(serialConfig->portConfigs[i].identifier, invalidName),
             serialConfig->portConfigs[i].functionMask,
             baudRates[serialConfig->portConfigs[i].msp_baudrateIndex],
             baudRates[serialConfig->portConfigs[i].gps_baudrateIndex],
@@ -1306,40 +1308,58 @@ static void printSerial(dumpFlags_t dumpMask, const serialConfig_t *serialConfig
 
 static void cliSerial(const char *cmdName, char *cmdline)
 {
-    const char *format = "serial %d %d %ld %ld %ld %ld";
+    const char *format = "serial %s %d %ld %ld %ld %ld";
     if (isEmpty(cmdline)) {
         printSerial(DUMP_MASTER, serialConfig(), NULL, NULL);
         return;
     }
+
     serialPortConfig_t portConfig;
     memset(&portConfig, 0 , sizeof(portConfig));
 
     uint8_t validArgumentCount = 0;
 
-    const char *ptr = cmdline;
+    char *ptr = cmdline;
-
+    char *tok = strsep(&ptr, " ");
-    int val = atoi(ptr++);
+    serialPortIdentifier_e identifier = findSerialPortByName(tok, strcasecmp);
-    serialPortConfig_t *currentConfig = serialFindPortConfigurationMutable(val);
+    if (identifier == SERIAL_PORT_NONE) {
-
+        char *eptr;
-    if (currentConfig) {
+        identifier = strtoul(tok, &eptr, 10);
-        portConfig.identifier = val;
+        if (*eptr) {
-        validArgumentCount++;
+            // parsing ended before end of token indicating an invalid identifier
+            identifier = SERIAL_PORT_NONE;
+        } else {
+            // correction for legacy configuration where UART1 == 0
+            if (identifier >= SERIAL_PORT_LEGACY_START_IDENTIFIER && identifier < SERIAL_PORT_START_IDENTIFIER) {
+                identifier += SERIAL_PORT_UART1;
+            }
+       }
     }
 
-    ptr = nextArg(ptr);
+    serialPortConfig_t *currentConfig = serialFindPortConfigurationMutable(identifier);
-    if (ptr) {
+
-        val = strtoul(ptr, NULL, 10);
+    if (!currentConfig) {
+        cliShowParseError(cmdName);
+        return;
+    }
+
+    portConfig.identifier = identifier;
+    validArgumentCount++;
+
+    tok = strsep(&ptr, " ");
+    if (tok) {
+        int val = strtoul(tok, NULL, 10);
         portConfig.functionMask = val;
         validArgumentCount++;
     }
 
     for (int i = 0; i < 4; i ++) {
-        ptr = nextArg(ptr);
+        tok = strsep(&ptr, " ");
-        if (!ptr) {
+        if (!tok) {
             break;
         }
 
-        val = atoi(ptr);
+        int val = atoi(tok);
 
         uint8_t baudRateIndex = lookupBaudRateIndex(val);
         if (baudRates[baudRateIndex] != (uint32_t) val) {
@@ -1384,14 +1404,13 @@ static void cliSerial(const char *cmdName, char *cmdline)
     memcpy(currentConfig, &portConfig, sizeof(portConfig));
 
     cliDumpPrintLinef(0, false, format,
-        portConfig.identifier,
+        serialName(portConfig.identifier, invalidName),
         portConfig.functionMask,
         baudRates[portConfig.msp_baudrateIndex],
         baudRates[portConfig.gps_baudrateIndex],
         baudRates[portConfig.telemetry_baudrateIndex],
         baudRates[portConfig.blackbox_baudrateIndex]
         );
-
 }
 
 #if defined(USE_SERIAL_PASSTHROUGH)

src/main/cli/settings.c

@@ -95,6 +95,7 @@
 #include "pg/msp.h"
 #include "pg/pg.h"
 #include "pg/pg_ids.h"
+#include "pg/pilot.h"
 #include "pg/pinio.h"
 #include "pg/piniobox.h"
 #include "pg/pos_hold.h"
@@ -1073,6 +1074,7 @@ const clivalue_t valueTable[] = {
     { PARAM_NAME_GPS_NMEA_CUSTOM_COMMANDS,   VAR_UINT8  | MASTER_VALUE | MODE_STRING, .config.string = { 1, NMEA_CUSTOM_COMMANDS_MAX_LENGTH, STRING_FLAGS_NONE }, PG_GPS_CONFIG, offsetof(gpsConfig_t, nmeaCustomCommands) },
 
 #ifdef USE_GPS_RESCUE
+#ifndef USE_WING
     // PG_GPS_RESCUE
     { PARAM_NAME_GPS_RESCUE_MIN_START_DIST,  VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 10, 30 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, minStartDistM) },
     { PARAM_NAME_GPS_RESCUE_ALT_MODE,        VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_RESCUE_ALT_MODE }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, altitudeMode) },
@@ -1102,6 +1104,7 @@ const clivalue_t valueTable[] = {
 #ifdef USE_MAG
     { PARAM_NAME_GPS_RESCUE_USE_MAG,         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, useMag) },
 #endif // USE_MAG
+#endif // !USE_WING
 #endif // USE_GPS_RESCUE
 
 #ifdef USE_GPS_LAP_TIMER
@@ -1118,14 +1121,18 @@ const clivalue_t valueTable[] = {
     { "yaw_control_reversed",       VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_RC_CONTROLS_CONFIG, offsetof(rcControlsConfig_t, yaw_control_reversed) },
 
 #ifdef USE_ALTITUDE_HOLD
+#ifndef USE_WING
     { PARAM_NAME_ALT_HOLD_THROTTLE_RESPONSE, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 }, PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, alt_hold_adjust_rate) },
     { PARAM_NAME_ALT_HOLD_DEADBAND,          VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 70 },  PG_ALTHOLD_CONFIG, offsetof(altHoldConfig_t, alt_hold_deadband) },
-#endif
+#endif // !USE_WING
+#endif // USE_ALTITUDE_HOLD
 
 #ifdef USE_POSITION_HOLD
+#ifndef USE_WING
     { PARAM_NAME_POS_HOLD_WITHOUT_MAG, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_POSHOLD_CONFIG, offsetof(posHoldConfig_t, pos_hold_without_mag) },
     { PARAM_NAME_POS_HOLD_DEADBAND,    VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 50 }, PG_POSHOLD_CONFIG, offsetof(posHoldConfig_t, pos_hold_deadband) },
-#endif
+#endif // !USE_WING
+#endif // USE_POSITION_HOLD
 
 // PG_PID_CONFIG
     { PARAM_NAME_PID_PROCESS_DENOM, VAR_UINT8  | MASTER_VALUE,  .config.minmaxUnsigned = { 1, MAX_PID_PROCESS_DENOM }, PG_PID_CONFIG, offsetof(pidConfig_t, pid_process_denom) },
@@ -1866,6 +1873,7 @@ const clivalue_t valueTable[] = {
     { PARAM_NAME_ALTITUDE_D_LPF,        VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 10, 1000 }, PG_POSITION, offsetof(positionConfig_t, altitude_d_lpf) },
 
 // PG_AUTOPILOT
+#ifndef USE_WING
     { PARAM_NAME_LANDING_ALTITUDE,    VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(apConfig_t, landing_altitude_m) },
     { PARAM_NAME_HOVER_THROTTLE,      VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1100, 1700 }, PG_AUTOPILOT, offsetof(apConfig_t, hover_throttle) },
     { PARAM_NAME_THROTTLE_MIN,        VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1050, 1400 }, PG_AUTOPILOT, offsetof(apConfig_t, throttle_min) },
@@ -1880,6 +1888,7 @@ const clivalue_t valueTable[] = {
     { PARAM_NAME_POSITION_A,          VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 200 },     PG_AUTOPILOT, offsetof(apConfig_t, position_A) },
     { PARAM_NAME_POSITION_CUTOFF,     VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 10, 250 },    PG_AUTOPILOT, offsetof(apConfig_t, position_cutoff) },
     { PARAM_NAME_AP_MAX_ANGLE,        VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 10, 70 },     PG_AUTOPILOT, offsetof(apConfig_t, max_angle) },
+#endif // !USE_WING
 
 // PG_MODE_ACTIVATION_CONFIG
 #if defined(USE_CUSTOM_BOX_NAMES)

src/main/cms/cms_menu_gps_rescue_multirotor.c

@@ -25,6 +25,8 @@
 
 #include "platform.h"
 
+#ifndef USE_WING
+
 #ifdef USE_CMS_GPS_RESCUE_MENU
 
 #include "cli/settings.h"
@@ -242,3 +244,5 @@ CMS_Menu cmsx_menuGpsRescue = {
 };
 
 #endif
+
+#endif // !USE_WING

src/main/cms/cms_menu_gps_rescue_wing.c

@@ -0,0 +1,114 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+#include <ctype.h>
+
+#include "platform.h"
+
+#ifdef USE_WING
+
+#ifdef USE_CMS_GPS_RESCUE_MENU
+
+#include "cli/settings.h"
+
+#include "cms/cms.h"
+#include "cms/cms_types.h"
+#include "cms/cms_menu_gps_rescue.h"
+
+#include "config/feature.h"
+
+#include "config/config.h"
+
+#include "flight/position.h"
+
+#include "pg/autopilot.h"
+#include "pg/gps_rescue.h"
+
+static const void *cms_menuGpsRescuePidOnEnter(displayPort_t *pDisp)
+{
+    UNUSED(pDisp);
+
+    return NULL;
+}
+
+static const void *cms_menuGpsRescuePidOnExit(displayPort_t *pDisp, const OSD_Entry *self)
+{
+    UNUSED(pDisp);
+    UNUSED(self);
+
+    return NULL;
+}
+
+const OSD_Entry cms_menuGpsRescuePidEntries[] =
+{
+    {"--- GPS RESCUE PID---", OME_Label, NULL, NULL},
+
+    {"BACK", OME_Back, NULL, NULL},
+    {NULL, OME_END, NULL, NULL}
+};
+
+CMS_Menu cms_menuGpsRescuePid = {
+#ifdef CMS_MENU_DEBUG
+    .GUARD_text = "MENUGPSRPID",
+    .GUARD_type = OME_MENU,
+#endif
+    .onEnter = cms_menuGpsRescuePidOnEnter,
+    .onExit = cms_menuGpsRescuePidOnExit,
+    .onDisplayUpdate = NULL,
+    .entries = cms_menuGpsRescuePidEntries,
+};
+
+static const void *cmsx_menuGpsRescueOnEnter(displayPort_t *pDisp)
+{
+    UNUSED(pDisp);
+
+    return NULL;
+}
+
+static const void *cmsx_menuGpsRescueOnExit(displayPort_t *pDisp, const OSD_Entry *self)
+{
+    UNUSED(pDisp);
+    UNUSED(self);
+
+    return NULL;
+}
+
+const OSD_Entry cmsx_menuGpsRescueEntries[] =
+{
+    {"--- GPS RESCUE ---", OME_Label, NULL, NULL},
+
+    {"BACK", OME_Back, NULL, NULL},
+    {NULL, OME_END, NULL, NULL}
+};
+
+CMS_Menu cmsx_menuGpsRescue = {
+#ifdef CMS_MENU_DEBUG
+    .GUARD_text = "MENUGPSRES",
+    .GUARD_type = OME_MENU,
+#endif
+    .onEnter = cmsx_menuGpsRescueOnEnter,
+    .onExit = cmsx_menuGpsRescueOnExit,
+    .onDisplayUpdate = NULL,
+    .entries = cmsx_menuGpsRescueEntries,
+};
+
+#endif
+
+#endif // USE_WING

src/main/config/config.c

@@ -106,13 +106,6 @@ pidProfile_t *currentPidProfile;
 #define RX_SPI_DEFAULT_PROTOCOL 0
 #endif
 
