Merge branch 'master' into RP2350

.gitignore

@@ -57,5 +57,6 @@ ubuntu*.log
 eeprom.bin
 
 # config used for building targets
-/src/config
+# changed to submodule
+#/src/config
 

.gitmodules

@@ -0,0 +1,5 @@
+[submodule "config"]
+	path = src/config
+	url = https://github.com/betaflight/config.git
+	branch = master
+	ignore = dirty

Makefile

@@ -299,7 +299,6 @@ CFLAGS     += $(ARCH_FLAGS) \
               $(TEMPORARY_FLAGS) \
               $(DEVICE_FLAGS) \
               -D_GNU_SOURCE \
-              -DUSE_STDPERIPH_DRIVER \
               -D$(TARGET) \
               $(TARGET_FLAGS) \
               -D'__FORKNAME__="$(FORKNAME)"' \

mk/config.mk

@@ -1,6 +1,7 @@
 
 CONFIGS_REPO_URL ?= https://github.com/betaflight/config
-
+# handle only this directory as config submodule
+CONFIGS_SUBMODULE_DIR = src/config
 BASE_CONFIGS      = $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(CONFIG_DIR)/configs/*/config.h)))))
 
 ifneq ($(filter-out %_install test% %_clean clean% %-print %.hex %.h hex checks help configs $(BASE_TARGETS) $(BASE_CONFIGS),$(MAKECMDGOALS)),)
@@ -15,10 +16,17 @@ ifneq ($(TARGET),)
 $(error TARGET or CONFIG should be specified. Not both.)
 endif
 
-CONFIG_FILE      = $(CONFIG_DIR)/configs/$(CONFIG)/config.h
+CONFIG_HEADER_FILE  = $(CONFIG_DIR)/configs/$(CONFIG)/config.h
-INCLUDE_DIRS    += $(CONFIG_DIR)/configs/$(CONFIG)
+CONFIG_SOURCE_FILE  = $(CONFIG_DIR)/configs/$(CONFIG)/config.c
+INCLUDE_DIRS       += $(CONFIG_DIR)/configs/$(CONFIG)
 
-ifneq ($(wildcard $(CONFIG_FILE)),)
+ifneq ($(wildcard $(CONFIG_HEADER_FILE)),)
+
+CONFIG_SRC :=
+ifneq ($(wildcard $(CONFIG_SOURCE_FILE)),)
+CONFIG_SRC += $(CONFIG_SOURCE_FILE)
+TARGET_FLAGS += -DUSE_CONFIG_SOURCE
+endif
 
 CONFIG_REVISION := norevision
 ifeq ($(shell git -C $(CONFIG_DIR) diff --shortstat),)
@@ -26,36 +34,40 @@ CONFIG_REVISION := $(shell git -C $(CONFIG_DIR) log -1 --format="%h")
 CONFIG_REVISION_DEFINE := -D'__CONFIG_REVISION__="$(CONFIG_REVISION)"'
 endif
 
-TARGET        := $(shell grep " FC_TARGET_MCU" $(CONFIG_FILE) | awk '{print $$3}' )
+TARGET        := $(shell grep " FC_TARGET_MCU" $(CONFIG_HEADER_FILE) | awk '{print $$3}' )
-HSE_VALUE_MHZ := $(shell grep " SYSTEM_HSE_MHZ" $(CONFIG_FILE) | awk '{print $$3}' )
+HSE_VALUE_MHZ := $(shell grep " SYSTEM_HSE_MHZ" $(CONFIG_HEADER_FILE) | awk '{print $$3}' )
 ifneq ($(HSE_VALUE_MHZ),)
 HSE_VALUE     := $(shell echo $$(( $(HSE_VALUE_MHZ) * 1000000 )) )
 endif
 
-GYRO_DEFINE   := $(shell grep " USE_GYRO_" $(CONFIG_FILE) | awk '{print $$2}' )
+GYRO_DEFINE   := $(shell grep " USE_GYRO_" $(CONFIG_HEADER_FILE) | awk '{print $$2}' )
 
 ifeq ($(TARGET),)
-$(error No TARGET identified. Is the $(CONFIG_FILE) valid for $(CONFIG)?)
+$(error No TARGET identified. Is the $(CONFIG_HEADER_FILE) valid for $(CONFIG)?)
 endif
 
-EXST_ADJUST_VMA := $(shell grep " FC_VMA_ADDRESS" $(CONFIG_FILE) | awk '{print $$3}' )
+EXST_ADJUST_VMA := $(shell grep " FC_VMA_ADDRESS" $(CONFIG_HEADER_FILE) | awk '{print $$3}' )
 ifneq ($(EXST_ADJUST_VMA),)
 EXST = yes
 endif
 
 else #exists
-$(error `$(CONFIG_FILE)` not found. Have you hydrated configuration using: 'make configs'?)
+$(error `$(CONFIG_HEADER_FILE)` not found. Have you hydrated configuration using: 'make configs'?)
-endif #config_file exists
+endif #CONFIG_HEADER_FILE exists
 endif #config
 
 .PHONY: configs
 configs:
+ifeq ($(shell realpath $(CONFIG_DIR)),$(shell realpath $(CONFIGS_SUBMODULE_DIR)))
+	git submodule update --init --remote -- $(CONFIGS_SUBMODULE_DIR)
+else
 ifeq ($(wildcard $(CONFIG_DIR)),)
 	@echo "Hydrating clone for configs: $(CONFIG_DIR)"
 	$(V0) git clone $(CONFIGS_REPO_URL) $(CONFIG_DIR)
 else
 	$(V0) git -C $(CONFIG_DIR) pull origin
 endif
+endif
 
 $(BASE_CONFIGS):
 	@echo "Building target config $@"

mk/source.mk

@@ -56,8 +56,8 @@ COMMON_SRC = \
             build/debug_pin.c \
             build/version.c \
             main.c \
-            $(PG_SRC) \
             common/bitarray.c \
+            common/chirp.c \
             common/colorconversion.c \
             common/crc.c \
             common/encoding.c \
@@ -369,9 +369,8 @@ SDCARD_SRC += \
             io/asyncfatfs/asyncfatfs.c \
             io/asyncfatfs/fat_standard.c
 
-INCLUDE_DIRS    := $(INCLUDE_DIRS) \
+INCLUDE_DIRS += $(FATFS_DIR)
-                   $(FATFS_DIR)
+VPATH        := $(VPATH):$(FATFS_DIR)
-VPATH           := $(VPATH):$(FATFS_DIR)
 
 # Gyro driver files that only contain initialization and configuration code - not runtime code
 SIZE_OPTIMISED_SRC += \
@@ -411,22 +410,20 @@ SPEED_OPTIMISED_SRC += \
 
 endif
 
-COMMON_DEVICE_SRC = \
+COMMON_DEVICE_SRC = $(CMSIS_SRC) $(DEVICE_STDPERIPH_SRC)
-            $(CMSIS_SRC) \
-            $(DEVICE_STDPERIPH_SRC)
 
-COMMON_SRC := $(COMMON_SRC) $(COMMON_DEVICE_SRC) $(RX_SRC)
+COMMON_SRC += $(CONFIG_SRC) $(PG_SRC) $(COMMON_DEVICE_SRC) $(RX_SRC)
 
 ifeq ($(EXST),yes)
-TARGET_FLAGS := -DUSE_EXST $(TARGET_FLAGS)
+TARGET_FLAGS += -DUSE_EXST
 endif
 
 ifeq ($(RAM_BASED),yes)
-TARGET_FLAGS := -DUSE_EXST -DCONFIG_IN_RAM -DRAMBASED $(TARGET_FLAGS)
+TARGET_FLAGS += -DUSE_EXST -DCONFIG_IN_RAM -DRAMBASED
 endif
 
 ifeq ($(SIMULATOR_BUILD),yes)
-TARGET_FLAGS := -DSIMULATOR_BUILD $(TARGET_FLAGS)
+TARGET_FLAGS += -DSIMULATOR_BUILD
 endif
 
 SPEED_OPTIMISED_SRC += \

src/config

@@ -0,0 +1 @@
+Subproject commit 3f3dd34c7368e5ec6c2eb5634ac638d706b1d4a8

src/main/blackbox/blackbox.c

@@ -1642,6 +1642,17 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_S_YAW,   "%d", currentPidProfile->pid[PID_YAW].S);
 #endif // USE_WING
 
+#ifdef USE_CHIRP
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_CHIRP_LAG_FREQ_HZ, "%d",             currentPidProfile->chirp_lag_freq_hz);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_CHIRP_LEAD_FREQ_HZ, "%d",            currentPidProfile->chirp_lead_freq_hz);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_CHIRP_AMPLITUDE_ROLL, "%d",          currentPidProfile->chirp_amplitude_roll);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_CHIRP_AMPLITUDE_PITCH, "%d",         currentPidProfile->chirp_amplitude_pitch);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_CHIRP_AMPLITUDE_YAW, "%d",           currentPidProfile->chirp_amplitude_yaw);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_CHIRP_FREQUENCY_START_DECI_HZ, "%d", currentPidProfile->chirp_frequency_start_deci_hz);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_CHIRP_FREQUENCY_END_DECI_HZ, "%d",   currentPidProfile->chirp_frequency_end_deci_hz);
+        BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_CHIRP_TIME_SECONDS, "%d",            currentPidProfile->chirp_time_seconds);
+#endif // USE_CHIRP
+
         // End of Betaflight controller parameters
 
         BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DEADBAND, "%d",               rcControlsConfig()->deadband);

src/main/build/build_config.c

@@ -31,54 +31,12 @@
 
 mcuTypeId_e getMcuTypeId(void)
 {
-#if defined(SIMULATOR_BUILD)
+    const mcuTypeInfo_t *mcuTypeInfo = getMcuTypeInfo();
-    return MCU_TYPE_SIMULATOR;
+    return mcuTypeInfo ? mcuTypeInfo->id : MCU_TYPE_UNKNOWN;
-#elif defined(STM32F40_41xxx)
+}
-    return MCU_TYPE_F40X;
+
-#elif defined(STM32F411xE)
+const char *getMcuTypeName(void)
-    return MCU_TYPE_F411;
+{
-#elif defined(STM32F446xx)
+    const mcuTypeInfo_t *mcuTypeInfo = getMcuTypeInfo();
-    return MCU_TYPE_F446;
+    return mcuTypeInfo ? mcuTypeInfo->name : "Unknown";
-#elif defined(STM32F722xx)
-    return MCU_TYPE_F722;
-#elif defined(STM32F745xx)
-    return MCU_TYPE_F745;
-#elif defined(STM32F746xx)
-    return MCU_TYPE_F746;
-#elif defined(STM32F765xx)
-    return MCU_TYPE_F765;
-#elif defined(STM32H750xx)
-    return MCU_TYPE_H750;
-#elif defined(STM32H730xx)
-    return MCU_TYPE_H730;
-#elif defined(STM32H743xx)
-    switch (HAL_GetREVID()) {
-    case REV_ID_Y:
-        return MCU_TYPE_H743_REV_Y;
-    case REV_ID_X:
-        return MCU_TYPE_H743_REV_X;
-    case REV_ID_V:
-        return MCU_TYPE_H743_REV_V;
-    default:
-        return MCU_TYPE_H743_REV_UNKNOWN;
-    }
-#elif defined(STM32H7A3xx) || defined(STM32H7A3xxQ)
-    return MCU_TYPE_H7A3;
-#elif defined(STM32H723xx) || defined(STM32H725xx)
-    return MCU_TYPE_H723_725;
-#elif defined(STM32G474xx)
-    return MCU_TYPE_G474;
-#elif defined(AT32F435G)
-    return MCU_TYPE_AT32F435G;
-#elif defined(AT32F435M)
-    return MCU_TYPE_AT32F435M;
-#elif defined(APM32F405)
-    return MCU_TYPE_APM32F405;
-#elif defined(APM32F407)
-    return MCU_TYPE_APM32F407;
-#elif defined(RP2350B)
-    return MCU_TYPE_RP2350B;
-#else
-    return MCU_TYPE_UNKNOWN;
-#endif
 }

src/main/build/build_config.h

@@ -68,4 +68,11 @@ typedef enum {
     MCU_TYPE_UNKNOWN = 255,
 } mcuTypeId_e;
 
+typedef struct mcuTypeInfo_s {
+   mcuTypeId_e id;
+   const char *name;
+} mcuTypeInfo_t;
+
+const mcuTypeInfo_t *getMcuTypeInfo(void);
 mcuTypeId_e getMcuTypeId(void);
+const char *getMcuTypeName(void);

src/main/build/debug.c

@@ -124,4 +124,5 @@ const char * const debugModeNames[DEBUG_COUNT] = {
     [DEBUG_GIMBAL] = "GIMBAL",
     [DEBUG_WING_SETPOINT] = "WING_SETPOINT",
     [DEBUG_AUTOPILOT_POSITION] = "AUTOPILOT_POSITION",
+    [DEBUG_CHIRP] = "CHIRP",
 };

src/main/build/debug.h

@@ -126,6 +126,7 @@ typedef enum {
     DEBUG_GIMBAL,
     DEBUG_WING_SETPOINT,
     DEBUG_AUTOPILOT_POSITION,
+    DEBUG_CHIRP,
     DEBUG_COUNT
 } debugType_e;
 

src/main/cli/cli.c

@@ -279,32 +279,6 @@ static const char * const *sensorHardwareNames[] = {
 };
 #endif // USE_SENSOR_NAMES
 
-// Needs to be aligned with mcuTypeId_e
-static const char *mcuTypeNames[MCU_TYPE_COUNT] = {
-    "SIMULATOR",
-    "F40X",
-    "F411",
-    "F446",
-    "F722",
-    "F745",
-    "F746",
-    "F765",
-    "H750",
-    "H743 (Rev Unknown)",
-    "H743 (Rev.Y)",
-    "H743 (Rev.X)",
-    "H743 (Rev.V)",
-    "H7A3",
-    "H723/H725",
-    "G474",
-    "H730",
-    "AT32F435G",
-    "APM32F405",
-    "APM32F407",
-    "AT32F435M",
-    "RP2350B",
-};
-
 static const char *configurationStates[] = {
     [CONFIGURATION_STATE_UNCONFIGURED] = "UNCONFIGURED",
     [CONFIGURATION_STATE_CONFIGURED] = "CONFIGURED"
@@ -4692,15 +4666,6 @@ STATIC_UNIT_TESTED void cliSet(const char *cmdName, char *cmdline)
     }
 }
 
-static const char *getMcuTypeById(mcuTypeId_e id)
-{
-    if (id < ARRAYLEN(mcuTypeNames)) {
-        return mcuTypeNames[id];
-    } else {
-        return "UNKNOWN";
-    }
-}
-
 static void cliStatus(const char *cmdName, char *cmdline)
 {
     UNUSED(cmdName);
@@ -4708,7 +4673,7 @@ static void cliStatus(const char *cmdName, char *cmdline)
 
     // MCU type, clock, vrefint, core temperature
 
-    cliPrintf("MCU %s Clock=%dMHz", getMcuTypeById(getMcuTypeId()), (SystemCoreClock / 1000000));
+    cliPrintf("MCU %s Clock=%dMHz", getMcuTypeName(), (SystemCoreClock / 1000000));
 
 #if defined(STM32F4) || defined(STM32G4) || defined(APM32F4)
     // Only F4 and G4 is capable of switching between HSE/HSI (for now)

src/main/cli/settings.c

@@ -160,6 +160,7 @@ const char * const lookupTableAccHardware[] = {
     "BMI270",
     "LSM6DSO",
     "LSM6DSV16X",
+    "IIM42653",
     "VIRTUAL"
 };
 
@@ -183,6 +184,7 @@ const char * const lookupTableGyroHardware[] = {
     "BMI270",
     "LSM6DSO",
     "LSM6DSV16X",
+    "IIM42653",
     "VIRTUAL"
 };
 
@@ -242,7 +244,7 @@ static const char * const lookupTableGyro[] = {
 
 #ifdef USE_GPS
 static const char * const lookupTableGpsProvider[] = {
-    "NMEA", "UBLOX", "MSP"
+    "NMEA", "UBLOX", "MSP", "VIRTUAL"
 };
 
 static const char * const lookupTableGpsSbasMode[] = {
@@ -1261,6 +1263,17 @@ const clivalue_t valueTable[] = {
     { PARAM_NAME_HORIZON_IGNORE_STICKS,  VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, horizon_ignore_sticks) },
     { PARAM_NAME_HORIZON_DELAY_MS,       VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 10,  5000 }, PG_PID_PROFILE, offsetof(pidProfile_t, horizon_delay_ms) },
 
+#ifdef USE_CHIRP
+    { PARAM_NAME_CHIRP_LAG_FREQ_HZ,             VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, chirp_lag_freq_hz) },
+    { PARAM_NAME_CHIRP_LEAD_FREQ_HZ,            VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, chirp_lead_freq_hz) },
+    { PARAM_NAME_CHIRP_AMPLITUDE_ROLL,          VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, chirp_amplitude_roll) },
+    { PARAM_NAME_CHIRP_AMPLITUDE_PITCH,         VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, chirp_amplitude_pitch) },
+    { PARAM_NAME_CHIRP_AMPLITUDE_YAW,           VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, chirp_amplitude_yaw) },
+    { PARAM_NAME_CHIRP_FREQUENCY_START_DECI_HZ, VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 1, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, chirp_frequency_start_deci_hz) },
+    { PARAM_NAME_CHIRP_FREQUENCY_END_DECI_HZ,   VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 1, 10000 }, PG_PID_PROFILE, offsetof(pidProfile_t, chirp_frequency_end_deci_hz) },
+    { PARAM_NAME_CHIRP_TIME_SECONDS,            VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 1, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, chirp_time_seconds) },
+#endif
+
 #if defined(USE_ABSOLUTE_CONTROL)
     { PARAM_NAME_ABS_CONTROL_GAIN,  VAR_UINT8 | PROFILE_VALUE,  .config.minmaxUnsigned = { 0, 20 }, PG_PID_PROFILE, offsetof(pidProfile_t, abs_control_gain) },
     { "abs_control_limit",          VAR_UINT8 | PROFILE_VALUE,  .config.minmaxUnsigned = { 10, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, abs_control_limit) },

src/main/common/chirp.c

@@ -0,0 +1,94 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <math.h>
+
+#include "platform.h"
+
+#include "maths.h"
+
+#include "chirp.h"
+
+// initialize the chirp signal generator
+// f0: start frequency in Hz
+// f1: end frequency in Hz
+// t1: signal length in seconds
+// looptimeUs: loop time in microseconds
+void chirpInit(chirp_t *chirp, const float f0, const float f1, const float t1, const uint32_t looptimeUs)
+{
+    chirp->f0 = f0;
+    chirp->Ts = looptimeUs * 1e-6f;
+    chirp->N = (uint32_t)(t1 / chirp->Ts);
+    chirp->beta = pow_approx(f1 / f0, 1.0f / t1);
+    chirp->k0 = 2.0f * M_PIf / log_approx(chirp->beta);
+    chirp->k1 = chirp->k0 * f0;
+    chirpReset(chirp);
+}
+
+// reset the chirp signal generator fully
+void chirpReset(chirp_t *chirp)
+{
+    chirp->count = 0;
+    chirp->isFinished = false;
+    chirpResetSignals(chirp);
+}
+
+// reset the chirp signal generator signals
+void chirpResetSignals(chirp_t *chirp)
+{
+    chirp->exc = 0.0f;
+    chirp->fchirp = 0.0f;
+    chirp->sinarg = 0.0f;
+}
+
+// update the chirp signal generator
+bool chirpUpdate(chirp_t *chirp)
+{
+    if (chirp->isFinished) {
+        
+        return false;
+
+    } else if (chirp->count == chirp->N) {
+
+        chirp->isFinished = true;
+        chirpResetSignals(chirp);
+        return false;
+
+    } else {
+
+        chirp->fchirp = chirp->f0 * pow_approx(chirp->beta, (float)(chirp->count) * chirp->Ts);
+        chirp->sinarg = chirp->k0 * chirp->fchirp - chirp->k1;
+
+        // wrap sinarg to 0...2*pi
+        chirp->sinarg = fmodf(chirp->sinarg, 2.0f * M_PIf);
+
+        // use cosine so that the angle will oscillate around 0 (integral of gyro)
+        chirp->exc = cos_approx(chirp->sinarg);
+        
+        // frequencies below 1 Hz will lead to the same angle magnitude as at 1 Hz (integral of gyro)
+        if (chirp->fchirp < 1.0f) {
+            chirp->exc = chirp->fchirp * chirp->exc;
+        }
+        chirp->count++;
+
+        return true;
+    }
+}

src/main/common/chirp.h

@@ -0,0 +1,37 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+
+typedef struct chirp_s {
+    float f0, Ts, beta, k0, k1;
+    uint32_t count, N;
+    float exc, fchirp, sinarg;
+    bool isFinished;
+} chirp_t;
+
+void chirpInit(chirp_t *chirp, const float f0, const float f1, const float t1, const uint32_t looptimeUs);
+void chirpReset(chirp_t *chirp);
+void chirpResetSignals(chirp_t *chirp);
+bool chirpUpdate(chirp_t *chirp);

src/main/common/sensor_alignment.h

@@ -55,20 +55,25 @@ typedef union sensorAlignment_u {
     };
 } sensorAlignment_t;
 
