diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index a59cc8d78f..406ce05d39 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -1230,7 +1230,8 @@ static bool blackboxWriteSysinfo()
BLACKBOX_PRINT_HEADER_LINE("baro_hardware:%d", masterConfig.baro_hardware);
BLACKBOX_PRINT_HEADER_LINE("mag_hardware:%d", masterConfig.mag_hardware);
BLACKBOX_PRINT_HEADER_LINE("gyro_cal_on_first_arm:%d", masterConfig.gyro_cal_on_first_arm);
- BLACKBOX_PRINT_HEADER_LINE("rc_smooth_interval:%d", masterConfig.rxConfig.rcSmoothInterval);
+ BLACKBOX_PRINT_HEADER_LINE("rc_interpolation:%d", masterConfig.rxConfig.rcInterpolation);
+ BLACKBOX_PRINT_HEADER_LINE("rc_interpolation_interval:%d", masterConfig.rxConfig.rcInterpolationInterval);
BLACKBOX_PRINT_HEADER_LINE("airmode_activate_throttle:%d", masterConfig.rxConfig.airModeActivateThreshold);
BLACKBOX_PRINT_HEADER_LINE("serialrx_provider:%d", masterConfig.rxConfig.serialrx_provider);
BLACKBOX_PRINT_HEADER_LINE("unsynced_fast_pwm:%d", masterConfig.use_unsyncedPwm);
diff --git a/src/main/config/config.c b/src/main/config/config.c
index 3b03fb23b6..dcb0ce85c3 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -172,7 +172,7 @@ static uint32_t activeFeaturesLatch = 0;
static uint8_t currentControlRateProfileIndex = 0;
controlRateConfig_t *currentControlRateProfile;
-static const uint8_t EEPROM_CONF_VERSION = 142;
+static const uint8_t EEPROM_CONF_VERSION = 143;
static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
{
@@ -203,10 +203,10 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->P8[ROLL] = 45;
pidProfile->I8[ROLL] = 40;
- pidProfile->D8[ROLL] = 25;
+ pidProfile->D8[ROLL] = 20;
pidProfile->P8[PITCH] = 60;
pidProfile->I8[PITCH] = 60;
- pidProfile->D8[PITCH] = 30;
+ pidProfile->D8[PITCH] = 25;
pidProfile->P8[YAW] = 80;
pidProfile->I8[YAW] = 45;
pidProfile->D8[YAW] = 20;
@@ -244,9 +244,10 @@ static void resetPidProfile(pidProfile_t *pidProfile)
// Betaflight PID controller parameters
pidProfile->ptermSetpointWeight = 75;
- pidProfile->dtermSetpointWeight = 200;
- pidProfile->pidMaxVelocityYaw = 200;
- pidProfile->toleranceBand = 20;
+ pidProfile->dtermSetpointWeight = 120;
+ pidProfile->yawRateAccelLimit = 220;
+ pidProfile->rateAccelLimit = 0;
+ pidProfile->toleranceBand = 15;
pidProfile->toleranceBandReduction = 40;
pidProfile->zeroCrossAllowanceCount = 2;
pidProfile->itermThrottleGain = 0;
@@ -475,14 +476,14 @@ static void resetConf(void)
masterConfig.gyro_sync_denom = 8;
masterConfig.pid_process_denom = 1;
#elif defined(USE_GYRO_SPI_MPU6000) || defined(USE_GYRO_SPI_MPU6500)
- masterConfig.gyro_sync_denom = 8;
+ masterConfig.gyro_sync_denom = 1;
masterConfig.pid_process_denom = 4;
#else
masterConfig.gyro_sync_denom = 4;
masterConfig.pid_process_denom = 2;
#endif
masterConfig.gyro_soft_type = FILTER_PT1;
- masterConfig.gyro_soft_lpf_hz = 100;
+ masterConfig.gyro_soft_lpf_hz = 90;
masterConfig.gyro_soft_notch_hz = 0;
masterConfig.gyro_soft_notch_cutoff = 150;
@@ -534,8 +535,8 @@ static void resetConf(void)
masterConfig.rxConfig.rssi_channel = 0;
masterConfig.rxConfig.rssi_scale = RSSI_SCALE_DEFAULT;
masterConfig.rxConfig.rssi_ppm_invert = 0;
- masterConfig.rxConfig.rcSmoothing = RC_SMOOTHING_AUTO;
- masterConfig.rxConfig.rcSmoothInterval = 9;
+ masterConfig.rxConfig.rcInterpolation = RC_SMOOTHING_AUTO;
+ masterConfig.rxConfig.rcInterpolationInterval = 19;
masterConfig.rxConfig.fpvCamAngleDegrees = 0;
masterConfig.rxConfig.max_aux_channel = MAX_AUX_CHANNELS;
masterConfig.rxConfig.airModeActivateThreshold = 1350;
diff --git a/src/main/debug.h b/src/main/debug.h
index 2e2a90e89c..4431953f31 100644
--- a/src/main/debug.h
+++ b/src/main/debug.h
@@ -51,7 +51,7 @@ typedef enum {
DEBUG_AIRMODE,
DEBUG_PIDLOOP,
DEBUG_NOTCH,
- DEBUG_RC_SMOOTHING,
+ DEBUG_RC_INTERPOLATION,
DEBUG_VELOCITY,
DEBUG_DTERM_FILTER,
DEBUG_COUNT
diff --git a/src/main/drivers/flash_m25p16.c b/src/main/drivers/flash_m25p16.c
index 0ab3d6122b..a0afb64804 100644
--- a/src/main/drivers/flash_m25p16.c
+++ b/src/main/drivers/flash_m25p16.c
@@ -43,6 +43,7 @@
#define JEDEC_ID_MICRON_M25P16 0x202015
#define JEDEC_ID_MICRON_N25Q064 0x20BA17
#define JEDEC_ID_WINBOND_W25Q64 0xEF4017
+#define JEDEC_ID_MACRONIX_MX25L3206E 0xC22016
#define JEDEC_ID_MACRONIX_MX25L6406E 0xC22017
#define JEDEC_ID_MICRON_N25Q128 0x20ba18
#define JEDEC_ID_WINBOND_W25Q128 0xEF4018
@@ -161,6 +162,10 @@ static bool m25p16_readIdentification()
geometry.sectors = 32;
