Allow excluding of servo code at compilation time.

This is in preparation for backbox on CJMCU/64k.

Flight tested on CJMCU.

Makefile

@@ -397,6 +397,8 @@ CJMCU_SRC	 = \
 		   drivers/timer.c \
 		   drivers/timer_stm32f10x.c \
 		   hardware_revision.c \
+		   blackbox/blackbox.c \
+		   blackbox/blackbox_io.c \
 		   $(COMMON_SRC)
 
 CC3D_SRC	 = \

src/main/blackbox/blackbox.c

@@ -749,8 +749,10 @@ static void loadBlackboxState(void)
     blackboxCurrent->BaroAlt = BaroAlt;
 #endif
 
+#ifdef USE_SERVOS
     //Tail servo for tricopters
     blackboxCurrent->servo[5] = servo[5];
+#endif
 }
 
 /**

src/main/config/config.c

@@ -74,9 +74,17 @@
 #define BRUSHLESS_MOTORS_PWM_RATE 400
 
 void setPIDController(int type); // FIXME PID code needs to be in flight_pid.c/h
-void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DConfigToUse,
+void mixerUseConfigs(
-        escAndServoConfig_t *escAndServoConfigToUse, mixerConfig_t *mixerConfigToUse,
+#ifdef USE_SERVOS
-        airplaneConfig_t *airplaneConfigToUse, rxConfig_t *rxConfig, gimbalConfig_t *gimbalConfigToUse);
+        servoParam_t *servoConfToUse,
+        gimbalConfig_t *gimbalConfigToUse,
+#endif
+        flight3DConfig_t *flight3DConfigToUse,
+        escAndServoConfig_t *escAndServoConfigToUse,
+        mixerConfig_t *mixerConfigToUse,
+        airplaneConfig_t *airplaneConfigToUse,
+        rxConfig_t *rxConfig
+);
 void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);
 
 #define FLASH_TO_RESERVE_FOR_CONFIG 0x800
@@ -319,7 +327,10 @@ static void setControlRateProfile(uint8_t profileIndex)
 static void resetConf(void)
 {
     int i;
-    int8_t servoRates[8] = { 30, 30, 100, 100, 100, 100, 100, 100 };
+#ifdef USE_SERVOS
+    int8_t servoRates[MAX_SUPPORTED_SERVOS] = { 30, 30, 100, 100, 100, 100, 100, 100 };
+    ;
+#endif
 
     // Clear all configuration
     memset(&masterConfig, 0, sizeof(master_t));
@@ -434,8 +445,9 @@ static void resetConf(void)
     currentProfile->failsafeConfig.failsafe_min_usec = 985;          // any of first 4 channels below this value will trigger failsafe
     currentProfile->failsafeConfig.failsafe_max_usec = 2115;         // any of first 4 channels above this value will trigger failsafe
 
+#ifdef USE_SERVOS
     // servos
-    for (i = 0; i < 8; i++) {
+    for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
         currentProfile->servoConf[i].min = DEFAULT_SERVO_MIN;
         currentProfile->servoConf[i].max = DEFAULT_SERVO_MAX;
         currentProfile->servoConf[i].middle = DEFAULT_SERVO_MIDDLE;
@@ -450,6 +462,7 @@ static void resetConf(void)
 
     // gimbal
     currentProfile->gimbalConfig.gimbal_flags = GIMBAL_NORMAL;
+#endif
 
 #ifdef GPS
     resetGpsProfile(&currentProfile->gpsProfile);
@@ -629,13 +642,15 @@ void activateConfig(void)
     setAccelerationTrims(&masterConfig.accZero);
 
     mixerUseConfigs(
+#ifdef USE_SERVOS
         currentProfile->servoConf,
+        &currentProfile->gimbalConfig,
+#endif
         &masterConfig.flight3DConfig,
         &masterConfig.escAndServoConfig,
         &currentProfile->mixerConfig,
         &masterConfig.airplaneConfig,
-        &masterConfig.rxConfig,
+        &masterConfig.rxConfig
-        &currentProfile->gimbalConfig
     );
 
     imuRuntimeConfig.gyro_cmpf_factor = masterConfig.gyro_cmpf_factor;

src/main/config/config_profile.h

@@ -47,8 +47,12 @@ typedef struct profile_s {
     uint16_t throttle_correction_angle;     // the angle when the throttle correction is maximal. in 0.1 degres, ex 225 = 22.5 ,30.0, 450 = 45.0 deg
     uint8_t throttle_correction_value;      // the correction that will be applied at throttle_correction_angle.
 