-PG_REGISTER_WITH_RESET_TEMPLATE(pilotConfig_t, pilotConfig, PG_PILOT_CONFIG, 2);
-
-PG_RESET_TEMPLATE(pilotConfig_t, pilotConfig,
-    .craftName = { 0 },
-    .pilotName = { 0 },
-);
-
 PG_REGISTER_WITH_RESET_TEMPLATE(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 3);
 
 PG_RESET_TEMPLATE(systemConfig_t, systemConfig,

src/main/config/config.h

@@ -25,20 +25,11 @@
 
 #include "pg/pg.h"
 
-#define MAX_NAME_LENGTH 16u
-
 typedef enum {
     CONFIGURATION_STATE_UNCONFIGURED = 0,
     CONFIGURATION_STATE_CONFIGURED,
 } configurationState_e;
 
-typedef struct pilotConfig_s {
-    char craftName[MAX_NAME_LENGTH + 1];
-    char pilotName[MAX_NAME_LENGTH + 1];
-} pilotConfig_t;
-
-PG_DECLARE(pilotConfig_t, pilotConfig);
-
 typedef struct systemConfig_s {
     uint8_t pidProfileIndex;
     uint8_t activeRateProfile;

src/main/drivers/serial_pinconfig.c

@@ -40,6 +40,9 @@ typedef struct serialDefaultPin_s {
 } serialDefaultPin_t;
 
 static const serialDefaultPin_t serialDefaultPin[] = {
+#ifdef USE_UART0
+    { SERIAL_PORT_UART0, IO_TAG(UART0_RX_PIN), IO_TAG(UART0_TX_PIN), IO_TAG(INVERTER_PIN_UART0) },
+#endif
 #ifdef USE_UART1
     { SERIAL_PORT_USART1, IO_TAG(UART1_RX_PIN), IO_TAG(UART1_TX_PIN), IO_TAG(INVERTER_PIN_UART1) },
 #endif

src/main/drivers/serial_tcp.c

@@ -44,15 +44,18 @@ static const struct serialPortVTable tcpVTable; // Forward
 static tcpPort_t tcpSerialPorts[SERIAL_PORT_COUNT];
 static bool tcpPortInitialized[SERIAL_PORT_COUNT];
 static bool tcpStart = false;
+
 bool tcpIsStart(void)
 {
     return tcpStart;
 }
+
 static void onData(dyad_Event *e)
 {
     tcpPort_t* s = (tcpPort_t*)(e->udata);
     tcpDataIn(s, (uint8_t*)e->data, e->size);
 }
+
 static void onClose(dyad_Event *e)
 {
     tcpPort_t* s = (tcpPort_t*)(e->udata);
@@ -63,6 +66,7 @@ static void onClose(dyad_Event *e)
         s->connected = false;
     }
 }
+
 static void onAccept(dyad_Event *e)
 {
     tcpPort_t* s = (tcpPort_t*)(e->udata);
@@ -81,6 +85,7 @@ static void onAccept(dyad_Event *e)
     dyad_addListener(e->remote, DYAD_EVENT_DATA, onData, e->udata);
     dyad_addListener(e->remote, DYAD_EVENT_CLOSE, onClose, e->udata);
 }
+
 static tcpPort_t* tcpReconfigure(tcpPort_t *s, int id)
 {
     if (tcpPortInitialized[id]) {
@@ -93,6 +98,7 @@ static tcpPort_t* tcpReconfigure(tcpPort_t *s, int id)
         // TODO: clean up & re-init
         return NULL;
     }
+
     if (pthread_mutex_init(&s->rxLock, NULL) != 0) {
         fprintf(stderr, "RX mutex init failed - %d\n", errno);
         // TODO: clean up & re-init
@@ -118,17 +124,19 @@ static tcpPort_t* tcpReconfigure(tcpPort_t *s, int id)
     return s;
 }
 
-serialPort_t *serTcpOpen(int id, serialReceiveCallbackPtr rxCallback, void *rxCallbackData, uint32_t baudRate, portMode_e mode, portOptions_e options)
+serialPort_t *serTcpOpen(serialPortIdentifier_e identifier, serialReceiveCallbackPtr rxCallback, void *rxCallbackData, uint32_t baudRate, portMode_e mode, portOptions_e options)
 {
     tcpPort_t *s = NULL;
 
-#if defined(USE_UART1) || defined(USE_UART2) || defined(USE_UART3) || defined(USE_UART4) || defined(USE_UART5) || defined(USE_UART6) || defined(USE_UART7) || defined(USE_UART8)
+    int id = findSerialPortIndexByIdentifier(identifier);
-    if (id >= 0 && id < SERIAL_PORT_COUNT) {
+
-    s = tcpReconfigure(&tcpSerialPorts[id], id);
+    if (id >= 0 && id < (int)ARRAYLEN(tcpSerialPorts)) {
+        s = tcpReconfigure(&tcpSerialPorts[id], id);
     }
-#endif
+
-    if (!s)
+    if (!s) {
         return NULL;
+    }
 
     s->port.vTable = &tcpVTable;
 

src/main/drivers/serial_tcp.h

@@ -23,6 +23,7 @@
 #include <netinet/in.h>
 #include <pthread.h>
 #include "dyad.h"
+#include "io/serial.h"
 
 #define RX_BUFFER_SIZE    1400
 #define TX_BUFFER_SIZE    1400
@@ -41,7 +42,7 @@ typedef struct {
     uint8_t id;
 } tcpPort_t;
 
-serialPort_t *serTcpOpen(int id, serialReceiveCallbackPtr rxCallback, void *rxCallbackData, uint32_t baudRate, portMode_e mode, portOptions_e options);
+serialPort_t *serTcpOpen(serialPortIdentifier_e id, serialReceiveCallbackPtr rxCallback, void *rxCallbackData, uint32_t baudRate, portMode_e mode, portOptions_e options);
 
 // tcpPort API
 void tcpDataIn(tcpPort_t *instance, uint8_t* ch, int size);

src/main/drivers/serial_uart.c

@@ -71,6 +71,10 @@
     UART_BUFFER(UART_RX_BUFFER_ATTRIBUTE, n, R); struct dummy_s \
 /**/
 
+#ifdef USE_UART0
+UART_BUFFERS(0);
+#endif
+
 #ifdef USE_UART1
 UART_BUFFERS(1);
 #endif
@@ -136,6 +140,9 @@ uartDeviceIdx_e uartDeviceIdxFromIdentifier(serialPortIdentifier_e identifier)
     // table is for UART only to save space (LPUART is handled separately)
 #define _R(id, dev) [id] = (dev) + 1
     static const uartDeviceIdx_e uartMap[] = {
+#ifdef USE_UART0
+        _R(SERIAL_PORT_UART0, UARTDEV_0),
+#endif
 #ifdef USE_UART1
         _R(SERIAL_PORT_USART1, UARTDEV_1),
 #endif

src/main/drivers/serial_uart_impl.h

@@ -132,6 +132,9 @@
 // compressed index of UART/LPUART. Direct index into uartDevice[]
 typedef enum {
     UARTDEV_INVALID = -1,
+#ifdef USE_UART0
+    UARTDEV_0,
+#endif
 #ifdef USE_UART1
     UARTDEV_1,
 #endif
@@ -285,6 +288,10 @@ void uartTxMonitor(uartPort_t *s);
     UART_BUFFER(extern, n, T); struct dummy_s \
 /**/
 
+#ifdef USE_UART0
+UART_BUFFERS_EXTERN(0);
+#endif
+
 #ifdef USE_UART1
 UART_BUFFERS_EXTERN(1);
 #endif

src/main/fc/rc_adjustments.c

@@ -226,6 +226,10 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
         .adjustmentFunction = ADJUSTMENT_LED_PROFILE,
         .mode = ADJUSTMENT_MODE_SELECT,
         .data = { .switchPositions = 3 }
+    }, {
+        .adjustmentFunction = ADJUSTMENT_LED_DIMMER,
+        .mode = ADJUSTMENT_MODE_SELECT,
+        .data = { .switchPositions = 100 }
     }
 };
 
@@ -264,6 +268,8 @@ static const char * const adjustmentLabels[] = {
     "ROLL F",
     "YAW F",
     "OSD PROFILE",
+    "LED PROFILE",
+    "LED DIMMER",
 };
 
 static int adjustmentRangeNameIndex = 0;
@@ -641,6 +647,13 @@ static uint8_t applySelectAdjustment(adjustmentFunction_e adjustmentFunction, ui
         if (getLedProfile() != position) {
             setLedProfile(position);
         }
+#endif
+        break;
+    case ADJUSTMENT_LED_DIMMER:
+#ifdef USE_LED_STRIP
+        if (getLedBrightness() != position) {
+            setLedBrightness(position);
+        }
 #endif
         break;
 

src/main/fc/rc_adjustments.h

@@ -62,6 +62,7 @@ typedef enum {
     ADJUSTMENT_YAW_F,
     ADJUSTMENT_OSD_PROFILE,
     ADJUSTMENT_LED_PROFILE,
+    ADJUSTMENT_LED_DIMMER,
     ADJUSTMENT_FUNCTION_COUNT
 } adjustmentFunction_e;
 

src/main/flight/alt_hold.h

@@ -17,15 +17,5 @@
 
 #pragma once
 
-#include "pg/alt_hold.h"
+#include "flight/alt_hold_multirotor.h"
-
+#include "flight/alt_hold_wing.h"
-#ifdef USE_ALTITUDE_HOLD
-#include "common/time.h"
-
-#define ALTHOLD_TASK_RATE_HZ 100         // hz
-
-void altHoldInit(void);
-void updateAltHold(timeUs_t currentTimeUs);
-bool isAltHoldActive(void);
-
-#endif

src/main/flight/alt_hold_multirotor.c

@@ -16,6 +16,9 @@
  */
 
 #include "platform.h"
+
+#ifndef USE_WING
+
 #include "math.h"
 
 #ifdef USE_ALTITUDE_HOLD
@@ -90,8 +93,8 @@ void altHoldProcessTransitions(void) {
 void altHoldUpdateTargetAltitude(void)
 {
     // User can adjust the target altitude with throttle, but only when
-    // - throttle is outside deadband, and 
+    // - throttle is outside deadband, and
-    // - throttle is not low (zero), and 
+    // - throttle is not low (zero), and
     // - deadband is not configured to zero
 
     float stickFactor = 0.0f;
@@ -154,3 +157,5 @@ bool isAltHoldActive(void) {
     return altHold.isActive;
 }
 #endif
+
+#endif // !USE_WING

src/main/flight/alt_hold_multirotor.h

@@ -0,0 +1,35 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifndef USE_WING
+
+#include "pg/alt_hold.h"
+
+#ifdef USE_ALTITUDE_HOLD
+#include "common/time.h"
+
+#define ALTHOLD_TASK_RATE_HZ 100         // hz
+
+void altHoldInit(void);
+void updateAltHold(timeUs_t currentTimeUs);
+bool isAltHoldActive(void);
+
+#endif
+
+#endif // !USE_WING

src/main/flight/alt_hold_wing.c

@@ -0,0 +1,59 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "platform.h"
+
+#ifdef USE_WING
+
+#include "math.h"
+
+#ifdef USE_ALTITUDE_HOLD
+
+#include "build/debug.h"
+#include "common/maths.h"
+#include "config/config.h"
+
+#include "fc/rc.h"
+#include "fc/runtime_config.h"
+
+#include "flight/autopilot.h"
+#include "flight/failsafe.h"
+#include "flight/position.h"
+
+#include "rx/rx.h"
+#include "pg/autopilot.h"
+
+#include "alt_hold.h"
+
+void altHoldReset(void)
+{
+}
+
+void altHoldInit(void)
+{
+}
+
+void updateAltHold(timeUs_t currentTimeUs) {
+    UNUSED(currentTimeUs);
+}
+
+bool isAltHoldActive(void) {
+    return false;
+}
+
+#endif // USE_ALTITUDE_HOLD
+#endif // USE_WING

src/main/flight/alt_hold_wing.h

@@ -0,0 +1,35 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifdef USE_WING
+
+#include "pg/alt_hold.h"
+
+#ifdef USE_ALTITUDE_HOLD
+#include "common/time.h"
+
+#define ALTHOLD_TASK_RATE_HZ 100         // hz
+
+void altHoldInit(void);
+void updateAltHold(timeUs_t currentTimeUs);
+bool isAltHoldActive(void);
+
+#endif
+
+#endif // USE_WING

src/main/flight/autopilot.h

@@ -19,16 +19,5 @@
 
 #include "io/gps.h"
 