geometry.pagesPerSector = 256;
break;
+ case JEDEC_ID_MACRONIX_MX25L3206E:
+ geometry.sectors = 64;
+ geometry.pagesPerSector = 256;
+ break;
case JEDEC_ID_MICRON_N25Q064:
case JEDEC_ID_WINBOND_W25Q64:
case JEDEC_ID_MACRONIX_MX25L6406E:
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index ae735be925..0f91875e2a 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -133,7 +133,7 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
float errorRate = 0, rP = 0, rD = 0, PVRate = 0;
float ITerm,PTerm,DTerm;
static float lastRateError[2];
- static float Kp[3], Ki[3], Kd[3], b[3], c[3], yawMaxVelocity, yawPreviousRate;
+ static float Kp[3], Ki[3], Kd[3], b[3], c[3], rollPitchMaxVelocity, yawMaxVelocity, previousSetpoint[3];
float delta;
int axis;
float horizonLevelStrength = 1;
@@ -187,20 +187,22 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
Kd[axis] = DTERM_SCALE * pidProfile->D8[axis];
b[axis] = pidProfile->ptermSetpointWeight / 100.0f;
c[axis] = pidProfile->dtermSetpointWeight / 100.0f;
- yawMaxVelocity = pidProfile->pidMaxVelocityYaw * 1000 * getdT();
+ yawMaxVelocity = pidProfile->yawRateAccelLimit * 1000 * getdT();
+ rollPitchMaxVelocity = pidProfile->rateAccelLimit * 1000 * getdT();
configP[axis] = pidProfile->P8[axis];
configI[axis] = pidProfile->I8[axis];
configD[axis] = pidProfile->D8[axis];
}
- // Limit abrupt yaw inputs
- if (axis == YAW && pidProfile->pidMaxVelocityYaw) {
- float yawCurrentVelocity = setpointRate[axis] - yawPreviousRate;
- if (ABS(yawCurrentVelocity) > yawMaxVelocity) {
- setpointRate[axis] = (yawCurrentVelocity > 0) ? yawPreviousRate + yawMaxVelocity : yawPreviousRate - yawMaxVelocity;
+ // Limit abrupt yaw inputs / stops
+ float maxVelocity = (axis == YAW) ? yawMaxVelocity : rollPitchMaxVelocity;
+ if (maxVelocity) {
+ float currentVelocity = setpointRate[axis] - previousSetpoint[axis];
+ if (ABS(currentVelocity) > maxVelocity) {
+ setpointRate[axis] = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity : previousSetpoint[axis] - maxVelocity;
}
- yawPreviousRate = setpointRate[axis];
+ previousSetpoint[axis] = setpointRate[axis];
}
// Yaw control is GYRO based, direct sticks control is applied to rate PID
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 4f3623c319..c12404ec5a 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -100,7 +100,8 @@ typedef struct pidProfile_s {
uint8_t itermThrottleGain; // Throttle coupling to iterm. Quick throttle changes will bump iterm
uint8_t ptermSetpointWeight; // Setpoint weight for Pterm (lower means more PV tracking)
uint8_t dtermSetpointWeight; // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > agressive derivative)
- uint16_t pidMaxVelocityYaw; // velocity limiter for pid controller deg/sec/ms
+ uint16_t yawRateAccelLimit; // yaw accel limiter for deg/sec/ms
+ uint16_t rateAccelLimit; // accel limiter roll/pitch deg/sec/ms
#ifdef GTUNE
uint8_t gtune_lolimP[3]; // [0..200] Lower limit of P during G tune
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 5aef0f5392..463ffb72da 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -467,7 +467,7 @@ static const char * const lookupTableDebug[DEBUG_COUNT] = {
"AIRMODE",
"PIDLOOP",
"NOTCH",
- "RC_SMOOTHING",
+ "RC_INTERPOLATION",
"VELOCITY",
"DFILTER",
};
@@ -492,8 +492,8 @@ static const char * const lookupTableDeltaMethod[] = {
"ERROR", "MEASUREMENT"
};
-static const char * const lookupTableRcSmoothing[] = {
- "OFF", "DEFAULT", "AUTO", "MANUAL"
+static const char * const lookupTableRcInterpolation[] = {
+ "OFF", "PRESET", "AUTO", "MANUAL"
};
static const char * const lookupTableLowpassType[] = {
@@ -536,7 +536,7 @@ typedef enum {
TABLE_SUPEREXPO_YAW,
TABLE_MOTOR_PWM_PROTOCOL,
TABLE_DELTA_METHOD,
- TABLE_RC_SMOOTHING,
+ TABLE_RC_INTERPOLATION,
TABLE_LOWPASS_TYPE,
#ifdef OSD
TABLE_OSD,
@@ -574,7 +574,7 @@ static const lookupTableEntry_t lookupTables[] = {
{ lookupTableSuperExpoYaw, sizeof(lookupTableSuperExpoYaw) / sizeof(char *) },
{ lookupTablePwmProtocol, sizeof(lookupTablePwmProtocol) / sizeof(char *) },
{ lookupTableDeltaMethod, sizeof(lookupTableDeltaMethod) / sizeof(char *) },
- { lookupTableRcSmoothing, sizeof(lookupTableRcSmoothing) / sizeof(char *) },
+ { lookupTableRcInterpolation, sizeof(lookupTableRcInterpolation) / sizeof(char *) },
{ lookupTableLowpassType, sizeof(lookupTableLowpassType) / sizeof(char *) },
#ifdef OSD
{ lookupTableOsdType, sizeof(lookupTableOsdType) / sizeof(char *) },
