Merge remote-tracking branch 'betaflight/master' into bfdev-smartaudio

Makefile

@@ -76,13 +76,14 @@ LINKER_DIR      = $(ROOT)/src/main/target/link
 # Build tools, so we all share the same versions
 # import macros common to all supported build systems
 include $(ROOT)/make/system-id.mk
+
 # developer preferences, edit these at will, they'll be gitignored
-include $(ROOT)/make/local.mk
+-include $(ROOT)/make/local.mk
 
 # configure some directories that are relative to wherever ROOT_DIR is located
 TOOLS_DIR := $(ROOT)/tools
 BUILD_DIR := $(ROOT)/build
-DL_DIR := $(ROOT)/downloads
+DL_DIR    := $(ROOT)/downloads
 
 export RM := rm
 
@@ -102,7 +103,6 @@ SAMPLE_TARGETS  = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3
 ALT_TARGETS     = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
 OPBL_TARGETS    = $(filter %_OPBL, $(ALT_TARGETS))
 
-#VALID_TARGETS  = $(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)
 VALID_TARGETS   = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
 VALID_TARGETS  := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
 VALID_TARGETS  := $(VALID_TARGETS) $(ALT_TARGETS)
@@ -123,7 +123,7 @@ endif
 -include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
 
 F4_TARGETS      = $(F405_TARGETS) $(F411_TARGETS)
-F7_TARGETS      = $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS) $(F7X6XG_TARGETS)
+F7_TARGETS      = $(F7X2RE_TARGETS) $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS) $(F7X6XG_TARGETS)
 
 ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
 $(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
@@ -135,7 +135,7 @@ endif
 
 128K_TARGETS  = $(F1_TARGETS)
 256K_TARGETS  = $(F3_TARGETS)
-512K_TARGETS  = $(F411_TARGETS) $(F7X5XE_TARGETS)
+512K_TARGETS  = $(F411_TARGETS) $(F7X2RE_TARGETS) $(F7X5XE_TARGETS)
 1024K_TARGETS = $(F405_TARGETS) $(F7X5XG_TARGETS) $(F7X6XG_TARGETS)
 2048K_TARGETS = $(F7X5XI_TARGETS)
 
@@ -192,6 +192,7 @@ STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 EXCLUDES        = stm32f30x_crc.c \
                   stm32f30x_can.c
+STARTUP_SRC     = startup_stm32f30x_md_gcc.S
 
 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
@@ -256,12 +257,11 @@ EXCLUDES        = stm32f4xx_crc.c \
                   stm32f4xx_cryp_tdes.c \
                   stm32f4xx_hash_sha1.c
 
-
 ifeq ($(TARGET),$(filter $(TARGET), $(F411_TARGETS)))
-EXCLUDES += stm32f4xx_fsmc.c
+EXCLUDES        += stm32f4xx_fsmc.c
 endif
 
-STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
+STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 
 #USB
 USBCORE_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Core
@@ -312,9 +312,11 @@ ARCH_FLAGS      = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu
 ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
 DEVICE_FLAGS    = -DSTM32F411xE
 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f411.ld
+STARTUP_SRC     = startup_stm32f411xe.s
 else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
 DEVICE_FLAGS    = -DSTM32F40_41xxx
 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f405.ld
+STARTUP_SRC     = startup_stm32f40xx.s
 else
 $(error Unknown MCU for F4 target)
 endif
@@ -329,10 +331,10 @@ else ifeq ($(TARGET),$(filter $(TARGET), $(F7_TARGETS)))
 STDPERIPH_DIR   = $(ROOT)/lib/main/STM32F7xx_HAL_Driver
 STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/Src/*.c))
 EXCLUDES        = stm32f7xx_hal_timebase_rtc_wakeup_template.c \
-				  stm32f7xx_hal_timebase_rtc_alarm_template.c \
+                  stm32f7xx_hal_timebase_rtc_alarm_template.c \
-				  stm32f7xx_hal_timebase_tim_template.c
+                  stm32f7xx_hal_timebase_tim_template.c
 
-STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
+STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 
 #USB
 USBCORE_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Core
@@ -376,15 +378,21 @@ ARCH_FLAGS      = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fs
 ifeq ($(TARGET),$(filter $(TARGET),$(F7X5XG_TARGETS)))
 DEVICE_FLAGS    = -DSTM32F745xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f745.ld
+STARTUP_SRC     = startup_stm32f745xx.s
 else ifeq ($(TARGET),$(filter $(TARGET),$(F7X6XG_TARGETS)))
 DEVICE_FLAGS    = -DSTM32F746xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
 LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f746.ld
+STARTUP_SRC     = startup_stm32f746xx.s
+else ifeq ($(TARGET),$(filter $(TARGET),$(F7X2RE_TARGETS)))
+DEVICE_FLAGS    = -DSTM32F722xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
+LD_SCRIPT       = $(LINKER_DIR)/stm32_flash_f722.ld
+STARTUP_SRC     = startup_stm32f722xx.s
 else
 $(error Unknown MCU for F7 target)
 endif
 DEVICE_FLAGS    += -DHSE_VALUE=$(HSE_VALUE)
 
-TARGET_FLAGS = -D$(TARGET)
+TARGET_FLAGS    = -D$(TARGET)
 
 # End F7 targets
 #
@@ -396,7 +404,7 @@ STDPERIPH_SRC   = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
 EXCLUDES        = stm32f10x_crc.c \
                   stm32f10x_cec.c \
                   stm32f10x_can.c
-
+STARTUP_SRC     = startup_stm32f10x_md_gcc.S
 STDPERIPH_SRC   := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
 
 # Search path and source files for the CMSIS sources
@@ -516,7 +524,7 @@ COMMON_SRC = \
             fc/config.c \
             fc/fc_tasks.c \
             fc/fc_msp.c \
-            fc/mw.c \
+            fc/fc_main.c \
             fc/rc_controls.c \
             fc/rc_curves.c \
             fc/runtime_config.c \
@@ -578,7 +586,6 @@ HIGHEND_SRC = \
             drivers/serial_escserial.c \
             drivers/serial_softserial.c \
             drivers/sonar_hcsr04.c \
-            flight/gtune.c \
             flight/navigation.c \
             flight/gps_conversion.c \
             io/dashboard.c \
@@ -735,7 +742,6 @@ VCP_SRC = \
 endif
 
 STM32F10x_COMMON_SRC = \
-            startup_stm32f10x_md_gcc.S \
             drivers/adc_stm32f10x.c \
             drivers/bus_i2c_stm32f10x.c \
             drivers/dma.c \
@@ -747,7 +753,6 @@ STM32F10x_COMMON_SRC = \
             drivers/timer_stm32f10x.c
 
 STM32F30x_COMMON_SRC = \
-            startup_stm32f30x_md_gcc.S \
             target/system_stm32f30x.c \
             drivers/adc_stm32f30x.c \
             drivers/bus_i2c_stm32f30x.c \
@@ -760,7 +765,6 @@ STM32F30x_COMMON_SRC = \
             drivers/timer_stm32f30x.c
 
 STM32F4xx_COMMON_SRC = \
-            startup_stm32f40xx.s \
             target/system_stm32f4xx.c \
             drivers/accgyro_mpu.c \
             drivers/adc_stm32f4xx.c \
@@ -775,7 +779,6 @@ STM32F4xx_COMMON_SRC = \
             drivers/timer_stm32f4xx.c
 
 STM32F7xx_COMMON_SRC = \
-            startup_stm32f745xx.s \
             target/system_stm32f7xx.c \
             drivers/accgyro_mpu.c \
             drivers/adc_stm32f7xx.c \
@@ -798,13 +801,13 @@ F7EXCLUDES = drivers/bus_spi.c \
 
 # check if target.mk supplied
 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
-TARGET_SRC := $(STM32F4xx_COMMON_SRC) $(TARGET_SRC)
+TARGET_SRC := $(STARTUP_SRC) $(STM32F4xx_COMMON_SRC) $(TARGET_SRC)
 else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
-TARGET_SRC := $(STM32F7xx_COMMON_SRC) $(TARGET_SRC)
+TARGET_SRC := $(STARTUP_SRC) $(STM32F7xx_COMMON_SRC) $(TARGET_SRC)
 else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
-TARGET_SRC := $(STM32F30x_COMMON_SRC) $(TARGET_SRC)
+TARGET_SRC := $(STARTUP_SRC) $(STM32F30x_COMMON_SRC) $(TARGET_SRC)
 else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
-TARGET_SRC := $(STM32F10x_COMMON_SRC) $(TARGET_SRC)
+TARGET_SRC := $(STARTUP_SRC) $(STM32F10x_COMMON_SRC) $(TARGET_SRC)
 endif
 
 ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)

make/local.mk

@@ -1,2 +0,0 @@
-# override the toolchain version, should match the output from of your version of the toolchain: $(arm-none-eabi-gcc -dumpversion)
-#GCC_REQUIRED_VERSION=5.4.1

make/tools.mk

@@ -16,7 +16,7 @@
 # Set up ARM (STM32) SDK
 ARM_SDK_DIR := $(TOOLS_DIR)/gcc-arm-none-eabi-5_4-2016q3
 # Checked below, Should match the output of $(shell arm-none-eabi-gcc -dumpversion)
-GCC_REQUIRED_VERSION := 5.4.1
+GCC_REQUIRED_VERSION ?= 5.4.1
 
 ## arm_sdk_install   : Install Arm SDK
 .PHONY: arm_sdk_install

src/main/blackbox/blackbox.c

@@ -187,7 +187,7 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
     {"debug",    2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
     {"debug",    3, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
     /* Motors only rarely drops under minthrottle (when stick falls below mincommand), so predict minthrottle for it and use *unsigned* encoding (which is large for negative numbers but more compact for positive ones): */
-    {"motor",      0, UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)},
+    {"motor",      0, UNSIGNED, .Ipredict = PREDICT(MINMOTOR), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)},
     /* Subsequent motors base their I-frame values on the first one, P-frame values on the average of last two frames: */
     {"motor",      1, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_2)},
     {"motor",      2, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_3)},
@@ -289,6 +289,9 @@ typedef struct blackboxSlowState_s {
     bool rxFlightChannelsValid;
 } __attribute__((__packed__)) blackboxSlowState_t; // We pack this struct so that padding doesn't interfere with memcmp()
 
+//From mixer.c:
+extern uint16_t motorOutputHigh, motorOutputLow;
+
 //From rc_controls.c
 extern uint32_t rcModeActivationMask;
 
@@ -535,8 +538,8 @@ static void writeIntraframe(void)
     blackboxWriteSigned16VBArray(blackboxCurrent->accSmooth, XYZ_AXIS_COUNT);
     blackboxWriteSigned16VBArray(blackboxCurrent->debug, 4);
 
-    //Motors can be below minthrottle when disarmed, but that doesn't happen much
+    //Motors can be below minimum output when disarmed, but that doesn't happen much
-    blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - motorConfig()->minthrottle);
+    blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - motorOutputLow);
 
     //Motors tend to be similar to each other so use the first motor's value as a predictor of the others
     const int motorCount = getMotorCount();
@@ -1166,6 +1169,8 @@ static bool blackboxWriteSysinfo()
         return false;
     }
 
+    const profile_t *currentProfile = &masterConfig.profile[masterConfig.current_profile_index];
+    const controlRateConfig_t *currentControlRateProfile = &currentProfile->controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile];
     switch (xmitState.headerIndex) {
         BLACKBOX_PRINT_HEADER_LINE("Firmware type:%s",                    "Cleanflight");
         BLACKBOX_PRINT_HEADER_LINE("Firmware revision:%s %s (%s) %s", FC_FIRMWARE_NAME, FC_VERSION_STRING, shortGitRevision, targetName);
@@ -1175,6 +1180,7 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("minthrottle:%d",                      motorConfig()->minthrottle);
         BLACKBOX_PRINT_HEADER_LINE("maxthrottle:%d",                      motorConfig()->maxthrottle);
         BLACKBOX_PRINT_HEADER_LINE("gyro_scale:0x%x",                     castFloatBytesToInt(1.0f));
+        BLACKBOX_PRINT_HEADER_LINE("motorOutput:%d,%d",                   motorOutputLow,motorOutputHigh);
         BLACKBOX_PRINT_HEADER_LINE("acc_1G:%u",                           acc.dev.acc_1G);
 
         BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
@@ -1200,8 +1206,6 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("looptime:%d",                         gyro.targetLooptime);
         BLACKBOX_PRINT_HEADER_LINE("gyro_sync_denom:%d",                  gyroConfig()->gyro_sync_denom);
         BLACKBOX_PRINT_HEADER_LINE("pid_process_denom:%d",                pidConfig()->pid_process_denom);
-        const profile_t *currentProfile = &masterConfig.profile[masterConfig.current_profile_index];
-        const controlRateConfig_t *currentControlRateProfile = &currentProfile->controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile];
         BLACKBOX_PRINT_HEADER_LINE("rcRate:%d",                           currentControlRateProfile->rcRate8);
         BLACKBOX_PRINT_HEADER_LINE("rcExpo:%d",                           currentControlRateProfile->rcExpo8);
         BLACKBOX_PRINT_HEADER_LINE("rcYawRate:%d",                        currentControlRateProfile->rcYawRate8);
@@ -1254,11 +1258,11 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle:%d",                 currentProfile->pidProfile.pidAtMinThrottle);
 
         // Betaflight PID controller parameters
-        BLACKBOX_PRINT_HEADER_LINE("itermThrottleGain:%d",                currentProfile->pidProfile.itermThrottleGain);
+        BLACKBOX_PRINT_HEADER_LINE("itermThrottleThreshold:%d",           currentProfile->pidProfile.itermThrottleThreshold);
         BLACKBOX_PRINT_HEADER_LINE("setpointRelaxRatio:%d",               currentProfile->pidProfile.setpointRelaxRatio);
         BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d",              currentProfile->pidProfile.dtermSetpointWeight);
-        BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d",                currentProfile->pidProfile.yawRateAccelLimit);
+        BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d",                castFloatBytesToInt(currentProfile->pidProfile.yawRateAccelLimit));
-        BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d",                   currentProfile->pidProfile.rateAccelLimit);
+        BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d",                   castFloatBytesToInt(currentProfile->pidProfile.rateAccelLimit));
         // End of Betaflight controller parameters
 
         BLACKBOX_PRINT_HEADER_LINE("deadband:%d",                         rcControlsConfig()->deadband);
@@ -1282,6 +1286,7 @@ static bool blackboxWriteSysinfo()
         BLACKBOX_PRINT_HEADER_LINE("unsynced_fast_pwm:%d",                motorConfig()->useUnsyncedPwm);
         BLACKBOX_PRINT_HEADER_LINE("fast_pwm_protocol:%d",                motorConfig()->motorPwmProtocol);
         BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate:%d",                   motorConfig()->motorPwmRate);
+        BLACKBOX_PRINT_HEADER_LINE("digitalIdleOffset:%d",          (int)(motorConfig()->digitalIdleOffsetPercent * 100.0f));
         BLACKBOX_PRINT_HEADER_LINE("debug_mode:%d",                       masterConfig.debug_mode);
         BLACKBOX_PRINT_HEADER_LINE("features:%d",                         masterConfig.enabledFeatures);
 
@@ -1325,11 +1330,6 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
                 blackboxWriteSignedVB(data->inflightAdjustment.newValue);
             }
         break;
-        case FLIGHT_LOG_EVENT_GTUNE_RESULT:
-            blackboxWrite(data->gtuneCycleResult.gtuneAxis);
-            blackboxWriteSignedVB(data->gtuneCycleResult.gtuneGyroAVG);
-            blackboxWriteS16(data->gtuneCycleResult.gtuneNewP);
-        break;
         case FLIGHT_LOG_EVENT_LOGGING_RESUME:
             blackboxWriteUnsignedVB(data->loggingResume.logIteration);
             blackboxWriteUnsignedVB(data->loggingResume.currentTime);

src/main/blackbox/blackbox_fielddefs.h

@@ -80,7 +80,10 @@ typedef enum FlightLogFieldPredictor {
     FLIGHT_LOG_FIELD_PREDICTOR_VBATREF        = 9,
 
     //Predict the last time value written in the main stream
-    FLIGHT_LOG_FIELD_PREDICTOR_LAST_MAIN_FRAME_TIME = 10
+    FLIGHT_LOG_FIELD_PREDICTOR_LAST_MAIN_FRAME_TIME = 10,
+
+    //Predict that this field is the minimum motor output
+    FLIGHT_LOG_FIELD_PREDICTOR_MINMOTOR       = 11
 