-#define SENSOR_ALIGNMENT(ROLL, PITCH, YAW) ((sensorAlignment_t){\
+#define SENSOR_ALIGNMENT(ROLL, PITCH, YAW) ((const sensorAlignment_t) { \
-    .roll = DEGREES_TO_DECIDEGREES(ROLL), \
+    .roll = DEGREES_TO_DECIDEGREES(ROLL),                               \
-    .pitch = DEGREES_TO_DECIDEGREES(PITCH), \
+    .pitch = DEGREES_TO_DECIDEGREES(PITCH),                             \
-    .yaw = DEGREES_TO_DECIDEGREES(YAW), \
+    .yaw = DEGREES_TO_DECIDEGREES(YAW),                                 \
 })
 
-#define CUSTOM_ALIGN_CW0_DEG         SENSOR_ALIGNMENT(  0,   0,   0)
+#define CUSTOM_ALIGN_CW(deg)         SENSOR_ALIGNMENT( 0, 0, (deg) )
-#define CUSTOM_ALIGN_CW90_DEG        SENSOR_ALIGNMENT(  0,   0,  90)
+#define CUSTOM_ALIGN_CW_FLIP(deg)    SENSOR_ALIGNMENT( 0, 180, (deg) )
-#define CUSTOM_ALIGN_CW180_DEG       SENSOR_ALIGNMENT(  0,   0, 180)
+
-#define CUSTOM_ALIGN_CW270_DEG       SENSOR_ALIGNMENT(  0,   0, 270)
+#define CUSTOM_ALIGN_CW0_DEG         CUSTOM_ALIGN_CW( 0 )
-#define CUSTOM_ALIGN_CW0_DEG_FLIP    SENSOR_ALIGNMENT(  0, 180,   0)
+#define CUSTOM_ALIGN_CW45_DEG        CUSTOM_ALIGN_CW( 45 )
-#define CUSTOM_ALIGN_CW90_DEG_FLIP   SENSOR_ALIGNMENT(  0, 180,  90)
+#define CUSTOM_ALIGN_CW90_DEG        CUSTOM_ALIGN_CW( 90 )
-#define CUSTOM_ALIGN_CW180_DEG_FLIP  SENSOR_ALIGNMENT(  0, 180, 180)
+#define CUSTOM_ALIGN_CW180_DEG       CUSTOM_ALIGN_CW( 180 )
-#define CUSTOM_ALIGN_CW270_DEG_FLIP  SENSOR_ALIGNMENT(  0, 180, 270)
+#define CUSTOM_ALIGN_CW270_DEG       CUSTOM_ALIGN_CW( 270 )
+#define CUSTOM_ALIGN_CW0_DEG_FLIP    CUSTOM_ALIGN_CW_FLIP( 0 )
+#define CUSTOM_ALIGN_CW45_DEG_FLIP   CUSTOM_ALIGN_CW_FLIP( 45 )
+#define CUSTOM_ALIGN_CW90_DEG_FLIP   CUSTOM_ALIGN_CW_FLIP( 90 )
+#define CUSTOM_ALIGN_CW180_DEG_FLIP  CUSTOM_ALIGN_CW_FLIP( 180 )
+#define CUSTOM_ALIGN_CW270_DEG_FLIP  CUSTOM_ALIGN_CW_FLIP( 270 )
 
 void buildRotationMatrixFromAngles(matrix33_t *rm, const sensorAlignment_t *rpy);
 void buildAlignmentFromStandardAlignment(sensorAlignment_t *rpy, sensor_align_e stdAlignment);

src/main/common/sensor_alignment_impl.h

@@ -45,4 +45,13 @@
 // [1:0] count of 90 degree rotations from 0
 // [3:2] indicates 90 degree rotations on pitch
 // [5:4] indicates 90 degree rotations on roll
-#define ALIGNMENT_TO_BITMASK(alignment) ((alignment - CW0_DEG) & 0x3) | (((alignment - CW0_DEG) & 0x4) << 1)
+#define ALIGNMENT_TO_BITMASK(alignment) (((alignment - CW0_DEG) & 0x3) | (((alignment - CW0_DEG) & 0x4) << 1))
+
+// build sensorAlignment_t from sensor_align_e as compile-time constant
+#define SENSOR_ALIGNMENT_FROM_STD(std_)                                 \
+    ( ((std_) >= CW0_DEG && (std_) <= CW270_DEG_FLIP)                   \
+      ? SENSOR_ALIGNMENT(ALIGNMENT_ROLL_ROTATIONS(ALIGNMENT_TO_BITMASK(std_)) * 90, \
+                         ALIGNMENT_PITCH_ROTATIONS(ALIGNMENT_TO_BITMASK(std_)) * 90, \
+                         ALIGNMENT_YAW_ROTATIONS(ALIGNMENT_TO_BITMASK(std_)) * 90) \
+      : SENSOR_ALIGNMENT(0, 0, 0) )                                     \
+    /**/

src/main/common/streambuf.c

@@ -24,6 +24,7 @@
 #include "platform.h"
 
 #include "streambuf.h"
+#include "common/maths.h"
 
 sbuf_t *sbufInit(sbuf_t *sbuf, uint8_t *ptr, uint8_t *end)
 {
@@ -82,6 +83,13 @@ void sbufWriteString(sbuf_t *dst, const char *string)
     sbufWriteData(dst, string, strlen(string));
 }
 
+void sbufWritePString(sbuf_t *dst, const char *string)
+{
+    const int length = MIN((int)strlen(string), 255);
+    sbufWriteU8(dst, length);
+    sbufWriteData(dst, string, length);
+}
+
 void sbufWriteStringWithZeroTerminator(sbuf_t *dst, const char *string)
 {
     sbufWriteData(dst, string, strlen(string) + 1);

src/main/common/streambuf.h

@@ -39,6 +39,7 @@ void sbufWriteU32BigEndian(sbuf_t *dst, uint32_t val);
 void sbufFill(sbuf_t *dst, uint8_t data, int len);
 void sbufWriteData(sbuf_t *dst, const void *data, int len);
 void sbufWriteString(sbuf_t *dst, const char *string);
+void sbufWritePString(sbuf_t *dst, const char *string);
 void sbufWriteStringWithZeroTerminator(sbuf_t *dst, const char *string);
 
 uint8_t sbufReadU8(sbuf_t *src);

src/main/config/config.h

@@ -77,6 +77,7 @@ bool canSoftwareSerialBeUsed(void);
 void resetConfig(void);
 void targetConfiguration(void);
 void targetValidateConfiguration(void);
+void configTargetPreInit(void);
 
 bool isSystemConfigured(void);
 void setRebootRequired(void);

src/main/drivers/accgyro/accgyro.h

@@ -61,6 +61,7 @@ typedef enum {
     GYRO_BMI270,
     GYRO_LSM6DSO,
     GYRO_LSM6DSV16X,
+    GYRO_IIM42653,
     GYRO_VIRTUAL
 } gyroHardware_e;
 

src/main/drivers/accgyro/accgyro_mpu.c

@@ -365,7 +365,7 @@ static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = {
 #ifdef USE_ACCGYRO_BMI270
     bmi270Detect,
 #endif
-#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
+#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653)
     icm426xxSpiDetect,
 #endif
 #ifdef USE_GYRO_SPI_ICM20649

src/main/drivers/accgyro/accgyro_mpu.h

@@ -45,6 +45,7 @@
 #define ICM20689_WHO_AM_I_CONST             (0x98)
 #define ICM42605_WHO_AM_I_CONST             (0x42)
 #define ICM42688P_WHO_AM_I_CONST            (0x47)
+#define IIM42653_WHO_AM_I_CONST             (0x56)
 #define LSM6DSV16X_WHO_AM_I_CONST           (0x70)
 
 // RA = Register Address
@@ -146,6 +147,7 @@ enum gyro_fsr_e {
     INV_FSR_500DPS,
     INV_FSR_1000DPS,
     INV_FSR_2000DPS,
+    INV_FSR_4000DPS,
     NUM_GYRO_FSR
 };
 
@@ -168,6 +170,7 @@ enum accel_fsr_e {
     INV_FSR_4G,
     INV_FSR_8G,
     INV_FSR_16G,
+    INV_FSR_32G,
     NUM_ACCEL_FSR
 };
 
@@ -201,6 +204,7 @@ typedef enum {
     ICM_20689_SPI,
     ICM_42605_SPI,
     ICM_42688P_SPI,
+    IIM_42653_SPI,
     BMI_160_SPI,
     BMI_270_SPI,
     LSM6DSO_SPI,

src/main/drivers/accgyro/accgyro_spi_icm426xx.c

@@ -28,7 +28,7 @@
 
 #include "platform.h"
 
-#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
+#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653)
 
 #include "common/axis.h"
 #include "common/utils.h"
@@ -269,6 +269,9 @@ uint8_t icm426xxSpiDetect(const extDevice_t *dev)
         case ICM42688P_WHO_AM_I_CONST:
             icmDetected = ICM_42688P_SPI;
             break;
+        case IIM42653_WHO_AM_I_CONST:
+            icmDetected = IIM_42653_SPI;
+            break;
         default:
             icmDetected = MPU_NONE;
             break;
@@ -286,15 +289,22 @@ uint8_t icm426xxSpiDetect(const extDevice_t *dev)
 
 void icm426xxAccInit(accDev_t *acc)
 {
-    acc->acc_1G = 512 * 4;
+    switch (acc->mpuDetectionResult.sensor) {
+    case IIM_42653_SPI:
+        acc->acc_1G = 512 * 2; // Accel scale 32g (1024 LSB/g)
+        break;
+    default:
+        acc->acc_1G = 512 * 4; // Accel scale 16g (2048 LSB/g)
+        break;
+    }
 }
 
 bool icm426xxSpiAccDetect(accDev_t *acc)
 {
     switch (acc->mpuDetectionResult.sensor) {
     case ICM_42605_SPI:
-        break;
     case ICM_42688P_SPI:
+    case IIM_42653_SPI:
         break;
     default:
         return false;
@@ -386,12 +396,12 @@ void icm426xxGyroInit(gyroDev_t *gyro)
         gyro->gyroRateKHz = GYRO_RATE_1_kHz;
     }
 
-    STATIC_ASSERT(INV_FSR_2000DPS == 3, "INV_FSR_2000DPS must be 3 to generate correct value");
+    // This sets the gyro/accel to the maximum FSR, depending on the chip
-    spiWriteReg(dev, ICM426XX_RA_GYRO_CONFIG0, (3 - INV_FSR_2000DPS) << 5 | (odrConfig & 0x0F));
+    // ICM42605, ICM_42688P: 2000DPS and 16G.
+    // IIM42653: 4000DPS and 32G
+    spiWriteReg(dev, ICM426XX_RA_GYRO_CONFIG0, (0 << 5) | (odrConfig & 0x0F));
     delay(15);
-
+    spiWriteReg(dev, ICM426XX_RA_ACCEL_CONFIG0, (0 << 5) | (odrConfig & 0x0F));
-    STATIC_ASSERT(INV_FSR_16G == 3, "INV_FSR_16G must be 3 to generate correct value");
-    spiWriteReg(dev, ICM426XX_RA_ACCEL_CONFIG0, (3 - INV_FSR_16G) << 5 | (odrConfig & 0x0F));
     delay(15);
 }
 
@@ -399,8 +409,11 @@ bool icm426xxSpiGyroDetect(gyroDev_t *gyro)
 {
     switch (gyro->mpuDetectionResult.sensor) {
     case ICM_42605_SPI:
-        break;
     case ICM_42688P_SPI:
+        gyro->scale = GYRO_SCALE_2000DPS;
+        break;
+    case IIM_42653_SPI:
+        gyro->scale = GYRO_SCALE_4000DPS;
         break;
     default:
         return false;
@@ -409,8 +422,6 @@ bool icm426xxSpiGyroDetect(gyroDev_t *gyro)
     gyro->initFn = icm426xxGyroInit;
     gyro->readFn = mpuGyroReadSPI;
 
-    gyro->scale = GYRO_SCALE_2000DPS;
-
     return true;
 }
 
@@ -430,6 +441,7 @@ static aafConfig_t getGyroAafConfig(const mpuSensor_e gyroModel, const aafConfig
         }
 
     case ICM_42688P_SPI:
+    case IIM_42653_SPI:
     default:
         switch (config) {
         case GYRO_HARDWARE_LPF_NORMAL:
@@ -448,4 +460,4 @@ static aafConfig_t getGyroAafConfig(const mpuSensor_e gyroModel, const aafConfig
     }
 }
 
-#endif // USE_GYRO_SPI_ICM42605 || USE_GYRO_SPI_ICM42688P
+#endif // USE_GYRO_SPI_ICM42605 || USE_GYRO_SPI_ICM42688P || USE_ACCGYRO_IIM42653

src/main/drivers/compass/compass_lis2mdl.c

@@ -28,158 +28,103 @@
 
 #if defined(USE_MAG_LIS2MDL)
 
+// LIS2MDL, IIS2MDC, LSM303AGR and LSM303AH are firmware and pin-to-pin compatible solutions
+// https://www.st.com/resource/en/design_tip/dt0131-digital-magnetometer-and-ecompass-efficient-design-tips--stmicroelectronics.pdf
+
 #include "compass.h"
 #include "drivers/time.h"
 #include "common/axis.h"
 
-#define LIS2MDL_MAG_I2C_ADDRESS     0x1E
+#define LIS2MDL_MAG_I2C_ADDRESS 0x1E
 
-// Macros to encode/decode multi-bit values
+// LIS2MDL Registers
-#define LIS2MDL_ENCODE_BITS(val, mask, shift)   ((val << shift) & mask)
+#define LIS2MDL_ADDR_CFG_REG_A  0x60
-#define LIS2MDL_DECODE_BITS(val, mask, shift)   ((val & mask) >> shift)
+#define LIS2MDL_ADDR_CFG_REG_B  0x61
+#define LIS2MDL_ADDR_CFG_REG_C  0x62
+#define LIS2MDL_ADDR_STATUS_REG 0x67
+#define LIS2MDL_ADDR_OUTX_L_REG 0x68
+#define LIS2MDL_ADDR_WHO_AM_I   0x4F
 