@@ -635,8 +635,8 @@ const clivalue_t valueTable[] = {
{ "max_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.maxcheck, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "rssi_channel", VAR_INT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_channel, .config.minmax = { 0, MAX_SUPPORTED_RC_CHANNEL_COUNT } },
{ "rssi_scale", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.rssi_scale, .config.minmax = { RSSI_SCALE_MIN, RSSI_SCALE_MAX } },
- { "rc_smoothing", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.rcSmoothing, .config.lookup = { TABLE_RC_SMOOTHING } },
- { "rc_smooth_interval_ms", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.rcSmoothInterval, .config.minmax = { 1, 50 } },
+ { "rc_interpolation", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.rcInterpolation, .config.lookup = { TABLE_RC_INTERPOLATION } },
+ { "rc_interpolation_interval", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.rcInterpolationInterval, .config.minmax = { 1, 50 } },
{ "rssi_ppm_invert", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.rxConfig.rssi_ppm_invert, .config.lookup = { TABLE_OFF_ON } },
{ "input_filtering_mode", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.inputFilteringMode, .config.lookup = { TABLE_OFF_ON } },
{ "roll_yaw_cam_mix_degrees", VAR_UINT8 | MASTER_VALUE, &masterConfig.rxConfig.fpvCamAngleDegrees, .config.minmax = { 0, 50 } },
@@ -773,8 +773,8 @@ const clivalue_t valueTable[] = {
{ "servo_lowpass_enable", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mixerConfig.servo_lowpass_enable, .config.lookup = { TABLE_OFF_ON } },
#endif
- { "rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcRate8, .config.minmax = { 0, 250 } },
- { "rc_rate_yaw", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawRate8, .config.minmax = { 0, 250 } },
+ { "rc_rate", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcRate8, .config.minmax = { 0, 300 } },
+ { "rc_rate_yaw", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawRate8, .config.minmax = { 0, 300 } },
{ "rc_expo", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcExpo8, .config.minmax = { 0, 100 } },
{ "rc_yaw_expo", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rcYawExpo8, .config.minmax = { 0, 100 } },
{ "thr_mid", VAR_UINT8 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].thrMid8, .config.minmax = { 0, 100 } },
@@ -831,8 +831,9 @@ const clivalue_t valueTable[] = {
{ "zero_cross_allowance", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.zeroCrossAllowanceCount, .config.minmax = {0, 50 } },
{ "iterm_throttle_gain", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleGain, .config.minmax = {0, 200 } },
{ "pterm_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.ptermSetpointWeight, .config.minmax = {30, 100 } },
- { "dterm_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 300 } },
- { "max_yaw_acceleration", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidMaxVelocityYaw, .config.minmax = {0, 1000 } },
+ { "dterm_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 200 } },
+ { "yaw_rate_acceleration_limit",VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0, 1000 } },
+ { "rate_acceleration_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0, 1000 } },
{ "iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
{ "yaw_iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } },
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index b5d170cfbc..a2f472f45d 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -1041,8 +1041,8 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(masterConfig.rxConfig.spektrum_sat_bind);
serialize16(masterConfig.rxConfig.rx_min_usec);
serialize16(masterConfig.rxConfig.rx_max_usec);
- serialize8(masterConfig.rxConfig.rcSmoothing);
- serialize8(masterConfig.rxConfig.rcSmoothInterval);
+ serialize8(masterConfig.rxConfig.rcInterpolation);
+ serialize8(masterConfig.rxConfig.rcInterpolationInterval);
serialize16(masterConfig.rxConfig.airModeActivateThreshold);
break;
@@ -1268,8 +1268,8 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(currentProfile->pidProfile.toleranceBand);
serialize8(currentProfile->pidProfile.toleranceBandReduction);
serialize8(currentProfile->pidProfile.itermThrottleGain);
- serialize16(currentProfile->pidProfile.pidMaxVelocityYaw);
- serialize16(1000); // Reserved for future
+ serialize16(currentProfile->pidProfile.rateAccelLimit);