 } FlightLogFieldPredictor;
 
@@ -103,7 +106,6 @@ typedef enum FlightLogEvent {
     FLIGHT_LOG_EVENT_SYNC_BEEP = 0,
     FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT = 13,
     FLIGHT_LOG_EVENT_LOGGING_RESUME = 14,
-    FLIGHT_LOG_EVENT_GTUNE_RESULT = 20,
     FLIGHT_LOG_EVENT_FLIGHTMODE = 30, // Add new event type for flight mode status.
     FLIGHT_LOG_EVENT_LOG_END = 255
 } FlightLogEvent;

src/main/cms/cms_menu_osd.c

@@ -80,6 +80,7 @@ OSD_Entry menuOsdActiveElemsEntries[] =
     {"GPS SATS.", OME_VISIBLE, NULL, &osdProfile()->item_pos[OSD_GPS_SATS], 0},
 #endif // GPS
     {"ALTITUDE", OME_VISIBLE, NULL, &osdProfile()->item_pos[OSD_ALTITUDE], 0},
+    {"POWER", OME_VISIBLE, NULL, &osdProfile()->item_pos[OSD_POWER], 0},
     {"BACK", OME_Back, NULL, NULL, 0},
     {NULL, OME_END, NULL, NULL, 0}
 };

src/main/config/parameter_group_ids.h

@@ -30,7 +30,6 @@
 #define PG_CONTROL_RATE_PROFILES 12 // struct OK, needs to be split out of rc_controls.h into rate_profile.h
 #define PG_SERIAL_CONFIG 13 // struct OK
 #define PG_PID_PROFILE 14 // struct OK, CF differences
-#define PG_GTUNE_CONFIG 15 // is GTUNE still being used?
 #define PG_ARMING_CONFIG 16 // structs OK, CF naming differences
 #define PG_TRANSPONDER_CONFIG 17 // struct OK
 #define PG_SYSTEM_CONFIG 18 // just has i2c_highspeed

src/main/drivers/accgyro.h

@@ -42,12 +42,12 @@ typedef struct gyroDev_s {
     sensorGyroInterruptStatusFuncPtr intStatus;
     extiCallbackRec_t exti;
     float scale;                                            // scalefactor
-    volatile bool dataReady;
-    uint16_t lpf;
     int16_t gyroADCRaw[XYZ_AXIS_COUNT];
+    uint16_t lpf;
+    volatile bool dataReady;
     sensor_align_e gyroAlign;
-    const extiConfig_t *mpuIntExtiConfig;
     mpuDetectionResult_t mpuDetectionResult;
+    const extiConfig_t *mpuIntExtiConfig;
     mpuConfiguration_t mpuConfiguration;
 } gyroDev_t;
 

src/main/drivers/accgyro_adxl345.h

@@ -18,8 +18,8 @@
 #pragma once
 
 typedef struct drv_adxl345_config_s {
-    bool useFifo;
     uint16_t dataRate;
+    bool useFifo;
 } drv_adxl345_config_t;
 
 bool adxl345Detect(drv_adxl345_config_t *init, accDev_t *acc);

src/main/drivers/accgyro_mpu.h

@@ -124,12 +124,12 @@ typedef void(*mpuResetFuncPtr)(void);
 extern mpuResetFuncPtr mpuReset;
 
 typedef struct mpuConfiguration_s {
-    uint8_t gyroReadXRegister; // Y and Z must registers follow this, 2 words each
     mpuReadRegisterFunc read;
     mpuWriteRegisterFunc write;
     mpuReadRegisterFunc slowread;
     mpuWriteRegisterFunc verifywrite;
     mpuResetFuncPtr reset;
+    uint8_t gyroReadXRegister; // Y and Z must registers follow this, 2 words each
 } mpuConfiguration_t;
 
 enum gyro_fsr_e {

src/main/drivers/io_def.h

@@ -40,7 +40,7 @@
 #define DEFIO_REC_INDEXED(idx) (ioRecs + (idx))
 
 // ioTag_t accessor macros
-#define DEFIO_TAG_MAKE(gpioid, pin) ((((gpioid) + 1) << 4) | (pin))
+#define DEFIO_TAG_MAKE(gpioid, pin) ((ioTag_t)((((gpioid) + 1) << 4) | (pin)))
 #define DEFIO_TAG_ISEMPTY(tag) (!(tag))
 #define DEFIO_TAG_GPIOID(tag) (((tag) >> 4) - 1)
 #define DEFIO_TAG_PIN(tag) ((tag) & 0x0f)

src/main/fc/config.c

@@ -168,34 +168,21 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
     pidProfile->pidSumLimit = PIDSUM_LIMIT;
     pidProfile->yaw_lpf_hz = 0;
-    pidProfile->rollPitchItermIgnoreRate = 130;
+    pidProfile->rollPitchItermIgnoreRate = 200;
-    pidProfile->yawItermIgnoreRate = 32;
+    pidProfile->yawItermIgnoreRate = 55;
     pidProfile->dterm_filter_type = FILTER_BIQUAD;
     pidProfile->dterm_lpf_hz = 100;    // filtering ON by default
     pidProfile->dterm_notch_hz = 260;
     pidProfile->dterm_notch_cutoff = 160;
     pidProfile->vbatPidCompensation = 0;
     pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
-
+    pidProfile->levelAngleLimit = 70.0f;    // 70 degrees
-    // Betaflight PID controller parameters
     pidProfile->setpointRelaxRatio = 30;
     pidProfile->dtermSetpointWeight = 200;
-    pidProfile->yawRateAccelLimit = 220;
+    pidProfile->yawRateAccelLimit = 20.0f;
-    pidProfile->rateAccelLimit = 0;
+    pidProfile->rateAccelLimit = 0.0f;
-    pidProfile->itermThrottleGain = 0;
+    pidProfile->itermThrottleThreshold = 350;
-    pidProfile->levelSensitivity = 2.0f;
+    pidProfile->levelSensitivity = 100.0f;
-
-#ifdef GTUNE
-    pidProfile->gtune_lolimP[ROLL] = 10;          // [0..200] Lower limit of ROLL P during G tune.
-    pidProfile->gtune_lolimP[PITCH] = 10;         // [0..200] Lower limit of PITCH P during G tune.
-    pidProfile->gtune_lolimP[YAW] = 10;           // [0..200] Lower limit of YAW P during G tune.
-    pidProfile->gtune_hilimP[ROLL] = 100;         // [0..200] Higher limit of ROLL P during G tune. 0 Disables tuning for that axis.
-    pidProfile->gtune_hilimP[PITCH] = 100;        // [0..200] Higher limit of PITCH P during G tune. 0 Disables tuning for that axis.
-    pidProfile->gtune_hilimP[YAW] = 100;          // [0..200] Higher limit of YAW P during G tune. 0 Disables tuning for that axis.
-    pidProfile->gtune_pwr = 0;                    // [0..10] Strength of adjustment
-    pidProfile->gtune_settle_time = 450;          // [200..1000] Settle time in ms
-    pidProfile->gtune_average_cycles = 16;        // [8..128] Number of looptime cycles used for gyro average calculation
-#endif
 }
 
 void resetProfile(profile_t *profile)
@@ -624,7 +611,6 @@ void createDefaultConfig(master_t *config)
     config->gyroConfig.gyro_sync_denom = 4;
     config->pidConfig.pid_process_denom = 2;
 #endif
-    config->pidConfig.max_angle_inclination = 700;    // 70 degrees
     config->gyroConfig.gyro_soft_lpf_type = FILTER_PT1;
     config->gyroConfig.gyro_soft_lpf_hz = 90;
     config->gyroConfig.gyro_soft_notch_hz_1 = 400;
@@ -1095,7 +1081,7 @@ void changeProfile(uint8_t profileIndex)
 
 void changeControlRateProfile(uint8_t profileIndex)
 {
-    if (profileIndex > MAX_RATEPROFILES) {
+    if (profileIndex >= MAX_RATEPROFILES) {
         profileIndex = MAX_RATEPROFILES - 1;
     }
     setControlRateProfile(profileIndex);

src/main/fc/fc_main.c

@@ -63,7 +63,6 @@
 #include "flight/servos.h"
 #include "flight/pid.h"
 #include "flight/failsafe.h"
-#include "flight/gtune.h"
 #include "flight/altitudehold.h"
 
 #include "config/config_profile.h"
@@ -93,13 +92,28 @@ uint8_t motorControlEnable = false;
 int16_t telemTemperature1;      // gyro sensor temperature
 static uint32_t disarmAt;     // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
 
-extern uint8_t PIDweight[3];
+static float throttlePIDAttenuation;
 
 uint16_t filteredCycleTime;
 bool isRXDataNew;
 static bool armingCalibrationWasInitialised;
-float setpointRate[3];
+static float setpointRate[3], rcDeflection[3], rcDeflectionAbs[3];
-float rcInput[3];
+
+float getThrottlePIDAttenuation(void) {
+    return throttlePIDAttenuation;
+}
+
+float getSetpointRate(int axis) {
+    return setpointRate[axis];
+}
+
+float getRcDeflection(int axis) {
+    return rcDeflection[axis];
+}
+
+float getRcDeflectionAbs(int axis) {
+    return rcDeflectionAbs[axis];
+}
 
 void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsDelta)
 {
@@ -109,30 +123,6 @@ void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsD
     saveConfigAndNotify();
 }
 
-#ifdef GTUNE
-
-void updateGtuneState(void)
-{
-    static bool GTuneWasUsed = false;
-
-    if (IS_RC_MODE_ACTIVE(BOXGTUNE)) {
-        if (!FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
-            ENABLE_FLIGHT_MODE(GTUNE_MODE);
-            init_Gtune(&currentProfile->pidProfile);
-            GTuneWasUsed = true;
-        }
-        if (!FLIGHT_MODE(GTUNE_MODE) && !ARMING_FLAG(ARMED) && GTuneWasUsed) {
-            saveConfigAndNotify();
-            GTuneWasUsed = false;
-        }
-    } else {
-        if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
-            DISABLE_FLIGHT_MODE(GTUNE_MODE);
-        }
-    }
-}
-#endif
-
 bool isCalibrating()
 {
 #ifdef BARO
@@ -162,11 +152,12 @@ void calculateSetpointRate(int axis, int16_t rc) {
 
     if (rcRate > 2.0f) rcRate = rcRate + (RC_RATE_INCREMENTAL * (rcRate - 2.0f));
     rcCommandf = rc / 500.0f;
-    rcInput[axis] = ABS(rcCommandf);
+    rcDeflection[axis] = rcCommandf;
+    rcDeflectionAbs[axis] = ABS(rcCommandf);
 
     if (rcExpo) {
         float expof = rcExpo / 100.0f;
-        rcCommandf = rcCommandf * power3(rcInput[axis]) * expof + rcCommandf * (1-expof);
+        rcCommandf = rcCommandf * power3(rcDeflection[axis]) * expof + rcCommandf * (1-expof);
     }
 
     angleRate = 200.0f * rcRate * rcCommandf;
@@ -199,20 +190,45 @@ void scaleRcCommandToFpvCamAngle(void) {
     rcCommand[YAW]  = constrain(yaw  * cosFactor + roll * sinFactor, -500, 500);
 }
 
+#define THROTTLE_BUFFER_MAX 20
+#define THROTTLE_DELTA_MS 100
+
+ void checkForThrottleErrorResetState(uint16_t rxRefreshRate) {
+    static int index;
+    static int16_t rcCommandThrottlePrevious[THROTTLE_BUFFER_MAX];
+    const int rxRefreshRateMs = rxRefreshRate / 1000;
+    const int indexMax = constrain(THROTTLE_DELTA_MS / rxRefreshRateMs, 1, THROTTLE_BUFFER_MAX);
+    const int16_t throttleVelocityThreshold = (feature(FEATURE_3D)) ? currentProfile->pidProfile.itermThrottleThreshold / 2 : currentProfile->pidProfile.itermThrottleThreshold;
+
+    rcCommandThrottlePrevious[index++] = rcCommand[THROTTLE];
+    if (index >= indexMax)
+        index = 0;
+
+    const int16_t rcCommandSpeed = rcCommand[THROTTLE] - rcCommandThrottlePrevious[index];
+
+    if(ABS(rcCommandSpeed) > throttleVelocityThreshold)
+        pidResetErrorGyroState();
+}
+
 void processRcCommand(void)
 {
     static int16_t lastCommand[4] = { 0, 0, 0, 0 };
     static int16_t deltaRC[4] = { 0, 0, 0, 0 };
     static int16_t factor, rcInterpolationFactor;
+    static uint16_t currentRxRefreshRate;
     uint16_t rxRefreshRate;
     bool readyToCalculateRate = false;
 
+    if (isRXDataNew) {
+        currentRxRefreshRate = constrain(getTaskDeltaTime(TASK_RX),1000,20000);
+        checkForThrottleErrorResetState(currentRxRefreshRate);
+    }
+
     if (rxConfig()->rcInterpolation || flightModeFlags) {
-        if (isRXDataNew) {
+         // Set RC refresh rate for sampling and channels to filter
-            // Set RC refresh rate for sampling and channels to filter
+        switch(rxConfig()->rcInterpolation) {
-            switch (rxConfig()->rcInterpolation) {
             case(RC_SMOOTHING_AUTO):
-                rxRefreshRate = constrain(getTaskDeltaTime(TASK_RX), 1000, 20000) + 1000; // Add slight overhead to prevent ramps
+                rxRefreshRate = currentRxRefreshRate + 1000; // Add slight overhead to prevent ramps
                 break;
             case(RC_SMOOTHING_MANUAL):
                 rxRefreshRate = 1000 * rxConfig()->rcInterpolationInterval;
@@ -221,8 +237,9 @@ void processRcCommand(void)
             case(RC_SMOOTHING_DEFAULT):
             default:
                 rxRefreshRate = rxGetRefreshRate();
-            }
+        }
 
+        if (isRXDataNew) {
             rcInterpolationFactor = rxRefreshRate / targetPidLooptime + 1;
 
             if (debugMode == DEBUG_RC_INTERPOLATION) {
@@ -269,17 +286,18 @@ void updateRcCommands(void)
     int32_t prop;
     if (rcData[THROTTLE] < currentControlRateProfile->tpa_breakpoint) {
         prop = 100;
+        throttlePIDAttenuation = 1.0f;
     } else {
         if (rcData[THROTTLE] < 2000) {
             prop = 100 - (uint16_t)currentControlRateProfile->dynThrPID * (rcData[THROTTLE] - currentControlRateProfile->tpa_breakpoint) / (2000 - currentControlRateProfile->tpa_breakpoint);
         } else {
             prop = 100 - currentControlRateProfile->dynThrPID;
         }
+        throttlePIDAttenuation = prop / 100.0f;
     }
 
     for (int axis = 0; axis < 3; axis++) {
         // non coupled PID reduction scaler used in PID controller 1 and PID controller 2.
-        PIDweight[axis] = prop;
 
         int32_t tmp = MIN(ABS(rcData[axis] - rxConfig()->midrc), 500);
         if (axis == ROLL || axis == PITCH) {
@@ -678,9 +696,7 @@ void subTaskPidController(void)
     // PID - note this is function pointer set by setPIDController()
     pidController(
         &currentProfile->pidProfile,
-        pidConfig()->max_angle_inclination,
+        &accelerometerConfig()->accelerometerTrims
-        &accelerometerConfig()->accelerometerTrims,
-        rxConfig()->midrc
     );
     if (debugMode == DEBUG_PIDLOOP || debugMode == DEBUG_SCHEDULER) {debug[1] = micros() - startTime;}
 }

src/main/fc/fc_main.h

@@ -34,3 +34,7 @@ void updateLEDs(void);
 void updateRcCommands(void);
 
 void taskMainPidLoop(timeUs_t currentTimeUs);
+float getThrottlePIDAttenuation(void);
+float getSetpointRate(int axis);
+float getRcDeflection(int axis);
+float getRcDeflectionAbs(int axis);

src/main/fc/fc_msp.c

@@ -49,7 +49,7 @@
 #include "drivers/serial_escserial.h"
 
 #include "fc/config.h"
-#include "fc/mw.h"
+#include "fc/fc_main.h"
 #include "fc/fc_msp.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
@@ -401,10 +401,6 @@ void initActiveBoxIds(void)
     }
 #endif
 