-#define LIS2MDL_OFFSET_X_REG_L      0x45
+// LIS2MDL Definitions
-#define LIS2MDL_OFFSET_X_REG_H      0x46
+#define LIS2MDL_WHO_AM_I         0x40
-#define LIS2MDL_OFFSET_Y_REG_L      0x47
+#define LIS2MDL_STATUS_REG_READY 0x0F
-#define LIS2MDL_OFFSET_Y_REG_H      0x48
+#define CFGA_MD_CONTINUOUS   (0 << 0)
-#define LIS2MDL_OFFSET_Z_REG_L      0x49
+#define CFGA_ODR_100         ((1 << 3) | (1 << 2))
-#define LIS2MDL_OFFSET_Z_REG_H      0x4A
+#define CFGA_COMP_TEMP_EN    (1 << 7)
-
+#define CFGB_OFF_CANC        (1 << 1)
-#define LIS2MDL_REG_WHO_AM_I        0x4F
+#define CFGC_BDU             (1 << 4)
-#define LIS2MDL_DEVICE_ID                   0x40
-
-#define LIS2MDL_CFG_REG_A           0x60
-#define LIS2MDL_CFG_REG_A_COMP_TEMP_EN      0x80
-#define LIS2MDL_CFG_REG_A_REBOOT            0x40
-#define LIS2MDL_CFG_REG_A_SOFT_RST          0x20
-#define LIS2MDL_CFG_REG_A_LP                0x10
-#define LIS2MDL_CFG_REG_A_ODR_MASK          0x0c
-#define LIS2MDL_CFG_REG_A_ODR_SHIFT         2
-#define LIS2MDL_CFG_REG_A_ODR_10            0
-#define LIS2MDL_CFG_REG_A_ODR_20            1
-#define LIS2MDL_CFG_REG_A_ODR_50            2
-#define LIS2MDL_CFG_REG_A_ODR_100           3
-#define LIS2MDL_CFG_REG_A_MD_MASK           0x03
-#define LIS2MDL_CFG_REG_A_MD_SHIFT          0
-#define LIS2MDL_CFG_REG_A_MD_CONT           0
-#define LIS2MDL_CFG_REG_A_MD_SINGLE         1
-#define LIS2MDL_CFG_REG_A_MD_IDLE           3
-
-#define LIS2MDL_CFG_REG_B           0x61
-#define LIS2MDL_CFG_REG_B_OFF_CANC_ONE_SHOT 0x10
-#define LIS2MDL_CFG_REG_B_INT_ON_DATA_OFF   0x08
-#define LIS2MDL_CFG_REG_B_SET_FREQ          0x04
-#define LIS2MDL_CFG_REG_B_OFF_CANC          0x02
-#define LIS2MDL_CFG_REG_B_LPF               0x01
-
-#define LIS2MDL_CFG_REG_C           0x62
-#define LIS2MDL_CFG_REG_C_INT_ON_PIN        0x40
-#define LIS2MDL_CFG_REG_C_I2C_DIS           0x20
-#define LIS2MDL_CFG_REG_C_BDU               0x10
-#define LIS2MDL_CFG_REG_C_BLE               0x08
-#define LIS2MDL_CFG_REG_C_4WSPI             0x04
-#define LIS2MDL_CFG_REG_C_SELF_TEST         0x02
-#define LIS2MDL_CFG_REG_C_DRDY_ON_PIN       0x01
-
-#define LIS2MDL_INT_CTRL_REG        0x63
-#define LIS2MDL_INT_CTRL_REG_XIEN           0x80
-#define LIS2MDL_INT_CTRL_REG_YIEN           0x40
-#define LIS2MDL_INT_CTRL_REG_ZIEN           0x20
-#define LIS2MDL_INT_CTRL_REG_IEA            0x04
-#define LIS2MDL_INT_CTRL_REG_IEL            0x02
-#define LIS2MDL_INT_CTRL_REG_IEN            0x01
-
-#define LIS2MDL_INT_SOURCE_REG      0x64
-#define LIS2MDL_INT_SOURCE_REG_P_TH_S_X     0x80
-#define LIS2MDL_INT_SOURCE_REG_P_TH_S_Y     0x40
-#define LIS2MDL_INT_SOURCE_REG_P_TH_S_Z     0x20
-#define LIS2MDL_INT_SOURCE_REG_N_TH_S_X     0x10
-#define LIS2MDL_INT_SOURCE_REG_N_TH_S_Y     0x08
-#define LIS2MDL_INT_SOURCE_REG_N_TH_S_Z     0x04
-#define LIS2MDL_INT_SOURCE_REG_MROI         0x02
-#define LIS2MDL_INT_SOURCE_REG_INT          0x01
-
-#define LIS2MDL_INT_THS_L_REG       0x65
-#define LIS2MDL_INT_THS_H_REG       0x66
-
-#define LIS2MDL_STATUS_REG          0x67
-#define LIS2MDL_STATUS_REG_ZXYOR            0x80
-#define LIS2MDL_STATUS_REG_ZOR              0x40
-#define LIS2MDL_STATUS_REG_YOR              0x20
-#define LIS2MDL_STATUS_REG_XOR              0x10
-#define LIS2MDL_STATUS_REG_ZXYDA            0x08
-#define LIS2MDL_STATUS_REG_ZDA              0x04
-#define LIS2MDL_STATUS_REG_YDA              0x02
-#define LIS2MDL_STATUS_REG_XDA              0x01
-
-#define LIS2MDL_OUTX_L_REG          0x68
-#define LIS2MDL_OUTX_H_REG          0x69
-#define LIS2MDL_OUTY_L_REG          0x6A
-#define LIS2MDL_OUTY_H_REG          0x6B
-#define LIS2MDL_OUTZ_L_REG          0x6C
-#define LIS2MDL_OUTZ_H_REG          0x6D
-
-#define LIS2MDL_TEMP_OUT_L_REG      0x6E
-#define LIS2MDL_TEMP_OUT_H_REG      0x6F
-
-static bool lis2mdlRead(magDev_t * mag, int16_t *magData)
-{
-    static uint8_t buf[6];
-    static bool pendingRead = true;
-
-    extDevice_t *dev = &mag->dev;
-
-    if (pendingRead) {
-        if (busReadRegisterBufferStart(dev, LIS2MDL_OUTX_L_REG, buf, sizeof(buf))) {
-            pendingRead = false;
-        }
-        return false;
-    }
-
-    magData[X] = (int16_t)(buf[1] << 8 | buf[0]);
-    magData[Y] = (int16_t)(buf[3] << 8 | buf[2]);
-    magData[Z] = (int16_t)(buf[5] << 8 | buf[4]);
-
-    pendingRead = true;
-
-    return true;
-}
 
 static bool lis2mdlInit(magDev_t *mag)
 {
+    bool ack = true;
     extDevice_t *dev = &mag->dev;
 
     busDeviceRegister(dev);
 
-    busWriteRegister(dev, LIS2MDL_CFG_REG_A,
+    ack = ack && busWriteRegister(dev, LIS2MDL_ADDR_CFG_REG_A, CFGA_MD_CONTINUOUS | CFGA_ODR_100 | CFGA_COMP_TEMP_EN);
-                     LIS2MDL_CFG_REG_A_COMP_TEMP_EN |
+    ack = ack && busWriteRegister(dev, LIS2MDL_ADDR_CFG_REG_B, CFGB_OFF_CANC);
-                     LIS2MDL_ENCODE_BITS(LIS2MDL_CFG_REG_A_ODR_100, LIS2MDL_CFG_REG_A_ODR_MASK, LIS2MDL_CFG_REG_A_ODR_SHIFT) |
+    ack = ack && busWriteRegister(dev, LIS2MDL_ADDR_CFG_REG_C, CFGC_BDU);
-                     LIS2MDL_ENCODE_BITS(LIS2MDL_CFG_REG_A_MD_CONT, LIS2MDL_CFG_REG_A_MD_MASK, LIS2MDL_CFG_REG_A_MD_SHIFT));
 
-    delay(100);
+    if (!ack) {
+        return false;
+    }
+
+    mag->magOdrHz = 100;
+    return true;
+}
+
+static bool lis2mdlRead(magDev_t *mag, int16_t *magData)
+{
+    uint8_t status = 0;
+    uint8_t buf[6];
+
+    extDevice_t *dev = &mag->dev;
+
+    if (!busReadRegisterBuffer(dev, LIS2MDL_ADDR_STATUS_REG, &status, sizeof(status))) {
+        return false;
+    }
+
+    if (!(status & LIS2MDL_STATUS_REG_READY)) {
+        return false;
+    }
+
+    if (!busReadRegisterBuffer(dev, LIS2MDL_ADDR_OUTX_L_REG, (uint8_t *)&buf, sizeof(buf))) {
+        return false;
+    }
+
+    // Sensitivity is +/- 50,000 milligauss, 16bit
+    // e.g. gauss = val * (100.f / 65.535f)
+
+    int16_t x = (int16_t)(buf[1] << 8 | buf[0]);
+    int16_t y = (int16_t)(buf[3] << 8 | buf[2]);
+    int16_t z = (int16_t)(buf[5] << 8 | buf[4]);
+
+    // adapt LIS2MDL left-handed frame to common sensor axis orientation  (match LIS3MDL)
+    // pin 1 mark becomes +X -Y
+    magData[X] = -x;
+    magData[Y] = y;
+    magData[Z] = z;
 
     return true;
 }
 
-bool lis2mdlDetect(magDev_t * mag)
+bool lis2mdlDetect(magDev_t *mag)
 {
     extDevice_t *dev = &mag->dev;
 
-    uint8_t sig = 0;
-
     if (dev->bus->busType == BUS_TYPE_I2C && dev->busType_u.i2c.address == 0) {
         dev->busType_u.i2c.address = LIS2MDL_MAG_I2C_ADDRESS;
     }
 
-    bool ack = busReadRegisterBuffer(&mag->dev, LIS2MDL_REG_WHO_AM_I, &sig, 1);
+    uint8_t whoami;
+    bool ack = busReadRegisterBuffer(dev, LIS2MDL_ADDR_WHO_AM_I, &whoami, sizeof(whoami));
 
-    if (!ack || sig != LIS2MDL_DEVICE_ID) {
+    if (ack && whoami == LIS2MDL_WHO_AM_I) {
-        return false;
+        mag->init = lis2mdlInit;
+        mag->read = lis2mdlRead;
+        return true;
     }
 
-    mag->init = lis2mdlInit;
+    return false;
-    mag->read = lis2mdlRead;
-
-    return true;
 }
 #endif

src/main/drivers/display.c

@@ -93,6 +93,12 @@ int displayWrite(displayPort_t *instance, uint8_t x, uint8_t y, uint8_t attr, co
 {
     instance->posX = x + strlen(text);
     instance->posY = y;
+
+    if (strlen(text) == 0) {
+        // No point sending a message to do nothing
+        return 0;
+    }
+
     return instance->vTable->writeString(instance, x, y, attr, text);
 }
 

src/main/drivers/serial.c

@@ -76,7 +76,10 @@ uint8_t serialRead(serialPort_t *instance)
 
 void serialSetBaudRate(serialPort_t *instance, uint32_t baudRate)
 {
-    instance->vTable->serialSetBaudRate(instance, baudRate);
+    //vTable->serialSetBaudRate is NULL for SIMULATOR_BUILD, because the TCP port is used
+    if (instance->vTable->serialSetBaudRate != NULL) {
+        instance->vTable->serialSetBaudRate(instance, baudRate);
+    }
 }
 
 bool isSerialTransmitBufferEmpty(const serialPort_t *instance)

src/main/drivers/serial_uart.c

@@ -490,7 +490,7 @@ UART_IRQHandler(UART, 9, UARTDEV_9)  // UART9 Rx/Tx IRQ Handler
 #endif
 
 #ifdef USE_UART10
-UART_IRQHandler(UART, 10, UARTDEV_10) // UART10 Rx/Tx IRQ Handler
+UART_IRQHandler(USART, 10, UARTDEV_10) // UART10 Rx/Tx IRQ Handler
 #endif
 
 #ifdef USE_LPUART1

src/main/fc/core.c

@@ -1092,6 +1092,16 @@ void processRxModes(timeUs_t currentTimeUs)
     }
 #endif
 
+#ifdef USE_CHIRP
+    if (IS_RC_MODE_ACTIVE(BOXCHIRP) && !FLIGHT_MODE(FAILSAFE_MODE) && !FLIGHT_MODE(GPS_RESCUE_MODE)) {
+        if (!FLIGHT_MODE(CHIRP_MODE)) {
+            ENABLE_FLIGHT_MODE(CHIRP_MODE);
+        }
+    } else {
+        DISABLE_FLIGHT_MODE(CHIRP_MODE);
+    }
+#endif
+
     if (FLIGHT_MODE(ANGLE_MODE | ALT_HOLD_MODE | POS_HOLD_MODE | HORIZON_MODE)) {
         LED1_ON;
         // increase frequency of attitude task to reduce drift when in angle or horizon mode

src/main/fc/init.c

@@ -278,15 +278,15 @@ void init(void)
     // initialize IO (needed for all IO operations)
     IOInitGlobal();
 
-#ifdef USE_HARDWARE_REVISION_DETECTION
-    detectHardwareRevision();
-#endif
-
 #if defined(USE_TARGET_CONFIG)
     // Call once before the config is loaded for any target specific configuration required to support loading the config
     targetConfiguration();
 #endif
 
+#if defined(USE_CONFIG_TARGET_PREINIT)
+    configTargetPreInit();
+#endif
+
     enum {
         FLASH_INIT_ATTEMPTED                = (1 << 0),
         SD_INIT_ATTEMPTED                   = (1 << 1),

src/main/fc/parameter_names.h

@@ -192,6 +192,15 @@
 #define PARAM_NAME_HORIZON_IGNORE_STICKS "horizon_ignore_sticks"
 #define PARAM_NAME_HORIZON_DELAY_MS "horizon_delay_ms"
 
+#define PARAM_NAME_CHIRP_LAG_FREQ_HZ "chirp_lag_freq_hz"
+#define PARAM_NAME_CHIRP_LEAD_FREQ_HZ "chirp_lead_freq_hz"
+#define PARAM_NAME_CHIRP_AMPLITUDE_ROLL "chirp_amplitude_roll"
+#define PARAM_NAME_CHIRP_AMPLITUDE_PITCH "chirp_amplitude_pitch"
+#define PARAM_NAME_CHIRP_AMPLITUDE_YAW "chirp_amplitude_yaw"
+#define PARAM_NAME_CHIRP_FREQUENCY_START_DECI_HZ "chirp_frequency_start_deci_hz"
+#define PARAM_NAME_CHIRP_FREQUENCY_END_DECI_HZ "chirp_frequency_end_deci_hz"
+#define PARAM_NAME_CHIRP_TIME_SECONDS "chirp_time_seconds"
+
 #ifdef USE_GPS
 #define PARAM_NAME_GPS_PROVIDER "gps_provider"
 #define PARAM_NAME_GPS_SBAS_MODE "gps_sbas_mode"

src/main/fc/rc_modes.h

@@ -35,6 +35,7 @@ typedef enum {
     BOXMAG,
     BOXALTHOLD,
     BOXHEADFREE,
+    BOXCHIRP,
     BOXPASSTHRU,
     BOXFAILSAFE,
     BOXPOSHOLD,

src/main/fc/runtime_config.h

@@ -87,7 +87,7 @@ typedef enum {
 //    GPS_HOME_MODE   = (1 << 4),
     POS_HOLD_MODE   = (1 << 5),
     HEADFREE_MODE   = (1 << 6),
-//    UNUSED_MODE     = (1 << 7), // old autotune
+    CHIRP_MODE     = (1 << 7), // old autotune
     PASSTHRU_MODE   = (1 << 8),
 //    RANGEFINDER_MODE= (1 << 9),
     FAILSAFE_MODE   = (1 << 10),
@@ -109,6 +109,7 @@ extern uint16_t flightModeFlags;
    [BOXALTHOLD]     = LOG2(ALT_HOLD_MODE),               \
    [BOXPOSHOLD]     = LOG2(POS_HOLD_MODE),               \
    [BOXHEADFREE]    = LOG2(HEADFREE_MODE),               \
+   [BOXCHIRP]       = LOG2(CHIRP_MODE),                  \
    [BOXPASSTHRU]    = LOG2(PASSTHRU_MODE),               \
    [BOXFAILSAFE]    = LOG2(FAILSAFE_MODE),               \
    [BOXGPSRESCUE]   = LOG2(GPS_RESCUE_MODE),             \

src/main/flight/imu.c

@@ -603,8 +603,14 @@ static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
     UNUSED(canUseGPSHeading);
     UNUSED(imuCalcKpGain);
     UNUSED(imuCalcMagErr);
-
     UNUSED(currentTimeUs);
+
+#if defined(USE_GPS)
+    UNUSED(imuComputeQuaternionFromRPY);
+    UNUSED(imuDebug_GPS_RESCUE_HEADING);
+    UNUSED(imuCalcCourseErr);
+    UNUSED(imuCalcGroundspeedGain);
+#endif
 }
 #else
 

src/main/flight/pid.c

@@ -260,6 +260,14 @@ void resetPidProfile(pidProfile_t *pidProfile)
         .tpa_speed_pitch_offset = 0,
         .yaw_type = YAW_TYPE_RUDDER,
         .angle_pitch_offset = 0,
+        .chirp_lag_freq_hz = 3,
+        .chirp_lead_freq_hz = 30,
+        .chirp_amplitude_roll = 230,
+        .chirp_amplitude_pitch = 230,
+        .chirp_amplitude_yaw = 180,
+        .chirp_frequency_start_deci_hz = 2,
+        .chirp_frequency_end_deci_hz = 6000,
+        .chirp_time_seconds = 20,
     );
 }
 
@@ -1200,9 +1208,49 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
         disarmOnImpact();
     }
 
+#ifdef USE_CHIRP
+
+    static int chirpAxis = 0;
+    static bool shouldChirpAxisToggle = false;
+
+    float chirp = 0.0f;
+    float sinarg = 0.0f;
+    if (FLIGHT_MODE(CHIRP_MODE)) {
+        shouldChirpAxisToggle = true;  // advance chirp axis on next !CHIRP_MODE
+        // update chirp signal
+        if (chirpUpdate(&pidRuntime.chirp)) {
+            chirp = pidRuntime.chirp.exc;
+            sinarg = pidRuntime.chirp.sinarg;
+        }
+    } else {
+        if (shouldChirpAxisToggle) {
+            // toggle chirp signal logic and increment to next axis for next run
+            shouldChirpAxisToggle = false;
+            chirpAxis = (++chirpAxis > FD_YAW) ? 0 : chirpAxis;
+            // reset chirp signal generator
+            chirpReset(&pidRuntime.chirp);
+        }
+    }
+
+    // input / excitation shaping
+    float chirpFiltered  = phaseCompApply(&pidRuntime.chirpFilter, chirp);
+
+    // ToDo: check if this can be reconstructed offline for rotating filter and if so, remove the debug
+    // fit (0...2*pi) into int16_t (-32768 to 32767)
+    DEBUG_SET(DEBUG_CHIRP, 0, lrintf(5.0e3f * sinarg));
+
+#endif // USE_CHIRP
+
     // ----------PID controller----------
     for (int axis = FD_ROLL; axis <= FD_YAW; ++axis) {
 
+#ifdef USE_CHIRP
+        float currentChirp = 0.0f;
+        if(axis == chirpAxis){
+            currentChirp = pidRuntime.chirpAmplitude[axis] * chirpFiltered;
+        }
+#endif // USE_CHIRP
+
         float currentPidSetpoint = getSetpointRate(axis);
         if (pidRuntime.maxVelocity[axis]) {
             currentPidSetpoint = accelerationLimit(axis, currentPidSetpoint);
@@ -1263,6 +1311,9 @@ void FAST_CODE pidController(const pidProfile_t *pidProfile, timeUs_t currentTim
 
         // -----calculate error rate
         const float gyroRate = gyro.gyroADCf[axis]; // Process variable from gyro output in deg/sec
+#ifdef USE_CHIRP
+        currentPidSetpoint += currentChirp;
+#endif // USE_CHIRP
         float errorRate = currentPidSetpoint - gyroRate; // r - y
 #if defined(USE_ACC)
         handleCrashRecovery(
@@ -1596,3 +1647,10 @@ float pidGetPidFrequency(void)
 {
     return pidRuntime.pidFrequency;
 }
+
+#ifdef USE_CHIRP
+bool  pidChirpIsFinished(void)
+{
+    return pidRuntime.chirp.isFinished;
+}
+#endif

src/main/flight/pid.h

@@ -23,6 +23,7 @@
 #include <stdbool.h>
 
 #include "common/axis.h"
+#include "common/chirp.h"
 #include "common/filter.h"
 #include "common/pwl.h"
 #include "common/time.h"
@@ -322,6 +323,15 @@ typedef struct pidProfile_s {
     int16_t tpa_speed_pitch_offset;     // For wings: pitch offset in degrees*10 for craft speed estimation
     uint8_t yaw_type;                   // For wings: type of yaw (rudder or differential thrust)
     int16_t angle_pitch_offset;         // For wings: pitch offset for angle modes; in decidegrees; positive values tilting the wing down
+
+    uint8_t chirp_lag_freq_hz;              // leadlag1Filter cutoff/pole to shape the excitation signal
+    uint8_t chirp_lead_freq_hz;             // leadlag1Filter cutoff/zero
+    uint16_t chirp_amplitude_roll;          // amplitude roll in degree/second
+    uint16_t chirp_amplitude_pitch;         // amplitude pitch in degree/second
+    uint16_t chirp_amplitude_yaw;           // amplitude yaw in degree/second
+    uint16_t chirp_frequency_start_deci_hz; // start frequency in units of 0.1 hz
+    uint16_t chirp_frequency_end_deci_hz;   // end frequency in units of 0.1 hz
+    uint8_t chirp_time_seconds;             // excitation time
 } pidProfile_t;
 