+ serialize16(currentProfile->pidProfile.yawRateAccelLimit);
break;
case MSP_SENSOR_CONFIG:
headSerialReply(3);
@@ -1688,8 +1688,8 @@ static bool processInCommand(void)
masterConfig.rxConfig.rx_max_usec = read16();
}
if (currentPort->dataSize > 12) {
- masterConfig.rxConfig.rcSmoothing = read8();
- masterConfig.rxConfig.rcSmoothInterval = read8();
+ masterConfig.rxConfig.rcInterpolation = read8();
+ masterConfig.rxConfig.rcInterpolationInterval = read8();
masterConfig.rxConfig.airModeActivateThreshold = read16();
}
break;
@@ -1858,8 +1858,8 @@ static bool processInCommand(void)
currentProfile->pidProfile.toleranceBand = read8();
currentProfile->pidProfile.toleranceBandReduction = read8();
currentProfile->pidProfile.itermThrottleGain = read8();
- currentProfile->pidProfile.pidMaxVelocityYaw = read16();
- read16(); // reserved for future purposes
+ currentProfile->pidProfile.rateAccelLimit = read16();
+ currentProfile->pidProfile.yawRateAccelLimit = read16();
break;
case MSP_SET_SENSOR_CONFIG:
masterConfig.acc_hardware = read8();
diff --git a/src/main/mw.c b/src/main/mw.c
index c3ebdf8299..b2c569e98b 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -217,15 +217,15 @@ void processRcCommand(void)
uint16_t rxRefreshRate;
bool readyToCalculateRate = false;
- if (masterConfig.rxConfig.rcSmoothing || flightModeFlags) {
+ if (masterConfig.rxConfig.rcInterpolation || flightModeFlags) {
if (isRXDataNew) {
// Set RC refresh rate for sampling and channels to filter
- switch (masterConfig.rxConfig.rcSmoothing) {
+ switch (masterConfig.rxConfig.rcInterpolation) {
case(RC_SMOOTHING_AUTO):
rxRefreshRate = constrain(getTaskDeltaTime(TASK_RX), 1000, 20000) + 1000; // Add slight overhead to prevent ramps
break;
case(RC_SMOOTHING_MANUAL):
- rxRefreshRate = 1000 * masterConfig.rxConfig.rcSmoothInterval;
+ rxRefreshRate = 1000 * masterConfig.rxConfig.rcInterpolationInterval;
break;
case(RC_SMOOTHING_OFF):
case(RC_SMOOTHING_DEFAULT):
@@ -235,7 +235,7 @@ void processRcCommand(void)
rcInterpolationFactor = rxRefreshRate / targetPidLooptime + 1;
- if (debugMode == DEBUG_RC_SMOOTHING) {
+ if (debugMode == DEBUG_RC_INTERPOLATION) {
for (int axis = 0; axis < 2; axis++) debug[axis] = rcCommand[axis];
debug[3] = rxRefreshRate;
}
@@ -263,9 +263,7 @@ void processRcCommand(void)
}
if (readyToCalculateRate || isRXDataNew) {
- // Don't smooth yaw axis
- int axisToCalculate = (isRXDataNew) ? 3 : 2;
- for (int axis = 0; axis < axisToCalculate; axis++) setpointRate[axis] = calculateSetpointRate(axis, rcCommand[axis]);
+ for (int axis = 0; axis < 3; axis++) setpointRate[axis] = calculateSetpointRate(axis, rcCommand[axis]);
isRXDataNew = false;
diff --git a/src/main/rx/rx.h b/src/main/rx/rx.h
index 1200e5e8f5..effd1cc526 100644
--- a/src/main/rx/rx.h
+++ b/src/main/rx/rx.h
@@ -121,8 +121,8 @@ typedef struct rxConfig_s {
uint16_t midrc; // Some radios have not a neutral point centered on 1500. can be changed here
uint16_t mincheck; // minimum rc end
uint16_t maxcheck; // maximum rc end
- uint8_t rcSmoothing;
- uint8_t rcSmoothInterval;
+ uint8_t rcInterpolation;
+ uint8_t rcInterpolationInterval;
uint8_t fpvCamAngleDegrees; // Camera angle to be scaled into rc commands
uint8_t max_aux_channel;
uint16_t airModeActivateThreshold; // Throttle setpoint where airmode gets activated
diff --git a/src/main/target/BLUEJAYF4/target.h b/src/main/target/BLUEJAYF4/target.h
index 737338b054..76a494cd53 100644
--- a/src/main/target/BLUEJAYF4/target.h
+++ b/src/main/target/BLUEJAYF4/target.h
@@ -161,6 +161,9 @@
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+#define SPEKTRUM_BIND
+#define BIND_PIN PB11
+
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff
#define TARGET_IO_PORTC 0xffff
diff --git a/src/main/target/CC3D/target.h b/src/main/target/CC3D/target.h
index 3e86856965..2c61276d16 100644
--- a/src/main/target/CC3D/target.h
+++ b/src/main/target/CC3D/target.h
@@ -22,8 +22,8 @@
#define INVERTER PB2 // PB2 (BOOT1) used as inverter select GPIO
#define INVERTER_USART USART1
-#define BEEPER PB15
-#define BEEPER_OPT PB2
+#define BEEPER PA15
+#define BEEPER_OPT PA2
#define USE_EXTI
#define MPU_INT_EXTI PA3
diff --git a/src/main/target/COLIBRI/config.c b/src/main/target/COLIBRI/config.c
new file mode 100644
index 0000000000..7d20ab1d90
--- /dev/null
+++ b/src/main/target/COLIBRI/config.c
@@ -0,0 +1,99 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight. If not, see .