-#ifdef GTUNE
-    activeBoxIds[activeBoxIdCount++] = BOXGTUNE;
-#endif
-
 #ifdef USE_SERVOS
     if (mixerConfig()->mixerMode == MIXER_CUSTOM_AIRPLANE) {
         activeBoxIds[activeBoxIdCount++] = BOXSERVO1;
@@ -1167,9 +1163,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
         sbufWriteU8(dst, currentProfile->pidProfile.dtermSetpointWeight);
         sbufWriteU8(dst, 0); // reserved
         sbufWriteU8(dst, 0); // reserved
-        sbufWriteU8(dst, currentProfile->pidProfile.itermThrottleGain);
+        sbufWriteU8(dst, 0); // reserved
-        sbufWriteU16(dst, currentProfile->pidProfile.rateAccelLimit);
+        sbufWriteU16(dst, currentProfile->pidProfile.rateAccelLimit * 10);
-        sbufWriteU16(dst, currentProfile->pidProfile.yawRateAccelLimit);
+        sbufWriteU16(dst, currentProfile->pidProfile.yawRateAccelLimit * 10);
         break;
 
     case MSP_SENSOR_CONFIG:
@@ -1515,9 +1511,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         currentProfile->pidProfile.dtermSetpointWeight = sbufReadU8(src);
         sbufReadU8(src); // reserved
         sbufReadU8(src); // reserved
-        currentProfile->pidProfile.itermThrottleGain = sbufReadU8(src);
+        sbufReadU8(src); // reserved
-        currentProfile->pidProfile.rateAccelLimit = sbufReadU16(src);
+        currentProfile->pidProfile.rateAccelLimit = sbufReadU16(src) / 10.0f;
-        currentProfile->pidProfile.yawRateAccelLimit = sbufReadU16(src);
+        currentProfile->pidProfile.yawRateAccelLimit = sbufReadU16(src) / 10.0f;
         pidInitConfig(&currentProfile->pidProfile);
         break;
 

src/main/fc/fc_tasks.c

@@ -36,7 +36,7 @@
 #include "fc/config.h"
 #include "fc/fc_msp.h"
 #include "fc/fc_tasks.h"
-#include "fc/mw.h"
+#include "fc/fc_main.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 

src/main/fc/rc_controls.c

@@ -35,7 +35,7 @@
 #include "drivers/system.h"
 
 #include "fc/config.h"
-#include "fc/mw.h"
+#include "fc/fc_main.h"
 #include "fc/rc_controls.h"
 #include "fc/rc_curves.h"
 #include "fc/runtime_config.h"

src/main/fc/runtime_config.h

@@ -42,8 +42,7 @@ typedef enum {
     UNUSED_MODE     = (1 << 7), // old autotune
     PASSTHRU_MODE   = (1 << 8),
     SONAR_MODE      = (1 << 9),
-    FAILSAFE_MODE   = (1 << 10),
+    FAILSAFE_MODE   = (1 << 10)
-    GTUNE_MODE      = (1 << 11)
 } flightModeFlags_e;
 
 extern uint16_t flightModeFlags;

src/main/flight/gtune.c

@@ -1,211 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight 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.
- *
- * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdbool.h>
-#include <stdint.h>
-#include <string.h>
-#include <math.h>
-
-#include "platform.h"
-
-#ifdef GTUNE
-
-#include "common/axis.h"
-#include "common/maths.h"
-
-#include "drivers/system.h"
-#include "drivers/sensor.h"
-#include "drivers/accgyro.h"
-
-#include "sensors/sensors.h"
-#include "sensors/gyro.h"
-#include "sensors/acceleration.h"
-
-#include "flight/pid.h"
-#include "flight/imu.h"
-
-#include "blackbox/blackbox.h"
-
-#include "fc/config.h"
-#include "fc/rc_controls.h"
-#include "fc/runtime_config.h"
-
-
-extern uint16_t cycleTime;
-extern uint8_t motorCount;
-
-/*
- ****************************************************************************
- ***                    G_Tune                                            ***
- ****************************************************************************
-    G_Tune Mode
-    This is the multiwii implementation of ZERO-PID Algorithm
-    http://technicaladventure.blogspot.com/2014/06/zero-pids-tuner-for-multirotors.html
-    The algorithm has been originally developed by Mohammad Hefny (mohammad.hefny@gmail.com)
-
-    You may use/modify this algorithm on your own risk, kindly refer to above link in any future distribution.
- */
-
-/*
-   version 1.0.0: MIN & Maxis & Tuned Band
-   version 1.0.1:
-                a. error is gyro reading not rc - gyro.
-                b. OldError = Error no averaging.
-                c. No Min Maxis BOUNDRY
-    version 1.0.2:
-                a. no boundaries
-                b. I - Factor tune.
-                c. time_skip
-
-   Crashpilot: Reduced to just P tuning in a predefined range - so it is not "zero pid" anymore.
-   Tuning is limited to just work when stick is centered besides that YAW is tuned in non Acro as well.
-   See also:
-   http://diydrones.com/profiles/blogs/zero-pid-tunes-for-multirotors-part-2
-   http://www.multiwii.com/forum/viewtopic.php?f=8&t=5190
-   Gyrosetting 2000DPS
-   GyroScale = (1 / 16,4 ) * RADX(see board.h) = 0,001064225154 digit per rad/s
-
-    pidProfile->gtune_lolimP[ROLL]   = 10;  [0..200] Lower limit of ROLL P during G tune.
-    pidProfile->gtune_lolimP[PITCH]  = 10;  [0..200] Lower limit of PITCH P during G tune.
-    pidProfile->gtune_lolimP[YAW]    = 10;  [0..200] Lower limit of YAW P during G tune.
-    pidProfile->gtune_hilimP[ROLL]   = 100; [0..200] Higher limit of ROLL P during G tune. 0 Disables tuning for that axisis.
-    pidProfile->gtune_hilimP[PITCH]  = 100; [0..200] Higher limit of PITCH P during G tune. 0 Disables tuning for that axisis.
-    pidProfile->gtune_hilimP[YAW]    = 100; [0..200] Higher limit of YAW P during G tune. 0 Disables tuning for that axisis.
-    pidProfile->gtune_pwr            = 0;   [0..10] Strength of adjustment
-    pidProfile->gtune_settle_time    = 450; [200..1000] Settle time in ms
-    pidProfile->gtune_average_cycles = 16;  [8..128] Number of looptime cycles used for gyro average calculation
-*/
-
-static pidProfile_t *pidProfile;
-static int16_t delay_cycles;
-static int16_t time_skip[3];
-static int16_t OldError[3], result_P64[3];
-static int32_t AvgGyro[3];
-static bool floatPID;
-
-void updateDelayCycles(void)
-{
-    delay_cycles = -(((int32_t)pidProfile->gtune_settle_time * 1000) / cycleTime);
-}
-
-void init_Gtune(pidProfile_t *pidProfileToTune)
-{
-    uint8_t i;
-
-    pidProfile = pidProfileToTune;
-    if (pidProfile->pidController == 2) {
-        floatPID = true;                                                        // LuxFloat is using float values for PID settings
-    } else {
-        floatPID = false;
-    }
-    updateDelayCycles();
-    for (i = 0; i < 3; i++) {
-        if ((pidProfile->gtune_hilimP[i] && pidProfile->gtune_lolimP[i] > pidProfile->gtune_hilimP[i]) || (motorCount < 4 && i == FD_YAW)) { // User config error disable axisis for tuning
-            pidProfile->gtune_hilimP[i] = 0;                                    // Disable YAW tuning for everything below a quadcopter
-        }
-        if (floatPID) {
-            if((pidProfile->P_f[i] * 10.0f) < pidProfile->gtune_lolimP[i]) {
-                pidProfile->P_f[i] = (float)(pidProfile->gtune_lolimP[i] / 10.0f);
-            }
-            result_P64[i] = (int16_t)pidProfile->P_f[i] << 6;                   // 6 bit extra resolution for P.
-        } else {
-            if(pidProfile->P8[i] < pidProfile->gtune_lolimP[i]) {
-                pidProfile->P8[i] = pidProfile->gtune_lolimP[i];
-            }
-            result_P64[i] = (int16_t)pidProfile->P8[i] << 6;                    // 6 bit extra resolution for P.
-        }
-        OldError[i] = 0;
-        time_skip[i] = delay_cycles;
-    }
-}
-
-void calculate_Gtune(uint8_t axis)
-{
-    int16_t error, diff_G, threshP;
-
-    if(rcCommand[axis] || (axis != FD_YAW && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)))) {  // Block tuning on stick input. Always allow G-Tune on YAW, Roll & Pitch only in acromode
-        OldError[axis] = 0;
-        time_skip[axis] = delay_cycles;                                         // Some settle time after stick center. default 450ms
-    } else {
-        if (!time_skip[axis]) AvgGyro[axis] = 0;
-        time_skip[axis]++;
-        if (time_skip[axis] > 0) {
-            if (axis == FD_YAW) {
-                AvgGyro[axis] += 32 * ((int16_t)gyroADC[axis] / 32);           // Chop some jitter and average
-            } else {
-                AvgGyro[axis] += 128 * ((int16_t)gyroADC[axis] / 128);         // Chop some jitter and average
-            }
-        }
-        if (time_skip[axis] == pidProfile->gtune_average_cycles) {              // Looptime cycles for gyro average calculation. default 16.
-            AvgGyro[axis] /= time_skip[axis];                                   // AvgGyro[axis] has now very clean gyrodata
-            time_skip[axis] = 0;
-            if (axis == FD_YAW) {
-                threshP = 20;
-                error = -AvgGyro[axis];
-            } else {
-                threshP = 10;
-                error = AvgGyro[axis];
-            }
-            if (pidProfile->gtune_hilimP[axis] && error && OldError[axis] && error != OldError[axis]) {  // Don't run when not needed or pointless to do so
-                diff_G = ABS(error) - ABS(OldError[axis]);
-                if ((error > 0 && OldError[axis] > 0) || (error < 0 && OldError[axis] < 0)) {
-                    if (diff_G > threshP) {
-                        if (axis == FD_YAW) {
-                            result_P64[axis] += 256 + pidProfile->gtune_pwr;    // YAW ends up at low limit on float PID, give it some more to work with.
-                        } else {
-                            result_P64[axis] += 64 + pidProfile->gtune_pwr;     // Shift balance a little on the plus side.
-                        }
-                    } else {
-                        if (diff_G < -threshP) {
-                            if (axis == FD_YAW) {
-                                result_P64[axis] -= 64 + pidProfile->gtune_pwr;
-                            } else {
-                                result_P64[axis] -= 32;
-                            }
-                        }
-                    }
-                } else {
-                    if (ABS(diff_G) > threshP && axis != FD_YAW) {
-                        result_P64[axis] -= 32;                                 // Don't use antiwobble for YAW
-                    }
-                }
-                int16_t newP = constrain((result_P64[axis] >> 6), (int16_t)pidProfile->gtune_lolimP[axis], (int16_t)pidProfile->gtune_hilimP[axis]);
-
-#ifdef BLACKBOX
-                if (feature(FEATURE_BLACKBOX)) {
-                    flightLogEvent_gtuneCycleResult_t eventData;
-
-                    eventData.gtuneAxis = axis;
-                    eventData.gtuneGyroAVG = AvgGyro[axis];
-                    eventData.gtuneNewP = newP;                                 // for float PID the logged P value is still mutiplyed by 10
-                    blackboxLogEvent(FLIGHT_LOG_EVENT_GTUNE_RESULT, (flightLogEventData_t*)&eventData);
-                }
-#endif
-
-                if (floatPID) {
-                    pidProfile->P_f[axis] = (float)newP / 10.0f;                // new P value for float PID
-                } else {
-                    pidProfile->P8[axis] = newP;                                // new P value
-                }
-            }
-            OldError[axis] = error;
-        }
-    }
-}
-
-#endif
-

src/main/flight/gtune.h

@@ -1,21 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight 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.
- *
- * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#pragma once
-
-void init_Gtune(pidProfile_t *pidProfileToTune);
-void calculate_Gtune(uint8_t axis);

src/main/flight/mixer.c

@@ -236,7 +236,8 @@ const mixer_t mixers[] = {
 
 static motorMixer_t *customMixers;
 
-static uint16_t disarmMotorOutput, motorOutputHigh, motorOutputLow, deadbandMotor3dHigh, deadbandMotor3dLow;
+static uint16_t disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow;
+uint16_t motorOutputHigh, motorOutputLow;
 static float rcCommandThrottleRange, rcCommandThrottleRange3dLow, rcCommandThrottleRange3dHigh;
 
 uint8_t getMotorCount()
@@ -533,19 +534,6 @@ void mixTable(pidProfile_t *pidProfile)
         }
     }
 
-    // Anti Desync feature for ESC's. Limit rapid throttle changes
-    if (motorConfig->maxEscThrottleJumpMs) {
-        const int16_t maxThrottleStep = constrain(motorConfig->maxEscThrottleJumpMs / (1000 / targetPidLooptime), 2, 10000);
-
-        // Only makes sense when it's within the range
-        if (maxThrottleStep < motorOutputRange) {
-            static int16_t motorPrevious[MAX_SUPPORTED_MOTORS];
-
-            motor[i] = constrain(motor[i], motorOutputMin, motorPrevious[i] + maxThrottleStep);  // Only limit accelerating situation
-            motorPrevious[i] = motor[i];
-        }
-    }
-
     // Disarmed mode
     if (!ARMING_FLAG(ARMED)) {
         for (i = 0; i < motorCount; i++) {

src/main/flight/pid.c

@@ -28,28 +28,22 @@
 #include "common/maths.h"
 #include "common/filter.h"
 
+#include "fc/fc_main.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
 #include "flight/pid.h"
 #include "flight/imu.h"
 #include "flight/navigation.h"
-#include "flight/gtune.h"
 
 #include "sensors/gyro.h"
 #include "sensors/acceleration.h"
 
-extern float rcInput[3];
-extern float setpointRate[3];
-
 uint32_t targetPidLooptime;
 static bool pidStabilisationEnabled;
 
 float axisPIDf[3];
 
-// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
-uint8_t PIDweight[3];
-
 #ifdef BLACKBOX
 int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
 #endif
@@ -146,8 +140,7 @@ void pidInitFilters(const pidProfile_t *pidProfile)
     }
 }
 
-static float Kp[3], Ki[3], Kd[3], c[3];
+static float Kp[3], Ki[3], Kd[3], c[3], levelGain, horizonGain, horizonTransition, maxVelocity[3], relaxFactor[3];
-static float rollPitchMaxVelocity, yawMaxVelocity, relaxFactor[3];
 
 void pidInitConfig(const pidProfile_t *pidProfile) {
     for(int axis = FD_ROLL; axis <= FD_YAW; axis++) {
@@ -157,100 +150,96 @@ void pidInitConfig(const pidProfile_t *pidProfile) {
         c[axis] = pidProfile->dtermSetpointWeight / 100.0f;
         relaxFactor[axis] = 1.0f - (pidProfile->setpointRelaxRatio / 100.0f);
     }
-    yawMaxVelocity = pidProfile->yawRateAccelLimit * 1000 * dT;
+    levelGain = pidProfile->P8[PIDLEVEL] / 10.0f;
-    rollPitchMaxVelocity = pidProfile->rateAccelLimit * 1000 * dT;
+    horizonGain = pidProfile->I8[PIDLEVEL] / 10.0f;
+    horizonTransition = 100.0f / pidProfile->D8[PIDLEVEL];
+    maxVelocity[FD_ROLL] = maxVelocity[FD_PITCH] = pidProfile->rateAccelLimit * 1000 * dT;
+    maxVelocity[FD_YAW] = pidProfile->yawRateAccelLimit * 1000 * dT;
+}
+
+float calcHorizonLevelStrength(void) {
+    float horizonLevelStrength = 0.0f;
+    if (horizonTransition > 0.0f) {
+        const float mostDeflectedPos = MAX(getRcDeflectionAbs(FD_ROLL), getRcDeflectionAbs(FD_PITCH));
+        // Progressively turn off the horizon self level strength as the stick is banged over
+        horizonLevelStrength = constrainf(1 - mostDeflectedPos * horizonTransition, 0, 1);
+    }
+    return horizonLevelStrength;
+}
+
+float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint) {
+    // calculate error angle and limit the angle to the max inclination
+    float errorAngle = pidProfile->levelSensitivity * getRcDeflection(axis);
+#ifdef GPS
+    errorAngle += GPS_angle[axis];
+#endif
+    errorAngle = constrainf(errorAngle, -pidProfile->levelAngleLimit, pidProfile->levelAngleLimit);
+    errorAngle = (errorAngle - ((attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f));
+    if(FLIGHT_MODE(ANGLE_MODE)) {
+        // ANGLE mode - control is angle based, so control loop is needed
+        currentPidSetpoint = errorAngle * levelGain;
+    } else {
+        // HORIZON mode - direct sticks control is applied to rate PID
+        // mix up angle error to desired AngleRate to add a little auto-level feel
+        const float horizonLevelStrength = calcHorizonLevelStrength();
+        currentPidSetpoint = currentPidSetpoint + (errorAngle * horizonGain * horizonLevelStrength);
+    }
+    return currentPidSetpoint;
+}
+
+float accelerationLimit(int axis, float currentPidSetpoint) {
+    static float previousSetpoint[3];
+    const float currentVelocity = currentPidSetpoint- previousSetpoint[axis];
+
+    if(ABS(currentVelocity) > maxVelocity[axis])
+        currentPidSetpoint = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity[axis] : previousSetpoint[axis] - maxVelocity[axis];
+
+    previousSetpoint[axis] = currentPidSetpoint;
+    return currentPidSetpoint;
 }
 