-extern float autopilotAngle[RP_AXIS_COUNT]; // NOTE: ANGLES ARE IN CENTIDEGREES
+#include "flight/autopilot_multirotor.h"
-
+#include "flight/autopilot_wing.h"
-void autopilotInit(void);
-void resetAltitudeControl(void);
-void setSticksActiveStatus(bool areSticksActive);
-void resetPositionControl(const gpsLocation_t *initialTargetLocation, unsigned taskRateHz);
-void posControlOutput(void);
-bool positionControl(void);
-void altitudeControl(float targetAltitudeCm, float taskIntervalS, float targetAltitudeStep);
-
-bool isBelowLandingAltitude(void);
-float getAutopilotThrottle(void);
-bool isAutopilotInControl(void);

src/main/flight/autopilot_multirotor.c

@@ -21,6 +21,9 @@
 #include <math.h>
 
 #include "platform.h"
+
+#ifndef USE_WING
+
 #include "build/debug.h"
 #include "common/axis.h"
 #include "common/filter.h"
@@ -395,3 +398,5 @@ bool isAutopilotInControl(void)
 {
     return !ap.sticksActive;
 }
+
+#endif // !USE_WING

src/main/flight/autopilot_multirotor.h

@@ -0,0 +1,38 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifndef USE_WING
+
+#include "io/gps.h"
+
+extern float autopilotAngle[RP_AXIS_COUNT]; // NOTE: ANGLES ARE IN CENTIDEGREES
+
+void autopilotInit(void);
+void resetAltitudeControl(void);
+void setSticksActiveStatus(bool areSticksActive);
+void resetPositionControl(const gpsLocation_t *initialTargetLocation, unsigned taskRateHz);
+void posControlOutput(void);
+bool positionControl(void);
+void altitudeControl(float targetAltitudeCm, float taskIntervalS, float targetAltitudeStep);
+
+bool isBelowLandingAltitude(void);
+float getAutopilotThrottle(void);
+bool isAutopilotInControl(void);
+
+#endif // !USE_WING

src/main/flight/autopilot_wing.c

@@ -0,0 +1,91 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <math.h>
+
+#include "platform.h"
+
+#ifdef USE_WING
+
+#include "build/debug.h"
+#include "common/axis.h"
+#include "common/filter.h"
+#include "common/maths.h"
+#include "common/vector.h"
+#include "fc/rc.h"
+#include "fc/runtime_config.h"
+
+#include "flight/imu.h"
+#include "flight/position.h"
+#include "rx/rx.h"
+#include "sensors/gyro.h"
+
+#include "pg/autopilot.h"
+#include "autopilot.h"
+
+float autopilotAngle[RP_AXIS_COUNT];
+
+void resetPositionControl(const gpsLocation_t *initialTargetLocation, unsigned taskRateHz)
+{
+    // from pos_hold.c (or other client) when initiating position hold at target location
+    UNUSED(initialTargetLocation);
+    UNUSED(taskRateHz);
+}
+
+void autopilotInit(void)
+{
+}
+
+void resetAltitudeControl (void) {
+}
+
+void altitudeControl(float targetAltitudeCm, float taskIntervalS, float targetAltitudeStep)
+{
+    UNUSED(targetAltitudeCm);
+    UNUSED(taskIntervalS);
+    UNUSED(targetAltitudeStep);
+}
+
+void setSticksActiveStatus(bool areSticksActive)
+{
+    UNUSED(areSticksActive);
+}
+
+bool positionControl(void)
+{
+    return false;
+}
+
+bool isBelowLandingAltitude(void)
+{
+    return false;
+}
+
+float getAutopilotThrottle(void)
+{
+    return 0.0f;
+}
+
+bool isAutopilotInControl(void)
+{
+    return false;
+}
+
+#endif // USE_WING

src/main/flight/autopilot_wing.h

@@ -0,0 +1,37 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifdef USE_WING
+
+#include "io/gps.h"
+
+extern float autopilotAngle[RP_AXIS_COUNT]; // NOTE: ANGLES ARE IN CENTIDEGREES
+
+void autopilotInit(void);
+void resetAltitudeControl(void);
+void setSticksActiveStatus(bool areSticksActive);
+void resetPositionControl(const gpsLocation_t *initialTargetLocation, unsigned taskRateHz);
+bool positionControl(void);
+void altitudeControl(float targetAltitudeCm, float taskIntervalS, float targetAltitudeStep);
+
+bool isBelowLandingAltitude(void);
+float getAutopilotThrottle(void);
+bool isAutopilotInControl(void);
+
+#endif // USE_WING

src/main/flight/gps_rescue.h

@@ -17,41 +17,5 @@
 
 #pragma once
 
-#include <stdbool.h>
+#include "flight/gps_rescue_multirotor.h"
-
+#include "flight/gps_rescue_wing.h"
-#include "common/axis.h"
-
-#include "pg/gps_rescue.h"
-
-#define TASK_GPS_RESCUE_RATE_HZ 100  // in sync with altitude task rate
-
-#ifdef USE_MAG
-#define GPS_RESCUE_USE_MAG  true
-#else
-#define GPS_RESCUE_USE_MAG  false
-#endif
-
-typedef enum {
-    RESCUE_SANITY_OFF = 0,
-    RESCUE_SANITY_ON,
-    RESCUE_SANITY_FS_ONLY,
-    RESCUE_SANITY_COUNT
-} gpsRescueSanity_e;
-
-typedef enum {
-    GPS_RESCUE_ALT_MODE_MAX = 0,
-    GPS_RESCUE_ALT_MODE_FIXED,
-    GPS_RESCUE_ALT_MODE_CURRENT,
-    GPS_RESCUE_ALT_MODE_COUNT
-} gpsRescueAltitudeMode_e;
-
-extern float gpsRescueAngle[RP_AXIS_COUNT]; // NOTE: ANGLES ARE IN CENTIDEGREES
-
-void gpsRescueInit(void);
-void gpsRescueUpdate(void);
-float gpsRescueGetYawRate(void);
-bool gpsRescueIsConfigured(void);
-bool gpsRescueIsAvailable(void);
-bool gpsRescueIsDisabled(void);
-bool gpsRescueDisableMag(void);
-float gpsRescueGetImuYawCogGain(void);

src/main/flight/gps_rescue_multirotor.c

@@ -21,6 +21,7 @@
 
 #include "platform.h"
 
+#ifndef USE_WING
 #ifdef USE_GPS_RESCUE
 
 #include "build/debug.h"
@@ -138,7 +139,7 @@ void gpsRescueInit(void)
     rescueState.intent.velocityPidCutoffModifier = 1.0f;
     gain = pt1FilterGain(cutoffHz, 1.0f);
     pt1FilterInit(&velocityDLpf, gain);
-    cutoffHz *= 4.0f; 
+    cutoffHz *= 4.0f;
     gain = pt3FilterGain(cutoffHz, taskIntervalSeconds);
     pt3FilterInit(&velocityUpsampleLpf, gain);
 }
@@ -887,3 +888,5 @@ bool gpsRescueDisableMag(void)
 }
 #endif
 #endif
+
+#endif // !USE_WING

src/main/flight/gps_rescue_multirotor.h

@@ -0,0 +1,61 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifndef USE_WING
+
+#include <stdbool.h>
+
+#include "common/axis.h"
+
+#include "pg/gps_rescue.h"
+
+#define TASK_GPS_RESCUE_RATE_HZ 100  // in sync with altitude task rate
+
+#ifdef USE_MAG
+#define GPS_RESCUE_USE_MAG  true
+#else
+#define GPS_RESCUE_USE_MAG  false
+#endif
+
+typedef enum {
+    RESCUE_SANITY_OFF = 0,
+    RESCUE_SANITY_ON,
+    RESCUE_SANITY_FS_ONLY,
+    RESCUE_SANITY_COUNT
+} gpsRescueSanity_e;
+
+typedef enum {
+    GPS_RESCUE_ALT_MODE_MAX = 0,
+    GPS_RESCUE_ALT_MODE_FIXED,
+    GPS_RESCUE_ALT_MODE_CURRENT,
+    GPS_RESCUE_ALT_MODE_COUNT
+} gpsRescueAltitudeMode_e;
+
+extern float gpsRescueAngle[RP_AXIS_COUNT]; // NOTE: ANGLES ARE IN CENTIDEGREES
+
+void gpsRescueInit(void);
+void gpsRescueUpdate(void);
+float gpsRescueGetYawRate(void);
+bool gpsRescueIsConfigured(void);
+bool gpsRescueIsAvailable(void);
+bool gpsRescueIsDisabled(void);
+bool gpsRescueDisableMag(void);
+float gpsRescueGetImuYawCogGain(void);
+
+#endif // !USE_WING

src/main/flight/gps_rescue_wing.c

@@ -0,0 +1,100 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+#include <stdlib.h>
+#include <math.h>
+
+#include "platform.h"
+
+#ifdef USE_WING
+#ifdef USE_GPS_RESCUE
+
+#include "build/debug.h"
+
+#include "common/axis.h"
+#include "common/filter.h"
+#include "common/maths.h"
+#include "common/utils.h"
+
+#include "config/config.h"
+#include "drivers/time.h"
+
+#include "fc/core.h"
+#include "fc/rc_controls.h"
+#include "fc/rc_modes.h"
+#include "fc/runtime_config.h"
+
+#include "flight/autopilot.h"
+#include "flight/failsafe.h"
+#include "flight/imu.h"
+#include "flight/pid.h"
+#include "flight/position.h"
+
+#include "io/gps.h"
+#include "rx/rx.h"
+#include "pg/autopilot.h"
+#include "sensors/acceleration.h"
+
+#include "gps_rescue.h"
+
+float gpsRescueAngle[RP_AXIS_COUNT] = { 0, 0 };
+
+void gpsRescueInit(void)
+{
+}
+
+void gpsRescueUpdate(void)
+// runs at gpsRescueTaskIntervalSeconds, and runs whether or not rescue is active
+{
+}
+
+float gpsRescueGetYawRate(void)
+{
+    return 0.0f; // the control yaw value for rc.c to be used while flightMode gps_rescue is active.
+}
+
+float gpsRescueGetImuYawCogGain(void)
+{
+    return 1.0f;
+}
+
+bool gpsRescueIsConfigured(void)
+{
+    return false;
+}
+
+bool gpsRescueIsAvailable(void)
+{
+    return false;
+}
+
+bool gpsRescueIsDisabled(void)
+{
+    return true;
+}
+
+#ifdef USE_MAG
+bool gpsRescueDisableMag(void)
+{
+    return true;
+}
+#endif
+
+#endif // USE_GPS_RESCUE
+
+#endif // USE_WING

src/main/flight/gps_rescue_wing.h

@@ -0,0 +1,41 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifdef USE_WING
+
+#include <stdbool.h>
+
+#include "common/axis.h"
+
+#include "pg/gps_rescue.h"
+
+#define TASK_GPS_RESCUE_RATE_HZ 100  // in sync with altitude task rate
+
+extern float gpsRescueAngle[RP_AXIS_COUNT]; // NOTE: ANGLES ARE IN CENTIDEGREES
+
+void gpsRescueInit(void);
+void gpsRescueUpdate(void);
+float gpsRescueGetYawRate(void);
+bool gpsRescueIsConfigured(void);
+bool gpsRescueIsAvailable(void);
+bool gpsRescueIsDisabled(void);
+bool gpsRescueDisableMag(void);
+float gpsRescueGetImuYawCogGain(void);
+
+#endif // USE_WING