+ */
+
+#include
+#include
+#include
+
+#include "platform.h"
+#include "debug.h"
+
+#include "build_config.h"
+
+#include "blackbox/blackbox_io.h"
+
+#include "common/color.h"
+#include "common/axis.h"
+#include "common/maths.h"
+#include "common/filter.h"
+
+#include "drivers/sensor.h"
+#include "drivers/accgyro.h"
+#include "drivers/compass.h"
+#include "drivers/system.h"
+#include "drivers/gpio.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_rx.h"
+#include "drivers/serial.h"
+#include "drivers/pwm_output.h"
+#include "drivers/max7456.h"
+
+#include "sensors/sensors.h"
+#include "sensors/gyro.h"
+#include "sensors/compass.h"
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/boardalignment.h"
+#include "sensors/battery.h"
+
+#include "io/beeper.h"
+#include "io/serial.h"
+#include "io/gimbal.h"
+#include "io/escservo.h"
+#include "io/rc_controls.h"
+#include "io/rc_curves.h"
+#include "io/ledstrip.h"
+#include "io/gps.h"
+#include "io/osd.h"
+#include "io/vtx.h"
+
+#include "rx/rx.h"
+
+#include "telemetry/telemetry.h"
+
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/imu.h"
+#include "flight/failsafe.h"
+#include "flight/altitudehold.h"
+#include "flight/navigation.h"
+
+#include "config/runtime_config.h"
+#include "config/config.h"
+
+#include "config/config_profile.h"
+#include "config/config_master.h"
+
+// alternative defaults settings for Colibri/Gemini targets
+void targetConfiguration(void)
+{
+ masterConfig.mixerMode = MIXER_HEX6X;
+ masterConfig.rxConfig.serialrx_provider = 2;
+ featureSet(FEATURE_RX_SERIAL);
+
+ masterConfig.escAndServoConfig.minthrottle = 1070;
+ masterConfig.escAndServoConfig.maxthrottle = 2000;
+
+ masterConfig.boardAlignment.pitchDegrees = 10;
+ //masterConfig.rcControlsConfig.deadband = 10;
+ //masterConfig.rcControlsConfig.yaw_deadband = 10;
+ masterConfig.mag_hardware = 1;
+
+ masterConfig.profile[0].controlRateProfile[0].dynThrPID = 45;
+ masterConfig.profile[0].controlRateProfile[0].tpa_breakpoint = 1700;
+ masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
+}
diff --git a/src/main/target/COLIBRI/target.c b/src/main/target/COLIBRI/target.c
new file mode 100644
index 0000000000..dd87343119
--- /dev/null
+++ b/src/main/target/COLIBRI/target.c
@@ -0,0 +1,123 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight. If not, see .
+ */
+
+#include
+#include
+
+#include
+#include "drivers/pwm_mapping.h"
+
+const uint16_t multiPPM[] = {
+ PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
+ PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM15 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM16 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM2 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM3 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM4 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM7 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM8 | (MAP_TO_SERVO_OUTPUT << 8),
+ 0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+ PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
+ PWM2 | (MAP_TO_PWM_INPUT << 8),
+ PWM3 | (MAP_TO_PWM_INPUT << 8),
+ PWM4 | (MAP_TO_PWM_INPUT << 8),
+ PWM5 | (MAP_TO_PWM_INPUT << 8),
+ PWM6 | (MAP_TO_PWM_INPUT << 8),
+ PWM7 | (MAP_TO_PWM_INPUT << 8),
+ PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8
+ PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM15 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+ PWM16 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+ 0xFFFF
+};
+
+const uint16_t airPPM[] = {
+ PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
+ PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM15 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM16 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM2 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM3 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM4 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM7 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM8 | (MAP_TO_SERVO_OUTPUT << 8),
+ 0xFFFF
+};
+
+const uint16_t airPWM[] = {
+ PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
+ PWM2 | (MAP_TO_PWM_INPUT << 8),
+ PWM3 | (MAP_TO_PWM_INPUT << 8),
+ PWM4 | (MAP_TO_PWM_INPUT << 8),
+ PWM5 | (MAP_TO_PWM_INPUT << 8),
+ PWM6 | (MAP_TO_PWM_INPUT << 8),
+ PWM7 | (MAP_TO_PWM_INPUT << 8),
+ PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8
+ PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
+ PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2
+ PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3
+ PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
+ PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM14 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM15 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM16 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
+ 0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+ { TIM1, IO_TAG(PA10), TIM_Channel_3, TIM1_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM1 }, // S1_IN
+ { TIM8, IO_TAG(PC6), TIM_Channel_1, TIM8_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM8 }, // S2_IN
+ { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM8 }, // S3_IN
+ { TIM8, IO_TAG(PC8), TIM_Channel_3, TIM8_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM8 }, // S4_IN
+ { TIM2, IO_TAG(PA15), TIM_Channel_1, TIM2_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM2 }, // S5_IN
+ { TIM2, IO_TAG(PB3), TIM_Channel_2, TIM2_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM2 }, // S6_IN
+ { TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM5 }, // S7_IN
+ { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM5 }, // S8_IN
+
+
+ { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S1_OUT
+ { TIM3, IO_TAG(PB4), TIM_Channel_1, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S2_OUT
+ { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S3_OUT
+ { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM12 }, // S4_OUT
+ { TIM3, IO_TAG(PB5), TIM_Channel_2, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S5_OUT
+ { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM12 }, // S6_OUT
+ { TIM10, IO_TAG(PB8), TIM_Channel_1, TIM1_UP_TIM10_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM10 }, // S7_OUT
+ { TIM11, IO_TAG(PB9), TIM_Channel_1, TIM1_TRG_COM_TIM11_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM11 }, // S8_OUT
+};
diff --git a/src/main/target/COLIBRI/target.h b/src/main/target/COLIBRI/target.h
new file mode 100644
index 0000000000..77cc0f2f57
--- /dev/null
+++ b/src/main/target/COLIBRI/target.h
@@ -0,0 +1,148 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight. If not, see .