 // Betaflight pid controller, which will be maintained in the future with additional features specialised for current (mini) multirotor usage.
 // Based on 2DOF reference design (matlab)
-void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclination, const rollAndPitchTrims_t *angleTrim, uint16_t midrc)
+void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim)
 {
     static float previousRateError[2];
     static float previousSetpoint[3];
 
-    float horizonLevelStrength = 1;
-    if (FLIGHT_MODE(HORIZON_MODE)) {
-        // Figure out the raw stick positions
-        const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, midrc));
-        const int32_t stickPosEle = ABS(getRcStickDeflection(FD_PITCH, midrc));
-        const int32_t mostDeflectedPos = MAX(stickPosAil, stickPosEle);
-        // Progressively turn off the horizon self level strength as the stick is banged over
-        horizonLevelStrength = (float)(500 - mostDeflectedPos) / 500;  // 1 at centre stick, 0 = max stick deflection
-        if(pidProfile->D8[PIDLEVEL] == 0){
-            horizonLevelStrength = 0;
-        } else {
-            horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (100 / pidProfile->D8[PIDLEVEL])) + 1, 0, 1);
-        }
-    }
-
-    // Yet Highly experimental and under test and development
-    // Throttle coupled to Igain like inverted TPA // 50hz calculation (should cover all rx protocols)
-    static float kiThrottleGain = 1.0f;
-    if (pidProfile->itermThrottleGain) {
-        const uint16_t maxLoopCount = 20000 / targetPidLooptime;
-        const float throttleItermGain = (float)pidProfile->itermThrottleGain * 0.001f;
-        static int16_t previousThrottle;
-        static uint16_t loopIncrement;
-
-        if (loopIncrement >= maxLoopCount) {
-            kiThrottleGain = 1.0f + constrainf((float)(ABS(rcCommand[THROTTLE] - previousThrottle)) * throttleItermGain, 0.0f, 5.0f); // Limit to factor 5
-            previousThrottle = rcCommand[THROTTLE];
-            loopIncrement = 0;
-        } else {
-            loopIncrement++;
-        }
-    }
-
     // ----------PID controller----------
-    const float tpaFactor = PIDweight[0] / 100.0f; // tpa is now float
+    const float tpaFactor = getThrottlePIDAttenuation();
+
     for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
-        // Limit abrupt yaw inputs / stops
+        float currentPidSetpoint = getSetpointRate(axis);
-        const float maxVelocity = (axis == FD_YAW) ? yawMaxVelocity : rollPitchMaxVelocity;
+
-        if (maxVelocity) {
+        if(maxVelocity[axis])
-            const float currentVelocity = setpointRate[axis] - previousSetpoint[axis];
+            currentPidSetpoint = accelerationLimit(axis, currentPidSetpoint);
-            if (ABS(currentVelocity) > maxVelocity) {
-                setpointRate[axis] = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity : previousSetpoint[axis] - maxVelocity;
-            }
-        }
 
         // Yaw control is GYRO based, direct sticks control is applied to rate PID
         if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
-            // calculate error angle and limit the angle to the max inclination
+            currentPidSetpoint = pidLevel(axis, pidProfile, angleTrim, currentPidSetpoint);
-            float errorAngle = pidProfile->levelSensitivity * rcCommand[axis];
-#ifdef GPS
-            errorAngle += GPS_angle[axis];
-#endif
-            errorAngle = constrainf(errorAngle, -max_angle_inclination, max_angle_inclination);
-            errorAngle = (errorAngle - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f;
-            if (FLIGHT_MODE(ANGLE_MODE)) {
-                // ANGLE mode - control is angle based, so control loop is needed
-                setpointRate[axis] = errorAngle * pidProfile->P8[PIDLEVEL] / 10.0f;
-            } else {
-                // HORIZON mode - direct sticks control is applied to rate PID
-                // mix up angle error to desired AngleRate to add a little auto-level feel
-                setpointRate[axis] = setpointRate[axis] + (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 10.0f);
-            }
         }
 
-        const float PVRate = gyro.gyroADCf[axis]; // Process variable from gyro output in deg/sec
+        const float gyroRate = gyro.gyroADCf[axis]; // Process variable from gyro output in deg/sec
 
         // --------low-level gyro-based PID based on 2DOF PID controller. ----------
         //  ---------- 2-DOF PID controller with optional filter on derivative term. b = 1 and only c can be tuned (amount derivative on measurement or error).  ----------
 
         // -----calculate error rate
-        const float errorRate = setpointRate[axis] - PVRate;       // r - y
+        const float errorRate = currentPidSetpoint - gyroRate;       // r - y
 
         // -----calculate P component and add Dynamic Part based on stick input
         float PTerm = Kp[axis] * errorRate * tpaFactor;
+        if (axis == FD_YAW) {
+            PTerm = ptermYawFilterApplyFn(ptermYawFilter, PTerm);
+        }
 
         // -----calculate I component
         // Reduce strong Iterm accumulation during higher stick inputs
         const float accumulationThreshold = (axis == FD_YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
-        const float setpointRateScaler = constrainf(1.0f - (ABS(setpointRate[axis]) / accumulationThreshold), 0.0f, 1.0f);
+        const float setpointRateScaler = constrainf(1.0f - (ABS(currentPidSetpoint) / accumulationThreshold), 0.0f, 1.0f);
-        const float itermScaler = setpointRateScaler * kiThrottleGain;
 
         float ITerm = previousGyroIf[axis];
-        ITerm += Ki[axis] * errorRate * dT * itermScaler;;
+        ITerm += Ki[axis] * errorRate * dT * setpointRateScaler;
         // limit maximum integrator value to prevent WindUp
         ITerm = constrainf(ITerm, -250.0f, 250.0f);
         previousGyroIf[axis] = ITerm;
@@ -260,16 +249,17 @@ void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
         if (axis != FD_YAW) {
             float dynC = c[axis];
             if (pidProfile->setpointRelaxRatio < 100) {
+                const float rcDeflection = getRcDeflectionAbs(axis);
                 dynC = c[axis];
-                if (setpointRate[axis] > 0) {
+                if (currentPidSetpoint > 0) {
-                    if ((setpointRate[axis] - previousSetpoint[axis]) < previousSetpoint[axis])
+                    if ((currentPidSetpoint - previousSetpoint[axis]) < previousSetpoint[axis])
-                        dynC = dynC * sq(rcInput[axis]) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
+                        dynC = dynC * sq(rcDeflection) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
-                } else if (setpointRate[axis] < 0) {
+                } else if (currentPidSetpoint < 0) {
-                    if ((setpointRate[axis] - previousSetpoint[axis]) > previousSetpoint[axis])
+                    if ((currentPidSetpoint - previousSetpoint[axis]) > previousSetpoint[axis])
-                        dynC = dynC * sq(rcInput[axis]) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
+                        dynC = dynC * sq(rcDeflection) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
                 }
             }
-            const float rD = dynC * setpointRate[axis] - PVRate;    // cr - y
+            const float rD = dynC * currentPidSetpoint - gyroRate;    // cr - y
             // Divide rate change by dT to get differential (ie dr/dt)
             const float delta = (rD - previousRateError[axis]) / dT;
             previousRateError[axis] = rD;
@@ -281,22 +271,14 @@ void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
             DTerm = dtermNotchFilterApplyFn(dtermFilterNotch[axis], DTerm);
             DTerm = dtermLpfApplyFn(dtermFilterLpf[axis], DTerm);
 
-        } else {
-            PTerm = ptermYawFilterApplyFn(ptermYawFilter, PTerm);
         }
-        previousSetpoint[axis] = setpointRate[axis];
+        previousSetpoint[axis] = currentPidSetpoint;
 
         // -----calculate total PID output
         axisPIDf[axis] = PTerm + ITerm + DTerm;
         // Disable PID control at zero throttle
         if (!pidStabilisationEnabled) axisPIDf[axis] = 0;
 
-#ifdef GTUNE
-        if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
-            calculate_Gtune(axis);
-        }
-#endif
-
 #ifdef BLACKBOX
         axisPID_P[axis] = PTerm;
         axisPID_I[axis] = ITerm;

src/main/flight/pid.h

@@ -72,31 +72,23 @@ typedef struct pidProfile_s {
     uint8_t dterm_average_count;            // Configurable delta count for dterm
     uint8_t vbatPidCompensation;            // Scale PIDsum to battery voltage
     uint8_t pidAtMinThrottle;               // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.
+    float levelAngleLimit;
 
     // Betaflight PID controller parameters
-    uint8_t itermThrottleGain;              // Throttle coupling to iterm. Quick throttle changes will bump iterm
+    uint16_t itermThrottleThreshold;        // max allowed throttle delta before errorGyroReset in ms
     uint8_t setpointRelaxRatio;             // Setpoint weight relaxation effect
     uint8_t dtermSetpointWeight;            // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > agressive derivative)
-    uint16_t yawRateAccelLimit;             // yaw accel limiter for deg/sec/ms
+    float yawRateAccelLimit;                // yaw accel limiter for deg/sec/ms
-    uint16_t rateAccelLimit;                // accel limiter roll/pitch deg/sec/ms
+    float rateAccelLimit;                   // accel limiter roll/pitch deg/sec/ms
     float levelSensitivity;
-
-#ifdef GTUNE
-    uint8_t  gtune_lolimP[3];               // [0..200] Lower limit of P during G tune
-    uint8_t  gtune_hilimP[3];               // [0..200] Higher limit of P during G tune. 0 Disables tuning for that axis.
-    uint8_t  gtune_pwr;                     // [0..10] Strength of adjustment
-    uint16_t gtune_settle_time;             // [200..1000] Settle time in ms
-    uint8_t  gtune_average_cycles;          // [8..128] Number of looptime cycles used for gyro average calculation
-#endif
 } pidProfile_t;
 
 typedef struct pidConfig_s {
     uint8_t pid_process_denom;              // Processing denominator for PID controller vs gyro sampling rate
-    uint16_t max_angle_inclination;
 } pidConfig_t;
 
 union rollAndPitchTrims_u;
-void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclination, const union rollAndPitchTrims_u *angleTrim, uint16_t midrc);
+void pidController(const pidProfile_t *pidProfile, const union rollAndPitchTrims_u *angleTrim);
 
 extern float axisPIDf[3];
 extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];

src/main/io/ledstrip.h

@@ -152,6 +152,9 @@ hsvColor_t *colors;
 modeColorIndexes_t *modeColors;
 specialColorIndexes_t specialColors;
 
+#define LF(name) LED_FUNCTION_ ## name
+#define LO(name) LED_FLAG_OVERLAY(LED_OVERLAY_ ## name)
+#define LD(name) LED_FLAG_DIRECTION(LED_DIRECTION_ ## name)
 #define DEFINE_LED(x, y, col, dir, func, ol, params) (LED_MOV_POS(CALCULATE_LED_XY(x, y)) | LED_MOV_COLOR(col) | LED_MOV_DIRECTION(dir) | LED_MOV_FUNCTION(func) | LED_MOV_OVERLAY(ol) | LED_MOV_PARAMS(params))
 
 static inline uint8_t ledGetXY(const ledConfig_t *lcfg)         { return ((*lcfg >> LED_POS_OFFSET) & LED_BIT_MASK(LED_POS_BITCNT)); }

src/main/io/motors.h

@@ -24,7 +24,6 @@ typedef struct motorConfig_s {
     uint16_t minthrottle;                   // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
     uint16_t maxthrottle;                   // This is the maximum value for the ESCs at full power this value can be increased up to 2000
     uint16_t mincommand;                    // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
-    uint16_t maxEscThrottleJumpMs;
     uint16_t motorPwmRate;                  // The update rate of motor outputs (50-498Hz)
     uint8_t  motorPwmProtocol;              // Pwm Protocol
     uint8_t  useUnsyncedPwm;

src/main/io/osd.c

@@ -360,6 +360,12 @@ static void osdDrawSingleElement(uint8_t item)
             break;
         }
 
+        case OSD_POWER:
+        {
+            sprintf(buff, "%dW", amperage * vbat / 1000);
+            break;
+        }
+
         default:
             return;
     }
@@ -402,6 +408,7 @@ void osdDrawElements(void)
     osdDrawSingleElement(OSD_ROLL_PIDS);
     osdDrawSingleElement(OSD_PITCH_PIDS);
     osdDrawSingleElement(OSD_YAW_PIDS);
+    osdDrawSingleElement(OSD_POWER);
 
 #ifdef GPS
 #ifdef CMS
@@ -436,6 +443,7 @@ void osdResetConfig(osd_profile_t *osdProfile)
     osdProfile->item_pos[OSD_ROLL_PIDS] = OSD_POS(2, 10) | VISIBLE_FLAG;
     osdProfile->item_pos[OSD_PITCH_PIDS] = OSD_POS(2, 11) | VISIBLE_FLAG;
     osdProfile->item_pos[OSD_YAW_PIDS] = OSD_POS(2, 12) | VISIBLE_FLAG;
+    osdProfile->item_pos[OSD_POWER] = OSD_POS(15, 1);
 
     osdProfile->rssi_alarm = 20;
     osdProfile->cap_alarm = 2200;

src/main/io/osd.h

@@ -45,6 +45,7 @@ typedef enum {
     OSD_ROLL_PIDS,
     OSD_PITCH_PIDS,
     OSD_YAW_PIDS,
+    OSD_POWER,
     OSD_ITEM_COUNT // MUST BE LAST
 } osd_items_e;
 

src/main/io/serial_cli.c

@@ -715,8 +715,6 @@ const clivalue_t valueTable[] = {
 #ifdef USE_DSHOT
     { "digital_idle_percent",       VAR_FLOAT  | MASTER_VALUE,  &motorConfig()->digitalIdleOffsetPercent, .config.minmax = { 0,  20} },
 #endif
-    { "max_esc_throttle_jump",      VAR_UINT16 | MASTER_VALUE,  &motorConfig()->maxEscThrottleJumpMs, .config.minmax = { 0,  1000 } },
-
     { "3d_deadband_low",            VAR_UINT16 | MASTER_VALUE,  &flight3DConfig()->deadband3d_low, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } }, // FIXME upper limit should match code in the mixer, 1500 currently
     { "3d_deadband_high",           VAR_UINT16 | MASTER_VALUE,  &flight3DConfig()->deadband3d_high, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } }, // FIXME lower limit should match code in the mixer, 1500 currently,
     { "3d_neutral",                 VAR_UINT16 | MASTER_VALUE,  &flight3DConfig()->neutral3d, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
@@ -757,18 +755,6 @@ const clivalue_t valueTable[] = {
     { "nav_slew_rate",              VAR_UINT8  | MASTER_VALUE, &gpsProfile()->nav_slew_rate, .config.minmax = { 0,  100 } },
 #endif
 