src/main/flight/pid.c

@@ -570,7 +570,7 @@ STATIC_UNIT_TESTED FAST_CODE_NOINLINE float pidLevel(int axis, const pidProfile_
 #ifdef USE_GPS_RESCUE
     angleTarget += gpsRescueAngle[axis] / 100.0f; // Angle is in centidegrees, stepped on roll at 10Hz but not on pitch
 #endif
-#ifdef USE_POSITION_HOLD
+#if defined(USE_POSITION_HOLD) && !defined(USE_WING)
     if (FLIGHT_MODE(POS_HOLD_MODE)) {
         angleFeedforward = 0.0f; // otherwise the lag of the PT3 carries recent stick inputs into the hold
         if (isAutopilotInControl()) {
@@ -1127,7 +1127,7 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
                 || FLIGHT_MODE(ALT_HOLD_MODE) // todo - check if this is needed
 #endif
 #ifdef USE_POSITION_HOLD
-                || FLIGHT_MODE(POS_HOLD_MODE) 
+                || FLIGHT_MODE(POS_HOLD_MODE)
 #endif
                 ;
     levelMode_e levelMode;

src/main/flight/pos_hold.h

@@ -17,17 +17,5 @@
 
 #pragma once
 
-// #include "pg/pos_hold.h"
+#include "flight/pos_hold_multirotor.h"
-
+#include "flight/pos_hold_wing.h"
-#ifdef USE_POSITION_HOLD
-#include "common/time.h"
-#include "io/gps.h"
-
-#define POSHOLD_TASK_RATE_HZ 100 // hz
-
-void posHoldInit(void);
-void updatePosHold(timeUs_t currentTimeUs);
-
-bool posHoldFailure(void);
-
-#endif

src/main/flight/pos_hold_multirotor.c

@@ -17,6 +17,8 @@
 
 #include "platform.h"
 
+#ifndef USE_WING
+
 #ifdef USE_POSITION_HOLD
 
 #include "math.h"
@@ -55,7 +57,7 @@ void posHoldInit(void)
 
 void posHoldCheckSticks(void)
 {
-    // if failsafe is active, eg landing mode, don't update the original start point 
+    // if failsafe is active, eg landing mode, don't update the original start point
     if (!failsafeIsActive() && posHold.useStickAdjustment) {
         const bool sticksDeflected = (getRcDeflectionAbs(FD_ROLL) > posHold.deadband) || (getRcDeflectionAbs(FD_PITCH) > posHold.deadband);
         setSticksActiveStatus(sticksDeflected);
@@ -65,20 +67,20 @@ void posHoldCheckSticks(void)
 bool sensorsOk(void)
 {
     if (!STATE(GPS_FIX)) {
-        return false; 
+        return false;
     }
     if (
 #ifdef USE_MAG
         !compassIsHealthy() &&
 #endif
         (!posHoldConfig()->pos_hold_without_mag || !canUseGPSHeading)) {
-        return false; 
+        return false;
     }
     return true;
 }
 
 void updatePosHold(timeUs_t currentTimeUs) {
-    UNUSED(currentTimeUs); 
+    UNUSED(currentTimeUs);
     if (FLIGHT_MODE(POS_HOLD_MODE)) {
         if (!posHold.isEnabled) {
             resetPositionControl(&gpsSol.llh, POSHOLD_TASK_RATE_HZ); // sets target location to current location
@@ -104,3 +106,5 @@ bool posHoldFailure(void) {
 }
 
 #endif // USE_POS_HOLD
+
+#endif // !USE_WING

src/main/flight/pos_hold_multirotor.h

@@ -0,0 +1,37 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifndef USE_WING
+
+// #include "pg/pos_hold.h"
+
+#ifdef USE_POSITION_HOLD
+#include "common/time.h"
+#include "io/gps.h"
+
+#define POSHOLD_TASK_RATE_HZ 100 // hz
+
+void posHoldInit(void);
+void updatePosHold(timeUs_t currentTimeUs);
+
+bool posHoldFailure(void);
+
+#endif // USE_POSITION_HOLD
+
+#endif // !USE_WING

src/main/flight/pos_hold_wing.c

@@ -0,0 +1,57 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "platform.h"
+
+#ifdef USE_WING
+
+#ifdef USE_POSITION_HOLD
+
+#include "math.h"
+#include "build/debug.h"
+#include "common/maths.h"
+
+#include "config/config.h"
+#include "fc/core.h"
+#include "fc/runtime_config.h"
+#include "fc/rc.h"
+#include "flight/autopilot.h"
+#include "flight/failsafe.h"
+#include "flight/imu.h"
+#include "flight/position.h"
+#include "rx/rx.h"
+#include "sensors/compass.h"
+
+#include "pg/pos_hold.h"
+#include "pos_hold.h"
+
+void posHoldInit(void)
+{
+}
+
+void updatePosHold(timeUs_t currentTimeUs) {
+    UNUSED(currentTimeUs);
+}
+
+bool posHoldFailure(void) {
+    // used only to display warning in OSD if requested but failing
+    return true;
+}
+
+#endif // USE_POS_HOLD
+
+#endif // USE_WING

src/main/flight/pos_hold_wing.h

@@ -0,0 +1,37 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifdef USE_WING
+
+// #include "pg/pos_hold.h"
+
+#ifdef USE_POSITION_HOLD
+#include "common/time.h"
+#include "io/gps.h"
+
+#define POSHOLD_TASK_RATE_HZ 100 // hz
+
+void posHoldInit(void);
+void updatePosHold(timeUs_t currentTimeUs);
+
+bool posHoldFailure(void);
+
+#endif
+
+#endif // USE_WING

src/main/io/displayport_msp.c

@@ -220,7 +220,8 @@ displayPort_t *displayPortMspInit(void)
     return &mspDisplayPort;
 }
 
-void displayPortMspSetSerial(serialPortIdentifier_e serialPort) {
+void displayPortMspSetSerial(serialPortIdentifier_e serialPort)
+{
     displayPortSerial = serialPort;
 }
 

src/main/io/ledstrip.c

@@ -1588,4 +1588,16 @@ void setLedProfile(uint8_t profile)
         ledStripConfigMutable()->ledstrip_profile = profile;
     }
 }
+
+uint8_t getLedBrightness(void)
+{
+    return ledStripConfig()->ledstrip_brightness;
+}
+
+void setLedBrightness(uint8_t brightness)
+{
+    if ( brightness <= 100 ) {
+        ledStripConfigMutable()->ledstrip_brightness = brightness;
+    }
+}
 #endif

src/main/io/ledstrip.h

@@ -239,3 +239,5 @@ void updateRequiredOverlay(void);
 
 uint8_t getLedProfile(void);
 void setLedProfile(uint8_t profile);
+uint8_t getLedBrightness(void);
+void setLedBrightness(uint8_t brightness);

src/main/io/serial.c

@@ -70,6 +70,9 @@ const serialPortIdentifier_e serialPortIdentifiers[SERIAL_PORT_COUNT] = {
 #ifdef USE_VCP
     SERIAL_PORT_USB_VCP,
 #endif
+#ifdef USE_UART0
+    SERIAL_PORT_UART0,
+#endif
 #ifdef USE_UART1
     SERIAL_PORT_USART1,
 #endif
@@ -115,6 +118,9 @@ const char* serialPortNames[SERIAL_PORT_COUNT] = {
 #ifdef USE_VCP
     "VCP",
 #endif
+#ifdef USE_UART0
+    "UART0",
+#endif
 #ifdef USE_UART1
     "UART1",
 #endif
@@ -156,17 +162,24 @@ const char* serialPortNames[SERIAL_PORT_COUNT] = {
 #endif
 };
 
-const uint32_t baudRates[] = {0, 9600, 19200, 38400, 57600, 115200, 230400, 250000,
+const uint32_t baudRates[BAUD_COUNT] = {
-        400000, 460800, 500000, 921600, 1000000, 1500000, 2000000, 2470000}; // see baudRate_e
+    0, 9600, 19200, 38400, 57600, 115200, 230400, 250000,
+    400000, 460800, 500000, 921600, 1000000, 1500000, 2000000, 2470000
+}; // see baudRate_e
 
 static serialPortConfig_t* findInPortConfigs_identifier(const serialPortConfig_t cfgs[], size_t count, serialPortIdentifier_e identifier)
 {
+    if (identifier == SERIAL_PORT_NONE || identifier == SERIAL_PORT_ALL) {
+        return NULL;
+    }
+
     for (unsigned i = 0; i < count; i++) {
         if (cfgs[i].identifier == identifier) {
             // drop const on return - wrapper function will add it back if necessary
             return (serialPortConfig_t*)&cfgs[i];
         }
     }
+
     return NULL;
 }
 

src/main/io/serial.h

@@ -77,18 +77,29 @@ typedef enum {
     BAUD_COUNT
 } baudRate_e;
 
-extern const uint32_t baudRates[];
+extern const uint32_t baudRates[BAUD_COUNT];
 
 // serial port identifiers are now fixed, these values are used by MSP commands.
 typedef enum {
     SERIAL_PORT_ALL = -2,
     SERIAL_PORT_NONE = -1,
-    // prepare for transition to SERIAL_PORT_UART0
+    SERIAL_PORT_LEGACY_START_IDENTIFIER = 0,
-    SERIAL_PORT_UART_FIRST = 0,
+    SERIAL_PORT_START_IDENTIFIER = 20,
+    SERIAL_PORT_USB_VCP = 20,
+
+    SERIAL_PORT_SOFTSERIAL_FIRST = 30,
+    SERIAL_PORT_SOFTSERIAL1 = SERIAL_PORT_SOFTSERIAL_FIRST,
+    SERIAL_PORT_SOFTSERIAL2,
+
+    SERIAL_PORT_LPUART_FIRST = 40,
+    SERIAL_PORT_LPUART1 = SERIAL_PORT_LPUART_FIRST,
+
 #if SERIAL_UART_FIRST_INDEX == 0
+    SERIAL_PORT_UART_FIRST = 50,
     SERIAL_PORT_UART0 = SERIAL_PORT_UART_FIRST,
     SERIAL_PORT_USART1,
 #else
+    SERIAL_PORT_UART_FIRST = 51,
     SERIAL_PORT_USART1 = SERIAL_PORT_UART_FIRST,
 #endif
     SERIAL_PORT_UART1 = SERIAL_PORT_USART1,
@@ -108,14 +119,6 @@ typedef enum {
     SERIAL_PORT_USART10,
     SERIAL_PORT_UART10 = SERIAL_PORT_USART10,
 
-    SERIAL_PORT_USB_VCP = 20,
-
-    SERIAL_PORT_SOFTSERIAL_FIRST = 30,
-    SERIAL_PORT_SOFTSERIAL1 = SERIAL_PORT_SOFTSERIAL_FIRST,
-    SERIAL_PORT_SOFTSERIAL2,
-
-    SERIAL_PORT_LPUART_FIRST = 40,
-    SERIAL_PORT_LPUART1 = SERIAL_PORT_LPUART_FIRST,
 } serialPortIdentifier_e;
 