+ */
+
+#pragma once
+
+#define PLL_M 16
+#define PLL_N 336
+
+#define TARGET_BOARD_IDENTIFIER "COLI"
+
+#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
+
+#define USBD_PRODUCT_STRING "Colibri"
+#ifdef OPBL
+#define USBD_SERIALNUMBER_STRING "0x8020000"
+#endif
+
+#define LED0 PC14
+#define LED1 PC13
+#define BEEPER PC5
+#define INVERTER PB2 // PB2 used as inverter select GPIO
+#define INVERTER_USART USART2
+
+#define MPU6000_CS_PIN PC4
+#define MPU6000_SPI_INSTANCE SPI1
+
+#define ACC
+#define USE_ACC_SPI_MPU6000
+#define ACC_MPU6000_ALIGN CW270_DEG_FLIP
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN CW270_DEG_FLIP
+
+// MPU6000 interrupts
+#define USE_EXTI
+#define MPU_INT_EXTI PC0
+#define USE_MPU_DATA_READY_SIGNAL
+#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready (mag disabled)
+
+#define MAG
+#define USE_MAG_HMC5883
+#define MAG_HMC5883_ALIGN CW270_DEG_FLIP
+
+#define USE_MAG_DATA_READY_SIGNAL
+#define ENSURE_MAG_DATA_READY_IS_HIGH
+#define MAG_INT_EXTI PC1
+
+#define BARO
+#define USE_BARO_MS5611
+
+#define M25P16_CS_PIN PB12
+#define M25P16_SPI_INSTANCE SPI2
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+
+#define USE_VCP
+#define VBUS_SENSING_PIN PA9
+
+#define USE_UART1
+#define UART1_RX_PIN PB7
+#define UART1_TX_PIN PB6
+#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
+
+#define USE_UART2
+#define UART2_RX_PIN PA3
+#define UART2_TX_PIN PA2
+
+#define USE_UART3
+#define UART3_RX_PIN PB11
+#define UART3_TX_PIN PB10
+
+//#define USE_UART4
+#define UART4_RX_PIN PC11
+#define UART4_TX_PIN PC10
+
+//#define USE_UART5
+#define UART5_RX_PIN PD2
+#define UART5_TX_PIN PC12
+
+#define SERIAL_PORT_COUNT 4 //VCP, UART1, UART2, UART3
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+#define SPI1_NSS_PIN PC4
+#define SPI1_SCK_PIN PA5
+#define SPI1_MISO_PIN PA6
+#define SPI1_MOSI_PIN PA7
+
+#define USE_SPI_DEVICE_2
+#define SPI2_NSS_PIN PB12
+#define SPI2_SCK_PIN PB13
+#define SPI2_MISO_PIN PC2
+#define SPI2_MOSI_PIN PC3
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_3)
+#define I2C3_SCL PA8
+#define I2C3_SDA PC9
+
+#define SENSORS_SET (SENSOR_ACC)
+
+#define LED_STRIP
+
+#define WS2811_PIN PB7 // Shared UART1
+#define WS2811_TIMER TIM4
+#define WS2811_TIMER_CHANNEL TIM_Channel_2
+#define WS2811_DMA_HANDLER_IDENTIFER DMA1_ST3_HANDLER
+#define WS2811_DMA_STREAM DMA1_Stream3
+#define WS2811_DMA_FLAG DMA_FLAG_TCIF3
+#define WS2811_DMA_IT DMA_IT_TCIF3
+#define WS2811_DMA_CHANNEL DMA_Channel_2
+#define WS2811_DMA_IRQ DMA1_Stream3_IRQn
+
+// alternative defaults for Colibri/Gemini target
+#define TARGET_CONFIG
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
+#define DEFAULT_FEATURES (FEATURE_BLACKBOX | FEATURE_RX_SERIAL)
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+
+#define USABLE_TIMER_CHANNEL_COUNT 16
+#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(10) | TIM_N(11))
diff --git a/src/main/target/COLIBRI/target.mk b/src/main/target/COLIBRI/target.mk
new file mode 100644
index 0000000000..a3d0a413d8
--- /dev/null
+++ b/src/main/target/COLIBRI/target.mk
@@ -0,0 +1,11 @@
+F405_TARGETS += $(TARGET)
+FEATURES += VCP ONBOARDFLASH
+HSE_VALUE = 16000000
+
+TARGET_SRC = \
+ drivers/accgyro_spi_mpu6000.c \
+ drivers/barometer_ms5611.c \
+ drivers/compass_hmc5883l.c \
+ drivers/light_ws2811strip.c \
+ drivers/light_ws2811strip_stm32f4xx.c \
+
diff --git a/src/main/target/FURYF3/target.h b/src/main/target/FURYF3/target.h
index 858b2d76e9..1cc93b6f21 100644
--- a/src/main/target/FURYF3/target.h
+++ b/src/main/target/FURYF3/target.h
@@ -28,7 +28,7 @@
#define BEEPER_INVERTED
#define USE_EXTI
-#define MPU_INT_EXTI PC4
+#define MPU_INT_EXTI PA3
#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU INT, SDCardDetect
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
diff --git a/src/main/target/KISSFC/target.c b/src/main/target/KISSFC/target.c
index 167265ed78..cbb9d74818 100644
--- a/src/main/target/KISSFC/target.c
+++ b/src/main/target/KISSFC/target.c
@@ -29,11 +29,6 @@ const uint16_t multiPPM[] = {
PWM1 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8),
- PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
- PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
- PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
- PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
- PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
0xFFFF
};
diff --git a/src/main/target/OMNIBUS/target.h b/src/main/target/OMNIBUS/target.h
index ad84573b59..5434391b3e 100644
--- a/src/main/target/OMNIBUS/target.h
+++ b/src/main/target/OMNIBUS/target.h
@@ -175,6 +175,8 @@
#define BUTTON_B_PORT GPIOB
#define BUTTON_B_PIN Pin_0