 PG_DECLARE_ARRAY(pidProfile_t, PID_PROFILE_COUNT, pidProfiles);
@@ -529,6 +539,17 @@ typedef struct pidRuntime_s {
     float tpaCurvePwl_yValues[TPA_CURVE_PWL_SIZE];
     tpaCurveType_t tpaCurveType;
 #endif // USE_ADVANCED_TPA
+
+#ifdef USE_CHIRP
+    chirp_t chirp;
+    phaseComp_t chirpFilter;
+    float chirpLagFreqHz;
+    float chirpLeadFreqHz;
+    float chirpAmplitude[3];
+    float chirpFrequencyStartHz;
+    float chirpFrequencyEndHz;
+    float chirpTimeSeconds;
+#endif // USE_CHIRP
 } pidRuntime_t;
 
 extern pidRuntime_t pidRuntime;
@@ -585,3 +606,6 @@ float pidGetDT();
 float pidGetPidFrequency();
 
 float dynLpfCutoffFreq(float throttle, uint16_t dynLpfMin, uint16_t dynLpfMax, uint8_t expo);
+#ifdef USE_CHIRP
+bool  pidChirpIsFinished();
+#endif

src/main/flight/pid_init.c

@@ -317,6 +317,14 @@ void pidInitFilters(const pidProfile_t *pidProfile)
     pidRuntime.angleYawSetpoint = 0.0f;
 #endif
 
+#ifdef USE_CHIRP
+    const float alpha = pidRuntime.chirpLeadFreqHz / pidRuntime.chirpLagFreqHz;
+    const float centerFreqHz = pidRuntime.chirpLagFreqHz * sqrtf(alpha);
+    const float centerPhaseDeg = asinf( (1.0f - alpha) / (1.0f + alpha) ) / RAD;
+    phaseCompInit(&pidRuntime.chirpFilter, centerFreqHz, centerPhaseDeg, targetPidLooptime);
+    chirpInit(&pidRuntime.chirp, pidRuntime.chirpFrequencyStartHz, pidRuntime.chirpFrequencyEndHz, pidRuntime.chirpTimeSeconds, targetPidLooptime);
+#endif
+
     pt2FilterInit(&pidRuntime.antiGravityLpf, pt2FilterGain(pidProfile->anti_gravity_cutoff_hz, pidRuntime.dT));
 #ifdef USE_WING
     for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
@@ -411,6 +419,17 @@ void pidInitConfig(const pidProfile_t *pidProfile)
     pidRuntime.horizonDelayMs = pidProfile->horizon_delay_ms;
 #endif
 
+#ifdef USE_CHIRP
+    pidRuntime.chirpLagFreqHz = pidProfile->chirp_lag_freq_hz;
+    pidRuntime.chirpLeadFreqHz = pidProfile->chirp_lead_freq_hz;
+    pidRuntime.chirpAmplitude[FD_ROLL] = pidProfile->chirp_amplitude_roll;
+    pidRuntime.chirpAmplitude[FD_PITCH] = pidProfile->chirp_amplitude_pitch;
+    pidRuntime.chirpAmplitude[FD_YAW]= pidProfile->chirp_amplitude_yaw;
+    pidRuntime.chirpFrequencyStartHz = pidProfile->chirp_frequency_start_deci_hz / 10.0f;
+    pidRuntime.chirpFrequencyEndHz = pidProfile->chirp_frequency_end_deci_hz / 10.0f;
+    pidRuntime.chirpTimeSeconds = pidProfile->chirp_time_seconds;
+#endif
+
     pidRuntime.maxVelocity[FD_ROLL] = pidRuntime.maxVelocity[FD_PITCH] = pidProfile->rateAccelLimit * 100 * pidRuntime.dT;
     pidRuntime.maxVelocity[FD_YAW] = pidProfile->yawRateAccelLimit * 100 * pidRuntime.dT;
     pidRuntime.antiGravityGain = pidProfile->anti_gravity_gain;

src/main/flight/rpm_filter.c

@@ -121,6 +121,9 @@ FAST_CODE_NOINLINE void rpmFilterUpdate(void)
         return;
     }
 
+    const float dtCompensation = schedulerGetCycleTimeMultiplier();
+    const float correctedLooptime = rpmFilter.looptimeUs * dtCompensation;
+
     // update RPM notches
     for (int i = 0; i < notchUpdatesPerIteration; i++) {
 
@@ -143,7 +146,7 @@ FAST_CODE_NOINLINE void rpmFilterUpdate(void)
             weight *= rpmFilter.weights[harmonicIndex];
 
             // update notch
-            biquadFilterUpdate(template, frequencyHz, rpmFilter.looptimeUs, rpmFilter.q, FILTER_NOTCH, weight);
+            biquadFilterUpdate(template, frequencyHz, correctedLooptime, rpmFilter.q, FILTER_NOTCH, weight);
 
             // copy notch properties to corresponding notches on PITCH and YAW
             for (int axis = 1; axis < XYZ_AXIS_COUNT; axis++) {

src/main/io/gps.c

@@ -45,7 +45,10 @@
 #ifdef USE_DASHBOARD
 #include "io/dashboard.h"
 #endif
+
 #include "io/gps.h"
+#include "io/gps_virtual.h"
+
 #include "io/serial.h"
 
 #include "config/config.h"
@@ -407,7 +410,7 @@ void gpsInit(void)
     // init gpsData structure. if we're not actually enabled, don't bother doing anything else
     gpsSetState(GPS_STATE_UNKNOWN);
 
-    if (gpsConfig()->provider == GPS_MSP) { // no serial ports used when GPS_MSP is configured
+    if (gpsConfig()->provider == GPS_MSP || gpsConfig()->provider == GPS_VIRTUAL) { // no serial ports used when GPS_MSP or GPS_VIRTUAL is configured
         gpsSetState(GPS_STATE_INITIALIZED);
         return;
     }
@@ -1337,6 +1340,38 @@ static void calculateNavInterval (void)
     gpsSol.navIntervalMs = constrain(navDeltaTimeMs, 50, 2500);
 }
 
+#if defined(USE_VIRTUAL_GPS)
+static void updateVirtualGPS(void)
+{
+    const uint32_t updateInterval = 100; // 100ms 10Hz update time interval
+    static uint32_t nextUpdateTime = 0;
+
+    if (cmp32(gpsData.now, nextUpdateTime) > 0) {
+        if (gpsData.state == GPS_STATE_INITIALIZED) {
+            gpsSetState(GPS_STATE_RECEIVING_DATA);
+        }
+
+        getVirtualGPS(&gpsSol);
+        gpsSol.time = gpsData.now;
+
+        gpsData.lastNavMessage = gpsData.now;
+        sensorsSet(SENSOR_GPS);
+
+        if (gpsSol.numSat > 3) {
+            gpsSetFixState(GPS_FIX);
+        } else {
+            gpsSetFixState(0);
+        }
+        GPS_update ^= GPS_DIRECT_TICK;
+
+        calculateNavInterval();
+        onGpsNewData();
+
+        nextUpdateTime = gpsData.now + updateInterval;
+    }
+}
+#endif
+
 void gpsUpdate(timeUs_t currentTimeUs)
 {
     static timeDelta_t gpsStateDurationFractionUs[GPS_STATE_COUNT];
@@ -1344,7 +1379,12 @@ void gpsUpdate(timeUs_t currentTimeUs)
     gpsState_e gpsCurrentState = gpsData.state;
     gpsData.now = millis();
 
-    if (gpsPort) {
+    switch (gpsConfig()->provider) {
+    case GPS_UBLOX:
+    case GPS_NMEA:
+        if (!gpsPort) {
+            break;
+        }
         DEBUG_SET(DEBUG_GPS_CONNECTION, 7, serialRxBytesWaiting(gpsPort));
         static uint8_t wait = 0;
         static bool isFast = false;
@@ -1368,7 +1408,9 @@ void gpsUpdate(timeUs_t currentTimeUs)
             isFast = false;
             rescheduleTask(TASK_SELF, TASK_PERIOD_HZ(TASK_GPS_RATE));
         }
-    } else if (gpsConfig()->provider == GPS_MSP) {
+        break;
+
+    case GPS_MSP:
         if (GPS_update & GPS_MSP_UPDATE) { // GPS data received via MSP
             if (gpsData.state == GPS_STATE_INITIALIZED) {
                 gpsSetState(GPS_STATE_RECEIVING_DATA);
@@ -1391,45 +1433,51 @@ void gpsUpdate(timeUs_t currentTimeUs)
                 gpsSetState(GPS_STATE_LOST_COMMUNICATION);
             }
         }
+        break;
+#if defined(USE_VIRTUAL_GPS)
+    case GPS_VIRTUAL:
+        updateVirtualGPS();
+        break;
+#endif
     }
 
     switch (gpsData.state) {
-        case GPS_STATE_UNKNOWN:
+    case GPS_STATE_UNKNOWN:
-        case GPS_STATE_INITIALIZED:
+    case GPS_STATE_INITIALIZED:
-            break;
+        break;
 
-        case GPS_STATE_DETECT_BAUD:
+    case GPS_STATE_DETECT_BAUD:
-        case GPS_STATE_CHANGE_BAUD:
+    case GPS_STATE_CHANGE_BAUD:
-        case GPS_STATE_CONFIGURE:
+    case GPS_STATE_CONFIGURE:
-            gpsConfigureHardware();
+        gpsConfigureHardware();
-            break;
+        break;
 
-        case GPS_STATE_LOST_COMMUNICATION:
+    case GPS_STATE_LOST_COMMUNICATION:
-            gpsData.timeouts++;
+        gpsData.timeouts++;
-            // previously we would attempt a different baud rate here if gps auto-baud was enabled.  that code has been removed.
+        // previously we would attempt a different baud rate here if gps auto-baud was enabled.  that code has been removed.
-            gpsSol.numSat = 0;
+        gpsSol.numSat = 0;
-            DISABLE_STATE(GPS_FIX);
+        DISABLE_STATE(GPS_FIX);
-            gpsSetState(GPS_STATE_DETECT_BAUD);
+        gpsSetState(GPS_STATE_DETECT_BAUD);
-            break;
+        break;
 
-        case GPS_STATE_RECEIVING_DATA:
+    case GPS_STATE_RECEIVING_DATA:
 #ifdef USE_GPS_UBLOX
-            if (gpsConfig()->provider != GPS_MSP) {
+        if (gpsConfig()->provider == GPS_UBLOX || gpsConfig()->provider == GPS_NMEA) {      // TODO  Send ublox message to nmea GPS?
-                if (gpsConfig()->autoConfig == GPS_AUTOCONFIG_ON) {
+            if (gpsConfig()->autoConfig == GPS_AUTOCONFIG_ON) {
-                    // when we are connected up, and get a 3D fix, enable the 'flight' fix model
+                // when we are connected up, and get a 3D fix, enable the 'flight' fix model
-                    if (!gpsData.ubloxUsingFlightModel && STATE(GPS_FIX)) {
+                if (!gpsData.ubloxUsingFlightModel && STATE(GPS_FIX)) {
-                        gpsData.ubloxUsingFlightModel = true;
+                    gpsData.ubloxUsingFlightModel = true;
-                        ubloxSendNAV5Message(gpsConfig()->gps_ublox_flight_model);
+                    ubloxSendNAV5Message(gpsConfig()->gps_ublox_flight_model);
-                    }
                 }
             }
+        }
 #endif
-            DEBUG_SET(DEBUG_GPS_CONNECTION, 2, gpsData.now - gpsData.lastNavMessage); // time since last Nav data, updated each GPS task interval
+        DEBUG_SET(DEBUG_GPS_CONNECTION, 2, gpsData.now - gpsData.lastNavMessage); // time since last Nav data, updated each GPS task interval
-            // check for no data/gps timeout/cable disconnection etc
+        // check for no data/gps timeout/cable disconnection etc
-            if (cmp32(gpsData.now, gpsData.lastNavMessage) > GPS_TIMEOUT_MS) {
+        if (cmp32(gpsData.now, gpsData.lastNavMessage) > GPS_TIMEOUT_MS) {
-                gpsSetState(GPS_STATE_LOST_COMMUNICATION);
+            gpsSetState(GPS_STATE_LOST_COMMUNICATION);
-            }
+        }
-            break;
+        break;
     }
 
     DEBUG_SET(DEBUG_GPS_CONNECTION, 4, (gpsData.state * 100 + gpsData.state_position));

src/main/io/gps.h

@@ -177,7 +177,8 @@ typedef enum {
 typedef enum {
     GPS_NMEA = 0,
     GPS_UBLOX,
-    GPS_MSP
+    GPS_MSP,
+    GPS_VIRTUAL,
 } gpsProvider_e;
 
 typedef enum {

src/main/io/gps_virtual.c

@@ -0,0 +1,52 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#ifdef USE_VIRTUAL_GPS
+
+#include "io/gps_virtual.h"
+
+static gpsSolutionData_t gpsVirtualData;
+
+void setVirtualGPS(double latitude, double longitude, double altiutude, double speed, double speed3D, double course)
+{
+    gpsVirtualData.numSat = 12;    // satellites_in_view
+    gpsVirtualData.acc.hAcc = 500; // horizontal_pos_accuracy - convert cm to mm
+    gpsVirtualData.acc.vAcc = 500; // vertical_pos_accuracy - convert cm to mm
+    gpsVirtualData.acc.sAcc = 400; // horizontal_vel_accuracy - convert cm to mm
+    gpsVirtualData.dop.pdop = 10; // hdop in 4.4 and earlier, pdop in 4.5 and above
+    gpsVirtualData.llh.lon = (int32_t)(longitude * GPS_DEGREES_DIVIDER);
+    gpsVirtualData.llh.lat = (int32_t)(latitude * GPS_DEGREES_DIVIDER);
+    gpsVirtualData.llh.altCm = (int32_t)(altiutude * 100.0); // alt, cm
+    gpsVirtualData.groundSpeed = (uint16_t)(speed * 100.0);  // cm/sec
+    gpsVirtualData.speed3d = (uint16_t)(speed3D * 100.0);    // cm/sec
+    gpsVirtualData.groundCourse = (uint16_t)(course * 10.0); // decidegrees
+}
+
+void getVirtualGPS(gpsSolutionData_t *gpsSolData)
+{
+    *gpsSolData = gpsVirtualData;
+}
+#endif

src/main/io/gps_virtual.h

@@ -0,0 +1,26 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include "io/gps.h"
+void setVirtualGPS(double latitude, double longitude, double altiutude, double velocity, double velocity3D, double course);
+void getVirtualGPS(gpsSolutionData_t *gpsSolData);

src/main/msp/msp.c

@@ -409,8 +409,7 @@ void mspReboot(dispatchEntry_t* self)
     mspRebootFn(NULL);
 }
 
-dispatchEntry_t mspRebootEntry =
+dispatchEntry_t mspRebootEntry = {
-{
     mspReboot, 0, NULL, false
 };
 
@@ -433,8 +432,7 @@ void writeReadEeprom(dispatchEntry_t* self)
 #endif
 }
 
-dispatchEntry_t writeReadEepromEntry =
+dispatchEntry_t writeReadEepromEntry = {
-{
     writeReadEeprom, 0, NULL, false
 };
 
@@ -643,8 +641,13 @@ static bool mspCommonProcessOutCommand(int16_t cmdMSP, sbuf_t *dst, mspPostProce
         sbufWriteU8(dst, FC_VERSION_PATCH_LEVEL);
         break;
 
-    case MSP_BOARD_INFO:
+    case MSP2_MCU_INFO: {
-    {
+        sbufWriteU8(dst, getMcuTypeId());
+        sbufWritePString(dst, getMcuTypeName());
+        break;
+    }
+
+    case MSP_BOARD_INFO: {
         sbufWriteData(dst, systemConfig()->boardIdentifier, BOARD_IDENTIFIER_LENGTH);
 #ifdef USE_HARDWARE_REVISION_DETECTION
         sbufWriteU16(dst, hardwareRevision);
@@ -682,19 +685,14 @@ static bool mspCommonProcessOutCommand(int16_t cmdMSP, sbuf_t *dst, mspPostProce
         sbufWriteU8(dst, targetCapabilities);
 
         // Target name with explicit length
-        sbufWriteU8(dst, strlen(targetName));
+        sbufWritePString(dst, targetName);
-        sbufWriteData(dst, targetName, strlen(targetName));
 
 #if defined(USE_BOARD_INFO)
         // Board name with explicit length
-        char *value = getBoardName();
+        sbufWritePString(dst, getBoardName());
-        sbufWriteU8(dst, strlen(value));
-        sbufWriteString(dst, value);
 
         // Manufacturer id with explicit length
-        value = getManufacturerId();
+        sbufWritePString(dst, getManufacturerId());
-        sbufWriteU8(dst, strlen(value));
-        sbufWriteString(dst, value);
 #else
         sbufWriteU8(dst, 0);
         sbufWriteU8(dst, 0);
@@ -845,28 +843,27 @@ static bool mspCommonProcessOutCommand(int16_t cmdMSP, sbuf_t *dst, mspPostProce
         break;
     }
 
-    case MSP_VOLTAGE_METER_CONFIG:
+    case MSP_VOLTAGE_METER_CONFIG: {
-        {
+        // by using a sensor type and a sub-frame length it's possible to configure any type of voltage meter,
-            // by using a sensor type and a sub-frame length it's possible to configure any type of voltage meter,
+        // e.g. an i2c/spi/can sensor or any sensor not built directly into the FC such as ESC/RX/SPort/SBus that has
-            // e.g. an i2c/spi/can sensor or any sensor not built directly into the FC such as ESC/RX/SPort/SBus that has
+        // different configuration requirements.
-            // different configuration requirements.
+        STATIC_ASSERT(VOLTAGE_SENSOR_ADC_VBAT == 0, VOLTAGE_SENSOR_ADC_VBAT_incorrect); // VOLTAGE_SENSOR_ADC_VBAT should be the first index
-            STATIC_ASSERT(VOLTAGE_SENSOR_ADC_VBAT == 0, VOLTAGE_SENSOR_ADC_VBAT_incorrect); // VOLTAGE_SENSOR_ADC_VBAT should be the first index
+        sbufWriteU8(dst, MAX_VOLTAGE_SENSOR_ADC); // voltage meters in payload
-            sbufWriteU8(dst, MAX_VOLTAGE_SENSOR_ADC); // voltage meters in payload
+        for (int i = VOLTAGE_SENSOR_ADC_VBAT; i < MAX_VOLTAGE_SENSOR_ADC; i++) {
-            for (int i = VOLTAGE_SENSOR_ADC_VBAT; i < MAX_VOLTAGE_SENSOR_ADC; i++) {
+            const uint8_t adcSensorSubframeLength = 1 + 1 + 1 + 1 + 1; // length of id, type, vbatscale, vbatresdivval, vbatresdivmultipler, in bytes
-                const uint8_t adcSensorSubframeLength = 1 + 1 + 1 + 1 + 1; // length of id, type, vbatscale, vbatresdivval, vbatresdivmultipler, in bytes
+            sbufWriteU8(dst, adcSensorSubframeLength); // ADC sensor sub-frame length
-                sbufWriteU8(dst, adcSensorSubframeLength); // ADC sensor sub-frame length
 