 // use value from target serial port normalization

src/main/io/serial_resource.c

@@ -60,9 +60,8 @@ serialType_e serialType(serialPortIdentifier_e identifier)
     }
 #endif
 #ifdef USE_SOFTSERIAL
-    if (identifier >= SERIAL_PORT_SOFTSERIAL_FIRST
+    if (identifier >= SERIAL_PORT_SOFTSERIAL_FIRST && identifier < SERIAL_PORT_SOFTSERIAL_FIRST + SERIAL_SOFTSERIAL_MAX) {
-        && identifier < SERIAL_PORT_SOFTSERIAL_FIRST + SERIAL_SOFTSERIAL_MAX) {
+        // sotserials always start from 1, without holes
-        // sotserials always start from first index, without holes
         return SERIALTYPE_SOFTSERIAL;
     }
 #endif

src/main/msp/msp.c

@@ -124,6 +124,7 @@
 #include "pg/gps_rescue.h"
 #include "pg/gyrodev.h"
 #include "pg/motor.h"
+#include "pg/pilot.h"
 #include "pg/pos_hold.h"
 #include "pg/rx.h"
 #include "pg/rx_spi.h"
@@ -1158,12 +1159,7 @@ static bool mspProcessOutCommand(mspDescriptor_t srcDesc, int16_t cmdMSP, sbuf_t
         break;
 
 case MSP_NAME:
-        {
+        sbufWriteString(dst, pilotConfig()->craftName);
-            const int nameLen = strlen(pilotConfig()->craftName);
-            for (int i = 0; i < nameLen; i++) {
-                sbufWriteU8(dst, pilotConfig()->craftName[i]);
-            }
-        }
         break;
 
 #ifdef USE_SERVOS
@@ -1537,6 +1533,7 @@ case MSP_NAME:
         break;
 
 #ifdef USE_GPS_RESCUE
+#ifndef USE_WING
     case MSP_GPS_RESCUE:
         sbufWriteU16(dst, gpsRescueConfig()->maxRescueAngle);
         sbufWriteU16(dst, gpsRescueConfig()->returnAltitudeM);
@@ -1569,6 +1566,7 @@ case MSP_NAME:
         sbufWriteU16(dst, gpsRescueConfig()->velD);
         sbufWriteU16(dst, gpsRescueConfig()->yawP);
         break;
+#endif // !USE_WING
 #endif
 #endif
 
@@ -1806,7 +1804,7 @@ case MSP_NAME:
     case MSP_RC_DEADBAND:
         sbufWriteU8(dst, rcControlsConfig()->deadband);
         sbufWriteU8(dst, rcControlsConfig()->yaw_deadband);
-#ifdef USE_POSITION_HOLD
+#if defined(USE_POSITION_HOLD) && !defined(USE_WING)
         sbufWriteU8(dst, posHoldConfig()->pos_hold_deadband);
 #else
         sbufWriteU8(dst, 0);
@@ -2610,9 +2608,7 @@ static mspResult_e mspFcProcessOutCommandWithArg(mspDescriptor_t srcDesc, int16_
             //  type byte, then length byte followed by the actual characters
             sbufWriteU8(dst, textType);
             sbufWriteU8(dst, textLength);
-            for (unsigned int i = 0; i < textLength; i++) {
+            sbufWriteData(dst, textVar, textLength);
-                sbufWriteU8(dst, textVar[i]);
-            }
         }
         break;
 #ifdef USE_LED_STRIP
@@ -2885,6 +2881,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
 
 #ifdef USE_GPS
 #ifdef USE_GPS_RESCUE
+#ifndef USE_WING
     case MSP_SET_GPS_RESCUE:
         gpsRescueConfigMutable()->maxRescueAngle = sbufReadU16(src);
         gpsRescueConfigMutable()->returnAltitudeM = sbufReadU16(src);
@@ -2922,6 +2919,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
         gpsRescueConfigMutable()->velD = sbufReadU16(src);
         gpsRescueConfigMutable()->yawP = sbufReadU16(src);
         break;
+#endif // !USE_WING
 #endif
 #endif
 
@@ -2977,7 +2975,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
     case MSP_SET_RC_DEADBAND:
         rcControlsConfigMutable()->deadband = sbufReadU8(src);
         rcControlsConfigMutable()->yaw_deadband = sbufReadU8(src);
-#ifdef USE_POSITION_HOLD
+#if defined(USE_POSITION_HOLD) && !defined(USE_WING)
         posHoldConfigMutable()->pos_hold_deadband = sbufReadU8(src);
 #else
         sbufReadU8(src);
@@ -3895,7 +3893,6 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
                     return MSP_RESULT_ERROR;
                 }
 
-                portConfig->identifier = identifier;
                 portConfig->functionMask = sbufReadU16(src);
                 portConfig->msp_baudrateIndex = sbufReadU8(src);
                 portConfig->gps_baudrateIndex = sbufReadU8(src);
@@ -3923,7 +3920,6 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
                 return MSP_RESULT_ERROR;
             }
 
-            portConfig->identifier = identifier;
             portConfig->functionMask = sbufReadU32(src);
             portConfig->msp_baudrateIndex = sbufReadU8(src);
             portConfig->gps_baudrateIndex = sbufReadU8(src);
@@ -3985,10 +3981,8 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
 #endif
 
     case MSP_SET_NAME:
-        memset(pilotConfigMutable()->craftName, 0, ARRAYLEN(pilotConfig()->craftName));
+        memset(pilotConfigMutable()->craftName, 0, sizeof(pilotConfigMutable()->craftName));
-        for (unsigned int i = 0; i < MIN(MAX_NAME_LENGTH, dataSize); i++) {
+        sbufReadData(src, pilotConfigMutable()->craftName, MIN(ARRAYLEN(pilotConfigMutable()->craftName) - 1, dataSize));
-            pilotConfigMutable()->craftName[i] = sbufReadU8(src);
-        }
 #ifdef USE_OSD
         osdAnalyzeActiveElements();
 #endif
@@ -4068,35 +4062,51 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
     case MSP2_SET_TEXT:
         {
             // type byte, then length byte followed by the actual characters
-            const uint8_t textType = sbufReadU8(src);
+            const unsigned textType = sbufReadU8(src);
 
             char* textVar;
-            const uint8_t textLength = MIN(MAX_NAME_LENGTH, sbufReadU8(src));
+            unsigned textSpace;
             switch (textType) {
                 case MSP2TEXT_PILOT_NAME:
                     textVar = pilotConfigMutable()->pilotName;
+                    textSpace = sizeof(pilotConfigMutable()->pilotName) - 1;
                     break;
 
                 case MSP2TEXT_CRAFT_NAME:
                     textVar = pilotConfigMutable()->craftName;
+                    textSpace = sizeof(pilotConfigMutable()->craftName) - 1;
                     break;
 
                 case MSP2TEXT_PID_PROFILE_NAME:
                     textVar = currentPidProfile->profileName;
+                    textSpace = sizeof(currentPidProfile->profileName) - 1;
                     break;
 
                 case MSP2TEXT_RATE_PROFILE_NAME:
                     textVar = currentControlRateProfile->profileName;
+                    textSpace = sizeof(currentControlRateProfile->profileName) - 1;
                     break;
 
+                case MSP2TEXT_CUSTOM_MSG_0:
+                case MSP2TEXT_CUSTOM_MSG_0 + 1:
+                case MSP2TEXT_CUSTOM_MSG_0 + 2:
+                case MSP2TEXT_CUSTOM_MSG_0 + 3: {
+                    unsigned msgIdx = textType - MSP2TEXT_CUSTOM_MSG_0;
+                    if (msgIdx < OSD_CUSTOM_MSG_COUNT) {
+                        textVar = pilotConfigMutable()->message[msgIdx];
+                        textSpace = sizeof(pilotConfigMutable()->message[msgIdx]) - 1;
+                    } else {
+                        return MSP_RESULT_ERROR;
+                    }
+                    break;
+                }
                 default:
                     return MSP_RESULT_ERROR;
             }
 
+            const unsigned textLength = MIN(textSpace, sbufReadU8(src));
             memset(textVar, 0, strlen(textVar));
-            for (unsigned int i = 0; i < textLength; i++) {
+            sbufReadData(src, textVar, textLength);
-                textVar[i] = sbufReadU8(src);
-            }
 
 #ifdef USE_OSD
             if (textType == MSP2TEXT_PILOT_NAME || textType == MSP2TEXT_CRAFT_NAME) {

src/main/msp/msp_protocol_v2_betaflight.h

@@ -38,3 +38,6 @@
 #define MSP2TEXT_RATE_PROFILE_NAME               4
 #define MSP2TEXT_BUILDKEY                        5
 #define MSP2TEXT_RELEASENAME                     6
+#define MSP2TEXT_CUSTOM_MSG_0                    7  // CUSTOM_MSG_MAX_NUM  entries are allocated
+#define CUSTOM_MSG_MAX_NUM                       4
+// next new variable type must be >= MSP2TEXT_CUSTOM_MSG_0 + CUSTOM_MSG_MAX_NUM (11)

src/main/osd/osd.h

@@ -190,6 +190,10 @@ typedef enum {
     OSD_GPS_LAP_TIME_PREVIOUS,
     OSD_GPS_LAP_TIME_BEST3,
     OSD_DEBUG2,
+    OSD_CUSTOM_MSG0,
+    OSD_CUSTOM_MSG1,
+    OSD_CUSTOM_MSG2,
+    OSD_CUSTOM_MSG3,
     OSD_ITEM_COUNT // MUST BE LAST
 } osd_items_e;
 

src/main/osd/osd_elements.c

@@ -161,6 +161,7 @@
 #include "osd/osd_warnings.h"
 
 #include "pg/motor.h"
+#include "pg/pilot.h"
 #include "pg/stats.h"
 
 #include "rx/rx.h"
@@ -810,6 +811,18 @@ static void osdElementCompassBar(osdElementParms_t *element)
     element->buff[9] = 0;
 }
 
+//display custom message from MSPv2
+static void osdElementCustomMsg(osdElementParms_t *element)
+{
+    int msgIndex = element->item - OSD_CUSTOM_MSG0;
+    if (msgIndex < 0 || msgIndex >= OSD_CUSTOM_MSG_COUNT || pilotConfig()->message[msgIndex][0] == '\0') {
+        tfp_sprintf(element->buff, "CUSTOM_MSG%d", msgIndex + 1);
+    } else {
+        strncpy(element->buff, pilotConfig()->message[msgIndex], MAX_NAME_LENGTH);
+        element->buff[MAX_NAME_LENGTH] = 0;   // terminate maximum-length string
+    }
+}
+
 #ifdef USE_ADC_INTERNAL
 static void osdElementCoreTemperature(osdElementParms_t *element)
 {
@@ -1804,6 +1817,10 @@ static const uint8_t osdElementDisplayOrder[] = {
     OSD_MAH_DRAWN,
     OSD_WATT_HOURS_DRAWN,
     OSD_CRAFT_NAME,
+    OSD_CUSTOM_MSG0,
+    OSD_CUSTOM_MSG1,
+    OSD_CUSTOM_MSG2,
+    OSD_CUSTOM_MSG3,
     OSD_ALTITUDE,
     OSD_ROLL_PIDS,
     OSD_PITCH_PIDS,
@@ -1902,6 +1919,10 @@ const osdElementDrawFn osdElementDrawFunction[OSD_ITEM_COUNT] = {
     [OSD_ITEM_TIMER_2]            = osdElementTimer,
     [OSD_FLYMODE]                 = osdElementFlymode,
     [OSD_CRAFT_NAME]              = NULL,  // only has background
+    [OSD_CUSTOM_MSG0]             = osdElementCustomMsg,
+    [OSD_CUSTOM_MSG1]             = osdElementCustomMsg,
+    [OSD_CUSTOM_MSG2]             = osdElementCustomMsg,
+    [OSD_CUSTOM_MSG3]             = osdElementCustomMsg,
     [OSD_THROTTLE_POS]            = osdElementThrottlePosition,
 #ifdef USE_VTX_COMMON
     [OSD_VTX_CHANNEL]             = osdElementVtxChannel,

src/main/pg/alt_hold.h

@@ -21,13 +21,5 @@
 
 #pragma once
 
-#include <stdint.h>
+#include "pg/alt_hold_multirotor.h"
-
+#include "pg/alt_hold_wing.h"
-#include "pg/pg.h"
-
-typedef struct altHoldConfig_s {
-    uint8_t alt_hold_adjust_rate;
-    uint8_t alt_hold_deadband;
-} altHoldConfig_t;
-
-PG_DECLARE(altHoldConfig_t, altHoldConfig);

src/main/pg/alt_hold_multirotor.c

@@ -21,6 +21,8 @@
 
 #include "platform.h"
 