+#ifdef USE_SERVOS
     // Servo-related stuff
     servoParam_t servoConf[MAX_SUPPORTED_SERVOS]; // servo configuration
+    // gimbal-related configuration
+    gimbalConfig_t gimbalConfig;
+#endif
 
     // Failsafe related configuration
     failsafeConfig_t failsafeConfig;
@@ -56,9 +60,6 @@ typedef struct profile_s {
     // mixer-related configuration
     mixerConfig_t mixerConfig;
 
-    // gimbal-related configuration
-    gimbalConfig_t gimbalConfig;
-
 #ifdef GPS
     gpsProfile_t gpsProfile;
 #endif

src/main/drivers/pwm_mapping.c

@@ -419,6 +419,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
         if (type == MAP_TO_PPM_INPUT && !init->usePPM)
             continue;
 
+#ifdef USE_SERVOS
         if (init->useServos && !init->airplane) {
 #if defined(NAZE)
             // remap PWM9+10 as servos
@@ -455,6 +456,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
             if (timerIndex >= PWM5 && timerIndex <= PWM8)
                 type = MAP_TO_SERVO_OUTPUT;
         }
+#endif
 
 #ifdef CC3D
         if (init->useParallelPWM) {
@@ -489,8 +491,10 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
             }
             pwmOutputConfiguration.motorCount++;
         } else if (type == MAP_TO_SERVO_OUTPUT) {
+#ifdef USE_SERVOS
             pwmServoConfig(timerHardwarePtr, pwmOutputConfiguration.servoCount, init->servoPwmRate, init->servoCenterPulse);
             pwmOutputConfiguration.servoCount++;
+#endif
         }
     }
 

src/main/drivers/pwm_mapping.h

@@ -49,14 +49,16 @@ typedef struct drv_pwm_config_t {
     bool useOneshot;
     bool useSoftSerial;
     bool useLEDStrip;
+#ifdef USE_SERVOS
     bool useServos;
     bool extraServos;    // configure additional 4 channels in PPM mode as servos, not motors
+    uint16_t servoPwmRate;
+    uint16_t servoCenterPulse;
+#endif
     bool airplane;       // fixed wing hardware config, lots of servos etc
     uint16_t motorPwmRate;
-    uint16_t servoPwmRate;
     uint16_t idlePulse;  // PWM value to use when initializing the driver. set this to either PULSE_1MS (regular pwm),
                          // some higher value (used by 3d mode), or 0, for brushed pwm drivers.
-    uint16_t servoCenterPulse;
 } drv_pwm_config_t;
 
 

src/main/drivers/pwm_output.c

@@ -43,8 +43,10 @@ typedef struct {
 static pwmOutputPort_t pwmOutputPorts[MAX_PWM_OUTPUT_PORTS];
 
 static pwmOutputPort_t *motors[MAX_PWM_MOTORS];
-static pwmOutputPort_t *servos[MAX_PWM_SERVOS];
 
+#ifdef USE_SERVOS
+static pwmOutputPort_t *servos[MAX_PWM_SERVOS];
+#endif
 #define PWM_BRUSHED_TIMER_MHZ 8
 
 static uint8_t allocatedOutputPortCount = 0;
@@ -160,13 +162,6 @@ void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
     }
 }
 
-void pwmWriteServo(uint8_t index, uint16_t value)
-{
-    if (servos[index] && index < MAX_SERVOS)
-        *servos[index]->ccr = value;
-}
-
-
 void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse)
 {
     uint32_t hz = PWM_BRUSHED_TIMER_MHZ * 1000000;
@@ -187,7 +182,15 @@ void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIn
     motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
 }
 