-#ifdef GTUNE
-    { "gtune_loP_rll",              VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_ROLL], .config.minmax = { 10,  200 } },
-    { "gtune_loP_ptch",             VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_PITCH], .config.minmax = { 10,  200 } },
-    { "gtune_loP_yw",               VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_YAW], .config.minmax = { 10,  200 } },
-    { "gtune_hiP_rll",              VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_ROLL], .config.minmax = { 0,  200 } },
-    { "gtune_hiP_ptch",             VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_PITCH], .config.minmax = { 0,  200 } },
-    { "gtune_hiP_yw",               VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_YAW], .config.minmax = { 0,  200 } },
-    { "gtune_pwr",                  VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_pwr, .config.minmax = { 0,  10 } },
-    { "gtune_settle_time",          VAR_UINT16 | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_settle_time, .config.minmax = { 200,  1000 } },
-    { "gtune_average_cycles",       VAR_UINT8  | PROFILE_VALUE,  &masterConfig.profile[0].pidProfile.gtune_average_cycles, .config.minmax = { 8,  128 } },
-#endif
-
 #ifdef BEEPER
     { "beeper_inversion",           VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &beeperConfig()->isInverted, .config.lookup = { TABLE_OFF_ON } },
     { "beeper_od",                  VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &beeperConfig()->isOpenDrain, .config.lookup = { TABLE_OFF_ON } },
@@ -847,7 +833,6 @@ const clivalue_t valueTable[] = {
     { "yaw_motor_direction",        VAR_INT8   | MASTER_VALUE, &mixerConfig()->yaw_motor_direction, .config.minmax = { -1,  1 } },
     { "yaw_p_limit",                VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
     { "pidsum_limit",               VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidSumLimit, .config.minmax = { 0.1, 1.0 } },
-    { "max_angle_inclination",      VAR_UINT16 | MASTER_VALUE,  &pidConfig()->max_angle_inclination, .config.minmax = { 100,  900 } },
 #ifdef USE_SERVOS
     { "servo_center_pulse",         VAR_UINT16 | MASTER_VALUE,  &servoConfig()->servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO,  PWM_RANGE_MAX } },
     { "tri_unarmed_servo",          VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, &servoMixerConfig()->tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
@@ -906,11 +891,11 @@ const clivalue_t valueTable[] = {
     { "dterm_notch_cutoff",         VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_cutoff, .config.minmax = { 1,  500 } },
     { "vbat_pid_compensation",      VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } },
     { "pid_at_min_throttle",        VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidAtMinThrottle, .config.lookup = { TABLE_OFF_ON } },
-    { "iterm_throttle_gain",        VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleGain, .config.minmax = {0, 200 } },
+    { "anti_gravity_threshold",     VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleThreshold, .config.minmax = {20, 1000 } },
     { "setpoint_relax_ratio",       VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.setpointRelaxRatio, .config.minmax = {0, 100 } },
     { "dterm_setpoint_weight",      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 255 } },
-    { "yaw_rate_accel_limit",       VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0, 1000 } },
+    { "yaw_accel_limit",            VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0.1f, 50.0f } },
-    { "rate_accel_limit",           VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0, 1000 } },
+    { "accel_limit",                VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0.1f, 50.0f } },
 
     { "accum_threshold",            VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
     { "yaw_accum_threshold",        VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } },
@@ -939,7 +924,8 @@ const clivalue_t valueTable[] = {
     { "i_vel",                      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], .config.minmax = { 0,  200 } },
     { "d_vel",                      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], .config.minmax = { 0,  200 } },
 
-    { "level_sensitivity",          VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.levelSensitivity, .config.minmax = { 0.1,  3.0 } },
+    { "level_stick_sensitivity",    VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.levelSensitivity, .config.minmax = { 10.0f,  200.0f } },
+    { "level_angle_limit",          VAR_FLOAT  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.levelAngleLimit, .config.minmax = { 10.0f,  120.0f } },
 
 #ifdef BLACKBOX
     { "blackbox_rate_num",          VAR_UINT8  | MASTER_VALUE,  &blackboxConfig()->rate_num, .config.minmax = { 1,  32 } },
@@ -996,6 +982,7 @@ const clivalue_t valueTable[] = {
     { "osd_pid_roll_pos",           VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_ROLL_PIDS], .config.minmax = { 0, UINT16_MAX } },
     { "osd_pid_pitch_pos",          VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_PITCH_PIDS], .config.minmax = { 0, UINT16_MAX } },
     { "osd_pid_yaw_pos",            VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_YAW_PIDS], .config.minmax = { 0, UINT16_MAX } },
+    { "osd_power_pos",              VAR_UINT16  | MASTER_VALUE, &osdProfile()->item_pos[OSD_POWER], .config.minmax = { 0, UINT16_MAX } },
 #endif
 #ifdef USE_MAX7456
     { "vcd_video_system",           VAR_UINT8   | MASTER_VALUE, &vcdProfile()->video_system, .config.minmax = { 0, 2 } },