-                sbufWriteU8(dst, voltageMeterADCtoIDMap[i]); // id of the sensor
+            sbufWriteU8(dst, voltageMeterADCtoIDMap[i]); // id of the sensor
-                sbufWriteU8(dst, VOLTAGE_SENSOR_TYPE_ADC_RESISTOR_DIVIDER); // indicate the type of sensor that the next part of the payload is for
+            sbufWriteU8(dst, VOLTAGE_SENSOR_TYPE_ADC_RESISTOR_DIVIDER); // indicate the type of sensor that the next part of the payload is for
 
-                sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatscale);
+            sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatscale);
-                sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatresdivval);
+            sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatresdivval);
-                sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatresdivmultiplier);
+            sbufWriteU8(dst, voltageSensorADCConfig(i)->vbatresdivmultiplier);
-            }
-            // if we had any other voltage sensors, this is where we would output any needed configuration
         }
-
+        // if we had any other voltage sensors, this is where we would output any needed configuration
         break;
+    }
+
     case MSP_CURRENT_METER_CONFIG: {
         // the ADC and VIRTUAL sensors have the same configuration requirements, however this API reflects
         // that this situation may change and allows us to support configuration of any current sensor with
@@ -1085,78 +1082,75 @@ static bool mspProcessOutCommand(mspDescriptor_t srcDesc, int16_t cmdMSP, sbuf_t
 
     switch (cmdMSP) {
     case MSP_STATUS_EX:
-    case MSP_STATUS:
+    case MSP_STATUS: {
-        {
+        boxBitmask_t flightModeFlags;
-            boxBitmask_t flightModeFlags;
+        const int flagBits = packFlightModeFlags(&flightModeFlags);
-            const int flagBits = packFlightModeFlags(&flightModeFlags);
 
-            sbufWriteU16(dst, getTaskDeltaTimeUs(TASK_PID));
+        sbufWriteU16(dst, getTaskDeltaTimeUs(TASK_PID));
 #ifdef USE_I2C
-            sbufWriteU16(dst, i2cGetErrorCounter());
+        sbufWriteU16(dst, i2cGetErrorCounter());
 #else
-            sbufWriteU16(dst, 0);
+        sbufWriteU16(dst, 0);
 #endif
-            sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_RANGEFINDER) << 4 | sensors(SENSOR_GYRO) << 5);
+        sbufWriteU16(dst, sensors(SENSOR_ACC) | sensors(SENSOR_BARO) << 1 | sensors(SENSOR_MAG) << 2 | sensors(SENSOR_GPS) << 3 | sensors(SENSOR_RANGEFINDER) << 4 | sensors(SENSOR_GYRO) << 5);
-            sbufWriteData(dst, &flightModeFlags, 4);        // unconditional part of flags, first 32 bits
+        sbufWriteData(dst, &flightModeFlags, 4);        // unconditional part of flags, first 32 bits
-            sbufWriteU8(dst, getCurrentPidProfileIndex());
+        sbufWriteU8(dst, getCurrentPidProfileIndex());
-            sbufWriteU16(dst, constrain(getAverageSystemLoadPercent(), 0, LOAD_PERCENTAGE_ONE));
+        sbufWriteU16(dst, constrain(getAverageSystemLoadPercent(), 0, LOAD_PERCENTAGE_ONE));
-            if (cmdMSP == MSP_STATUS_EX) {
+        if (cmdMSP == MSP_STATUS_EX) {
-                sbufWriteU8(dst, PID_PROFILE_COUNT);
+            sbufWriteU8(dst, PID_PROFILE_COUNT);
-                sbufWriteU8(dst, getCurrentControlRateProfileIndex());
+            sbufWriteU8(dst, getCurrentControlRateProfileIndex());
-            } else {  // MSP_STATUS
+        } else {  // MSP_STATUS
-                sbufWriteU16(dst, 0); // gyro cycle time
+            sbufWriteU16(dst, 0); // gyro cycle time
-            }
+        }
 
-            // write flightModeFlags header. Lowest 4 bits contain number of bytes that follow
+        // write flightModeFlags header. Lowest 4 bits contain number of bytes that follow
-            // header is emited even when all bits fit into 32 bits to allow future extension
+        // header is emited even when all bits fit into 32 bits to allow future extension
-            int byteCount = (flagBits - 32 + 7) / 8;        // 32 already stored, round up
+        int byteCount = (flagBits - 32 + 7) / 8;        // 32 already stored, round up
-            byteCount = constrain(byteCount, 0, 15);        // limit to 16 bytes (128 bits)
+        byteCount = constrain(byteCount, 0, 15);        // limit to 16 bytes (128 bits)
-            sbufWriteU8(dst, byteCount);
+        sbufWriteU8(dst, byteCount);
-            sbufWriteData(dst, ((uint8_t*)&flightModeFlags) + 4, byteCount);
+        sbufWriteData(dst, ((uint8_t*)&flightModeFlags) + 4, byteCount);
 
-            // Write arming disable flags
+        // Write arming disable flags
-            // 1 byte, flag count
+        // 1 byte, flag count
-            sbufWriteU8(dst, ARMING_DISABLE_FLAGS_COUNT);
+        sbufWriteU8(dst, ARMING_DISABLE_FLAGS_COUNT);
-            // 4 bytes, flags
+        // 4 bytes, flags
-            const uint32_t armingDisableFlags = getArmingDisableFlags();
+        const uint32_t armingDisableFlags = getArmingDisableFlags();
-            sbufWriteU32(dst, armingDisableFlags);
+        sbufWriteU32(dst, armingDisableFlags);
 
-            // config state flags - bits to indicate the state of the configuration, reboot required, etc.
+        // config state flags - bits to indicate the state of the configuration, reboot required, etc.
-            // other flags can be added as needed
+        // other flags can be added as needed
-            sbufWriteU8(dst, (getRebootRequired() << 0));
+        sbufWriteU8(dst, (getRebootRequired() << 0));
 
-            // Added in API version 1.46
+        // Added in API version 1.46
-            // Write CPU temp
+        // Write CPU temp
 #ifdef USE_ADC_INTERNAL
-            sbufWriteU16(dst, getCoreTemperatureCelsius());
+        sbufWriteU16(dst, getCoreTemperatureCelsius());
+#else
+        sbufWriteU16(dst, 0);
+#endif
+        break;
+    }
+
+    case MSP_RAW_IMU: {
+        for (int i = 0; i < 3; i++) {
+#if defined(USE_ACC)
+            sbufWriteU16(dst, lrintf(acc.accADC.v[i]));
+#else
+            sbufWriteU16(dst, 0);
+#endif
+        }
+        for (int i = 0; i < 3; i++) {
+            sbufWriteU16(dst, gyroRateDps(i));
+        }
+        for (int i = 0; i < 3; i++) {
+#if defined(USE_MAG)
+            sbufWriteU16(dst, lrintf(mag.magADC.v[i]));
 #else
             sbufWriteU16(dst, 0);
 #endif
         }
         break;
-
+    }
-    case MSP_RAW_IMU:
-        {
-
-            for (int i = 0; i < 3; i++) {
-#if defined(USE_ACC)
-                sbufWriteU16(dst, lrintf(acc.accADC.v[i]));
-#else
-                sbufWriteU16(dst, 0);
-#endif
-            }
-            for (int i = 0; i < 3; i++) {
-                sbufWriteU16(dst, gyroRateDps(i));
-            }
-            for (int i = 0; i < 3; i++) {
-#if defined(USE_MAG)
-                sbufWriteU16(dst, lrintf(mag.magADC.v[i]));
-#else
-                sbufWriteU16(dst, 0);
-#endif
-            }
-        }
-        break;
 
 case MSP_NAME:
         sbufWriteString(dst, pilotConfig()->craftName);
@@ -1203,7 +1197,6 @@ case MSP_NAME:
             sbufWriteU16(dst, 0);
 #endif
         }
-
         break;
 
     // Added in API version 1.42
@@ -1285,32 +1278,29 @@ case MSP_NAME:
         break;
 
 #ifdef USE_VTX_COMMON
-    case MSP2_GET_VTX_DEVICE_STATUS:
+    case MSP2_GET_VTX_DEVICE_STATUS: {
-        {
+        const vtxDevice_t *vtxDevice = vtxCommonDevice();
-            const vtxDevice_t *vtxDevice = vtxCommonDevice();
+        vtxCommonSerializeDeviceStatus(vtxDevice, dst);
-            vtxCommonSerializeDeviceStatus(vtxDevice, dst);
-        }
         break;
+    }
 #endif
 
 #ifdef USE_OSD
-    case MSP2_GET_OSD_WARNINGS:
+    case MSP2_GET_OSD_WARNINGS: {
-        {
+        bool isBlinking;
-            bool isBlinking;
+        uint8_t displayAttr;
-            uint8_t displayAttr;
+        char warningsBuffer[OSD_WARNINGS_MAX_SIZE + 1];
-            char warningsBuffer[OSD_WARNINGS_MAX_SIZE + 1];
 
-            renderOsdWarning(warningsBuffer, &isBlinking, &displayAttr);
+        renderOsdWarning(warningsBuffer, &isBlinking, &displayAttr);
-            const uint8_t warningsLen = strlen(warningsBuffer);
 
-            if (isBlinking) {
+        if (isBlinking) {
-                displayAttr |= DISPLAYPORT_BLINK;
+            displayAttr |= DISPLAYPORT_BLINK;
-            }
-            sbufWriteU8(dst, displayAttr);  // see displayPortSeverity_e
-            sbufWriteU8(dst, warningsLen);  // length byte followed by the actual characters
-            sbufWriteData(dst, warningsBuffer, warningsLen);
-            break;
         }
+        sbufWriteU8(dst, displayAttr);  // see displayPortSeverity_e
+        sbufWritePString(dst, warningsBuffer);
+
+        break;
+    }
 #endif
 
     case MSP_RC:
@@ -1687,6 +1677,7 @@ case MSP_NAME:
             sbufWriteU8(dst, serialConfig()->portConfigs[i].blackbox_baudrateIndex);
         }
         break;
+
     case MSP2_COMMON_SERIAL_CONFIG: {
         uint8_t count = 0;
         for (int i = 0; i < SERIAL_PORT_COUNT; i++) {
@@ -1876,6 +1867,7 @@ case MSP_NAME:
 #endif
         break;
     }
+
     case MSP_ADVANCED_CONFIG:
         sbufWriteU8(dst, 1);  // was gyroConfig()->gyro_sync_denom - removed in API 1.43
         sbufWriteU8(dst, pidConfig()->pid_process_denom);
@@ -1894,9 +1886,9 @@ case MSP_NAME:
         //Added in MSP API 1.42
         sbufWriteU8(dst, systemConfig()->debug_mode);
         sbufWriteU8(dst, DEBUG_COUNT);
-
         break;
-    case MSP_FILTER_CONFIG :
+
+    case MSP_FILTER_CONFIG:
         sbufWriteU8(dst, gyroConfig()->gyro_lpf1_static_hz);
         sbufWriteU16(dst, currentPidProfile->dterm_lpf1_static_hz);
         sbufWriteU16(dst, currentPidProfile->yaw_lowpass_hz);
@@ -1963,8 +1955,8 @@ case MSP_NAME:
 #else
         sbufWriteU8(dst, 0);
 #endif
-
         break;
+
     case MSP_PID_ADVANCED:
         sbufWriteU16(dst, 0);
         sbufWriteU16(dst, 0);
@@ -2147,44 +2139,43 @@ case MSP_NAME:
         break;
 
 #if defined(USE_VTX_COMMON)
-    case MSP_VTX_CONFIG:
+    case MSP_VTX_CONFIG: {
-        {
+        const vtxDevice_t *vtxDevice = vtxCommonDevice();
-            const vtxDevice_t *vtxDevice = vtxCommonDevice();
+        unsigned vtxStatus = 0;
-            unsigned vtxStatus = 0;
+        vtxDevType_e vtxType = VTXDEV_UNKNOWN;
-            vtxDevType_e vtxType = VTXDEV_UNKNOWN;
+        uint8_t deviceIsReady = 0;
-            uint8_t deviceIsReady = 0;
+        if (vtxDevice) {
-            if (vtxDevice) {
+            vtxCommonGetStatus(vtxDevice, &vtxStatus);
-                vtxCommonGetStatus(vtxDevice, &vtxStatus);
+            vtxType = vtxCommonGetDeviceType(vtxDevice);
-                vtxType = vtxCommonGetDeviceType(vtxDevice);
+            deviceIsReady = vtxCommonDeviceIsReady(vtxDevice) ? 1 : 0;
-                deviceIsReady = vtxCommonDeviceIsReady(vtxDevice) ? 1 : 0;
+        }
-            }
+        sbufWriteU8(dst, vtxType);
-            sbufWriteU8(dst, vtxType);
+        sbufWriteU8(dst, vtxSettingsConfig()->band);
-            sbufWriteU8(dst, vtxSettingsConfig()->band);
+        sbufWriteU8(dst, vtxSettingsConfig()->channel);
-            sbufWriteU8(dst, vtxSettingsConfig()->channel);
+        sbufWriteU8(dst, vtxSettingsConfig()->power);
-            sbufWriteU8(dst, vtxSettingsConfig()->power);
+        sbufWriteU8(dst, (vtxStatus & VTX_STATUS_PIT_MODE) ? 1 : 0);
-            sbufWriteU8(dst, (vtxStatus & VTX_STATUS_PIT_MODE) ? 1 : 0);
+        sbufWriteU16(dst, vtxSettingsConfig()->freq);
-            sbufWriteU16(dst, vtxSettingsConfig()->freq);
+        sbufWriteU8(dst, deviceIsReady);
-            sbufWriteU8(dst, deviceIsReady);
+        sbufWriteU8(dst, vtxSettingsConfig()->lowPowerDisarm);
-            sbufWriteU8(dst, vtxSettingsConfig()->lowPowerDisarm);
 
-            // API version 1.42
+        // API version 1.42
-            sbufWriteU16(dst, vtxSettingsConfig()->pitModeFreq);
+        sbufWriteU16(dst, vtxSettingsConfig()->pitModeFreq);
 #ifdef USE_VTX_TABLE
-            sbufWriteU8(dst, 1);   // vtxtable is available
+        sbufWriteU8(dst, 1);   // vtxtable is available
-            sbufWriteU8(dst, vtxTableConfig()->bands);
+        sbufWriteU8(dst, vtxTableConfig()->bands);
-            sbufWriteU8(dst, vtxTableConfig()->channels);
+        sbufWriteU8(dst, vtxTableConfig()->channels);
-            sbufWriteU8(dst, vtxTableConfig()->powerLevels);
+        sbufWriteU8(dst, vtxTableConfig()->powerLevels);
 #else
-            sbufWriteU8(dst, 0);
+        sbufWriteU8(dst, 0);
-            sbufWriteU8(dst, 0);
+        sbufWriteU8(dst, 0);
-            sbufWriteU8(dst, 0);
+        sbufWriteU8(dst, 0);
-            sbufWriteU8(dst, 0);
+        sbufWriteU8(dst, 0);
 #endif
 #ifdef USE_VTX_MSP
-            setMspVtxDeviceStatusReady(srcDesc);
+        setMspVtxDeviceStatusReady(srcDesc);
 #endif
-        }
         break;
+    }
 #endif
 
     case MSP_TX_INFO:
@@ -2199,25 +2190,24 @@ case MSP_NAME:
         rtcDateTimeIsSet = RTC_NOT_SUPPORTED;
 #endif
         sbufWriteU8(dst, rtcDateTimeIsSet);
-
         break;
+
 #ifdef USE_RTC_TIME
-    case MSP_RTC:
+    case MSP_RTC: {
-        {
+        dateTime_t dt;
-            dateTime_t dt;
+        if (rtcGetDateTime(&dt)) {
-            if (rtcGetDateTime(&dt)) {
+            sbufWriteU16(dst, dt.year);
-                sbufWriteU16(dst, dt.year);
+            sbufWriteU8(dst, dt.month);
-                sbufWriteU8(dst, dt.month);
+            sbufWriteU8(dst, dt.day);
-                sbufWriteU8(dst, dt.day);
+            sbufWriteU8(dst, dt.hours);
-                sbufWriteU8(dst, dt.hours);
+            sbufWriteU8(dst, dt.minutes);
-                sbufWriteU8(dst, dt.minutes);
+            sbufWriteU8(dst, dt.seconds);
-                sbufWriteU8(dst, dt.seconds);
+            sbufWriteU16(dst, dt.millis);
-                sbufWriteU16(dst, dt.millis);
-            }
         }
-
         break;
+    }
 #endif
+
     default:
         unsupportedCommand = true;
     }
@@ -2629,12 +2619,9 @@ static mspResult_e mspFcProcessOutCommandWithArg(mspDescriptor_t srcDesc, int16_
 
             if (!textVar) return MSP_RESULT_ERROR;
 
-            const uint8_t textLength = strlen(textVar);
-
             //  type byte, then length byte followed by the actual characters
             sbufWriteU8(dst, textType);
-            sbufWriteU8(dst, textLength);
+            sbufWritePString(dst, textVar);
-            sbufWriteData(dst, textVar, textLength);
         }
         break;
 #ifdef USE_LED_STRIP

src/main/msp/msp_box.c

@@ -101,6 +101,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT] = {
     { .boxId = BOXBEEPERMUTE, .boxName = "BEEPER MUTE", .permanentId = 52},
     { .boxId = BOXREADY, .boxName = "READY", .permanentId = 53},
     { .boxId = BOXLAPTIMERRESET, .boxName = "LAP TIMER RESET", .permanentId = 54},
+    { .boxId = BOXCHIRP, .boxName = "CHIRP", .permanentId = 55}
 };
 
 // mask of enabled IDs, calculated on startup based on enabled features. boxId_e is used as bit index
@@ -365,6 +366,10 @@ void initActiveBoxIds(void)
     BME(BOXLAPTIMERRESET);
 #endif
 
+#if defined(USE_CHIRP)
+    BME(BOXCHIRP);
+#endif
+
 #undef BME
     // check that all enabled IDs are in boxes array (check may be skipped when using findBoxById() functions)
     for (boxId_e boxId = 0;  boxId < CHECKBOX_ITEM_COUNT; boxId++)

src/main/msp/msp_protocol.h

@@ -55,15 +55,11 @@
 
 #pragma once
 
-/* Protocol numbers used both by the wire format, config system, and
+// Protocol numbers used both by the wire format, config system, and field setters.
-   field setters.
-*/
-
 #define MSP_PROTOCOL_VERSION                0
 