+#ifdef USE_SERVOS
 void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse)
 {
     servos[servoIndex] = pwmOutConfig(timerHardware, PWM_TIMER_MHZ, 1000000 / servoPwmRate, servoCenterPulse);
 }
+
+void pwmWriteServo(uint8_t index, uint16_t value)
+{
+    if (servos[index] && index < MAX_SERVOS)
+        *servos[index]->ccr = value;
+}
+#endif

src/main/flight/mixer.c

@@ -62,23 +62,24 @@ extern int16_t debug[4];
 uint8_t motorCount = 0;
 int16_t motor[MAX_SUPPORTED_MOTORS];
 int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
-int16_t servo[MAX_SUPPORTED_SERVOS];
 
-static int useServo;
-
-static uint8_t servoCount;
-
-static servoParam_t *servoConf;
 static mixerConfig_t *mixerConfig;
 static flight3DConfig_t *flight3DConfig;
 static escAndServoConfig_t *escAndServoConfig;
 static airplaneConfig_t *airplaneConfig;
 static rxConfig_t *rxConfig;
-static gimbalConfig_t *gimbalConfig;
 
 static motorMixer_t currentMixer[MAX_SUPPORTED_MOTORS];
 static mixerMode_e currentMixerMode;
+
+#ifdef USE_SERVOS
+static gimbalConfig_t *gimbalConfig;
+int16_t servo[MAX_SUPPORTED_SERVOS];
+static int useServo;
+static uint8_t servoCount;
+static servoParam_t *servoConf;
 static lowpass_t lowpassFilters[MAX_SUPPORTED_SERVOS];
+#endif
 
 static const motorMixer_t mixerQuadX[] = {
     { 1.0f, -1.0f,  1.0f, -1.0f },          // REAR_R
@@ -230,17 +231,31 @@ const mixer_t mixers[] = {
 };
 #endif
 
-void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DConfigToUse, escAndServoConfig_t *escAndServoConfigToUse, mixerConfig_t *mixerConfigToUse, airplaneConfig_t *airplaneConfigToUse, rxConfig_t *rxConfigToUse, gimbalConfig_t *gimbalConfigToUse)
+static motorMixer_t *customMixers;
+
+void mixerUseConfigs(
+#ifdef USE_SERVOS
+        servoParam_t *servoConfToUse,
+        gimbalConfig_t *gimbalConfigToUse,
+#endif
+        flight3DConfig_t *flight3DConfigToUse,
+        escAndServoConfig_t *escAndServoConfigToUse,
+        mixerConfig_t *mixerConfigToUse,
+        airplaneConfig_t *airplaneConfigToUse,
+        rxConfig_t *rxConfigToUse)
 {
+#ifdef USE_SERVOS
     servoConf = servoConfToUse;
+    gimbalConfig = gimbalConfigToUse;
+#endif
     flight3DConfig = flight3DConfigToUse;
     escAndServoConfig = escAndServoConfigToUse;
     mixerConfig = mixerConfigToUse;
     airplaneConfig = airplaneConfigToUse;
     rxConfig = rxConfigToUse;
-    gimbalConfig = gimbalConfigToUse;
 }
 
+#ifdef USE_SERVOS
 int16_t determineServoMiddleOrForwardFromChannel(int nr)
 {
     uint8_t channelToForwardFrom = servoConf[nr].forwardFromChannel;
@@ -269,9 +284,7 @@ int servoDirection(int nr, int lr)
     else
         return 1;
 }
-
+#endif
-static motorMixer_t *customMixers;
-
 
 #ifndef USE_QUAD_MIXER_ONLY
 void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers)
@@ -361,15 +374,15 @@ void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers)
     currentMixerMode = mixerMode;
 
     customMixers = initialCustomMixers;
-
-    useServo = false;
 }
 
 void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration)
 {
     UNUSED(pwmOutputConfiguration);
     motorCount = 4;
+#ifdef USE_SERVOS
     servoCount = 0;
+#endif
 
     uint8_t i;
     for (i = 0; i < motorCount; i++) {
@@ -388,6 +401,7 @@ void mixerResetMotors(void)
         motor_disarmed[i] = feature(FEATURE_3D) ? flight3DConfig->neutral3d : escAndServoConfig->mincommand;
 }
 