src/main/startup/startup_stm32f746xx.s

@@ -0,0 +1,593 @@
+/**
+  ******************************************************************************
+  * @file      startup_stm32f746xx.s
+  * @author    MCD Application Team
+  * @version   V1.1.0
+  * @date      22-April-2016
+  * @brief     STM32F746xx Devices vector table for GCC toolchain based application. 
+  *            This module performs:
+  *                - Set the initial SP
+  *                - Set the initial PC == Reset_Handler,
+  *                - Set the vector table entries with the exceptions ISR address
+  *                - Branches to main in the C library (which eventually
+  *                  calls main()).
+  *            After Reset the Cortex-M7 processor is in Thread mode,
+  *            priority is Privileged, and the Stack is set to Main.
+  ******************************************************************************
+  * @attention
+  *
+  * <h2><center>&copy; COPYRIGHT 2016 STMicroelectronics</center></h2>
+  *
+  * Redistribution and use in source and binary forms, with or without modification,
+  * are permitted provided that the following conditions are met:
+  *   1. Redistributions of source code must retain the above copyright notice,
+  *      this list of conditions and the following disclaimer.
+  *   2. Redistributions in binary form must reproduce the above copyright notice,
+  *      this list of conditions and the following disclaimer in the documentation
+  *      and/or other materials provided with the distribution.
+  *   3. Neither the name of STMicroelectronics nor the names of its contributors
+  *      may be used to endorse or promote products derived from this software
+  *      without specific prior written permission.
+  *
+  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+  *
+  ******************************************************************************
+  */
+    
+  .syntax unified
+  .cpu cortex-m7
+  .fpu softvfp
+  .thumb
+
+.global  g_pfnVectors
+.global  Default_Handler
+
+/* start address for the initialization values of the .data section. 
+defined in linker script */
+.word  _sidata
+/* start address for the .data section. defined in linker script */  
+.word  _sdata
+/* end address for the .data section. defined in linker script */
+.word  _edata
+/* start address for the .bss section. defined in linker script */
+.word  _sbss
+/* end address for the .bss section. defined in linker script */
+.word  _ebss
+/* stack used for SystemInit_ExtMemCtl; always internal RAM used */
+
+/**
+ * @brief  This is the code that gets called when the processor first
+ *          starts execution following a reset event. Only the absolutely
+ *          necessary set is performed, after which the application
+ *          supplied main() routine is called. 
+ * @param  None
+ * @retval : None
+*/
+
+  .section  .text.Reset_Handler
+  .weak  Reset_Handler
+  .type  Reset_Handler, %function
+Reset_Handler:  
+/* Copy the data segment initializers from flash to SRAM */  
+  movs  r1, #0
+  b  LoopCopyDataInit
+
+CopyDataInit:
+  ldr  r3, =_sidata
+  ldr  r3, [r3, r1]
+  str  r3, [r0, r1]
+  adds  r1, r1, #4
+    
+LoopCopyDataInit:
+  ldr  r0, =_sdata
+  ldr  r3, =_edata
+  adds  r2, r0, r1
+  cmp  r2, r3
+  bcc  CopyDataInit
+  ldr  r2, =_sbss
+  b  LoopFillZerobss
+/* Zero fill the bss segment. */  
+FillZerobss:
+  movs  r3, #0
+  str  r3, [r2], #4
+    
+LoopFillZerobss:
+  ldr  r3, = _ebss
+  cmp  r2, r3
+  bcc  FillZerobss
+
+/*FPU settings*/
+  ldr  r0, =0xE000ED88           /* Enable CP10,CP11 */
+  ldr  r1,[r0]
+  orr  r1,r1,#(0xF << 20)
+  str  r1,[r0]
+
+/* Call the clock system initialization function.*/
+  bl  SystemInit   
+/* Call the application's entry point.*/
+  bl  main
+  bx  lr    
+
+LoopForever:
+  b LoopForever
+
+.size  Reset_Handler, .-Reset_Handler
+
+/**
+ * @brief  This is the code that gets called when the processor receives an 
+ *         unexpected interrupt.  This simply enters an infinite loop, preserving
+ *         the system state for examination by a debugger.
+ * @param  None     
+ * @retval None       
+*/
+    .section  .text.Default_Handler,"ax",%progbits
+Default_Handler:
+Infinite_Loop:
+  b  Infinite_Loop
+  .size  Default_Handler, .-Default_Handler
+/******************************************************************************
+*
+* The minimal vector table for a Cortex M7. Note that the proper constructs
+* must be placed on this to ensure that it ends up at physical address
+* 0x0000.0000.
+* 
+*******************************************************************************/
+  .section  .isr_vector,"a",%progbits
+  .type  g_pfnVectors, %object
+  .size  g_pfnVectors, .-g_pfnVectors
+    
+    
+g_pfnVectors:
+  .word  _estack
+  .word  Reset_Handler
+  .word  NMI_Handler
+  .word  HardFault_Handler
+  .word  MemManage_Handler
+  .word  BusFault_Handler
+  .word  UsageFault_Handler
+  .word  0
+  .word  0
+  .word  0
+  .word  0
+  .word  SVC_Handler
+  .word  DebugMon_Handler
+  .word  0
+  .word  PendSV_Handler
+  .word  SysTick_Handler
+  
+  /* External Interrupts */
+  .word     WWDG_IRQHandler                   /* Window WatchDog              */                                        
+  .word     PVD_IRQHandler                    /* PVD through EXTI Line detection */                        
+  .word     TAMP_STAMP_IRQHandler             /* Tamper and TimeStamps through the EXTI line */            
+  .word     RTC_WKUP_IRQHandler               /* RTC Wakeup through the EXTI line */                      
+  .word     FLASH_IRQHandler                  /* FLASH                        */                                          
+  .word     RCC_IRQHandler                    /* RCC                          */                                            
+  .word     EXTI0_IRQHandler                  /* EXTI Line0                   */                        
+  .word     EXTI1_IRQHandler                  /* EXTI Line1                   */                          
+  .word     EXTI2_IRQHandler                  /* EXTI Line2                   */                          
+  .word     EXTI3_IRQHandler                  /* EXTI Line3                   */                          
+  .word     EXTI4_IRQHandler                  /* EXTI Line4                   */                          
+  .word     DMA1_Stream0_IRQHandler           /* DMA1 Stream 0                */                  
+  .word     DMA1_Stream1_IRQHandler           /* DMA1 Stream 1                */                   
+  .word     DMA1_Stream2_IRQHandler           /* DMA1 Stream 2                */                   
+  .word     DMA1_Stream3_IRQHandler           /* DMA1 Stream 3                */                   
+  .word     DMA1_Stream4_IRQHandler           /* DMA1 Stream 4                */                   
+  .word     DMA1_Stream5_IRQHandler           /* DMA1 Stream 5                */                   
+  .word     DMA1_Stream6_IRQHandler           /* DMA1 Stream 6                */                   
+  .word     ADC_IRQHandler                    /* ADC1, ADC2 and ADC3s         */                   
+  .word     CAN1_TX_IRQHandler                /* CAN1 TX                      */                         
+  .word     CAN1_RX0_IRQHandler               /* CAN1 RX0                     */                          
+  .word     CAN1_RX1_IRQHandler               /* CAN1 RX1                     */                          
+  .word     CAN1_SCE_IRQHandler               /* CAN1 SCE                     */                          
+  .word     EXTI9_5_IRQHandler                /* External Line[9:5]s          */                          
+  .word     TIM1_BRK_TIM9_IRQHandler          /* TIM1 Break and TIM9          */         
+  .word     TIM1_UP_TIM10_IRQHandler          /* TIM1 Update and TIM10        */         
+  .word     TIM1_TRG_COM_TIM11_IRQHandler     /* TIM1 Trigger and Commutation and TIM11 */
+  .word     TIM1_CC_IRQHandler                /* TIM1 Capture Compare         */                          
+  .word     TIM2_IRQHandler                   /* TIM2                         */                   
+  .word     TIM3_IRQHandler                   /* TIM3                         */                   
+  .word     TIM4_IRQHandler                   /* TIM4                         */                   
+  .word     I2C1_EV_IRQHandler                /* I2C1 Event                   */                          
+  .word     I2C1_ER_IRQHandler                /* I2C1 Error                   */                          
+  .word     I2C2_EV_IRQHandler                /* I2C2 Event                   */                          
+  .word     I2C2_ER_IRQHandler                /* I2C2 Error                   */                            
+  .word     SPI1_IRQHandler                   /* SPI1                         */                   
+  .word     SPI2_IRQHandler                   /* SPI2                         */                   
+  .word     USART1_IRQHandler                 /* USART1                       */                   
+  .word     USART2_IRQHandler                 /* USART2                       */                   
+  .word     USART3_IRQHandler                 /* USART3                       */                   
+  .word     EXTI15_10_IRQHandler              /* External Line[15:10]s        */                          
+  .word     RTC_Alarm_IRQHandler              /* RTC Alarm (A and B) through EXTI Line */                 
+  .word     OTG_FS_WKUP_IRQHandler            /* USB OTG FS Wakeup through EXTI line */                       
+  .word     TIM8_BRK_TIM12_IRQHandler         /* TIM8 Break and TIM12         */         
+  .word     TIM8_UP_TIM13_IRQHandler          /* TIM8 Update and TIM13        */         
+  .word     TIM8_TRG_COM_TIM14_IRQHandler     /* TIM8 Trigger and Commutation and TIM14 */
+  .word     TIM8_CC_IRQHandler                /* TIM8 Capture Compare         */                          
+  .word     DMA1_Stream7_IRQHandler           /* DMA1 Stream7                 */                          
+  .word     FMC_IRQHandler                    /* FMC                          */                   
+  .word     SDMMC1_IRQHandler                 /* SDMMC1                       */                   
+  .word     TIM5_IRQHandler                   /* TIM5                         */                   
+  .word     SPI3_IRQHandler                   /* SPI3                         */                   
+  .word     UART4_IRQHandler                  /* UART4                        */                   
+  .word     UART5_IRQHandler                  /* UART5                        */                   
+  .word     TIM6_DAC_IRQHandler               /* TIM6 and DAC1&2 underrun errors */                   
+  .word     TIM7_IRQHandler                   /* TIM7                         */
+  .word     DMA2_Stream0_IRQHandler           /* DMA2 Stream 0                */                   
+  .word     DMA2_Stream1_IRQHandler           /* DMA2 Stream 1                */                   
+  .word     DMA2_Stream2_IRQHandler           /* DMA2 Stream 2                */                   
+  .word     DMA2_Stream3_IRQHandler           /* DMA2 Stream 3                */                   
+  .word     DMA2_Stream4_IRQHandler           /* DMA2 Stream 4                */                   
+  .word     ETH_IRQHandler                    /* Ethernet                     */                   
+  .word     ETH_WKUP_IRQHandler               /* Ethernet Wakeup through EXTI line */                     
+  .word     CAN2_TX_IRQHandler                /* CAN2 TX                      */                          
+  .word     CAN2_RX0_IRQHandler               /* CAN2 RX0                     */                          
+  .word     CAN2_RX1_IRQHandler               /* CAN2 RX1                     */                          
+  .word     CAN2_SCE_IRQHandler               /* CAN2 SCE                     */                          
+  .word     OTG_FS_IRQHandler                 /* USB OTG FS                   */                   
+  .word     DMA2_Stream5_IRQHandler           /* DMA2 Stream 5                */                   
+  .word     DMA2_Stream6_IRQHandler           /* DMA2 Stream 6                */                   
+  .word     DMA2_Stream7_IRQHandler           /* DMA2 Stream 7                */                   
+  .word     USART6_IRQHandler                 /* USART6                       */                    
+  .word     I2C3_EV_IRQHandler                /* I2C3 event                   */                          
+  .word     I2C3_ER_IRQHandler                /* I2C3 error                   */                          
+  .word     OTG_HS_EP1_OUT_IRQHandler         /* USB OTG HS End Point 1 Out   */                   
+  .word     OTG_HS_EP1_IN_IRQHandler          /* USB OTG HS End Point 1 In    */                   
+  .word     OTG_HS_WKUP_IRQHandler            /* USB OTG HS Wakeup through EXTI */                         
+  .word     OTG_HS_IRQHandler                 /* USB OTG HS                   */                   
+  .word     DCMI_IRQHandler                   /* DCMI                         */                   
+  .word     0                                 /* Reserved                     */                   
+  .word     RNG_IRQHandler                    /* Rng                          */
+  .word     FPU_IRQHandler                    /* FPU                          */
+  .word     UART7_IRQHandler                  /* UART7                        */      
+  .word     UART8_IRQHandler                  /* UART8                        */
+  .word     SPI4_IRQHandler                   /* SPI4                         */
+  .word     SPI5_IRQHandler                   /* SPI5                         */
+  .word     SPI6_IRQHandler                   /* SPI6                         */
+  .word     SAI1_IRQHandler                   /* SAI1                         */
+  .word     LTDC_IRQHandler                   /* LTDC                         */
+  .word     LTDC_ER_IRQHandler                /* LTDC_ER                      */
+  .word     DMA2D_IRQHandler                  /* DMA2D                        */
+  .word     SAI2_IRQHandler                   /* SAI2                         */
+  .word     QUADSPI_IRQHandler                /* QUADSPI                      */
+  .word     LPTIM1_IRQHandler                 /* LPTIM1                       */
+  .word     CEC_IRQHandler                    /* HDMI_CEC                     */
+  .word     I2C4_EV_IRQHandler                /* I2C4 Event                   */
+  .word     I2C4_ER_IRQHandler                /* I2C4 Error                   */
+  .word     SPDIF_RX_IRQHandler               /* SPDIF_RX                     */  
+  
+/*******************************************************************************
+*
+* Provide weak aliases for each Exception handler to the Default_Handler. 
+* As they are weak aliases, any function with the same name will override 
+* this definition.
+* 
+*******************************************************************************/
+   .weak      NMI_Handler
+   .thumb_set NMI_Handler,Default_Handler
+  
+   .weak      HardFault_Handler
+   .thumb_set HardFault_Handler,Default_Handler
+  
+   .weak      MemManage_Handler
+   .thumb_set MemManage_Handler,Default_Handler
+  
+   .weak      BusFault_Handler
+   .thumb_set BusFault_Handler,Default_Handler
+
+   .weak      UsageFault_Handler
+   .thumb_set UsageFault_Handler,Default_Handler
+
+   .weak      SVC_Handler
+   .thumb_set SVC_Handler,Default_Handler
+
+   .weak      DebugMon_Handler
+   .thumb_set DebugMon_Handler,Default_Handler
+
+   .weak      PendSV_Handler
+   .thumb_set PendSV_Handler,Default_Handler
+
+   .weak      SysTick_Handler
+   .thumb_set SysTick_Handler,Default_Handler              
+  
+   .weak      WWDG_IRQHandler                   
+   .thumb_set WWDG_IRQHandler,Default_Handler      
+                  
+   .weak      PVD_IRQHandler      
+   .thumb_set PVD_IRQHandler,Default_Handler
+               
+   .weak      TAMP_STAMP_IRQHandler            
+   .thumb_set TAMP_STAMP_IRQHandler,Default_Handler
+            
+   .weak      RTC_WKUP_IRQHandler                  
+   .thumb_set RTC_WKUP_IRQHandler,Default_Handler
+            
+   .weak      FLASH_IRQHandler         
+   .thumb_set FLASH_IRQHandler,Default_Handler
+                  
+   .weak      RCC_IRQHandler      
+   .thumb_set RCC_IRQHandler,Default_Handler
+                  
+   .weak      EXTI0_IRQHandler         
+   .thumb_set EXTI0_IRQHandler,Default_Handler
+                  
+   .weak      EXTI1_IRQHandler         
+   .thumb_set EXTI1_IRQHandler,Default_Handler
+                     
+   .weak      EXTI2_IRQHandler         
+   .thumb_set EXTI2_IRQHandler,Default_Handler 
+                 
+   .weak      EXTI3_IRQHandler         
+   .thumb_set EXTI3_IRQHandler,Default_Handler
+                        
+   .weak      EXTI4_IRQHandler         
+   .thumb_set EXTI4_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream0_IRQHandler               
+   .thumb_set DMA1_Stream0_IRQHandler,Default_Handler
+         
+   .weak      DMA1_Stream1_IRQHandler               
+   .thumb_set DMA1_Stream1_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream2_IRQHandler               
+   .thumb_set DMA1_Stream2_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream3_IRQHandler               
+   .thumb_set DMA1_Stream3_IRQHandler,Default_Handler 
+                 
+   .weak      DMA1_Stream4_IRQHandler              
+   .thumb_set DMA1_Stream4_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream5_IRQHandler               
+   .thumb_set DMA1_Stream5_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream6_IRQHandler               
+   .thumb_set DMA1_Stream6_IRQHandler,Default_Handler
+                  
+   .weak      ADC_IRQHandler      
+   .thumb_set ADC_IRQHandler,Default_Handler
+               
+   .weak      CAN1_TX_IRQHandler   
+   .thumb_set CAN1_TX_IRQHandler,Default_Handler
+            
+   .weak      CAN1_RX0_IRQHandler                  
+   .thumb_set CAN1_RX0_IRQHandler,Default_Handler
+                           
+   .weak      CAN1_RX1_IRQHandler                  
+   .thumb_set CAN1_RX1_IRQHandler,Default_Handler
+            
+   .weak      CAN1_SCE_IRQHandler                  
+   .thumb_set CAN1_SCE_IRQHandler,Default_Handler
+            
+   .weak      EXTI9_5_IRQHandler   
+   .thumb_set EXTI9_5_IRQHandler,Default_Handler
+            
+   .weak      TIM1_BRK_TIM9_IRQHandler            
+   .thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler
+            
+   .weak      TIM1_UP_TIM10_IRQHandler            
+   .thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler
+
+   .weak      TIM1_TRG_COM_TIM11_IRQHandler      
+   .thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler
+      
+   .weak      TIM1_CC_IRQHandler   
+   .thumb_set TIM1_CC_IRQHandler,Default_Handler
+                  
+   .weak      TIM2_IRQHandler            
+   .thumb_set TIM2_IRQHandler,Default_Handler
+                  
+   .weak      TIM3_IRQHandler            
+   .thumb_set TIM3_IRQHandler,Default_Handler
+                  
+   .weak      TIM4_IRQHandler            
+   .thumb_set TIM4_IRQHandler,Default_Handler
+                  
+   .weak      I2C1_EV_IRQHandler   
+   .thumb_set I2C1_EV_IRQHandler,Default_Handler
+                     
+   .weak      I2C1_ER_IRQHandler   
+   .thumb_set I2C1_ER_IRQHandler,Default_Handler
+                     
+   .weak      I2C2_EV_IRQHandler   
+   .thumb_set I2C2_EV_IRQHandler,Default_Handler
+                  
+   .weak      I2C2_ER_IRQHandler   
+   .thumb_set I2C2_ER_IRQHandler,Default_Handler
+                           
+   .weak      SPI1_IRQHandler            
+   .thumb_set SPI1_IRQHandler,Default_Handler
+                        
+   .weak      SPI2_IRQHandler            
+   .thumb_set SPI2_IRQHandler,Default_Handler
+                  
+   .weak      USART1_IRQHandler      
+   .thumb_set USART1_IRQHandler,Default_Handler
+                     
+   .weak      USART2_IRQHandler      
+   .thumb_set USART2_IRQHandler,Default_Handler
+                     
+   .weak      USART3_IRQHandler      
+   .thumb_set USART3_IRQHandler,Default_Handler
+                  
+   .weak      EXTI15_10_IRQHandler               
+   .thumb_set EXTI15_10_IRQHandler,Default_Handler
+               
+   .weak      RTC_Alarm_IRQHandler               
+   .thumb_set RTC_Alarm_IRQHandler,Default_Handler
+            
+   .weak      OTG_FS_WKUP_IRQHandler         
+   .thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler
+            
+   .weak      TIM8_BRK_TIM12_IRQHandler         
+   .thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler
+         
+   .weak      TIM8_UP_TIM13_IRQHandler            
+   .thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler
+         
+   .weak      TIM8_TRG_COM_TIM14_IRQHandler      
+   .thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler
+      
+   .weak      TIM8_CC_IRQHandler   
+   .thumb_set TIM8_CC_IRQHandler,Default_Handler
+                  
+   .weak      DMA1_Stream7_IRQHandler               
+   .thumb_set DMA1_Stream7_IRQHandler,Default_Handler
+                     
+   .weak      FMC_IRQHandler            
+   .thumb_set FMC_IRQHandler,Default_Handler
+                     
+   .weak      SDMMC1_IRQHandler            
+   .thumb_set SDMMC1_IRQHandler,Default_Handler
+                     
+   .weak      TIM5_IRQHandler            
+   .thumb_set TIM5_IRQHandler,Default_Handler
+                     
+   .weak      SPI3_IRQHandler            
+   .thumb_set SPI3_IRQHandler,Default_Handler
+                     
+   .weak      UART4_IRQHandler         
+   .thumb_set UART4_IRQHandler,Default_Handler
+                  
+   .weak      UART5_IRQHandler         
+   .thumb_set UART5_IRQHandler,Default_Handler
+                  
+   .weak      TIM6_DAC_IRQHandler                  
+   .thumb_set TIM6_DAC_IRQHandler,Default_Handler
+               
+   .weak      TIM7_IRQHandler            
+   .thumb_set TIM7_IRQHandler,Default_Handler
+         
+   .weak      DMA2_Stream0_IRQHandler               
+   .thumb_set DMA2_Stream0_IRQHandler,Default_Handler
+               
+   .weak      DMA2_Stream1_IRQHandler               
+   .thumb_set DMA2_Stream1_IRQHandler,Default_Handler
+                  
+   .weak      DMA2_Stream2_IRQHandler               
+   .thumb_set DMA2_Stream2_IRQHandler,Default_Handler
+            
+   .weak      DMA2_Stream3_IRQHandler               
+   .thumb_set DMA2_Stream3_IRQHandler,Default_Handler
+            
+   .weak      DMA2_Stream4_IRQHandler               
+   .thumb_set DMA2_Stream4_IRQHandler,Default_Handler
+   
+   .weak      ETH_IRQHandler   
+   .thumb_set ETH_IRQHandler,Default_Handler
+   
+   .weak      ETH_WKUP_IRQHandler   
+   .thumb_set ETH_WKUP_IRQHandler,Default_Handler
+
+   .weak      CAN2_TX_IRQHandler   
+   .thumb_set CAN2_TX_IRQHandler,Default_Handler   
+                           
+   .weak      CAN2_RX0_IRQHandler                  
+   .thumb_set CAN2_RX0_IRQHandler,Default_Handler
+                           
+   .weak      CAN2_RX1_IRQHandler                  
+   .thumb_set CAN2_RX1_IRQHandler,Default_Handler
+                           
+   .weak      CAN2_SCE_IRQHandler                  
+   .thumb_set CAN2_SCE_IRQHandler,Default_Handler
+                           
+   .weak      OTG_FS_IRQHandler      
+   .thumb_set OTG_FS_IRQHandler,Default_Handler
+                     
+   .weak      DMA2_Stream5_IRQHandler               
+   .thumb_set DMA2_Stream5_IRQHandler,Default_Handler
+                  
+   .weak      DMA2_Stream6_IRQHandler               
+   .thumb_set DMA2_Stream6_IRQHandler,Default_Handler
+                  
+   .weak      DMA2_Stream7_IRQHandler               
+   .thumb_set DMA2_Stream7_IRQHandler,Default_Handler
+                  
+   .weak      USART6_IRQHandler      
+   .thumb_set USART6_IRQHandler,Default_Handler
+                        
+   .weak      I2C3_EV_IRQHandler   
+   .thumb_set I2C3_EV_IRQHandler,Default_Handler
+                        
+   .weak      I2C3_ER_IRQHandler   
+   .thumb_set I2C3_ER_IRQHandler,Default_Handler
+                        
+   .weak      OTG_HS_EP1_OUT_IRQHandler         
+   .thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler
+               
+   .weak      OTG_HS_EP1_IN_IRQHandler            
+   .thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler
+               
+   .weak      OTG_HS_WKUP_IRQHandler         
+   .thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler
+            
+   .weak      OTG_HS_IRQHandler      
+   .thumb_set OTG_HS_IRQHandler,Default_Handler
+                  
+   .weak      DCMI_IRQHandler            
+   .thumb_set DCMI_IRQHandler,Default_Handler
+
+   .weak      RNG_IRQHandler            
+   .thumb_set RNG_IRQHandler,Default_Handler   
+
+   .weak      FPU_IRQHandler                  
+   .thumb_set FPU_IRQHandler,Default_Handler
+
+   .weak      UART7_IRQHandler                  
+   .thumb_set UART7_IRQHandler,Default_Handler
+
+   .weak      UART8_IRQHandler                  
+   .thumb_set UART8_IRQHandler,Default_Handler   
+
+   .weak      SPI4_IRQHandler            
+   .thumb_set SPI4_IRQHandler,Default_Handler
+   
+   .weak      SPI5_IRQHandler            
+   .thumb_set SPI5_IRQHandler,Default_Handler
+
+   .weak      SPI6_IRQHandler            
+   .thumb_set SPI6_IRQHandler,Default_Handler   
+
+   .weak      SAI1_IRQHandler            
+   .thumb_set SAI1_IRQHandler,Default_Handler
+
+   .weak      LTDC_IRQHandler            
+   .thumb_set LTDC_IRQHandler,Default_Handler
+
+   .weak      LTDC_ER_IRQHandler            
+   .thumb_set LTDC_ER_IRQHandler,Default_Handler
+
+   .weak      DMA2D_IRQHandler            
+   .thumb_set DMA2D_IRQHandler,Default_Handler   
+
+   .weak      SAI2_IRQHandler            
+   .thumb_set SAI2_IRQHandler,Default_Handler
+   
+   .weak      QUADSPI_IRQHandler            
+   .thumb_set QUADSPI_IRQHandler,Default_Handler
+ 
+   .weak      LPTIM1_IRQHandler            
+   .thumb_set LPTIM1_IRQHandler,Default_Handler
+
+   .weak      CEC_IRQHandler            
+   .thumb_set CEC_IRQHandler,Default_Handler
+   
+   .weak      I2C4_EV_IRQHandler            
+   .thumb_set I2C4_EV_IRQHandler,Default_Handler 
+ 
+   .weak      I2C4_ER_IRQHandler            
+   .thumb_set I2C4_ER_IRQHandler,Default_Handler
+   
+   .weak      SPDIF_RX_IRQHandler            
+   .thumb_set SPDIF_RX_IRQHandler,Default_Handler 
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/        
+ 

src/main/target/AIORACERF3/target.c

@@ -1,40 +0,0 @@
-/*
- * This file is part of Cleanflight.
- *
- * Cleanflight 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.
- *
- * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include <stdint.h>
-
-#include <platform.h>
-#include "drivers/io.h"
-
-#include "drivers/timer.h"
-#include "drivers/dma.h"
-
-const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    // PPM / UART2 RX
-    { TIM8,  IO_TAG(PA15), TIM_Channel_1, TIM_USE_PPM,   0, GPIO_AF_2, NULL, 0 },  // PPM
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM_USE_MOTOR, 1, GPIO_AF_2, NULL, 0 },  // PWM1
-    { TIM3,  IO_TAG(PA7),  TIM_Channel_2, TIM_USE_MOTOR, 1, GPIO_AF_2, NULL, 0 },  // PWM2
-    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM_USE_MOTOR, 1, GPIO_AF_9, NULL, 0 },  // PWM3
-    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM_USE_MOTOR, 1, GPIO_AF_1, NULL, 0 },  // PWM4
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM_USE_MOTOR, 1, GPIO_AF_2, NULL, 0 },  // PWM5
-    { TIM3,  IO_TAG(PA6),  TIM_Channel_1, TIM_USE_MOTOR, 1, GPIO_AF_2, NULL, 0 },  // PWM6
-    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM_USE_MOTOR, 1, GPIO_AF_9, NULL, 0 },  // PWM7
-    { TIM2,  IO_TAG(PA0),  TIM_Channel_1, TIM_USE_MOTOR, 1, GPIO_AF_1, NULL, 0 },  // PWM8
-    { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM_USE_MOTOR, 1, GPIO_AF_1, NULL, 0 }, // UART3_TX (AF7)
-    { TIM2,  IO_TAG(PB11), TIM_Channel_4, TIM_USE_MOTOR, 1, GPIO_AF_1, NULL, 0 }, // UART3_RX (AF7)
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM_USE_LED,   1, GPIO_AF_6, DMA1_Channel2, DMA1_CH2_HANDLER },  //LED_STRIP
-};

src/main/target/BLUEJAYF4/target.h

@@ -146,6 +146,7 @@
 
 #define USE_ADC
 #define VBAT_ADC_PIN            PC3
+#define CURRENT_METER_ADC_PIN   PC2
 