-#define API_VERSION_MAJOR                   1  // increment when major changes are made
+#define API_VERSION_MAJOR                   1
-#define API_VERSION_MINOR                   47 // increment after a release, to set the version for all changes to go into the following release (if no changes to MSP are made between the releases, this can be reverted before the release)
+#define API_VERSION_MINOR                   47
-
 #define API_VERSION_LENGTH                  2
 
 #define MULTIWII_IDENTIFIER "MWII";
@@ -95,258 +91,188 @@
 #define CAP_NAVCAP                  ((uint32_t)1 << 4)
 #define CAP_EXTAUX                  ((uint32_t)1 << 5)
 
-#define MSP_API_VERSION                 1    //out message
+#define MSP_API_VERSION                 1    // out message: Get API version
-#define MSP_FC_VARIANT                  2    //out message
+#define MSP_FC_VARIANT                  2    // out message: Get flight controller variant
-#define MSP_FC_VERSION                  3    //out message
+#define MSP_FC_VERSION                  3    // out message: Get flight controller version
-#define MSP_BOARD_INFO                  4    //out message
+#define MSP_BOARD_INFO                  4    // out message: Get board information
-#define MSP_BUILD_INFO                  5    //out message
+#define MSP_BUILD_INFO                  5    // out message: Get build information
 
-#define MSP_NAME                        10   //out message          Returns user set board name - betaflight
+#define MSP_NAME                        10   // out message: Returns user set board name - betaflight
-#define MSP_SET_NAME                    11   //in message           Sets board name - betaflight
+#define MSP_SET_NAME                    11   // in message:  Sets board name - betaflight
 
-//
+// Cleanflight original features (32-62)
-// MSP commands for Cleanflight original features
+#define MSP_BATTERY_CONFIG              32   // out message: Get battery configuration
-//
+#define MSP_SET_BATTERY_CONFIG          33   // in message:  Set battery configuration
-#define MSP_BATTERY_CONFIG              32
+#define MSP_MODE_RANGES                 34   // out message: Returns all mode ranges
-#define MSP_SET_BATTERY_CONFIG          33
+#define MSP_SET_MODE_RANGE              35   // in message:  Sets a single mode range
+#define MSP_FEATURE_CONFIG              36   // out message: Get feature configuration
+#define MSP_SET_FEATURE_CONFIG          37   // in message:  Set feature configuration
+#define MSP_BOARD_ALIGNMENT_CONFIG      38   // out message: Get board alignment configuration
+#define MSP_SET_BOARD_ALIGNMENT_CONFIG  39   // in message:  Set board alignment configuration
+#define MSP_CURRENT_METER_CONFIG        40   // out message: Get current meter configuration
+#define MSP_SET_CURRENT_METER_CONFIG    41   // in message:  Set current meter configuration
+#define MSP_MIXER_CONFIG                42   // out message: Get mixer configuration
+#define MSP_SET_MIXER_CONFIG            43   // in message:  Set mixer configuration
+#define MSP_RX_CONFIG                   44   // out message: Get RX configuration
+#define MSP_SET_RX_CONFIG               45   // in message:  Set RX configuration
+#define MSP_LED_COLORS                  46   // out message: Get LED colors
+#define MSP_SET_LED_COLORS              47   // in message:  Set LED colors
+#define MSP_LED_STRIP_CONFIG            48   // out message: Get LED strip configuration
+#define MSP_SET_LED_STRIP_CONFIG        49   // in message:  Set LED strip configuration
+#define MSP_RSSI_CONFIG                 50   // out message: Get RSSI configuration
+#define MSP_SET_RSSI_CONFIG             51   // in message:  Set RSSI configuration
+#define MSP_ADJUSTMENT_RANGES           52   // out message: Get adjustment ranges
+#define MSP_SET_ADJUSTMENT_RANGE        53   // in message:  Set adjustment range
+#define MSP_CF_SERIAL_CONFIG            54   // out message: Get Cleanflight serial configuration
+#define MSP_SET_CF_SERIAL_CONFIG        55   // in message:  Set Cleanflight serial configuration
+#define MSP_VOLTAGE_METER_CONFIG        56   // out message: Get voltage meter configuration
+#define MSP_SET_VOLTAGE_METER_CONFIG    57   // in message:  Set voltage meter configuration
+#define MSP_SONAR_ALTITUDE              58   // out message: Get sonar altitude [cm]
+#define MSP_PID_CONTROLLER              59   // out message: Get PID controller
+#define MSP_SET_PID_CONTROLLER          60   // in message:  Set PID controller
+#define MSP_ARMING_CONFIG               61   // out message: Get arming configuration
+#define MSP_SET_ARMING_CONFIG           62   // in message:  Set arming configuration
 
-#define MSP_MODE_RANGES                 34    //out message         Returns all mode ranges
+// Baseflight MSP commands (64-89)
-#define MSP_SET_MODE_RANGE              35    //in message          Sets a single mode range
+#define MSP_RX_MAP                      64   // out message: Get RX map (also returns number of channels total)
+#define MSP_SET_RX_MAP                  65   // in message:  Set RX map, numchannels to set comes from MSP_RX_MAP
+#define MSP_REBOOT                      68   // in message:  Reboot settings
+#define MSP_DATAFLASH_SUMMARY           70   // out message: Get description of dataflash chip
+#define MSP_DATAFLASH_READ              71   // out message: Get content of dataflash chip
+#define MSP_DATAFLASH_ERASE             72   // in message:  Erase dataflash chip
+#define MSP_FAILSAFE_CONFIG             75   // out message: Get failsafe settings
+#define MSP_SET_FAILSAFE_CONFIG         76   // in message:  Set failsafe settings
+#define MSP_RXFAIL_CONFIG               77   // out message: Get RX failsafe settings
+#define MSP_SET_RXFAIL_CONFIG           78   // in message:  Set RX failsafe settings
+#define MSP_SDCARD_SUMMARY              79   // out message: Get SD card state
+#define MSP_BLACKBOX_CONFIG             80   // out message: Get blackbox settings
+#define MSP_SET_BLACKBOX_CONFIG         81   // in message:  Set blackbox settings
+#define MSP_TRANSPONDER_CONFIG          82   // out message: Get transponder settings
+#define MSP_SET_TRANSPONDER_CONFIG      83   // in message:  Set transponder settings
+#define MSP_OSD_CONFIG                  84   // out message: Get OSD settings
+#define MSP_SET_OSD_CONFIG              85   // in message:  Set OSD settings
+#define MSP_OSD_CHAR_READ               86   // out message: Get OSD characters
+#define MSP_OSD_CHAR_WRITE              87   // in message:  Set OSD characters
+#define MSP_VTX_CONFIG                  88   // out message: Get VTX settings
+#define MSP_SET_VTX_CONFIG              89   // in message:  Set VTX settings
 
-#define MSP_FEATURE_CONFIG              36
+// Betaflight Additional Commands (90-99)
-#define MSP_SET_FEATURE_CONFIG          37
+#define MSP_ADVANCED_CONFIG             90   // out message: Get advanced configuration
+#define MSP_SET_ADVANCED_CONFIG         91   // in message:  Set advanced configuration
+#define MSP_FILTER_CONFIG               92   // out message: Get filter configuration
+#define MSP_SET_FILTER_CONFIG           93   // in message:  Set filter configuration
+#define MSP_PID_ADVANCED                94   // out message: Get advanced PID settings
+#define MSP_SET_PID_ADVANCED            95   // in message:  Set advanced PID settings
+#define MSP_SENSOR_CONFIG               96   // out message: Get sensor configuration
+#define MSP_SET_SENSOR_CONFIG           97   // in message:  Set sensor configuration
+#define MSP_CAMERA_CONTROL              98   // in/out message: Camera control
+#define MSP_SET_ARMING_DISABLED         99   // in message:  Enable/disable arming
 
-#define MSP_BOARD_ALIGNMENT_CONFIG      38
+// Multiwii original MSP commands (101-139)
-#define MSP_SET_BOARD_ALIGNMENT_CONFIG  39
+#define MSP_STATUS                      101  // out message: Cycletime & errors_count & sensor present & box activation & current setting number
+#define MSP_RAW_IMU                     102  // out message: 9 DOF
+#define MSP_SERVO                       103  // out message: Servos
+#define MSP_MOTOR                       104  // out message: Motors
+#define MSP_RC                          105  // out message: RC channels and more
+#define MSP_RAW_GPS                     106  // out message: Fix, numsat, lat, lon, alt, speed, ground course
+#define MSP_COMP_GPS                    107  // out message: Distance home, direction home
+#define MSP_ATTITUDE                    108  // out message: 2 angles 1 heading
+#define MSP_ALTITUDE                    109  // out message: Altitude, variometer
+#define MSP_ANALOG                      110  // out message: Vbat, powermetersum, rssi if available on RX
+#define MSP_RC_TUNING                   111  // out message: RC rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
+#define MSP_PID                         112  // out message: P I D coeff (9 are used currently)
+#define MSP_BOXNAMES                    116  // out message: The aux switch names
+#define MSP_PIDNAMES                    117  // out message: The PID names
+#define MSP_WP                          118  // out message: Get a WP, WP# is in the payload, returns (WP#, lat, lon, alt, flags) WP#0-home, WP#16-poshold
+#define MSP_BOXIDS                      119  // out message: Get the permanent IDs associated to BOXes
+#define MSP_SERVO_CONFIGURATIONS        120  // out message: All servo configurations
+#define MSP_NAV_STATUS                  121  // out message: Returns navigation status
+#define MSP_NAV_CONFIG                  122  // out message: Returns navigation parameters
+#define MSP_MOTOR_3D_CONFIG             124  // out message: Settings needed for reversible ESCs
+#define MSP_RC_DEADBAND                 125  // out message: Deadbands for yaw alt pitch roll
+#define MSP_SENSOR_ALIGNMENT            126  // out message: Orientation of acc,gyro,mag
+#define MSP_LED_STRIP_MODECOLOR         127  // out message: Get LED strip mode_color settings
+#define MSP_VOLTAGE_METERS              128  // out message: Voltage (per meter)
+#define MSP_CURRENT_METERS              129  // out message: Amperage (per meter)
+#define MSP_BATTERY_STATE               130  // out message: Connected/Disconnected, Voltage, Current Used
+#define MSP_MOTOR_CONFIG                131  // out message: Motor configuration (min/max throttle, etc)
+#define MSP_GPS_CONFIG                  132  // out message: GPS configuration
+#define MSP_COMPASS_CONFIG              133  // out message: Compass configuration
+#define MSP_ESC_SENSOR_DATA             134  // out message: Extra ESC data from 32-Bit ESCs (Temperature, RPM)
+#define MSP_GPS_RESCUE                  135  // out message: GPS Rescue angle, returnAltitude, descentDistance, groundSpeed, sanityChecks and minSats
+#define MSP_GPS_RESCUE_PIDS             136  // out message: GPS Rescue throttleP and velocity PIDS + yaw P
+#define MSP_VTXTABLE_BAND               137  // out message: VTX table band/channel data
+#define MSP_VTXTABLE_POWERLEVEL         138  // out message: VTX table powerLevel data
+#define MSP_MOTOR_TELEMETRY             139  // out message: Per-motor telemetry data (RPM, packet stats, ESC temp, etc.)
 
-#define MSP_CURRENT_METER_CONFIG        40
+// Simplified tuning commands (140-145)
-#define MSP_SET_CURRENT_METER_CONFIG    41
+#define MSP_SIMPLIFIED_TUNING           140  // out message: Get simplified tuning values and enabled state
+#define MSP_SET_SIMPLIFIED_TUNING       141  // in message:  Set simplified tuning positions and apply calculated tuning
+#define MSP_CALCULATE_SIMPLIFIED_PID    142  // out message: Calculate PID values based on sliders without saving
+#define MSP_CALCULATE_SIMPLIFIED_GYRO   143  // out message: Calculate gyro filter values based on sliders without saving
+#define MSP_CALCULATE_SIMPLIFIED_DTERM  144  // out message: Calculate D term filter values based on sliders without saving
+#define MSP_VALIDATE_SIMPLIFIED_TUNING  145  // out message: Returns array of true/false showing which simplified tuning groups match values
 
-#define MSP_MIXER_CONFIG                42
+// Additional non-MultiWii commands (150-166)
-#define MSP_SET_MIXER_CONFIG            43
+#define MSP_STATUS_EX                   150  // out message: Cycletime, errors_count, CPU load, sensor present etc
+#define MSP_UID                         160  // out message: Unique device ID
+#define MSP_GPSSVINFO                   164  // out message: Get Signal Strength (only U-Blox)
+#define MSP_GPSSTATISTICS               166  // out message: Get GPS debugging data
 
-#define MSP_RX_CONFIG                   44
+// OSD specific commands (180-189)
-#define MSP_SET_RX_CONFIG               45
+#define MSP_OSD_VIDEO_CONFIG            180  // out message: Get OSD video settings
+#define MSP_SET_OSD_VIDEO_CONFIG        181  // in message:  Set OSD video settings
+#define MSP_DISPLAYPORT                 182  // out message: External OSD displayport mode
+#define MSP_COPY_PROFILE                183  // in message:  Copy settings between profiles
+#define MSP_BEEPER_CONFIG               184  // out message: Get beeper configuration
+#define MSP_SET_BEEPER_CONFIG           185  // in message:  Set beeper configuration
+#define MSP_SET_TX_INFO                 186  // in message:  Set runtime information from TX lua scripts
+#define MSP_TX_INFO                     187  // out message: Get runtime information for TX lua scripts
+#define MSP_SET_OSD_CANVAS              188  // in message:  Set OSD canvas size COLSxROWS
+#define MSP_OSD_CANVAS                  189  // out message: Get OSD canvas size COLSxROWS
 
-#define MSP_LED_COLORS                  46
+// Set commands (200-229)
-#define MSP_SET_LED_COLORS              47
+#define MSP_SET_RAW_RC                  200  // in message:  8 rc chan
+#define MSP_SET_RAW_GPS                 201  // in message:  Fix, numsat, lat, lon, alt, speed
+#define MSP_SET_PID                     202  // in message:  P I D coeff (9 are used currently)
+#define MSP_SET_RC_TUNING               204  // in message:  RC rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID, yaw expo
+#define MSP_ACC_CALIBRATION             205  // in message:  No param - calibrate accelerometer
+#define MSP_MAG_CALIBRATION             206  // in message:  No param - calibrate magnetometer
+#define MSP_RESET_CONF                  208  // in message:  No param - reset settings
+#define MSP_SET_WP                      209  // in message:  Sets a given WP (WP#,lat, lon, alt, flags)
+#define MSP_SELECT_SETTING              210  // in message:  Select setting number (0-2)
+#define MSP_SET_HEADING                 211  // in message:  Define a new heading hold direction
+#define MSP_SET_SERVO_CONFIGURATION     212  // in message:  Servo settings
+#define MSP_SET_MOTOR                   214  // in message:  PropBalance function
+#define MSP_SET_NAV_CONFIG              215  // in message:  Sets nav config parameters
+#define MSP_SET_MOTOR_3D_CONFIG         217  // in message:  Settings needed for reversible ESCs
+#define MSP_SET_RC_DEADBAND             218  // in message:  Deadbands for yaw alt pitch roll
+#define MSP_SET_RESET_CURR_PID          219  // in message:  Reset current PID profile to defaults
+#define MSP_SET_SENSOR_ALIGNMENT        220  // in message:  Set the orientation of acc,gyro,mag
+#define MSP_SET_LED_STRIP_MODECOLOR     221  // in message:  Set LED strip mode_color settings
+#define MSP_SET_MOTOR_CONFIG            222  // in message:  Motor configuration (min/max throttle, etc)
+#define MSP_SET_GPS_CONFIG              223  // in message:  GPS configuration
+#define MSP_SET_COMPASS_CONFIG          224  // in message:  Compass configuration
+#define MSP_SET_GPS_RESCUE              225  // in message:  Set GPS Rescue parameters
+#define MSP_SET_GPS_RESCUE_PIDS         226  // in message:  Set GPS Rescue PID values
+#define MSP_SET_VTXTABLE_BAND           227  // in message:  Set vtxTable band/channel data
+#define MSP_SET_VTXTABLE_POWERLEVEL     228  // in message:  Set vtxTable powerLevel data
 