+#ifdef USE_SERVOS
 static void updateGimbalServos(void)
 {
     pwmWriteServo(0, servo[0]);
@@ -448,6 +462,7 @@ void writeServos(void)
             break;
     }
 }
+#endif
 
 void writeMotors(void)
 {
@@ -541,7 +556,7 @@ void mixTable(void)
         }
     }
 
-#ifndef USE_QUAD_MIXER_ONLY
+#if !defined(USE_QUAD_MIXER_ONLY) || defined(USE_SERVOS)
     // airplane / servo mixes
     switch (currentMixerMode) {
         case MIXER_BI:
@@ -599,7 +614,6 @@ void mixTable(void)
         default:
             break;
     }
-#endif
 
     // do camstab
     if (feature(FEATURE_SERVO_TILT)) {
@@ -639,6 +653,7 @@ void mixTable(void)
             pwmWriteServo(firstServo + servoOffset, rcData[channelOffset++]);
         }
     }
+#endif
 
     maxMotor = motor[0];
     for (i = 1; i < motorCount; i++)
@@ -668,14 +683,16 @@ void mixTable(void)
     }
 }
 
-
+#ifdef USE_SERVOS
 bool isMixerUsingServos(void)
 {
     return useServo;
 }
+#endif
 
 void filterServos(void)
 {
+#ifdef USE_SERVOS
     int16_t servoIdx;
 
 #if defined(MIXER_DEBUG)
@@ -693,5 +710,7 @@ void filterServos(void)
 #if defined(MIXER_DEBUG)
     debug[0] = (int16_t)(micros() - startTime);
 #endif
+
+#endif
 }
 

src/main/flight/mixer.h

@@ -65,9 +65,11 @@ typedef struct mixer_t {
 
 typedef struct mixerConfig_s {
     int8_t yaw_direction;
+#ifdef USE_SERVOS
     uint8_t tri_unarmed_servo;              // send tail servo correction pulses even when unarmed
     int16_t servo_lowpass_freq;             // lowpass servo filter frequency selection; 1/1000ths of loop freq
     int8_t servo_lowpass_enable;            // enable/disable lowpass filter
+#endif
 } mixerConfig_t;
 
 typedef struct flight3DConfig_s {
@@ -84,6 +86,7 @@ typedef struct airplaneConfig_t {
 
 #define CHANNEL_FORWARDING_DISABLED (uint8_t)0xFF
 
+#ifdef USE_SERVOS
 typedef struct servoParam_t {
     int16_t min;                            // servo min
     int16_t max;                            // servo max
@@ -92,15 +95,17 @@ typedef struct servoParam_t {
     int8_t forwardFromChannel;              // RX channel index, 0 based.  See CHANNEL_FORWARDING_DISABLED
 } servoParam_t;
 
+extern int16_t servo[MAX_SUPPORTED_SERVOS];
+bool isMixerUsingServos(void);
+void writeServos(void);
+void filterServos(void);
+#endif
+
 extern int16_t motor[MAX_SUPPORTED_MOTORS];
 extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
-extern int16_t servo[MAX_SUPPORTED_SERVOS];
 
-bool isMixerUsingServos(void);
 void writeAllMotors(int16_t mc);
 void mixerLoadMix(int index, motorMixer_t *customMixers);
 void mixerResetMotors(void);
 void mixTable(void);
-void writeServos(void);
 void writeMotors(void);
-void filterServos(void);

src/main/io/serial_cli.c

@@ -199,7 +199,7 @@ const clicmd_t cmdTable[] = {
     { "profile", "index (0 to 2)", cliProfile },
     { "rateprofile", "index (0 to 2)", cliRateProfile },
     { "save", "save and reboot", cliSave },
-#ifndef CJMCU
+#ifdef USE_SERVOS
     { "servo", "servo config", cliServo },
 #endif
     { "set", "name=value or blank or * for list", cliSet },
@@ -353,10 +353,11 @@ const clivalue_t valueTable[] = {
 