+#ifndef USE_WING
+
 #ifdef USE_ALTITUDE_HOLD
 
 #include "flight/alt_hold.h"
@@ -37,3 +39,5 @@ PG_RESET_TEMPLATE(altHoldConfig_t, altHoldConfig,
     .alt_hold_deadband = 20, // throttle deadband in percent of stick travel
 );
 #endif
+
+#endif // USE_WING

src/main/pg/alt_hold_multirotor.h

@@ -0,0 +1,37 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifndef USE_WING
+
+#include <stdint.h>
+
+#include "pg/pg.h"
+
+typedef struct altHoldConfig_s {
+    uint8_t alt_hold_adjust_rate;
+    uint8_t alt_hold_deadband;
+} altHoldConfig_t;
+
+PG_DECLARE(altHoldConfig_t, altHoldConfig);
+
+#endif // !USE_WING

src/main/pg/alt_hold_wing.c

@@ -0,0 +1,41 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "platform.h"
+
+#ifdef USE_WING
+
+#ifdef USE_ALTITUDE_HOLD
+
+#include "flight/alt_hold.h"
+
+#include "pg/pg.h"
+#include "pg/pg_ids.h"
+
+#include "alt_hold.h"
+
+PG_REGISTER_WITH_RESET_TEMPLATE(altHoldConfig_t, altHoldConfig, PG_ALTHOLD_CONFIG, 4);
+
+PG_RESET_TEMPLATE(altHoldConfig_t, altHoldConfig,
+);
+#endif
+
+#endif // USE_WING

src/main/pg/alt_hold_wing.h

@@ -0,0 +1,36 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifdef USE_WING
+
+#include <stdint.h>
+
+#include "pg/pg.h"
+
+typedef struct altHoldConfig_s {
+    uint8_t dummy;
+} altHoldConfig_t;
+
+PG_DECLARE(altHoldConfig_t, altHoldConfig);
+
+#endif // USE_WING

src/main/pg/autopilot.h

@@ -21,26 +21,5 @@
 
 #pragma once
 
-#include <stdint.h>
+#include "pg/autopilot_multirotor.h"
-
+#include "pg/autopilot_wing.h"
-#include "pg/pg.h"
-
-typedef struct apConfig_s {
-    uint8_t landing_altitude_m;   // altitude below which landing behaviours can change, metres
-    uint16_t hover_throttle;      // value used at the start of a rescue or position hold
-    uint16_t throttle_min;
-    uint16_t throttle_max;
-    uint8_t altitude_P;
-    uint8_t altitude_I;
-    uint8_t altitude_D;
-    uint8_t altitude_F;
-    uint8_t position_P;
-    uint8_t position_I;
-    uint8_t position_D;
-    uint8_t position_A;
-    uint8_t position_cutoff;
-    uint8_t max_angle;
-} apConfig_t;
-
-PG_DECLARE(apConfig_t, apConfig);
-

src/main/pg/autopilot_multirotor.c

@@ -21,6 +21,8 @@
 
 #include "platform.h"
 
+#ifndef USE_WING
+
 #include "flight/autopilot.h"
 
 #include "pg/pg.h"
@@ -46,3 +48,5 @@ PG_RESET_TEMPLATE(apConfig_t, apConfig,
     .position_cutoff = 80,
     .max_angle = 50,
 );
+
+#endif // !USE_WING

src/main/pg/autopilot_multirotor.h

@@ -0,0 +1,49 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifndef USE_WING
+
+#include <stdint.h>
+
+#include "pg/pg.h"
+
+typedef struct apConfig_s {
+    uint8_t landing_altitude_m;   // altitude below which landing behaviours can change, metres
+    uint16_t hover_throttle;      // value used at the start of a rescue or position hold
+    uint16_t throttle_min;
+    uint16_t throttle_max;
+    uint8_t altitude_P;
+    uint8_t altitude_I;
+    uint8_t altitude_D;
+    uint8_t altitude_F;
+    uint8_t position_P;
+    uint8_t position_I;
+    uint8_t position_D;
+    uint8_t position_A;
+    uint8_t position_cutoff;
+    uint8_t max_angle;
+} apConfig_t;
+
+PG_DECLARE(apConfig_t, apConfig);
+
+#endif // !USE_WING

src/main/pg/autopilot_wing.c

@@ -0,0 +1,38 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "platform.h"
+
+#ifdef USE_WING
+
+#include "flight/autopilot.h"
+
+#include "pg/pg.h"
+#include "pg/pg_ids.h"
+
+#include "autopilot.h"
+
+PG_REGISTER_WITH_RESET_TEMPLATE(apConfig_t, apConfig, PG_AUTOPILOT, 2);
+
+PG_RESET_TEMPLATE(apConfig_t, apConfig,
+);
+
+#endif // USE_WING

src/main/pg/autopilot_wing.h

@@ -0,0 +1,36 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifdef USE_WING
+
+#include <stdint.h>
+
+#include "pg/pg.h"
+
+typedef struct apConfig_s {
+    uint8_t dummy;
+} apConfig_t;
+
+PG_DECLARE(apConfig_t, apConfig);
+
+#endif // USE_WING

src/main/pg/gps_rescue.h

@@ -1,50 +1,21 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software: you can redistribute it and/or modify
- * this software and/or modify this software under the terms of the
+ * it under the terms of the GNU General Public License as published by
- * GNU General Public License as published by the Free Software
+ * the Free Software Foundation, either version 3 of the License, or
- * Foundation, either version 3 of the License, or (at your option)
+ * (at your option) any later version.
- * any later version.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
+ * Betaflight is distributed in the hope that it will be useful,
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * See the GNU General Public License for more details.
+ * GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with this software.
+ * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
- *
- * If not, see <http://www.gnu.org/licenses/>.
  */
 
 #pragma once
 
-#include <stdint.h>
+#include "pg/gps_rescue_multirotor.h"
-
+#include "pg/gps_rescue_wing.h"
-#include "pg/pg.h"
-
-typedef struct gpsRescue_s {
-
-    uint16_t maxRescueAngle; // degrees
-    uint16_t returnAltitudeM; // meters
-    uint16_t descentDistanceM; // meters
-    uint16_t groundSpeedCmS; // centimeters per second
-    uint8_t  yawP;
-    uint8_t  minSats;
-    uint8_t  velP, velI, velD;
-    uint16_t minStartDistM; // meters
-    uint8_t  sanityChecks;
-    uint8_t  allowArmingWithoutFix;
-    uint8_t  useMag;
-    uint8_t  altitudeMode;
-    uint16_t ascendRate;
-    uint16_t descendRate;
-    uint16_t initialClimbM; // meters
-    uint8_t  rollMix;
-    uint8_t  disarmThreshold;
-    uint8_t  pitchCutoffHz;
-    uint8_t  imuYawGain;
-} gpsRescueConfig_t;
-
-PG_DECLARE(gpsRescueConfig_t, gpsRescueConfig);

src/main/pg/gps_rescue_multirotor.c

@@ -20,6 +20,8 @@
 
 #include "platform.h"
 
+#ifndef USE_WING
+
 #ifdef USE_GPS_RESCUE
 
 #include "flight/gps_rescue.h"
@@ -62,3 +64,5 @@ PG_RESET_TEMPLATE(gpsRescueConfig_t, gpsRescueConfig,
 );
 
 #endif // USE_GPS_RESCUE
+
+#endif // !USE_WING

src/main/pg/gps_rescue_multirotor.h

@@ -0,0 +1,54 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software under the terms of the
+ * GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifndef USE_WING
+
+#include <stdint.h>
+
+#include "pg/pg.h"
+
+typedef struct gpsRescue_s {
+
+    uint16_t maxRescueAngle; // degrees
+    uint16_t returnAltitudeM; // meters
+    uint16_t descentDistanceM; // meters
+    uint16_t groundSpeedCmS; // centimeters per second
+    uint8_t  yawP;
+    uint8_t  minSats;
+    uint8_t  velP, velI, velD;
+    uint16_t minStartDistM; // meters
+    uint8_t  sanityChecks;
+    uint8_t  allowArmingWithoutFix;
+    uint8_t  useMag;
+    uint8_t  altitudeMode;
+    uint16_t ascendRate;
+    uint16_t descendRate;
+    uint16_t initialClimbM; // meters
+    uint8_t  rollMix;
+    uint8_t  disarmThreshold;
+    uint8_t  pitchCutoffHz;
+    uint8_t  imuYawGain;
+} gpsRescueConfig_t;
+
+PG_DECLARE(gpsRescueConfig_t, gpsRescueConfig);
+
+#endif // !USE_WING

src/main/pg/gps_rescue_wing.c

@@ -0,0 +1,40 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "platform.h"
+
+#ifdef USE_WING
+
+#ifdef USE_GPS_RESCUE
+
+#include "flight/gps_rescue.h"
+
+#include "pg/pg.h"
+#include "pg/pg_ids.h"
+
+#include "gps_rescue.h"
+
+PG_REGISTER_WITH_RESET_TEMPLATE(gpsRescueConfig_t, gpsRescueConfig, PG_GPS_RESCUE, 7);
+
+PG_RESET_TEMPLATE(gpsRescueConfig_t, gpsRescueConfig,
+    .allowArmingWithoutFix = false,
+    .minSats = 8,
+);
+
+#endif // USE_GPS_RESCUE
+
+#endif // USE_WING

src/main/pg/gps_rescue_wing.h

@@ -0,0 +1,33 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifdef USE_WING
+
+#include <stdint.h>
+
+#include "pg/pg.h"
+
+typedef struct gpsRescue_s {
+    uint8_t  allowArmingWithoutFix;
+    uint8_t  minSats;
+} gpsRescueConfig_t;
+
+PG_DECLARE(gpsRescueConfig_t, gpsRescueConfig);
+
+#endif // USE_WING

src/main/pg/pilot.c

@@ -0,0 +1,38 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <string.h>
+
+#include "platform.h"
+
+#include "pg/pg.h"
+#include "pg/pg_ids.h"
+
+#include "pilot.h"
+
+PG_REGISTER_WITH_RESET_TEMPLATE(pilotConfig_t, pilotConfig, PG_PILOT_CONFIG, 2);
+
+PG_RESET_TEMPLATE(pilotConfig_t, pilotConfig,
+    .craftName = { 0 },
+    .pilotName = { 0 },
+    .message = { {0} },
+);

src/main/pg/pilot.h

@@ -0,0 +1,35 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "pg/pg.h"
+
+#define MAX_NAME_LENGTH 16u
+#define OSD_CUSTOM_MSG_COUNT 4
+
+typedef struct pilotConfig_s {
+    char craftName[MAX_NAME_LENGTH + 1];
+    char pilotName[MAX_NAME_LENGTH + 1];
+    char message[OSD_CUSTOM_MSG_COUNT][MAX_NAME_LENGTH + 1];
+} pilotConfig_t;
+
+PG_DECLARE(pilotConfig_t, pilotConfig);

src/main/pg/pos_hold.h

@@ -21,13 +21,5 @@
 
 #pragma once
 
-#include <stdint.h>
+#include "pg/pos_hold_multirotor.h"
-
+#include "pg/pos_hold_wing.h"
-#include "pg/pg.h"
-
-typedef struct posHoldConfig_s {
-    bool pos_hold_without_mag;
-    uint8_t pos_hold_deadband;
-} posHoldConfig_t;
-
-PG_DECLARE(posHoldConfig_t, posHoldConfig);

src/main/pg/pos_hold_multirotor.c

@@ -21,6 +21,8 @@
 
 #include "platform.h"
 