-#define MSP_LED_STRIP_CONFIG            48
+// Multiple MSP and special commands (230-255)
-#define MSP_SET_LED_STRIP_CONFIG        49
+#define MSP_MULTIPLE_MSP                230  // out message: Request multiple MSPs in one request
-
+#define MSP_MODE_RANGES_EXTRA           238  // out message: Extra mode range data
-#define MSP_RSSI_CONFIG                 50
+#define MSP_SET_ACC_TRIM                239  // in message:  Set acc angle trim values
-#define MSP_SET_RSSI_CONFIG             51
+#define MSP_ACC_TRIM                    240  // out message: Get acc angle trim values
-
+#define MSP_SERVO_MIX_RULES             241  // out message: Get servo mixer configuration
-#define MSP_ADJUSTMENT_RANGES           52
+#define MSP_SET_SERVO_MIX_RULE          242  // in message:  Set servo mixer configuration
-#define MSP_SET_ADJUSTMENT_RANGE        53
+#define MSP_SET_PASSTHROUGH             245  // in message:  Set passthrough to peripherals
-
+#define MSP_SET_RTC                     246  // in message:  Set the RTC clock
-// private - only to be used by the configurator, the commands are likely to change
+#define MSP_RTC                         247  // out message: Get the RTC clock
-#define MSP_CF_SERIAL_CONFIG            54
+#define MSP_SET_BOARD_INFO              248  // in message:  Set the board information
-#define MSP_SET_CF_SERIAL_CONFIG        55
+#define MSP_SET_SIGNATURE               249  // in message:  Set the signature of the board and serial number
-
+#define MSP_EEPROM_WRITE                250  // in message:  Write settings to EEPROM
-#define MSP_VOLTAGE_METER_CONFIG        56
+#define MSP_RESERVE_1                   251  // reserved for system usage
-#define MSP_SET_VOLTAGE_METER_CONFIG    57
+#define MSP_RESERVE_2                   252  // reserved for system usage
-
+#define MSP_DEBUGMSG                    253  // out message: debug string buffer
-#define MSP_SONAR_ALTITUDE              58 //out message get sonar altitude [cm]
+#define MSP_DEBUG                       254  // out message: debug1,debug2,debug3,debug4
-
+#define MSP_V2_FRAME                    255  // MSPv2 payload indicator
-#define MSP_PID_CONTROLLER              59
-#define MSP_SET_PID_CONTROLLER          60
-
-#define MSP_ARMING_CONFIG               61
-#define MSP_SET_ARMING_CONFIG           62
-
-//
-// Baseflight MSP commands (if enabled they exist in Cleanflight)
-//
-#define MSP_RX_MAP                      64 //out message get channel map (also returns number of channels total)
-#define MSP_SET_RX_MAP                  65 //in message set rx map, numchannels to set comes from MSP_RX_MAP
-
-// DEPRECATED - DO NOT USE "MSP_BF_CONFIG" and MSP_SET_BF_CONFIG.  In Cleanflight, isolated commands already exist and should be used instead.
-// DEPRECATED - #define MSP_BF_CONFIG                   66 //out message baseflight-specific settings that aren't covered elsewhere
-// DEPRECATED - #define MSP_SET_BF_CONFIG               67 //in message baseflight-specific settings save
-
-#define MSP_REBOOT                      68 //in message reboot settings
-
-// Use MSP_BUILD_INFO instead
-// DEPRECATED - #define MSP_BF_BUILD_INFO               69 //out message build date as well as some space for future expansion
-
-#define MSP_DATAFLASH_SUMMARY           70 //out message - get description of dataflash chip
-#define MSP_DATAFLASH_READ              71 //out message - get content of dataflash chip
-#define MSP_DATAFLASH_ERASE             72 //in message - erase dataflash chip
-
-// No-longer needed
-// DEPRECATED - #define MSP_LOOP_TIME                   73 //out message         Returns FC cycle time i.e looptime parameter // DEPRECATED
-// DEPRECATED - #define MSP_SET_LOOP_TIME               74 //in message          Sets FC cycle time i.e looptime parameter    // DEPRECATED
-
-#define MSP_FAILSAFE_CONFIG             75 //out message         Returns FC Fail-Safe settings
-#define MSP_SET_FAILSAFE_CONFIG         76 //in message          Sets FC Fail-Safe settings
-
-#define MSP_RXFAIL_CONFIG               77 //out message         Returns RXFAIL settings
-#define MSP_SET_RXFAIL_CONFIG           78 //in message          Sets RXFAIL settings
-
-#define MSP_SDCARD_SUMMARY              79 //out message         Get the state of the SD card
-
-#define MSP_BLACKBOX_CONFIG             80 //out message         Get blackbox settings
-#define MSP_SET_BLACKBOX_CONFIG         81 //in message          Set blackbox settings
-
-#define MSP_TRANSPONDER_CONFIG          82 //out message         Get transponder settings
-#define MSP_SET_TRANSPONDER_CONFIG      83 //in message          Set transponder settings
-
-#define MSP_OSD_CONFIG                  84 //out message         Get osd settings - betaflight
-#define MSP_SET_OSD_CONFIG              85 //in message          Set osd settings - betaflight
-
-#define MSP_OSD_CHAR_READ               86 //out message         Get osd settings - betaflight
-#define MSP_OSD_CHAR_WRITE              87 //in message          Set osd settings - betaflight
-
-#define MSP_VTX_CONFIG                  88 //out message         Get vtx settings - betaflight
-#define MSP_SET_VTX_CONFIG              89 //in message          Set vtx settings - betaflight
-
-// Betaflight Additional Commands
-#define MSP_ADVANCED_CONFIG             90
-#define MSP_SET_ADVANCED_CONFIG         91
-
-#define MSP_FILTER_CONFIG               92
-#define MSP_SET_FILTER_CONFIG           93
-
-#define MSP_PID_ADVANCED                94
-#define MSP_SET_PID_ADVANCED            95
-
-#define MSP_SENSOR_CONFIG               96
-#define MSP_SET_SENSOR_CONFIG           97
-
-#define MSP_CAMERA_CONTROL              98
-
-#define MSP_SET_ARMING_DISABLED         99
-
-//
-// OSD specific
-//
-#define MSP_OSD_VIDEO_CONFIG            180
-#define MSP_SET_OSD_VIDEO_CONFIG        181
-
-// External OSD displayport mode messages
-#define MSP_DISPLAYPORT                 182
-
-#define MSP_COPY_PROFILE                183
-
-#define MSP_BEEPER_CONFIG               184
-#define MSP_SET_BEEPER_CONFIG           185
-
-#define MSP_SET_TX_INFO                 186 // in message           Used to send runtime information from TX lua scripts to the firmware
-#define MSP_TX_INFO                     187 // out message          Used by TX lua scripts to read information from the firmware
-
-#define MSP_SET_OSD_CANVAS              188 // in message           Set osd canvas size COLSxROWS
-#define MSP_OSD_CANVAS                  189 // out message          Get osd canvas size COLSxROWS
-
-//
-// Multwii original MSP commands
-//
-
-// See MSP_API_VERSION and MSP_MIXER_CONFIG
-//DEPRECATED - #define MSP_IDENT                100    //out message         mixerMode + multiwii version + protocol version + capability variable
-
-#define MSP_STATUS               101    //out message         cycletime & errors_count & sensor present & box activation & current setting number
-#define MSP_RAW_IMU              102    //out message         9 DOF
-#define MSP_SERVO                103    //out message         servos
-#define MSP_MOTOR                104    //out message         motors
-#define MSP_RC                   105    //out message         rc channels and more
-#define MSP_RAW_GPS              106    //out message         fix, numsat, lat, lon, alt, speed, ground course
-#define MSP_COMP_GPS             107    //out message         distance home, direction home
-#define MSP_ATTITUDE             108    //out message         2 angles 1 heading
-#define MSP_ALTITUDE             109    //out message         altitude, variometer
-#define MSP_ANALOG               110    //out message         vbat, powermetersum, rssi if available on RX
-#define MSP_RC_TUNING            111    //out message         rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID
-#define MSP_PID                  112    //out message         P I D coeff (9 are used currently)
-// Legacy Multiicommand that was never used.
-//DEPRECATED - #define MSP_BOX                  113    //out message         BOX setup (number is dependant of your setup)
-// Legacy command that was under constant change due to the naming vagueness, avoid at all costs - use more specific commands instead.
-//DEPRECATED - #define MSP_MISC                 114    //out message         powermeter trig
-// Legacy Multiicommand that was never used and always wrong
-//DEPRECATED - #define MSP_MOTOR_PINS           115    //out message         which pins are in use for motors & servos, for GUI
-#define MSP_BOXNAMES             116    //out message         the aux switch names
-#define MSP_PIDNAMES             117    //out message         the PID names
-#define MSP_WP                   118    //out message         get a WP, WP# is in the payload, returns (WP#, lat, lon, alt, flags) WP#0-home, WP#16-poshold
-#define MSP_BOXIDS               119    //out message         get the permanent IDs associated to BOXes
-#define MSP_SERVO_CONFIGURATIONS 120    //out message         All servo configurations.
-#define MSP_NAV_STATUS           121    //out message         Returns navigation status
-#define MSP_NAV_CONFIG           122    //out message         Returns navigation parameters
-#define MSP_MOTOR_3D_CONFIG      124    //out message         Settings needed for reversible ESCs
-#define MSP_RC_DEADBAND          125    //out message         deadbands for yaw alt pitch roll
-#define MSP_SENSOR_ALIGNMENT     126    //out message         orientation of acc,gyro,mag
-#define MSP_LED_STRIP_MODECOLOR  127    //out message         Get LED strip mode_color settings
-#define MSP_VOLTAGE_METERS       128    //out message         Voltage (per meter)
-#define MSP_CURRENT_METERS       129    //out message         Amperage (per meter)
-#define MSP_BATTERY_STATE        130    //out message         Connected/Disconnected, Voltage, Current Used
-#define MSP_MOTOR_CONFIG         131    //out message         Motor configuration (min/max throttle, etc)
-#define MSP_GPS_CONFIG           132    //out message         GPS configuration
-#define MSP_COMPASS_CONFIG       133    //out message         Compass configuration
-#define MSP_ESC_SENSOR_DATA      134    //out message         Extra ESC data from 32-Bit ESCs (Temperature, RPM)
-#define MSP_GPS_RESCUE           135    //out message         GPS Rescue angle, returnAltitude, descentDistance, groundSpeed, sanityChecks and minSats
-#define MSP_GPS_RESCUE_PIDS      136    //out message         GPS Rescue throttleP and velocity PIDS + yaw P
-#define MSP_VTXTABLE_BAND        137    //out message         vtxTable band/channel data
-#define MSP_VTXTABLE_POWERLEVEL  138    //out message         vtxTable powerLevel data
-#define MSP_MOTOR_TELEMETRY      139    //out message         Per-motor telemetry data (RPM, packet stats, ESC temp, etc.)
-
-#define MSP_SIMPLIFIED_TUNING             140    //out message    Simplified tuning values and enabled state
-#define MSP_SET_SIMPLIFIED_TUNING         141    //in message     Set simplified tuning positions and apply the calculated tuning
-#define MSP_CALCULATE_SIMPLIFIED_PID      142    //out message    Requests calculations of PID values based on sliders. Sends the calculated values back. But don't save anything to the firmware
-#define MSP_CALCULATE_SIMPLIFIED_GYRO     143    //out message    Requests calculations of gyro filter values based on sliders. Sends the calculated values back. But don't save anything to the firmware
-#define MSP_CALCULATE_SIMPLIFIED_DTERM    144    //out message    Requests calculations of gyro filter values based on sliders. Sends the calculated values back. But don't save anything to the firmware
-#define MSP_VALIDATE_SIMPLIFIED_TUNING    145    //out message    Returns an array of true/false showing which simpligfied tuning groups are matching with value and which are not
-
-#define MSP_SET_RAW_RC           200    //in message          8 rc chan
-#define MSP_SET_RAW_GPS          201    //in message          fix, numsat, lat, lon, alt, speed
-#define MSP_SET_PID              202    //in message          P I D coeff (9 are used currently)
-// Legacy multiiwii command that was never used.
-//DEPRECATED - #define MSP_SET_BOX              203    //in message          BOX setup (number is dependant of your setup)
-#define MSP_SET_RC_TUNING        204    //in message          rc rate, rc expo, rollpitch rate, yaw rate, dyn throttle PID, yaw expo
-#define MSP_ACC_CALIBRATION      205    //in message          no param
-#define MSP_MAG_CALIBRATION      206    //in message          no param
-// Legacy command that was under constant change due to the naming vagueness, avoid at all costs - use more specific commands instead.
-//DEPRECATED - #define MSP_SET_MISC             207    //in message          powermeter trig + 8 free for future use
-#define MSP_RESET_CONF           208    //in message          no param
-#define MSP_SET_WP               209    //in message          sets a given WP (WP#,lat, lon, alt, flags)
-#define MSP_SELECT_SETTING       210    //in message          Select Setting Number (0-2)
-#define MSP_SET_HEADING          211    //in message          define a new heading hold direction
-#define MSP_SET_SERVO_CONFIGURATION 212    //in message          Servo settings
-#define MSP_SET_MOTOR            214    //in message          PropBalance function
-#define MSP_SET_NAV_CONFIG       215    //in message          Sets nav config parameters - write to the eeprom
-#define MSP_SET_MOTOR_3D_CONFIG  217    //in message          Settings needed for reversible ESCs
-#define MSP_SET_RC_DEADBAND      218    //in message          deadbands for yaw alt pitch roll
-#define MSP_SET_RESET_CURR_PID   219    //in message          resetting the current pid profile to defaults
-#define MSP_SET_SENSOR_ALIGNMENT 220    //in message          set the orientation of the acc,gyro,mag
-#define MSP_SET_LED_STRIP_MODECOLOR 221 //in  message         Set LED strip mode_color settings
-#define MSP_SET_MOTOR_CONFIG     222    //out message         Motor configuration (min/max throttle, etc)
-#define MSP_SET_GPS_CONFIG       223    //out message         GPS configuration
-#define MSP_SET_COMPASS_CONFIG   224    //out message         Compass configuration
-#define MSP_SET_GPS_RESCUE       225    //in message          GPS Rescue angle, returnAltitude, descentDistance, groundSpeed and sanityChecks
-#define MSP_SET_GPS_RESCUE_PIDS  226    //in message          GPS Rescue throttleP and velocity PIDS + yaw P
-#define MSP_SET_VTXTABLE_BAND    227    //in message          set vtxTable band/channel data (one band at a time)
-#define MSP_SET_VTXTABLE_POWERLEVEL 228 //in message          set vtxTable powerLevel data (one powerLevel at a time)
-
-// #define MSP_BIND                 240    //in message          no param
-// #define MSP_ALARMS               242
-
-#define MSP_EEPROM_WRITE         250    //in message          no param
-#define MSP_RESERVE_1            251    //reserved for system usage
-#define MSP_RESERVE_2            252    //reserved for system usage
-#define MSP_DEBUGMSG             253    //out message         debug string buffer
-#define MSP_DEBUG                254    //out message         debug1,debug2,debug3,debug4
-#define MSP_V2_FRAME             255    //MSPv2 payload indicator
-
-// Additional commands that are not compatible with MultiWii
-#define MSP_STATUS_EX            150    //out message         cycletime, errors_count, CPU load, CPU temperature, sensor present etc
-#define MSP_UID                  160    //out message         Unique device ID
-#define MSP_GPSSVINFO            164    //out message         get Signal Strength (only U-Blox)
-#define MSP_GPSSTATISTICS        166    //out message         get GPS debugging data
-#define MSP_MULTIPLE_MSP         230    //out message         request multiple MSPs in one request - limit is the TX buffer; returns each MSP in the order they were requested starting with length of MSP; MSPs with input arguments are not supported
-#define MSP_MODE_RANGES_EXTRA    238    //out message         Reads the extra mode range data
-#define MSP_ACC_TRIM             240    //out message         get acc angle trim values
-#define MSP_SET_ACC_TRIM         239    //in message          set acc angle trim values
-#define MSP_SERVO_MIX_RULES      241    //out message         Returns servo mixer configuration
-#define MSP_SET_SERVO_MIX_RULE   242    //in message          Sets servo mixer configuration
-#define MSP_SET_PASSTHROUGH      245    //in message          Sets up passthrough to different peripherals (4way interface, uart, etc...)
-#define MSP_SET_RTC              246    //in message          Sets the RTC clock
-#define MSP_RTC                  247    //out message         Gets the RTC clock
-#define MSP_SET_BOARD_INFO       248    //in message          Sets the board information for this board
-#define MSP_SET_SIGNATURE        249    //in message          Sets the signature of the board and serial number

src/main/msp/msp_protocol_v2_betaflight.h

@@ -30,6 +30,7 @@
 #define MSP2_SET_LED_STRIP_CONFIG_VALUES    0x3009
 #define MSP2_SENSOR_CONFIG_ACTIVE           0x300A
 #define MSP2_SENSOR_OPTICALFLOW             0x300B
+#define MSP2_MCU_INFO                       0x300C
 
 // MSP2_SET_TEXT and MSP2_GET_TEXT variable types
 #define MSP2TEXT_PILOT_NAME                      1

src/main/osd/osd_elements.c

@@ -1074,16 +1074,21 @@ static void osdElementFlymode(osdElementParms_t *element)
         strcpy(element->buff, "HEAD");
     } else if (FLIGHT_MODE(PASSTHRU_MODE)) {
         strcpy(element->buff, "PASS");
-    } else if (FLIGHT_MODE(ALT_HOLD_MODE)) {
-        strcpy(element->buff, "ALTH");
     } else if (FLIGHT_MODE(POS_HOLD_MODE)) {
         strcpy(element->buff, "POSH");
+    } else if (FLIGHT_MODE(ALT_HOLD_MODE)) {
+        strcpy(element->buff, "ALTH");
     } else if (FLIGHT_MODE(ANGLE_MODE)) {
         strcpy(element->buff, "ANGL");
     } else if (FLIGHT_MODE(HORIZON_MODE)) {
         strcpy(element->buff, "HOR ");
     } else if (IS_RC_MODE_ACTIVE(BOXACROTRAINER)) {
         strcpy(element->buff, "ATRN");
+#ifdef USE_CHIRP
+    // the additional check for pidChirpIsFinished() is to have visual feedback for user that don't have warnings enabled in their googles
+    } else if (FLIGHT_MODE(CHIRP_MODE) && !pidChirpIsFinished()) {
+#endif
+        strcpy(element->buff, "CHIR");
     } else if (isAirmodeEnabled()) {
         strcpy(element->buff, "AIR ");
     } else {
@@ -2123,6 +2128,9 @@ void osdAddActiveElements(void)
 
 static bool osdDrawSingleElement(displayPort_t *osdDisplayPort, uint8_t item)
 {
+    // By default mark the element as rendered in case it's in the off blink state
+    activeElement.rendered = true;
+
     if (!osdElementDrawFunction[item]) {
         // Element has no drawing function
         return true;
@@ -2143,7 +2151,6 @@ static bool osdDrawSingleElement(displayPort_t *osdDisplayPort, uint8_t item)
     activeElement.buff = elementBuff;
     activeElement.osdDisplayPort = osdDisplayPort;
     activeElement.drawElement = true;
-    activeElement.rendered = true;
     activeElement.attr = DISPLAYPORT_SEVERITY_NORMAL;
 
     // Call the element drawing function
@@ -2267,14 +2274,13 @@ bool osdDrawNextActiveElement(displayPort_t *osdDisplayPort)
     // Only advance to the next element if rendering is complete
     if (osdDrawSingleElement(osdDisplayPort, item)) {
         // If rendering is complete then advance to the next element
-        if (activeElement.rendered) {
-            // Prepare to render the background of the next element
-            backgroundRendered = false;
 
-            if (++activeElementNumber >= activeOsdElementCount) {
+        // Prepare to render the background of the next element
-                activeElementNumber = 0;
+        backgroundRendered = false;
-                return false;
+
-            }
+        if (++activeElementNumber >= activeOsdElementCount) {
+            activeElementNumber = 0;
+            return false;
         }
     }
 

src/main/osd/osd_warnings.c

@@ -432,6 +432,16 @@ void renderOsdWarning(char *warningText, bool *blinking, uint8_t *displayAttr)
         return;
     }
 
+#ifdef USE_CHIRP
+    // Visual info that chirp excitation is finished
+    if (pidChirpIsFinished()) {
+        tfp_sprintf(warningText, "CHIRP EXC FINISHED");
+        *displayAttr = DISPLAYPORT_SEVERITY_INFO;
+        *blinking = true;
+        return;
+    }
+#endif // USE_CHIRP
+
 }
 
 #endif // USE_OSD

src/main/pg/gps.c

@@ -32,7 +32,11 @@
 PG_REGISTER_WITH_RESET_TEMPLATE(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 4);
 
 PG_RESET_TEMPLATE(gpsConfig_t, gpsConfig,
+#if defined(SIMULATOR_BUILD) && defined(USE_VIRTUAL_GPS)
+    .provider = GPS_VIRTUAL,
+#else
     .provider = GPS_UBLOX,
+#endif
     .sbasMode = SBAS_NONE,
     .autoConfig = GPS_AUTOCONFIG_ON,
     .autoBaud = GPS_AUTOBAUD_OFF,

src/main/pg/gyrodev.c

@@ -24,6 +24,7 @@
 #include "platform.h"
 
 #include "common/sensor_alignment.h"
+#include "common/sensor_alignment_impl.h"
 