     { "yaw_control_direction",      VAR_INT8   | MASTER_VALUE,  &masterConfig.yaw_control_direction, -1, 1 },
     { "yaw_direction",              VAR_INT8   | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.yaw_direction, -1, 1 },
+#ifdef USE_SERVOS
     { "tri_unarmed_servo",          VAR_INT8   | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.tri_unarmed_servo, 0, 1 },
     { "servo_lowpass_freq",         VAR_INT16  | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.servo_lowpass_freq, 10, 400},
     { "servo_lowpass_enable",       VAR_INT8   | PROFILE_VALUE, &masterConfig.profile[0].mixerConfig.servo_lowpass_enable, 0, 1 },
-
+#endif
     { "default_rate_profile",       VAR_UINT8  | PROFILE_VALUE , &masterConfig.profile[0].defaultRateProfileIndex, 0, MAX_CONTROL_RATE_PROFILE_COUNT - 1 },
     { "rc_rate",                    VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcRate8, 0, 250 },
     { "rc_expo",                    VAR_UINT8  | CONTROL_RATE_VALUE, &masterConfig.controlRateProfiles[0].rcExpo8, 0, 100 },
@@ -373,7 +374,9 @@ const clivalue_t valueTable[] = {
     { "failsafe_min_usec",          VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_min_usec, 100, PWM_RANGE_MAX },
     { "failsafe_max_usec",          VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].failsafeConfig.failsafe_max_usec, 100, PWM_RANGE_MAX + (PWM_RANGE_MAX - PWM_RANGE_MIN) },
 
+#ifdef USE_SERVOS
     { "gimbal_flags",               VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].gimbalConfig.gimbal_flags, 0, 255},
+#endif
 
     { "acc_hardware",               VAR_UINT8  | MASTER_VALUE,  &masterConfig.acc_hardware, 0, ACC_NONE },
     { "acc_lpf_factor",             VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].acc_lpf_factor, 0, 250 },
@@ -752,7 +755,7 @@ static void cliColor(char *cmdline)
 
 static void cliServo(char *cmdline)
 {
-#ifdef CJMCU
+#ifndef USE_SERVOS
     UNUSED(cmdline);
 #else
     enum { SERVO_ARGUMENT_COUNT = 6 };

src/main/io/serial_msp.c

@@ -799,6 +799,7 @@ static bool processOutCommand(uint8_t cmdMSP)
         for (i = 0; i < 3; i++)
             serialize16(magADC[i]);
         break;
+#ifdef USE_SERVOS
     case MSP_SERVO:
         s_struct((uint8_t *)&servo, 16);
         break;
@@ -817,6 +818,7 @@ static bool processOutCommand(uint8_t cmdMSP)
             serialize8(currentProfile->servoConf[i].forwardFromChannel);
         }
         break;
+#endif
     case MSP_MOTOR:
         s_struct((uint8_t *)motor, 16);
         break;
@@ -1324,6 +1326,7 @@ static bool processInCommand(void)
             motor_disarmed[i] = read16();
         break;
     case MSP_SET_SERVO_CONF:
+#ifdef USE_SERVOS
         for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
             currentProfile->servoConf[i].min = read16();
             currentProfile->servoConf[i].max = read16();
@@ -1337,11 +1340,14 @@ static bool processInCommand(void)
             }
             currentProfile->servoConf[i].rate = read8();
         }
+#endif
         break;
     case MSP_SET_CHANNEL_FORWARDING:
+#ifdef USE_SERVOS
         for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
             currentProfile->servoConf[i].forwardFromChannel = read8();
         }
+#endif
         break;
     case MSP_RESET_CONF:
         if (!ARMING_FLAG(ARMED)) {