+#define AVOID_UART3_FOR_PWM_PPM
+
#define SPEKTRUM_BIND
// USART3,
#define BIND_PIN PB11
diff --git a/src/main/target/REVO/target.h b/src/main/target/REVO/target.h
index 76738118d0..b697c887f3 100644
--- a/src/main/target/REVO/target.h
+++ b/src/main/target/REVO/target.h
@@ -112,6 +112,10 @@
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define DEFAULT_FEATURES (FEATURE_BLACKBOX)
+#define SPEKTRUM_BIND
+// USART3,
+#define BIND_PIN PB11
+
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define TARGET_IO_PORTA 0xffff
diff --git a/src/main/target/REVONANO/target.h b/src/main/target/REVONANO/target.h
index 448d235b81..3a4f8d157a 100644
--- a/src/main/target/REVONANO/target.h
+++ b/src/main/target/REVONANO/target.h
@@ -92,6 +92,10 @@
#define USE_SERVOS
#define USE_CLI
+#define SPEKTRUM_BIND
+// USART2, PA3
+#define BIND_PIN PA3
+
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff
#define TARGET_IO_PORTC 0xffff
diff --git a/src/main/target/SPARKY2/SPARKY_OPBL.mk b/src/main/target/SPARKY2/SPARKY_OPBL.mk
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/src/main/target/SPARKY2/target.c b/src/main/target/SPARKY2/target.c
new file mode 100644
index 0000000000..a4e95ecee4
--- /dev/null
+++ b/src/main/target/SPARKY2/target.c
@@ -0,0 +1,99 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight. If not, see .
+ */
+
+#include
+
+#include
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+const uint16_t multiPPM[] = {
+ PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
+ PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+ PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+ PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+ PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+ PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+ PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+ 0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+ PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
+ PWM2 | (MAP_TO_PWM_INPUT << 8),
+ PWM3 | (MAP_TO_PWM_INPUT << 8),
+ PWM4 | (MAP_TO_PWM_INPUT << 8),
+ PWM5 | (MAP_TO_PWM_INPUT << 8),
+ PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
+ PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
+ PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3
+ PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM11 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6
+ 0xFFFF
+};
+
+const uint16_t airPPM[] = {
+ PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
+ PWM6 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM8 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM9 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM10 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM2 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM3 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM4 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
+ 0xFFFF
+};
+
+const uint16_t airPWM[] = {
+ PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
+ PWM2 | (MAP_TO_PWM_INPUT << 8),
+ PWM3 | (MAP_TO_PWM_INPUT << 8),
+ PWM4 | (MAP_TO_PWM_INPUT << 8),
+ PWM5 | (MAP_TO_PWM_INPUT << 8),
+ PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
+ PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
+ PWM8 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
+ PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2
+ PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3
+ PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
+ 0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+ { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // PPM IN
+ { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12 }, // S2_IN
+ { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12 }, // S3_IN - GPIO_PartialRemap_TIM3
+ { TIM8, IO_TAG(PC8), TIM_Channel_3, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // S4_IN
+ { TIM8, IO_TAG(PC9), TIM_Channel_4, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // S5_IN
+
+ { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S1_OUT
+ { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S2_OUT
+ { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM9 }, // S3_OUT
+ { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S4_OUT
+ { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5 }, // S5_OUT - GPIO_PartialRemap_TIM3
+ { TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5 }, // S6_OUT
+};
+
diff --git a/src/main/target/SPARKY2/target.h b/src/main/target/SPARKY2/target.h
new file mode 100644
index 0000000000..0ed29e6616
--- /dev/null
+++ b/src/main/target/SPARKY2/target.h
@@ -0,0 +1,131 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight. If not, see .