 #define USE_ESC_SENSOR
 #define LED_STRIP
@@ -162,10 +163,10 @@
 #define SPEKTRUM_BIND
 #define BIND_PIN                PB11
 
-#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTA         	0xffff
-#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTB         	0xffff
-#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTC         	0xffff
-#define TARGET_IO_PORTD         (BIT(2))
+#define TARGET_IO_PORTD         	(BIT(2))
 
-#define USABLE_TIMER_CHANNEL_COUNT 7
+#define USABLE_TIMER_CHANNEL_COUNT 	7
-#define USED_TIMERS             ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) | TIM_N(9))
+#define USED_TIMERS               	( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) | TIM_N(9) )

src/main/target/COLIBRI_RACE/config.c

@@ -17,6 +17,7 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <string.h>
 
 #include <platform.h>
 
@@ -25,12 +26,74 @@
 #include "sensors/battery.h"
 
 #include "config/config_master.h"
+#include "config/feature.h"
+#include "io/ledstrip.h"
 
+void targetApplyDefaultLedStripConfig(ledConfig_t *ledConfigs)   
+{
+    const ledConfig_t defaultLedStripConfig[] = {
+        DEFINE_LED( 0,   0,     6,  LD(WEST), LF(COLOR), LO(WARNING),   0 ),
+        DEFINE_LED( 0,   1,     6,  LD(WEST), LF(COLOR), LO(WARNING),   0 ),
+        DEFINE_LED( 0,   8,     6,  LD(WEST), LF(COLOR), LO(WARNING),   0 ),
+        DEFINE_LED( 7,  15,     6,  0,        LF(COLOR), 0,             0 ),
+        DEFINE_LED( 8,  15,     6,  0,        LF(COLOR), 0,             0 ),
+        DEFINE_LED( 7,  14,     6,  0,        LF(COLOR), 0,             0 ),
+        DEFINE_LED( 8,  14,     6,  0,        LF(COLOR), 0,             0 ),
+        DEFINE_LED( 15,  8,     6,  LD(EAST), LF(COLOR), LO(WARNING),   0 ),
+        DEFINE_LED( 15,  1,     6,  LD(EAST), LF(COLOR), LO(WARNING),   0 ),
+        DEFINE_LED( 15,  0,     6,  LD(EAST), LF(COLOR), LO(WARNING),   0 ),
+    };
+    memcpy(ledConfigs, &defaultLedStripConfig, MIN(LED_MAX_STRIP_LENGTH, sizeof(defaultLedStripConfig)));
+}
 
 // alternative defaults settings for COLIBRI RACE targets
 void targetConfiguration(master_t *config)
 {
+    config->motorConfig.minthrottle = 1025;
     config->motorConfig.maxthrottle = 1980;
+    config->motorConfig.mincommand = 1000;
+    config->servoConfig.servoCenterPulse = 1500;
+
     config->batteryConfig.vbatmaxcellvoltage = 45;
     config->batteryConfig.vbatmincellvoltage = 30;
+    config->batteryConfig.vbatwarningcellvoltage = 35;
+
+    config->flight3DConfig.deadband3d_low = 1406;
+    config->flight3DConfig.deadband3d_high = 1514;
+    config->flight3DConfig.neutral3d = 1460;
+    config->flight3DConfig.deadband3d_throttle = 0;
+    
+    config->failsafeConfig.failsafe_procedure = 1;
+    config->failsafeConfig.failsafe_throttle_low_delay = 10;
+
+    config->gyroConfig.gyro_sync_denom = 1;
+    config->pidConfig.pid_process_denom = 3;
+    config->blackboxConfig.rate_num = 1;
+    config->blackboxConfig.rate_denom = 1;
+
+    config->rcControlsConfig.deadband = 5;
+    config->rcControlsConfig.yaw_deadband = 5;
+
+    config->failsafeConfig.failsafe_delay = 10;
+
+    config->telemetryConfig.telemetry_inversion = 1;
+
+    config->profile[0].pidProfile.vbatPidCompensation = 1;
+
+    config->profile[0].pidProfile.P8[ROLL] = 46;     // new PID with preliminary defaults test carefully
+    config->profile[0].pidProfile.I8[ROLL] = 48;
+    config->profile[0].pidProfile.D8[ROLL] = 23;
+    config->profile[0].pidProfile.P8[PITCH] = 89;
+    config->profile[0].pidProfile.I8[PITCH] = 59;
+    config->profile[0].pidProfile.D8[PITCH] = 25;
+    config->profile[0].pidProfile.P8[YAW] = 129;
+    config->profile[0].pidProfile.I8[YAW] = 50;
+    config->profile[0].pidProfile.D8[YAW] = 20;
+
+    config->profile[0].controlRateProfile[0].rates[FD_ROLL] = 86;
+    config->profile[0].controlRateProfile[0].rates[FD_PITCH] = 86;
+    config->profile[0].controlRateProfile[0].rates[FD_YAW] = 80;
+
+    targetApplyDefaultLedStripConfig(config->ledStripConfig.ledConfigs);
+
 }

src/main/target/COLIBRI_RACE/i2c_bst.c

@@ -29,7 +29,7 @@
 #include "drivers/rx_pwm.h"
 
 #include "fc/config.h"
-#include "fc/mw.h"
+#include "fc/fc_main.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
 
@@ -704,6 +704,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
             bstWrite8(currentControlRateProfile->thrExpo8);
             bstWrite16(currentControlRateProfile->tpa_breakpoint);
             bstWrite8(currentControlRateProfile->rcYawExpo8);
+            bstWrite8(currentControlRateProfile->rcYawRate8);
             break;
         case BST_PID:
             for (i = 0; i < PID_ITEM_COUNT; i++) {
@@ -1108,6 +1109,9 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
                 if (bstReadDataSize() >= 11) {
                     currentControlRateProfile->rcYawExpo8 = bstRead8();
                 }
+                if (bstReadDataSize() >= 12) {
+                    currentControlRateProfile->rcYawRate8 = bstRead8();
+                }
             } else {
                 ret = BST_FAILED;
             }
@@ -1256,6 +1260,13 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
         case BST_SET_FEATURE:
             featureClearAll();
             featureSet(bstRead32()); // features bitmap
+#ifdef SERIALRX_UART
+            if (featureConfigured(FEATURE_RX_SERIAL)) {
+                serialConfig()->portConfigs[SERIALRX_UART].functionMask = FUNCTION_RX_SERIAL;
+            } else {
+                serialConfig()->portConfigs[SERIALRX_UART].functionMask = FUNCTION_NONE;
+            }
+#endif            
             break;
         case BST_SET_BOARD_ALIGNMENT:
             boardAlignment()->rollDegrees = bstRead16();

src/main/target/COLIBRI_RACE/target.h

@@ -36,8 +36,6 @@
 #define MPU_INT_EXTI            PA5
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
-//#define DEBUG_MPU_DATA_READY_INTERRUPT
-
 
 #define USE_SPI
 #define USE_SPI_DEVICE_1
@@ -116,10 +114,10 @@
 
 #define LED_STRIP
 
-#define DEFAULT_FEATURES        FEATURE_VBAT
+#define DEFAULT_FEATURES        (FEATURE_RX_PPM | FEATURE_VBAT | FEATURE_FAILSAFE | FEATURE_AIRMODE | FEATURE_LED_STRIP)
-#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
 #define SERIALRX_PROVIDER       SERIALRX_SBUS
-#define SERIALRX_UART           SERIAL_PORT_USART2
+#define SERIALRX_UART           SERIAL_PORT_USART3
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 

src/main/target/ELLE0/target.c

@@ -0,0 +1,51 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+#include "drivers/dma.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM2,  CH3, PA2,  TIM_USE_PWM | TIM_USE_PPM,  TIMER_INPUT_ENABLED,  0 ), // PPM IN  DMA1_ST1 (shared with RX1)
+    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_MOTOR,              TIMER_OUTPUT_ENABLED, 0 ), // SERVO1  DMA2_ST2
+    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_MOTOR,              TIMER_OUTPUT_ENABLED, 0 ), // SERVO2  DMA2_ST3
+    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_MOTOR,              TIMER_OUTPUT_ENABLED, 1 ), // SERVO3  DMA2_ST4
+    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_MOTOR,              TIMER_OUTPUT_ENABLED, 0 ), // SERVO4  DMA2_ST7
+    DEF_TIM(TIM5,  CH1, PA0,  TIM_USE_MOTOR,              TIMER_OUTPUT_ENABLED, 0 ), // SERVO5  DMA1_ST2
+    DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_MOTOR,              TIMER_OUTPUT_ENABLED, 0 ), // SERVO6  DMA1_ST4
+    DEF_TIM(TIM4,  CH3, PB8,  TIM_USE_MOTOR,              TIMER_OUTPUT_ENABLED, 0 ), // SERVO7  DMA1_ST7
+    DEF_TIM(TIM4,  CH4, PB9,  TIM_USE_MOTOR,              TIMER_OUTPUT_ENABLED, 0 ), // SERVO8  DMA1_ST3
+};
+
+// Telemetry
+//UART1 RX: DMA2_ST5
+//UART1 TX: DMA2_ST7
+
+// RX1
+//UART2 RX: DMA1_ST5
+//UART2 TX: DMA1_ST6
+
+// I2C
+//UART3 RX: DMA1_ST1
+//UART3 TX: DMA1_ST3
+
+

src/main/target/ELLE0/target.h

@@ -0,0 +1,105 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+#define TARGET_BOARD_IDENTIFIER "ELL0"
+
+#define CONFIG_START_FLASH_ADDRESS 0x08080000 //0x08080000 to 0x080A0000 (FLASH_Sector_8)
+#define TARGET_XTAL_MHZ         25
+
+#define USBD_PRODUCT_STRING "Elle0"
+
+#define LED0                    PA8
+#define LED1                    PB4
+#define LED2                    PC2
+
+// MPU9250 interrupt
+#define USE_EXTI
+#define MPU_INT_EXTI            PB5
+//#define DEBUG_MPU_DATA_READY_INTERRUPT
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+
+#define MPU6500_CS_PIN          PB12
+#define MPU6500_SPI_INSTANCE    SPI2
+
+// Using MPU6050 for the moment.
+#define GYRO
+#define USE_GYRO_SPI_MPU6500
+#define GYRO_MPU6500_ALIGN      CW270_DEG
+
+#define ACC
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6500_ALIGN       CW270_DEG
+
+//#define BARO
+//#define USE_BARO_MS5611
+
+#define MAG
+#define USE_MAG_AK8963
+#define MAG_AK8963_ALIGN        CW0_DEG_FLIP
+
+#define USE_VCP
+
+/* Telemetry (Overlaps with DMA from motors) */
+//#define USE_UART1
+//#define UART1_RX_PIN            PA10
+//#define UART1_TX_PIN            PA9
+//#define UART1_AHB1_PERIPHERALS  RCC_AHB1Periph_DMA2
+
+/* RX1 */
+#define USE_UART2
+#define UART2_RX_PIN		PA3
+#define UART2_TX_PIN		PA2
+
+/* I2C */
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+/* RX2 */
+//#define USE_UART5
+//#define UART5_RX_PIN            PD2
+//#define UART5_TX_PIN            PC12
+
+#define SERIAL_PORT_COUNT 3
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_2 //MPU9250
+#define SPI2_NSS_PIN            PB12
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_ADC
+#define VBAT_ADC_PIN            PC4
+#define CURRENT_METER_ADC_PIN   PC5
+
+#define DEFAULT_FEATURES        (FEATURE_VBAT)
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER	SERIALRX_SPEKTRUM2048
+#define SERIALRX_UART           SERIAL_PORT_USART2
+#define RX_CHANNELS_TAER
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))
+
+#define USABLE_TIMER_CHANNEL_COUNT 9
+#define USED_TIMERS  (TIM_N(2) | TIM_N(4) | TIM_N(5) | TIM_N(8))

src/main/target/ELLE0/target.mk

@@ -0,0 +1,9 @@
+F405_TARGETS    += $(TARGET)
+FEATURES        += VCP
+HSE_VALUE       = 25000000
+
+TARGET_SRC = \
+            drivers/accgyro_mpu.c \
+            drivers/accgyro_mpu6500.c \
+            drivers/accgyro_spi_mpu6500.c \
+            drivers/compass_ak8963.c

src/main/target/F4BY/target.h

@@ -103,6 +103,9 @@
 
 #define SERIAL_PORT_COUNT       6 //VCP, UART1, UART2, UART3, UART4, UART5, UART6
 
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_HARDWARE 8 // PWM 9
+
 #define USE_SPI
 #define USE_SPI_DEVICE_1
 #define SPI1_SCK_PIN            PA5

src/main/target/FURYF4/target.h

@@ -133,6 +133,9 @@
 
 #define SERIAL_PORT_COUNT       4 //VCP, USART1, USART3, USART6
 
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
+
 #define USE_SPI
 
 #define USE_SPI_DEVICE_1

src/main/target/FishDroneF4/target.h

@@ -69,6 +69,9 @@
 
 #define SERIAL_PORT_COUNT       4 // VCP, USART1, USART3, USART6
 
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
+
 // *************** OSD *****************************
 #define USE_SPI_DEVICE_2
 #define SPI2_NSS_PIN            PB12

src/main/target/IMPULSERCF3/target.h

@@ -55,6 +55,9 @@
 #define USE_UART3
 #define SERIAL_PORT_COUNT 4
 
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
+
 #define UART1_TX_PIN            PA9
 #define UART1_RX_PIN            PA10
 

src/main/target/IRCFUSIONF3/target.h

@@ -47,6 +47,9 @@
 #define USE_UART3
 #define SERIAL_PORT_COUNT 3
 
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
+
 #define UART1_TX_PIN            PA9
 #define UART1_RX_PIN            PA10
 

src/main/target/ISHAPEDF3/target.h

@@ -61,6 +61,9 @@
 #define USE_SOFTSERIAL2
 #define SERIAL_PORT_COUNT       5
 
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
+
 #define UART1_TX_PIN            PA9
 #define UART1_RX_PIN            PA10
 

src/main/target/KAKUTEF4/target.h

@@ -93,6 +93,9 @@
 
 #define SERIAL_PORT_COUNT 4
 
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
+
 #define USE_SPI
 
 #define USE_SPI_DEVICE_1 //ICM20689

src/main/target/LUX_RACE/target.h

@@ -147,11 +147,16 @@
 
 #define LED_STRIP
 
-#define DEFAULT_RX_FEATURE      FEATURE_RX_PPM
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART2
+#define SBUS_TELEMETRY_UART     SERIAL_PORT_USART1
 
 #ifdef LUXV2_RACE
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
-#define DEFAULT_FEATURES        FEATURE_BLACKBOX
+#define DEFAULT_FEATURES        ( FEATURE_BLACKBOX | FEATURE_TELEMETRY )
+#else
+#define DEFAULT_FEATURES        FEATURE_TELEMETRY
 #endif
 
 #define SPEKTRUM_BIND
@@ -160,6 +165,9 @@
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
+
 // IO - assuming 303 in 64pin package, TODO
 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff

src/main/target/MOTOLAB/target.h

@@ -61,6 +61,9 @@
 #define USE_UART3
 #define SERIAL_PORT_COUNT       4
 
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
+
 #define UART1_TX_PIN            PB6
 #define UART1_RX_PIN            PB7
 

src/main/target/NAZE/config.c

@@ -70,7 +70,7 @@ void targetConfiguration(master_t *config)
         config->profile[profileId].pidProfile.I8[YAW] = 45;
         config->profile[profileId].pidProfile.P8[PIDLEVEL] = 50;
         config->profile[profileId].pidProfile.D8[PIDLEVEL] = 50;
-        config->profile[profileId].pidProfile.levelSensitivity = 1.0f;
+        config->profile[profileId].pidProfile.levelSensitivity = 50.0f;
 
         for (int rateProfileId = 0; rateProfileId < MAX_RATEPROFILES; rateProfileId++) {
             config->profile[profileId].controlRateProfile[rateProfileId].rcRate8 = 100;

src/main/target/NERO/NERO.md

@@ -1,5 +1,5 @@
-# NERO7 
+# NERO
 
-Placeholder for NERO7 (an STM32F722RE target) - in both 30.5x30.5 and 20x20 (mini) formats.
+Placeholder for NERO (an STM32F722RE target) - in both 30.5x30.5 and 20x20 (mini) formats.
 