src/main/main.c

@@ -197,18 +197,22 @@ void init(void)
         && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC;
     pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP);
     pwm_params.usePPM = feature(FEATURE_RX_PPM);
-    pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
     pwm_params.useSerialRx = feature(FEATURE_RX_SERIAL);
+
+#ifdef USE_SERVOS
     pwm_params.useServos = isMixerUsingServos();
     pwm_params.extraServos = currentProfile->gimbalConfig.gimbal_flags & GIMBAL_FORWARDAUX;
-    pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
+    pwm_params.servoCenterPulse = masterConfig.escAndServoConfig.servoCenterPulse;
     pwm_params.servoPwmRate = masterConfig.servo_pwm_rate;
+#endif
+
+    pwm_params.useOneshot = feature(FEATURE_ONESHOT125);
+    pwm_params.motorPwmRate = masterConfig.motor_pwm_rate;
     pwm_params.idlePulse = PULSE_1MS; // standard PWM for brushless ESC (default, overridden below)
     if (feature(FEATURE_3D))
         pwm_params.idlePulse = masterConfig.flight3DConfig.neutral3d;
     if (pwm_params.motorPwmRate > 500)
         pwm_params.idlePulse = 0; // brushed motors
-    pwm_params.servoCenterPulse = masterConfig.escAndServoConfig.servoCenterPulse;
 
     pwmRxInit(masterConfig.inputFilteringMode);
 

src/main/mw.c

@@ -722,8 +722,12 @@ void loop(void)
         );
 
         mixTable();
+
+#ifdef USE_SERVOS
         filterServos();
         writeServos();
+#endif
+
         writeMotors();
 
 #ifdef BLACKBOX

src/main/target/ALIENWIIF3/target.h

@@ -92,6 +92,7 @@
 #define GPS
 //#define DISPLAY
 #define AUTOTUNE
+#define USE_SERVOS
 
 
 #define SPEKTRUM_BIND

src/main/target/CC3D/target.h

@@ -106,6 +106,7 @@
 #define TELEMETRY
 #define SERIAL_RX
 #define AUTOTUNE
+#define USE_SERVOS
 
 #define SPEKTRUM_BIND
 // USART3, PB11 (Flexport)

src/main/target/CHEBUZZF3/target.h

@@ -114,3 +114,4 @@
 #define TELEMETRY
 #define SERIAL_RX
 #define AUTOTUNE
+#define USE_SERVOS

src/main/target/CJMCU/target.h

@@ -61,6 +61,8 @@
 // #define SOFT_I2C_PB67
 
 #define SERIAL_RX
+//#define BLACKBOX
+//#define USE_SERVOS
 
 #define SPEKTRUM_BIND
 // USART2, PA3

src/main/target/EUSTM32F103RC/target.h

@@ -124,6 +124,7 @@
 #define TELEMETRY
 #define SERIAL_RX
 #define AUTOTUNE
+#define USE_SERVOS
 
 #define SPEKTRUM_BIND
 // USART2, PA3

src/main/target/NAZE/target.h

@@ -144,6 +144,7 @@
 #define TELEMETRY
 #define SERIAL_RX
 #define AUTOTUNE
+#define USE_SERVOS
 
 #define SPEKTRUM_BIND
 // USART2, PA3

src/main/target/NAZE32PRO/target.h

@@ -45,6 +45,7 @@
 #define TELEMETRY
 #define SERIAL_RX
 #define AUTOTUNE
+#define USE_SERVOS
 
 #define SPEKTRUM_BIND
 // USART2, PA3

src/main/target/OLIMEXINO/target.h

@@ -111,3 +111,4 @@
 #define SERIAL_RX
 #define AUTOTUNE
 #define BLACKBOX
+#define USE_SERVOS

src/main/target/PORT103R/target.h

@@ -135,4 +135,4 @@
 #define TELEMETRY
 #define SERIAL_RX
 #define AUTOTUNE
-
+#define USE_SERVOS

src/main/target/SPARKY/target.h

@@ -90,6 +90,7 @@
 #define SERIAL_RX
 #define GPS
 #define DISPLAY
+#define USE_SERVOS
 
 #define LED_STRIP
 #if 1

src/main/target/SPRACINGF3/target.h

@@ -126,3 +126,4 @@
 #define SERIAL_RX
 #define AUTOTUNE
 #define DISPLAY
+#define USE_SERVOS

src/main/target/STM32F3DISCOVERY/target.h

@@ -88,3 +88,4 @@
 #define TELEMETRY
 #define SERIAL_RX
 #define AUTOTUNE
+#define USE_SERVOS

src/test/unit/platform.h

@@ -22,6 +22,7 @@
 #define GPS
 #define TELEMETRY
 #define LED_STRIP
+#define USE_SERVOS
 
 #define SERIAL_PORT_COUNT 4