 #include "pg/pg.h"
 #include "pg/pg_ids.h"
@@ -67,13 +68,67 @@
 
 // gyro alignments
 
+#if defined(GYRO_1_ALIGN_ROLL) || defined(GYRO_1_ALIGN_PITCH) || defined(GYRO_1_ALIGN_YAW)
+#ifndef GYRO_1_ALIGN_ROLL
+#define GYRO_1_ALIGN_ROLL 0
+#endif
+#ifndef GYRO_1_ALIGN_PITCH
+#define GYRO_1_ALIGN_PITCH 0
+#endif
+#ifndef GYRO_1_ALIGN_YAW
+#define GYRO_1_ALIGN_YAW 0
+#endif
+#ifndef GYRO_1_CUSTOM_ALIGN 
+#define GYRO_1_CUSTOM_ALIGN     SENSOR_ALIGNMENT( GYRO_1_ALIGN_ROLL / 10, GYRO_1_ALIGN_PITCH / 10, GYRO_1_ALIGN_YAW / 10 )
+#else
+#error "GYRO_1_ALIGN_x and GYRO_1_CUSTOM_ALIGN are mutually exclusive"
+#endif
+#endif // GYRO_1_ALIGN_ROLL || GYRO_1_ALIGN_PITCH || GYRO_1_ALIGN_YAW
+
+#if defined(GYRO_2_ALIGN_ROLL) || defined(GYRO_2_ALIGN_PITCH) || defined(GYRO_2_ALIGN_YAW)
+#ifndef GYRO_2_ALIGN_ROLL
+#define GYRO_2_ALIGN_ROLL 0
+#endif
+#ifndef GYRO_2_ALIGN_PITCH
+#define GYRO_2_ALIGN_PITCH 0
+#endif
+#ifndef GYRO_2_ALIGN_YAW
+#define GYRO_2_ALIGN_YAW 0
+#endif
+#ifndef GYRO_2_CUSTOM_ALIGN
+#define GYRO_2_CUSTOM_ALIGN     SENSOR_ALIGNMENT( GYRO_2_ALIGN_ROLL / 10, GYRO_2_ALIGN_PITCH / 10, GYRO_2_ALIGN_YAW / 10 )
+#else
+#error "GYRO_2_ALIGN_x and GYRO_2_CUSTOM_ALIGN are mutually exclusive"
+#endif
+#endif // GYRO_2_ALIGN_ROLL || GYRO_2_ALIGN_PITCH || GYRO_2_ALIGN_YAW
+
 #ifndef GYRO_1_ALIGN
+#ifdef GYRO_1_CUSTOM_ALIGN
+#define GYRO_1_ALIGN            ALIGN_CUSTOM
+#else
 #define GYRO_1_ALIGN            CW0_DEG
 #endif
+#endif // GYRO_1_ALIGN
+
+#ifndef GYRO_1_CUSTOM_ALIGN
+#define GYRO_1_CUSTOM_ALIGN     SENSOR_ALIGNMENT_FROM_STD(GYRO_1_ALIGN)
+#else
+STATIC_ASSERT(GYRO_1_ALIGN == ALIGN_CUSTOM, "GYRO_1_ALIGN and GYRO_1_CUSTOM_ALIGN mixed");
+#endif // GYRO_1_CUSTOM_ALIGN
 
 #ifndef GYRO_2_ALIGN
+#ifdef GYRO_2_CUSTOM_ALIGN
+#define GYRO_2_ALIGN            ALIGN_CUSTOM
+#else
 #define GYRO_2_ALIGN            CW0_DEG
 #endif
+#endif // GYRO_2_ALIGN
+
+#ifndef GYRO_2_CUSTOM_ALIGN
+#define GYRO_2_CUSTOM_ALIGN     SENSOR_ALIGNMENT_FROM_STD(GYRO_2_ALIGN)
+#else
+STATIC_ASSERT(GYRO_2_ALIGN == ALIGN_CUSTOM, "GYRO_2_ALIGN and GYRO_2_CUSTOM_ALIGN mixed");
+#endif // GYRO_2_CUSTOM_ALIGN
 
 #if defined(USE_SPI_GYRO) && (defined(GYRO_1_SPI_INSTANCE) || defined(GYRO_2_SPI_INSTANCE))
 static void gyroResetSpiDeviceConfig(gyroDeviceConfig_t *devconf, SPI_TypeDef *instance, ioTag_t csnTag, ioTag_t extiTag, ioTag_t clkInTag, uint8_t alignment, sensorAlignment_t customAlignment)
@@ -105,32 +160,18 @@ PG_REGISTER_ARRAY_WITH_RESET_FN(gyroDeviceConfig_t, MAX_GYRODEV_COUNT, gyroDevic
 void pgResetFn_gyroDeviceConfig(gyroDeviceConfig_t *devconf)
 {
     devconf[0].index = 0;
-    sensorAlignment_t customAlignment1 = CUSTOM_ALIGN_CW0_DEG;
-#ifdef GYRO_1_CUSTOM_ALIGN
-    customAlignment1 = GYRO_1_CUSTOM_ALIGN;
-#else
-    buildAlignmentFromStandardAlignment(&customAlignment1, GYRO_1_ALIGN);
-#endif // GYRO_1_CUSTOM_ALIGN
-
     // All multi-gyro boards use SPI based gyros.
 #ifdef USE_SPI_GYRO
 #ifdef GYRO_1_SPI_INSTANCE
-    gyroResetSpiDeviceConfig(&devconf[0], GYRO_1_SPI_INSTANCE, IO_TAG(GYRO_1_CS_PIN), IO_TAG(GYRO_1_EXTI_PIN), IO_TAG(GYRO_1_CLKIN_PIN), GYRO_1_ALIGN, customAlignment1);
+    gyroResetSpiDeviceConfig(&devconf[0], GYRO_1_SPI_INSTANCE, IO_TAG(GYRO_1_CS_PIN), IO_TAG(GYRO_1_EXTI_PIN), IO_TAG(GYRO_1_CLKIN_PIN), GYRO_1_ALIGN, GYRO_1_CUSTOM_ALIGN);
 #else
     devconf[0].busType = BUS_TYPE_NONE;
 #endif
 #ifdef USE_MULTI_GYRO
     devconf[1].index = 1;
-    sensorAlignment_t customAlignment2 = CUSTOM_ALIGN_CW0_DEG;
-#ifdef GYRO_2_CUSTOM_ALIGN
-    customAlignment2 = GYRO_2_CUSTOM_ALIGN;
-#else
-    buildAlignmentFromStandardAlignment(&customAlignment2, GYRO_2_ALIGN);
-#endif // GYRO_2_CUSTOM_ALIGN
-
 #ifdef GYRO_2_SPI_INSTANCE
     // TODO: CLKIN gyro 2 on separate pin is not supported yet. need to implement it
-    gyroResetSpiDeviceConfig(&devconf[1], GYRO_2_SPI_INSTANCE, IO_TAG(GYRO_2_CS_PIN), IO_TAG(GYRO_2_EXTI_PIN), IO_TAG(GYRO_2_CLKIN_PIN), GYRO_2_ALIGN, customAlignment2);
+    gyroResetSpiDeviceConfig(&devconf[1], GYRO_2_SPI_INSTANCE, IO_TAG(GYRO_2_CS_PIN), IO_TAG(GYRO_2_EXTI_PIN), IO_TAG(GYRO_2_CLKIN_PIN), GYRO_2_ALIGN, GYRO_2_CUSTOM_ALIGN);
 #else
     devconf[1].busType = BUS_TYPE_NONE;
 #endif

src/main/sensors/acceleration.h

@@ -50,6 +50,7 @@ typedef enum {
     ACC_BMI270,
     ACC_LSM6DSO,
     ACC_LSM6DSV16X,
+    ACC_IIM42653,
     ACC_VIRTUAL
 } accelerationSensor_e;
 

src/main/sensors/acceleration_init.c

@@ -216,9 +216,10 @@ retry:
         FALLTHROUGH;
 #endif
 
-#if defined(USE_ACC_SPI_ICM42605) || defined(USE_ACC_SPI_ICM42688P)
+#if defined(USE_ACC_SPI_ICM42605) || defined(USE_ACC_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653)
     case ACC_ICM42605:
     case ACC_ICM42688P:
+    case ACC_IIM42653:
         if (icm426xxSpiAccDetect(dev)) {
             switch (dev->mpuDetectionResult.sensor) {
             case ICM_42605_SPI:
@@ -227,6 +228,9 @@ retry:
             case ICM_42688P_SPI:
                 accHardware = ACC_ICM42688P;
                 break;
+            case IIM_42653_SPI:
+                accHardware = ACC_IIM42653;
+                break;
             default:
                 accHardware = ACC_NONE;
                 break;

src/main/sensors/compass.c

@@ -158,7 +158,11 @@ void compassPreInit(void)
 #if !defined(SIMULATOR_BUILD)
 bool compassDetect(magDev_t *magDev, uint8_t *alignment)
 {
-    *alignment = ALIGN_DEFAULT;  // may be overridden if target specifies MAG_*_ALIGN
+#ifdef MAG_ALIGN
+    *alignment = MAG_ALIGN;
+#else
+    *alignment = ALIGN_DEFAULT;
+#endif
 
     magSensor_e magHardware = MAG_NONE;
 
@@ -221,9 +225,6 @@ bool compassDetect(magDev_t *magDev, uint8_t *alignment)
         }
 
         if (hmc5883lDetect(magDev)) {
-#ifdef MAG_HMC5883_ALIGN
-            *alignment = MAG_HMC5883_ALIGN;
-#endif
             magHardware = MAG_HMC5883;
             break;
         }
@@ -237,9 +238,6 @@ bool compassDetect(magDev_t *magDev, uint8_t *alignment)
         }
 
         if (lis2mdlDetect(magDev)) {
-#ifdef MAG_LIS3MDL_ALIGN
-            *alignment = MAG_LIS2MDL_ALIGN;
-#endif
             magHardware = MAG_LIS2MDL;
             break;
         }
@@ -253,9 +251,6 @@ bool compassDetect(magDev_t *magDev, uint8_t *alignment)
         }
 
         if (lis3mdlDetect(magDev)) {
-#ifdef MAG_LIS3MDL_ALIGN
-            *alignment = MAG_LIS3MDL_ALIGN;
-#endif
             magHardware = MAG_LIS3MDL;
             break;
         }
@@ -269,9 +264,6 @@ bool compassDetect(magDev_t *magDev, uint8_t *alignment)
         }
 
         if (ak8975Detect(magDev)) {
-#ifdef MAG_AK8975_ALIGN
-            *alignment = MAG_AK8975_ALIGN;
-#endif
             magHardware = MAG_AK8975;
             break;
         }
@@ -290,9 +282,6 @@ bool compassDetect(magDev_t *magDev, uint8_t *alignment)
         }
 
         if (ak8963Detect(magDev)) {
-#ifdef MAG_AK8963_ALIGN
-            *alignment = MAG_AK8963_ALIGN;
-#endif
             magHardware = MAG_AK8963;
             break;
         }
@@ -306,9 +295,6 @@ bool compassDetect(magDev_t *magDev, uint8_t *alignment)
         }
 
         if (qmc5883lDetect(magDev)) {
-#ifdef MAG_QMC5883L_ALIGN
-            *alignment = MAG_QMC5883L_ALIGN;
-#endif
             magHardware = MAG_QMC5883;
             break;
         }
@@ -322,9 +308,6 @@ bool compassDetect(magDev_t *magDev, uint8_t *alignment)
         }
 
         if (ist8310Detect(magDev)) {
-#ifdef MAG_IST8310_ALIGN
-            *alignment = MAG_IST8310_ALIGN;
-#endif
             magHardware = MAG_IST8310;
             break;
         }

src/main/sensors/gyro_init.c

@@ -314,6 +314,7 @@ void gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
     case GYRO_LSM6DSO:
     case GYRO_LSM6DSV16X:
     case GYRO_ICM42688P:
+    case GYRO_IIM42653:
     case GYRO_ICM42605:
         gyroSensor->gyroDev.gyroHasOverflowProtection = true;
         break;
@@ -427,9 +428,10 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
         FALLTHROUGH;
 #endif
 
-#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P)
+#if defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653)
     case GYRO_ICM42605:
     case GYRO_ICM42688P:
+    case GYRO_IIM42653:
         if (icm426xxSpiGyroDetect(dev)) {
             switch (dev->mpuDetectionResult.sensor) {
             case ICM_42605_SPI:
@@ -438,6 +440,9 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
             case ICM_42688P_SPI:
                 gyroHardware = GYRO_ICM42688P;
                 break;
+            case IIM_42653_SPI:
+                gyroHardware = GYRO_IIM42653;
+                break;
             default:
                 gyroHardware = GYRO_NONE;
                 break;

src/main/target/common_post.h

@@ -107,7 +107,8 @@
     && !defined(USE_ACC_SPI_MPU6000) \
     && !defined(USE_ACC_SPI_MPU6500) \
     && !defined(USE_ACC_SPI_MPU9250) \
-    && !defined(USE_VIRTUAL_ACC)
+    && !defined(USE_VIRTUAL_ACC) \
+    && !defined(USE_ACCGYRO_IIM42653)
 #error At least one USE_ACC device definition required
 #endif
 
@@ -126,7 +127,8 @@
     && !defined(USE_GYRO_SPI_MPU6000) \
     && !defined(USE_GYRO_SPI_MPU6500) \
     && !defined(USE_GYRO_SPI_MPU9250) \
-    && !defined(USE_VIRTUAL_GYRO)
+    && !defined(USE_VIRTUAL_GYRO) \
+    && !defined(USE_ACCGYRO_IIM42653)
 #error At least one USE_GYRO device definition required
 #endif
 
@@ -466,8 +468,8 @@
 
 // Generate USE_SPI_GYRO or USE_I2C_GYRO
 #if defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU9250) \
-    || defined(USE_GYRO_L3GD20) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_BMI160) \
+    || defined(USE_GYRO_L3GD20) || defined(USE_GYRO_SPI_ICM42605) || defined(USE_GYRO_SPI_ICM42688P) || defined(USE_ACCGYRO_IIM42653) \
-    || defined(USE_ACCGYRO_BMI270) || defined(USE_ACCGYRO_LSM6DSV16X) || defined(USE_ACCGYRO_LSM6DSO)
+    || defined(USE_ACCGYRO_BMI160) || defined(USE_ACCGYRO_BMI270) || defined(USE_ACCGYRO_LSM6DSV16X) || defined(USE_ACCGYRO_LSM6DSO)
 #ifndef USE_SPI_GYRO
 #define USE_SPI_GYRO
 #endif

src/main/target/common_pre.h

@@ -114,6 +114,7 @@
 #define USE_ACCGYRO_BMI270
 #define USE_GYRO_SPI_ICM42605
 #define USE_GYRO_SPI_ICM42688P
+#define USE_ACCGYRO_IIM42653
 #define USE_ACC_SPI_ICM42605
 #define USE_ACC_SPI_ICM42688P
 #define USE_ACCGYRO_LSM6DSV16X

src/main/telemetry/crsf.c

@@ -457,12 +457,14 @@ void crsfFrameFlightMode(sbuf_t *dst)
         flightMode = "PASS";
     } else if (FLIGHT_MODE(ANGLE_MODE)) {
         flightMode = "ANGL";
-    } else if (FLIGHT_MODE(ALT_HOLD_MODE)) {
-        flightMode = "ALTH";
     } else if (FLIGHT_MODE(POS_HOLD_MODE)) {
         flightMode = "POSH";
+    } else if (FLIGHT_MODE(ALT_HOLD_MODE)) {
+        flightMode = "ALTH";
     } else if (FLIGHT_MODE(HORIZON_MODE)) {
         flightMode = "HOR";
+    } else if (FLIGHT_MODE(CHIRP_MODE)) {
+        flightMode = "CHIR";
     } else if (isAirmodeEnabled()) {
         flightMode = "AIR";
     }

src/main/telemetry/ltm.c

@@ -175,10 +175,10 @@ static void ltm_sframe(void)
         lt_flightmode = 2;
     else if (FLIGHT_MODE(HORIZON_MODE))
         lt_flightmode = 3;
-    else if (FLIGHT_MODE(ALT_HOLD_MODE))
-        lt_flightmode = 8;
     else if (FLIGHT_MODE(POS_HOLD_MODE))
         lt_flightmode = 9;
+    else if (FLIGHT_MODE(ALT_HOLD_MODE))
+        lt_flightmode = 8;
     else if (FLIGHT_MODE(GPS_RESCUE_MODE))
         lt_flightmode = 13;
     else

src/platform/APM32/adc_apm32f4xx.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/apm32f4xx_ddl_ex.h

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/bus_i2c_apm32.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/bus_i2c_apm32_init.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/bus_spi_apm32.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/dma_apm32.h

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/dma_apm32f4xx.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/dma_reqmap_mcu.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/dshot_bitbang.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/dshot_bitbang_ddl.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/eint_apm32.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/io_apm32.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/light_ws2811strip_apm32.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/persistent_apm32.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/pwm_output_apm32.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/pwm_output_dshot_apm32.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/rcm_apm32.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/serial_uart_apm32.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/serial_uart_apm32f4xx.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/system_apm32f4xx.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/target/APM32F405/target.h

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/target/APM32F407/target.h

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/timer_apm32.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/timer_apm32f4xx.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/timer_def.h

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/transponder_ir_io_apm32.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/usb/msc/usb_msc_apm32f4xx.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/APM32/usb/vcp/serial_usb_vcp.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/AT32/adc_at32f43x.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/AT32/bus_i2c_atbsp.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/AT32/bus_i2c_atbsp_init.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/AT32/bus_spi_at32bsp.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/AT32/dma_at32f43x.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/AT32/dma_atbsp.h

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/AT32/dshot_bitbang.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/AT32/exti_at32.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/AT32/io_at32.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/AT32/light_ws2811strip_at32f43x.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/AT32/persistent_at32bsp.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/AT32/pwm_output_at32bsp.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/AT32/pwm_output_dshot.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */

src/platform/AT32/serial_uart_at32bsp.c

@@ -1,19 +1,20 @@
 /*
- * This file is part of Cleanflight and Betaflight.
+ * This file is part of Betaflight.
  *
- * Cleanflight and Betaflight are free software. You can redistribute
+ * Betaflight is free software. You can redistribute this software
- * this software and/or modify this software under the terms of the
+ * and/or modify this software under the terms of the GNU General
- * GNU General Public License as published by the Free Software
+ * Public License as published by the Free Software Foundation,
- * Foundation, either version 3 of the License, or (at your option)
+ * either version 3 of the License, or (at your option) any later
- * any later version.
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  *
- * Cleanflight and Betaflight are distributed in the hope that they
- * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  * See the GNU General Public License for more details.
  *
- * You should have received a copy of the GNU General Public License
+ * You should have received a copy of the GNU General Public
- * along with this software.
+ * License along with this software.
  *
  * If not, see <http://www.gnu.org/licenses/>.
  */