+#ifndef USE_WING
+
 #ifdef USE_POSITION_HOLD
 
 #include "flight/pos_hold.h"
@@ -37,3 +39,5 @@ PG_RESET_TEMPLATE(posHoldConfig_t, posHoldConfig,
     .pos_hold_deadband = 5,          // deadband in percent of stick travel for roll and pitch. Must be non-zero, and exceeded, for target location to be changed with sticks
 );
 #endif
+
+#endif // !USE_WING

src/main/pg/pos_hold_multirotor.h

@@ -0,0 +1,37 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifndef USE_WING
+
+#include <stdint.h>
+
+#include "pg/pg.h"
+
+typedef struct posHoldConfig_s {
+    bool pos_hold_without_mag;
+    uint8_t pos_hold_deadband;
+} posHoldConfig_t;
+
+PG_DECLARE(posHoldConfig_t, posHoldConfig);
+
+#endif // !USE_WING

src/main/pg/pos_hold_wing.c

@@ -0,0 +1,41 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "platform.h"
+
+#ifdef USE_WING
+
+#ifdef USE_POSITION_HOLD
+
+#include "flight/pos_hold.h"
+
+#include "pg/pg.h"
+#include "pg/pg_ids.h"
+
+#include "pos_hold.h"
+
+PG_REGISTER_WITH_RESET_TEMPLATE(posHoldConfig_t, posHoldConfig, PG_POSHOLD_CONFIG, 0);
+
+PG_RESET_TEMPLATE(posHoldConfig_t, posHoldConfig,
+);
+#endif
+
+#endif // USE_WING

src/main/pg/pos_hold_wing.h

@@ -0,0 +1,36 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#ifdef USE_WING
+
+#include <stdint.h>
+
+#include "pg/pg.h"
+
+typedef struct posHoldConfig_s {
+    uint8_t dummy;
+} posHoldConfig_t;
+
+PG_DECLARE(posHoldConfig_t, posHoldConfig);
+
+#endif // !USE_WING

src/main/pg/serial_uart.c

@@ -46,6 +46,9 @@ typedef struct uartDmaopt_s {
 } uartDmaopt_t;
 
 static const uartDmaopt_t uartDmaopt[] = {
+#ifdef USE_UART0
+    { SERIAL_PORT_UART0, UART0_TX_DMA_OPT, UART0_RX_DMA_OPT },
+#endif
 #ifdef USE_UART1
     { SERIAL_PORT_USART1, UART1_TX_DMA_OPT, UART1_RX_DMA_OPT },
 #endif

src/main/target/common_defaults_post.h

@@ -211,6 +211,15 @@
 #endif
 #endif
 
+#ifdef USE_UART0
+#ifndef UART0_TX_DMA_OPT
+#define UART0_TX_DMA_OPT (DMA_OPT_UNUSED)
+#endif
+#ifndef UART0_RX_DMA_OPT
+#define UART0_RX_DMA_OPT (DMA_OPT_UNUSED)
+#endif
+#endif
+
 #ifdef USE_UART1
 #ifndef UART1_TX_DMA_OPT
 #define UART1_TX_DMA_OPT (DMA_OPT_UNUSED)

src/main/target/common_post.h

@@ -555,14 +555,20 @@
 #undef USED_TIMERS
 #endif
 
-#if !defined(USE_RANGEFINDER)
+#if defined(USE_OPTICALFLOW_MT)
-#undef USE_RANGEFINDER_HCSR04
+#ifndef USE_RANGEFINDER_MT
-#undef USE_RANGEFINDER_SRF10
+#define USE_RANGEFINDER_MT
-#undef USE_RANGEFINDER_HCSR04_I2C
-#undef USE_RANGEFINDER_VL53L0X
-#undef USE_RANGEFINDER_UIB
-#undef USE_RANGEFINDER_TF
 #endif
+#ifndef USE_OPTICALFLOW
+#define USE_OPTICALFLOW
+#endif
+#endif // USE_OPTICALFLOW_MT
+
+#if defined(USE_RANGEFINDER_HCSR04) || defined(USE_RANGEFINDER_SRF10) || defined(USE_RANGEFINDER_HCSR04_I2C) || defined(USE_RANGEFINDER_VL53L0X) || defined(USE_RANGEFINDER_UIB) || defined(USE_RANGEFINDER_TF) || defined(USE_RANGEFINDER_MT)
+#ifndef USE_RANGEFINDER
+#define USE_RANGEFINDER
+#endif
+#endif // USE_RANGEFINDER_XXX
 
 #ifndef USE_GPS_RESCUE
 #undef USE_CMS_GPS_RESCUE_MENU

src/main/target/common_pre.h

@@ -270,8 +270,9 @@
 #define USE_RANGEFINDER
 #define USE_RANGEFINDER_HCSR04
 #define USE_RANGEFINDER_TF
+#define USE_OPTICALFLOW_MT
 
-#endif // TARGET_FLASH_SIZE > 512
+#endif // TARGET_FLASH_SIZE >= 1024
 
 #endif // !defined(CLOUD_BUILD)
 
@@ -482,3 +483,7 @@
 #undef USE_RUNAWAY_TAKEOFF
 
 #endif // USE_WING
+
+#if defined(USE_POSITION_HOLD) && !defined(USE_GPS)
+#error "USE_POSITION_HOLD requires USE_GPS to be defined"
+#endif

src/platform/STM32/timer_stm32h5xx.c

@@ -0,0 +1,232 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "platform.h"
+
+#ifdef USE_TIMER
+
+#include "common/utils.h"
+
+#include "drivers/dma.h"
+#include "drivers/io.h"
+#include "timer_def.h"
+
+#include "stm32h5xx.h"
+#include "drivers/rcc.h"
+#include "drivers/timer.h"
+
+const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT] = {
+    { .TIMx = TIM1,  .rcc = RCC_APB2(TIM1),   .inputIrq = TIM1_CC_IRQn},
+    { .TIMx = TIM2,  .rcc = RCC_APB1L(TIM2),  .inputIrq = TIM2_IRQn},
+    { .TIMx = TIM3,  .rcc = RCC_APB1L(TIM3),  .inputIrq = TIM3_IRQn},
+    { .TIMx = TIM4,  .rcc = RCC_APB1L(TIM4),  .inputIrq = TIM4_IRQn},
+    { .TIMx = TIM5,  .rcc = RCC_APB1L(TIM5),  .inputIrq = TIM5_IRQn},
+    { .TIMx = TIM6,  .rcc = RCC_APB1L(TIM6),  .inputIrq = TIM6_DAC_IRQn},
+    { .TIMx = TIM7,  .rcc = RCC_APB1L(TIM7),  .inputIrq = TIM7_IRQn},
+    { .TIMx = TIM8,  .rcc = RCC_APB2(TIM8),   .inputIrq = TIM8_CC_IRQn},
+    { .TIMx = TIM12, .rcc = RCC_APB1L(TIM12), .inputIrq = TIM8_BRK_TIM12_IRQn},
+    { .TIMx = TIM13, .rcc = RCC_APB1L(TIM13), .inputIrq = TIM8_UP_TIM13_IRQn},
+    { .TIMx = TIM14, .rcc = RCC_APB1L(TIM14), .inputIrq = TIM8_TRG_COM_TIM14_IRQn},
+    { .TIMx = TIM15, .rcc = RCC_APB2(TIM15),  .inputIrq = TIM15_IRQn},
+    { .TIMx = TIM16, .rcc = RCC_APB2(TIM16),  .inputIrq = TIM16_IRQn},
+    { .TIMx = TIM17, .rcc = RCC_APB2(TIM17),  .inputIrq = TIM17_IRQn},
+};
+
+#if defined(USE_TIMER_MGMT)
+const timerHardware_t fullTimerHardware[FULL_TIMER_CHANNEL_COUNT] = {
+// Auto-generated from 'timer_def.h'
+// Port A
+    DEF_TIM(TIM2, CH1, PA0, 0, 0, 0), // AF1
+    DEF_TIM(TIM2, CH2, PA1, 0, 0, 0),
+    DEF_TIM(TIM2, CH3, PA2, 0, 0, 0),
+    DEF_TIM(TIM2, CH4, PA3, 0, 0, 0),
+    DEF_TIM(TIM2, CH1, PA5, 0, 0, 0),
+    DEF_TIM(TIM1, CH1N, PA7, 0, 0, 0),
+    DEF_TIM(TIM1, CH1, PA8, 0, 0, 0),
+    DEF_TIM(TIM1, CH2, PA9, 0, 0, 0),
+    DEF_TIM(TIM1, CH3, PA10, 0, 0, 0),
+    DEF_TIM(TIM1, CH4, PA11, 0, 0, 0),
+    DEF_TIM(TIM2, CH1, PA15, 0, 0, 0),
+
+    DEF_TIM(TIM5, CH1, PA0, 0, 0, 0), // AF2
+    DEF_TIM(TIM5, CH2, PA1, 0, 0, 0),
+    DEF_TIM(TIM5, CH3, PA2, 0, 0, 0),
+    DEF_TIM(TIM5, CH4, PA3, 0, 0, 0),
+    DEF_TIM(TIM3, CH1, PA6, 0, 0, 0),
+    DEF_TIM(TIM3, CH2, PA7, 0, 0, 0),
+
+    DEF_TIM(TIM8, CH1N, PA5, 0, 0, 0), // AF3
+    DEF_TIM(TIM8, CH1N, PA7, 0, 0, 0),
+
+    DEF_TIM(TIM13, CH1, PA6, 0, 0, 0), // AF9
+    DEF_TIM(TIM14, CH1, PA7, 0, 0, 0),
+
+    DEF_TIM(TIM15, CH1N, PA1, 0, 0, 0), // AF4
+    DEF_TIM(TIM15, CH1, PA2, 0, 0, 0),
+    DEF_TIM(TIM15, CH2, PA3, 0, 0, 0),
+
+// Port B
+    DEF_TIM(TIM1, CH2N, PB0, 0, 0, 0), // AF1
+    DEF_TIM(TIM1, CH3N, PB1, 0, 0, 0),
+    DEF_TIM(TIM2, CH2, PB3, 0, 0, 0),
+    DEF_TIM(TIM16, CH1N, PB6, 0, 0, 0),
+    DEF_TIM(TIM17, CH1N, PB7, 0, 0, 0),
+    DEF_TIM(TIM16, CH1, PB8, 0, 0, 0),
+    DEF_TIM(TIM17, CH1, PB9, 0, 0, 0),
+    DEF_TIM(TIM2, CH3, PB10, 0, 0, 0),
+    DEF_TIM(TIM2, CH4, PB11, 0, 0, 0),
+    DEF_TIM(TIM1, CH1N, PB13, 0, 0, 0),
+    DEF_TIM(TIM1, CH2N, PB14, 0, 0, 0),
+    DEF_TIM(TIM1, CH3N, PB15, 0, 0, 0),
+
+    DEF_TIM(TIM3, CH3, PB0, 0, 0, 0), // AF2
+    DEF_TIM(TIM3, CH4, PB1, 0, 0, 0),
+    DEF_TIM(TIM3, CH1, PB4, 0, 0, 0),
+    DEF_TIM(TIM3, CH2, PB5, 0, 0, 0),
+    DEF_TIM(TIM4, CH1, PB6, 0, 0, 0),
+    DEF_TIM(TIM4, CH2, PB7, 0, 0, 0),
+    DEF_TIM(TIM4, CH3, PB8, 0, 0, 0),
+    DEF_TIM(TIM4, CH4, PB9, 0, 0, 0),
+
+    // DEF_TIM(TIM12, CH1, PB14, 0, 0, 0), // AF9 (SDMMC2_D0)
+    // DEF_TIM(TIM12, CH2, PB15, 0, 0, 0), // AF9 (SDMMC2_D1)
+
+// Port C
+    DEF_TIM(TIM3, CH1, PC6, 0, 0, 0), // AF2
+    DEF_TIM(TIM3, CH2, PC7, 0, 0, 0),
+    DEF_TIM(TIM3, CH3, PC8, 0, 0, 0),
+    DEF_TIM(TIM3, CH4, PC9, 0, 0, 0),
+
+    DEF_TIM(TIM8, CH1, PC6, 0, 0, 0), // AF3
+    DEF_TIM(TIM8, CH2, PC7, 0, 0, 0),
+    DEF_TIM(TIM8, CH3, PC8, 0, 0, 0),
+    DEF_TIM(TIM8, CH4, PC9, 0, 0, 0),
+
+// Port D
+    DEF_TIM(TIM1, CH4N, PD5, 0, 0, 0), // AF1 (ADDED)
+
+    DEF_TIM(TIM4, CH1, PD12, 0, 0, 0), // AF2
+    DEF_TIM(TIM4, CH2, PD13, 0, 0, 0),
+    DEF_TIM(TIM4, CH3, PD14, 0, 0, 0),
+    DEF_TIM(TIM4, CH4, PD15, 0, 0, 0),
+
+// Port E
+    DEF_TIM(TIM1, CH1N, PE8, 0, 0, 0), // AF1
+    DEF_TIM(TIM1, CH1, PE9, 0, 0, 0),
+    DEF_TIM(TIM1, CH2N, PE10, 0, 0, 0),
+    DEF_TIM(TIM1, CH2, PE11, 0, 0, 0),
+    DEF_TIM(TIM1, CH3N, PE12, 0, 0, 0),
+    DEF_TIM(TIM1, CH3, PE13, 0, 0, 0),
+    DEF_TIM(TIM1, CH4, PE14, 0, 0, 0),
+
+    DEF_TIM(TIM1, CH4N, PE15, 0, 0, 0), // AF3 (ADDED)
+
+    DEF_TIM(TIM15, CH1N, PE4, 0, 0, 0), // AF4
+    DEF_TIM(TIM15, CH1, PE5, 0, 0, 0),
+    DEF_TIM(TIM15, CH2, PE6, 0, 0, 0),
+
+// Port F
+    DEF_TIM(TIM16, CH1, PF6, 0, 0, 0), // AF1
+    DEF_TIM(TIM17, CH1, PF7, 0, 0, 0),
+    DEF_TIM(TIM16, CH1N, PF8, 0, 0, 0), // AF3
+    DEF_TIM(TIM17, CH1N, PF9, 0, 0, 0),
+
+    DEF_TIM(TIM13, CH1, PF8, 0, 0, 0), // AF9 (WAS TIM13_CH1N)
+    DEF_TIM(TIM14, CH1, PF9, 0, 0, 0), // AF9 (WAS TIM14_CH1N)
+
+// Port H
+
+    DEF_TIM(TIM1, CHN3, PH6, 0, 0, 0), // AF1 (ADDED)
+    DEF_TIM(TIM1, CH3, PH7, 0, 0, 0),
+    DEF_TIM(TIM1, CHN2, PH8, 0, 0, 0),
+    DEF_TIM(TIM1, CH2, PH9, 0, 0, 0),
+    DEF_TIM(TIM1, CHN1, PH10, 0, 0, 0),
+    DEF_TIM(TIM1, CH1, PH11, 0, 0, 0),
+
+    DEF_TIM(TIM12, CH1, PH6, 0, 0, 0), // AF2 (ADDED)
+    DEF_TIM(TIM12, CH2, PH9, 0, 0, 0),
+    DEF_TIM(TIM5, CH1, PH10, 0, 0, 0),
+    DEF_TIM(TIM5, CH2, PH11, 0, 0, 0),
+    DEF_TIM(TIM5, CH3, PH12, 0, 0, 0),
+
+    DEF_TIM(TIM8, CH1, PH6, 0, 0, 0), // AF3 (ADDED)
+    DEF_TIM(TIM8, CH1N, PH7, 0, 0, 0),
+    DEF_TIM(TIM8, CH2, PH8, 0, 0, 0),
+    DEF_TIM(TIM8, CH2N, PH9, 0, 0, 0),
+    DEF_TIM(TIM8, CH3, PH10, 0, 0, 0),
+    DEF_TIM(TIM8, CH3N, PH11, 0, 0, 0),
+    DEF_TIM(TIM8, CH1N, PH13, 0, 0, 0),
+    DEF_TIM(TIM8, CH2N, PH14, 0, 0, 0),
+    DEF_TIM(TIM8, CH3N, PH15, 0, 0, 0),
+
+// Port I
+    DEF_TIM(TIM5, CH4, PI0, 0, 0, 0), // AF2 (ADDED)
+
+    DEF_TIM(TIM8, CH4, PI2, 0, 0, 0), // AF3 (ADDED)
+    DEF_TIM(TIM8, CH1, PI5, 0, 0, 0),
+    DEF_TIM(TIM8, CH2, PI6, 0, 0, 0),
+    DEF_TIM(TIM8, CH3, PI7, 0, 0, 0),
+};
+#endif
+
+
+uint32_t timerClock(const TIM_TypeDef *tim)
+{
+    int timpre;
+    uint32_t pclk;
+    uint32_t ppre;
+
+    // This function is used to calculate the timer clock frequency.
+    // RM0481 (Rev 3) Table 
+
+
+    RCC_ClkInitTypeDef  clkConfig, uint32_t fLatency
+    HAL_RCC_GetClockConfig(&clkConfig, &fLatency);
+
+    if ((uintptr_t)tim >= APB2PERIPH_BASE ) { // APB2 
+        pclk = HAL_RCC_GetPCLK2Freq();
+        ppre = clkConfig.APB2CLKDivider;
+    } else {  // all other timers are on APB1
+        pclk = HAL_RCC_GetPCLK1Freq();
+        ppre = clkConfig.APB1CLKDivider;
+    }
+    timpre = (RCC->CFGR & RCC_CFGR_TIMPRE) ? 1 : 0;
+#define PC(m) (0x80 | (m))  // multiply pclk
+#define HC(m) (0x00 | (m))  // multiply hclk
+        static const uint8_t timpreTab[2][8] = { //  see RM0481 TIMPRE: timers clocks prescaler selection
+        //  1      1      1      1      2      4      8      16 
+        { HC(1), HC(1), HC(1), HC(1), HC(1), PC(2), PC(2), PC(2) }, // TIMPRE = 0 
+        { PC(2), PC(2), PC(2), PC(2), PC(2), PC(2), PC(4), PC(4) }     // TIMPRE = 1 
+      }
+#undef PC
+#undef HC
+     int flagMult = timpreTab[timpre][ppre];
+
+     if (flagMult & 0x80) { // PCLK based
+        return pclk * (flagMult & 0x7f);
+     } else {
+         return HAL_RCC_GetHCLKFreq() *  (flagMult & 0x7f);
+     }
+
+    return pclk * periphToKernel[timpre][ppre];
+
+}
+#endif