+ */
+
+#pragma once
+#define TARGET_BOARD_IDENTIFIER "SPK2"
+
+#define CONFIG_START_FLASH_ADDRESS 0x08080000 //0x08080000 to 0x080A0000 (FLASH_Sector_8)
+
+#define USBD_PRODUCT_STRING "Sparky 2.0"
+#ifdef OPBL
+ #define USBD_SERIALNUMBER_STRING "0x8020000"
+#endif
+
+#define LED0 PB5
+#define LED1 PB4
+#define LED2 PB6
+
+#define BEEPER PC9
+
+#define INVERTER PC6
+#define INVERTER_USART USART6
+
+// MPU9250 interrupt
+#define USE_EXTI
+#define MPU_INT_EXTI PC5
+#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
+//#define DEBUG_MPU_DATA_READY_INTERRUPT
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+
+#define MPU9250_CS_PIN PC4
+#define MPU9250_SPI_INSTANCE SPI1
+
+#define ACC
+#define USE_ACC_SPI_MPU9250
+#define ACC_MPU9250_ALIGN CW270_DEG
+
+#define GYRO
+#define USE_GYRO_SPI_MPU9250
+#define GYRO_MPU9250_ALIGN CW270_DEG
+
+#define MAG
+//#define USE_MAG_HMC5883
+#define USE_MAG_AK8963
+
+//#define MAG_HMC5883_ALIGN CW180_DEG
+#define MAG_AK8963_ALIGN CW270_DEG
+
+#define BARO
+#define USE_BARO_MS5611
+//#define USE_BARO_BMP280
+
+#define M25P16_CS_PIN PB3
+#define M25P16_SPI_INSTANCE SPI3
+
+//#define RFM22B_CS_PIN PA15
+//#define RFM22B_SPI_INSTANCE SPI3
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define USE_FLASH_TOOLS
+
+#define USE_VCP
+#define VBUS_SENSING_PIN PA8
+
+#define USE_USART1
+#define USART1_RX_PIN PA10
+#define USART1_TX_PIN PA9
+#define USART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
+
+#define USE_USART3
+#define USART3_RX_PIN PB11
+#define USART3_TX_PIN PB10
+
+#define USE_USART6
+#define USART6_RX_PIN PC7
+#define USART6_TX_PIN PC6 //inverter
+
+#define SERIAL_PORT_COUNT 4
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1 //MPU9250
+#define SPI1_NSS_PIN PC4
+#define SPI1_SCK_PIN PA5
+#define SPI1_MISO_PIN PA6
+#define SPI1_MOSI_PIN PA7
+
+#define USE_SPI_DEVICE_3 //dataflash
+#define SPI3_NSS_PIN PB3
+#define SPI3_SCK_PIN PC10
+#define SPI3_MISO_PIN PC11
+#define SPI3_MOSI_PIN PC12
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_1)
+//#define I2C_DEVICE_EXT (I2CDEV_2)
+
+#define USE_ADC
+
+#define LED_STRIP
+#define LED_STRIP_TIMER TIM5
+
+#define DEFAULT_FEATURES FEATURE_BLACKBOX
+#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER SERIALRX_SBUS
+#define SERIALRX_UART SERIAL_PORT_USART3
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+
+#define USABLE_TIMER_CHANNEL_COUNT 11
+#define USED_TIMERS ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9))
+
diff --git a/src/main/target/SPARKY2/target.mk b/src/main/target/SPARKY2/target.mk
new file mode 100644
index 0000000000..56f2b2f444
--- /dev/null
+++ b/src/main/target/SPARKY2/target.mk
@@ -0,0 +1,12 @@
+F405_TARGETS += $(TARGET)
+FEATURES += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+ drivers/accgyro_spi_mpu9250.c \
+ drivers/barometer_bmp280.c \
+ drivers/barometer_ms5611.c \
+ drivers/compass_ak8963.c \
+ drivers/compass_hmc5883l.c \
+ drivers/light_ws2811strip.c \
+ drivers/light_ws2811strip_stm32f4xx.c
+
diff --git a/src/main/target/system_stm32f4xx.c b/src/main/target/system_stm32f4xx.c
index 5a6d90059b..879acff784 100644
--- a/src/main/target/system_stm32f4xx.c
+++ b/src/main/target/system_stm32f4xx.c
@@ -371,7 +371,11 @@ uint32_t hse_value = HSE_VALUE;
/************************* PLL Parameters *************************************/
#if defined(STM32F40_41xxx) || defined(STM32F427_437xx) || defined(STM32F429_439xx) || defined(STM32F401xx) || defined(STM32F469_479xx)
/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N */
+#if defined(COLIBRI)
+ #define PLL_M 16
+#else
#define PLL_M 8
+#endif
#elif defined (STM32F446xx)
#define PLL_M 8
#elif defined (STM32F410xx) || defined (STM32F411xE)