 Samples are being made now, with production run expected once STM32 release the 722RE in production quantities.

src/main/target/OMNIBUSF4/target.c

@@ -20,26 +20,33 @@
 #include <platform.h>
 #include "drivers/io.h"
 
-#include "drivers/timer.h"
 #include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
 #ifdef OMNIBUSF4SD
-    { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM_USE_PWM | TIM_USE_PPM, 0, GPIO_AF_TIM4, NULL, 0, 0}, // PPM
+    DEF_TIM(TIM4,  CH3, PB8,  TIM_USE_PWM | TIM_USE_PPM,   TIMER_OUTPUT_NONE,     0), // PPM
-    { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM_USE_PWM, 0, GPIO_AF_TIM4, NULL, 0, 0}, // S2_IN
+    DEF_TIM(TIM4,  CH4, PB9,  TIM_USE_PWM,                 TIMER_OUTPUT_NONE,     0), // S2_IN
 #else
-    { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM_USE_PWM | TIM_USE_PPM, 0, GPIO_AF_TIM12, NULL, 0, 0 }, // PPM
+    DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM,   TIMER_OUTPUT_NONE,     0), // PPM
-    { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM_USE_PWM, 0, GPIO_AF_TIM12, NULL, 0, 0 }, // S2_IN
+    DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM,                 TIMER_OUTPUT_NONE,     0), // S2_IN
 #endif
-    { TIM8,  IO_TAG(PC6),  TIM_Channel_1, TIM_USE_PWM, 0, GPIO_AF_TIM8,  NULL, 0, 0 }, // S3_IN
+    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PWM,                 TIMER_OUTPUT_NONE,     0), // S3_IN
-    { TIM8,  IO_TAG(PC7),  TIM_Channel_2, TIM_USE_PWM, 0, GPIO_AF_TIM8,  NULL, 0, 0 }, // S4_IN
+    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PWM,                 TIMER_OUTPUT_NONE,     0), // S4_IN
-    { TIM8,  IO_TAG(PC8),  TIM_Channel_3, TIM_USE_PWM, 0, GPIO_AF_TIM8,  NULL, 0, 0 }, // S5_IN
+    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM,                 TIMER_OUTPUT_NONE,     0), // S5_IN
-    { TIM8,  IO_TAG(PC9),  TIM_Channel_4, TIM_USE_PWM, 0, GPIO_AF_TIM8,  NULL, 0, 0 }, // S6_IN
+    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_PWM,                 TIMER_OUTPUT_NONE,     0), // S6_IN
 
-    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM_USE_MOTOR, 1, GPIO_AF_TIM3, DMA1_Stream7, DMA_Channel_5, DMA1_ST7_HANDLER }, // S1_OUT
+    DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_MOTOR,               TIMER_OUTPUT_STANDARD, 0), // S1_OUT D1_ST7
-    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM_USE_MOTOR, 1, GPIO_AF_TIM3, DMA1_Stream2, DMA_Channel_5, DMA1_ST2_HANDLER }, // S2_OUT
+    DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_MOTOR,               TIMER_OUTPUT_STANDARD, 0), // S2_OUT D1_ST2
-    { TIM2,  IO_TAG(PA3),  TIM_Channel_4, TIM_USE_MOTOR, 1, GPIO_AF_TIM2, DMA1_Stream6, DMA_Channel_3, DMA1_ST6_HANDLER }, // S4_OUT
+    DEF_TIM(TIM2,  CH4, PA3,  TIM_USE_MOTOR,               TIMER_OUTPUT_STANDARD, 1), // S3_OUT D1_ST6
-    { TIM2,  IO_TAG(PA2),  TIM_Channel_3, TIM_USE_MOTOR, 1, GPIO_AF_TIM2, DMA1_Stream1, DMA_Channel_3, DMA1_ST1_HANDLER }, // S4_OUT
+    DEF_TIM(TIM2,  CH3, PA2,  TIM_USE_MOTOR,               TIMER_OUTPUT_STANDARD, 0), // S4_OUT D1_ST1
-    { TIM5,  IO_TAG(PA1),  TIM_Channel_2, TIM_USE_MOTOR | TIM_USE_LED, 1, GPIO_AF_TIM5, DMA1_Stream4, DMA_Channel_6, DMA1_ST4_HANDLER }, // S5_OUT - GPIO_PartialRemap_TIM3
+
-    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM_USE_MOTOR, 1, GPIO_AF_TIM1, NULL, 0, 0 }, // S6_OUT
+#ifdef OMNIBUSF4SD
+    DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_MOTOR,               TIMER_OUTPUT_STANDARD, 0), // S5_OUT
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_STANDARD, 0), // S6_OUT
+#else
+    DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_STANDARD, 0), // S5_OUT
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_MOTOR,               TIMER_OUTPUT_STANDARD, 0), // S6_OUT
+#endif
 };

src/main/target/SPRACINGF3/target.h

@@ -55,10 +55,10 @@
 #define USE_BARO_MS5611
 #define USE_BARO_BMP085
 
-//#define MAG
+#define MAG
-//#define USE_MAG_AK8975
+#define USE_MAG_AK8975
-//#define USE_MAG_HMC5883
+#define USE_MAG_HMC5883
-//#define MAG_HMC5883_ALIGN       CW270_DEG
+#define MAG_HMC5883_ALIGN       CW270_DEG
 
 #define USE_MAG_DATA_READY_SIGNAL
 #define ENSURE_MAG_DATA_READY_IS_HIGH

src/main/target/SPRACINGF3EVO/target.c

@@ -27,6 +27,16 @@
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     // PPM / UART2 RX
     DEF_TIM(TIM8,  CH1,  PA15, TIM_USE_PPM,   0 ),  // PPM
+#ifdef AIORACERF3
+    DEF_TIM(TIM3,  CH4,  PB1,  TIM_USE_MOTOR, 1 ),  // PWM1
+    DEF_TIM(TIM3,  CH2,  PA7,  TIM_USE_MOTOR, 1 ),  // PWM2
+    DEF_TIM(TIM15, CH1,  PA2,  TIM_USE_MOTOR, 1 ),  // PWM3
+    DEF_TIM(TIM2,  CH2,  PA1,  TIM_USE_MOTOR, 1 ),  // PWM4
+    DEF_TIM(TIM3,  CH3,  PB0,  TIM_USE_MOTOR, 1 ),  // PWM5
+    DEF_TIM(TIM3,  CH1,  PA6,  TIM_USE_MOTOR, 1 ),  // PWM6
+    DEF_TIM(TIM15, CH2,  PA3,  TIM_USE_MOTOR, 1 ),  // PWM7
+    DEF_TIM(TIM2,  CH1,  PA0,  TIM_USE_MOTOR, 1 ),  // PWM8
+#else
     DEF_TIM(TIM2,  CH1,  PA0,  TIM_USE_MOTOR, 1 ),  // PWM1 [TIM2_CH1 (D1_CH5)]
     DEF_TIM(TIM2,  CH2,  PA1,  TIM_USE_MOTOR, 1 ),  // PWM2 [TIM2_CH2 (D1_CH7)] [TIM15_CH1N (D1_CH5)]
     DEF_TIM(TIM2,  CH3,  PA2,  TIM_USE_MOTOR, 1 ),  // PWM3 [TIM2_CH3 (D1_CH1)] [TIM15_CH1  (D1_CH5)]
@@ -35,6 +45,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     DEF_TIM(TIM3,  CH2,  PA7,  TIM_USE_MOTOR, 1 ),  // PWM6
     DEF_TIM(TIM3,  CH3,  PB0,  TIM_USE_MOTOR, 1 ),  // PWM7
     DEF_TIM(TIM3,  CH4,  PB1,  TIM_USE_MOTOR, 1 ),  // PWM8
+#endif
     DEF_TIM(TIM2,  CH3,  PB10, TIM_USE_MOTOR, 1 ),  // RC_CH4 - PB10 - *TIM2_CH3, UART3_TX (AF7)
     DEF_TIM(TIM2,  CH4,  PB11, TIM_USE_MOTOR, 1 ),  // RC_CH3 - PB11 - *TIM2_CH4, UART3_RX (AF7)
     DEF_TIM(TIM1,  CH1,  PA8,  TIM_USE_LED | TIM_USE_TRANSPONDER, 1 ),  // LED_STRIP / TRANSPONDER

src/main/target/SPRACINGF3EVO/target.h

@@ -17,7 +17,11 @@
 
 #pragma once
 
+#ifdef AIORACERF3
+#define TARGET_BOARD_IDENTIFIER "ARF3"
+#else
 #define TARGET_BOARD_IDENTIFIER "SPEV"
+#endif
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 

src/main/target/SPRACINGF3MINI/target.h

@@ -51,11 +51,11 @@
 #define BARO
 #define USE_BARO_BMP280
 
-//#define MAG
+#define MAG
-//#define USE_MPU9250_MAG // Enables bypass configuration
+#define USE_MPU9250_MAG // Enables bypass configuration
-//#define USE_MAG_AK8975
+#define USE_MAG_AK8975
-//#define USE_MAG_HMC5883 // External
+#define USE_MAG_HMC5883 // External
-//#define MAG_AK8975_ALIGN        CW90_DEG_FLIP
+#define MAG_AK8975_ALIGN        CW90_DEG_FLIP
 
 //#define SONAR
 //#define SONAR_ECHO_PIN          PB1

src/main/target/SPRACINGF3NEO/target.h

@@ -72,6 +72,9 @@
 #define UART3_TX_PIN            PB10
 #define UART3_RX_PIN            PB11
 
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
+
 #define USE_I2C
 #define I2C_DEVICE              (I2CDEV_1) // PB6/SCL, PB7/SDA
 
@@ -179,7 +182,6 @@
 #define HARDWARE_BIND_PLUG
 #define BINDPLUG_PIN            PD2
 
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 // IO - assuming 303 in 64pin package, TODO

src/main/target/TINYBEEF3/target.c

@@ -0,0 +1,41 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+#include "drivers/dma.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    // PPM / UART2 RX
+    DEF_TIM(TIM8,  CH1,  PA15, TIM_USE_PPM,   0 ),  // PPM
+    DEF_TIM(TIM2,  CH2,  PA1,  TIM_USE_MOTOR, 1 ),  // PWM1 
+	DEF_TIM(TIM2,  CH1,  PA0,  TIM_USE_MOTOR, 1 ),  // PWM2
+	DEF_TIM(TIM3,  CH3,  PB0,  TIM_USE_MOTOR, 1 ),  // PWM3
+    DEF_TIM(TIM3,  CH4,  PB1,  TIM_USE_MOTOR, 1 ),  // PWM4
+    DEF_TIM(TIM2,  CH3,  PA2,  TIM_USE_MOTOR, 1 ),  // PWM5
+    DEF_TIM(TIM15, CH2,  PA3,  TIM_USE_MOTOR, 1 ),  // PWM6
+    DEF_TIM(TIM3,  CH1,  PA6,  TIM_USE_MOTOR, 1 ),  // PWM7
+    DEF_TIM(TIM3,  CH2,  PA7,  TIM_USE_MOTOR, 1 ),  // PWM8
+    DEF_TIM(TIM2,  CH3,  PB10, TIM_USE_MOTOR, 1 ),  // RC_CH4 - PB10 - *TIM2_CH3, UART3_TX (AF7)
+    DEF_TIM(TIM2,  CH4,  PB11, TIM_USE_MOTOR, 1 ),  // RC_CH3 - PB11 - *TIM2_CH4, UART3_RX (AF7)
+    DEF_TIM(TIM1,  CH1,  PA8,  TIM_USE_LED | TIM_USE_TRANSPONDER, 1 ),  // LED_STRIP / TRANSPONDER
+};

src/main/target/TINYBEEF3/target.h

@@ -17,7 +17,7 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "ARF3"
+#define TARGET_BOARD_IDENTIFIER "TBF3"
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 
@@ -26,18 +26,16 @@
 #define BEEPER                  PC15
 #define BEEPER_INVERTED
 
-#define USABLE_TIMER_CHANNEL_COUNT 12 // PPM, 8 PWM, UART3 RX/TX, LED Strip
-
-#define EXTI15_10_CALLBACK_HANDLER_COUNT 2 // MPU_INT, SDCardDetect
-
 #define USE_EXTI
 #define MPU_INT_EXTI            PC13
+#define EXTI15_10_CALLBACK_HANDLER_COUNT 2 // MPU_INT, SDCardDetect
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
 
 #define USE_MAG_DATA_READY_SIGNAL
 #define ENSURE_MAG_DATA_READY_IS_HIGH
 
+#define USE_ESC_TELEMETRY
 
 #define GYRO
 #define USE_GYRO_SPI_MPU6500
@@ -45,14 +43,14 @@
 #define ACC
 #define USE_ACC_SPI_MPU6500
 
-#define ACC_MPU6500_ALIGN       CW180_DEG
+#define ACC_MPU6500_ALIGN       CW270_DEG
-#define GYRO_MPU6500_ALIGN      CW180_DEG
+#define GYRO_MPU6500_ALIGN      CW270_DEG
 
 #define BARO
 #define USE_BARO_BMP280
 
-#define MAG
+//#define MAG
-#define USE_MAG_AK8963
+//#define USE_MAG_AK8963
 //#define USE_MAG_HMC5883 // External
 
 #define MAG_AK8963_ALIGN CW90_DEG_FLIP
@@ -120,24 +118,13 @@
 #define BOARD_HAS_VOLTAGE_DIVIDER
 #define USE_ADC
 #define ADC_INSTANCE            ADC2
-#define VBAT_ADC_PIN            PA5
+#define VBAT_ADC_PIN            PA4
-#define CURRENT_METER_ADC_PIN   PA4
+#define CURRENT_METER_ADC_PIN   PA5
 #define RSSI_ADC_PIN            PB2
 
 #define LED_STRIP
 
 #define TRANSPONDER
-#define TRANSPONDER_GPIO                     GPIOA
-#define TRANSPONDER_GPIO_AHB_PERIPHERAL      RCC_AHBPeriph_GPIOA
-#define TRANSPONDER_GPIO_AF                  GPIO_AF_6
-#define TRANSPONDER_PIN                      GPIO_Pin_8
-#define TRANSPONDER_PIN_SOURCE               GPIO_PinSource8
-#define TRANSPONDER_TIMER                    TIM1
-#define TRANSPONDER_TIMER_APB2_PERIPHERAL    RCC_APB2Periph_TIM1
-#define TRANSPONDER_DMA_CHANNEL              DMA1_Channel2
-#define TRANSPONDER_IRQ                      DMA1_Channel2_IRQn
-#define TRANSPONDER_DMA_TC_FLAG              DMA1_FLAG_TC2
-#define TRANSPONDER_DMA_HANDLER_IDENTIFER    DMA1_CH2_HANDLER
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
@@ -156,5 +143,5 @@
 #define TARGET_IO_PORTC         (BIT(13)|BIT(14)|BIT(15))
 #define TARGET_IO_PORTF         (BIT(0)|BIT(1)|BIT(4))
 
+#define USABLE_TIMER_CHANNEL_COUNT 12 // PPM, 8 PWM, UART3 RX/TX, LED Strip
 #define USED_TIMERS             (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(15))
-

src/main/target/TINYBEEF3/target.mk

@@ -7,6 +7,7 @@ TARGET_SRC = \
             drivers/accgyro_spi_mpu6500.c \
             drivers/barometer_bmp280.c \
             drivers/compass_ak8963.c \
+            drivers/serial_usb_vcp.c \
             drivers/transponder_ir.c \
             drivers/transponder_ir_stm32f30x.c \
             io/transponder_ir.c