src/test/Makefile

@@ -37,8 +37,8 @@ alignsensor_unittest_SRC := \
 		$(USER_DIR)/common/vector.c
 
 althold_unittest_SRC := \
-		$(USER_DIR)/flight/alt_hold.c \
+		$(USER_DIR)/flight/alt_hold_multirotor.c \
-		$(USER_DIR)/flight/autopilot.c \
+		$(USER_DIR)/flight/autopilot_multirotor.c \
 		$(USER_DIR)/common/maths.c \
 		$(USER_DIR)/common/vector.c \
 		$(USER_DIR)/common/filter.c \
@@ -56,8 +56,8 @@ arming_prevention_unittest_SRC := \
 		$(USER_DIR)/fc/rc_controls.c \
 		$(USER_DIR)/fc/rc_modes.c \
 		$(USER_DIR)/fc/runtime_config.c \
-		$(USER_DIR)/flight/autopilot.c \
+		$(USER_DIR)/flight/autopilot_multirotor.c \
-		$(USER_DIR)/flight/gps_rescue.c
+		$(USER_DIR)/flight/gps_rescue_multirotor.c
 
 arming_prevention_unittest_DEFINES := \
             USE_GPS_RESCUE=

src/test/unit/cli_unittest.cc

@@ -53,6 +53,7 @@ extern "C" {
     #include "pg/pg_ids.h"
     #include "pg/beeper.h"
     #include "pg/gps.h"
+    #include "pg/pilot.h"
     #include "pg/rx.h"
     #include "rx/rx.h"
     #include "scheduler/scheduler.h"
@@ -62,7 +63,7 @@ extern "C" {
     void cliSet(const char *cmdName, char *cmdline);
     int cliGetSettingIndex(char *name, uint8_t length);
     void *cliGetValuePointer(const clivalue_t *value);
-    
+
     const clivalue_t valueTable[] = {
         { .name = "array_unit_test",   .type = VAR_INT8  | MODE_ARRAY  | MASTER_VALUE, .config = { .array = { .length = 3}},                     .pgn = PG_RESERVED_FOR_TESTING_1, .offset = 0 },
         { .name = "str_unit_test",     .type = VAR_UINT8 | MODE_STRING | MASTER_VALUE, .config = { .string = { 0, 16, 0 }},                      .pgn = PG_RESERVED_FOR_TESTING_1, .offset = 0 },
@@ -131,7 +132,7 @@ TEST(CLIUnittest, TestCliSetArray)
 
 TEST(CLIUnittest, TestCliSetStringNoFlags)
 {
-    char *str = (char *)"str_unit_test    =   SAMPLE"; 
+    char *str = (char *)"str_unit_test    =   SAMPLE";
     cliSet("", str);
 
     const uint16_t index = cliGetSettingIndex(str, 13);
@@ -159,8 +160,8 @@ TEST(CLIUnittest, TestCliSetStringNoFlags)
 
 TEST(CLIUnittest, TestCliSetStringWriteOnce)
 {
-    char *str1 = (char *)"wos_unit_test    =   SAMPLE"; 
+    char *str1 = (char *)"wos_unit_test    =   SAMPLE";
-    char *str2 = (char *)"wos_unit_test    =   ELPMAS"; 
+    char *str2 = (char *)"wos_unit_test    =   ELPMAS";
     cliSet("", str1);
 
     const uint16_t index = cliGetSettingIndex(str1, 13);
@@ -369,6 +370,19 @@ void generateLedConfig(ledConfig_t *, char *, size_t) {}
 void serialSetCtrlLineStateDtrPin(serialPort_t *, ioTag_t ) {}
 void serialSetCtrlLineState(serialPort_t *, uint16_t ) {}
 
+serialPortIdentifier_e findSerialPortByName(const char* portName, int (*cmp)(const char *portName, const char *candidate))
+{
+    UNUSED(portName);
+    UNUSED(cmp);
+    return SERIAL_PORT_NONE;
+}
+
+const char* serialName(serialPortIdentifier_e identifier, const char* notFound)
+{
+    UNUSED(identifier);
+    return notFound;
+}
+
 //void serialSetBaudRateCb(serialPort_t *, void (*)(serialPort_t *context, uint32_t baud), serialPort_t *) {}
 void rescheduleTask(taskId_e, timeDelta_t){}
 void schedulerSetNextStateTime(timeDelta_t ){}

src/test/unit/link_quality_unittest.cc

@@ -61,6 +61,7 @@ extern "C" {
 
     #include "pg/pg.h"
     #include "pg/pg_ids.h"
+    #include "pg/pilot.h"
     #include "pg/rx.h"
 
     #include "rx/rx.h"

src/test/unit/osd_unittest.cc

@@ -58,6 +58,7 @@ extern "C" {
     #include "pg/gps_rescue.h"
     #include "pg/pg.h"
     #include "pg/pg_ids.h"
+    #include "pg/pilot.h"
     #include "pg/rx.h"
 
     #include "sensors/acceleration.h"

src/test/unit/rc_controls_unittest.cc

@@ -654,6 +654,8 @@ bool isTryingToArm(void) { return false; }
 void resetTryingToArm(void) {}
 void setLedProfile(uint8_t profile) { UNUSED(profile); }
 uint8_t getLedProfile(void) { return 0; }
+uint8_t getLedBrightness(void) { return 50; }
+void setLedBrightness(uint8_t brightness) { UNUSED(brightness); }
 void compassStartCalibration(void) {}
 void pinioBoxTaskControl(void) {}
 void schedulerIgnoreTaskExecTime(void) {}