Merge branch 'betaflight' into development

# Conflicts:
#	src/main/flight/pid.c
#	src/main/main.c
#	src/main/target/IRCFUSIONF3/target.h

.travis.yml

@@ -47,6 +47,8 @@ env:
 #  - TARGET=VRRACE
 #  - TARGET=X_RACERSPI
 #  - TARGET=ZCOREF3
+#  - TARGET=RCEXPLORERF3
+  
 # use new docker environment
 sudo: false
 

fake_travis_build.sh

@@ -21,8 +21,8 @@ targets=("PUBLISHMETA=True" \
     "TARGET=DOGE" \
     "TARGET=SINGULARITY" \
     "TARGET=SIRINFPV" \
-    "TARGET=X_RACERSPI")
+    "TARGET=X_RACERSPI" \
-
+    "TARGET=RCEXPLORERF3")
 
 
 #fake a travis build environment

src/main/build/debug.h

@@ -56,5 +56,6 @@ typedef enum {
     DEBUG_RC_INTERPOLATION,
     DEBUG_VELOCITY,
     DEBUG_DTERM_FILTER,
+    DEBUG_ANGLERATE,
     DEBUG_COUNT
 } debugType_e;

src/main/config/config.c

@@ -127,7 +127,11 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig)
 
 static void resetPidProfile(pidProfile_t *pidProfile)
 {
+#if defined(SKIP_PID_FLOAT)
+    pidProfile->pidController = PID_CONTROLLER_LEGACY;
+#else
     pidProfile->pidController = PID_CONTROLLER_BETAFLIGHT;
+#endif
 
     pidProfile->P8[ROLL] = 45;
     pidProfile->I8[ROLL] = 40;
@@ -171,8 +175,8 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
 
     // Betaflight PID controller parameters
-    pidProfile->ptermSetpointWeight = 75;
+    pidProfile->ptermSetpointWeight = 80;
-    pidProfile->dtermSetpointWeight = 120;
+    pidProfile->dtermSetpointWeight = 150;
     pidProfile->yawRateAccelLimit = 220;
     pidProfile->rateAccelLimit = 0;
     pidProfile->toleranceBand = 0;
@@ -378,7 +382,7 @@ void createDefaultConfig(master_t *config)
     memset(config, 0, sizeof(master_t));
 
     intFeatureClearAll(config);
-    intFeatureSet(DEFAULT_RX_FEATURE | FEATURE_FAILSAFE | FEATURE_SUPEREXPO_RATES, config);
+    intFeatureSet(DEFAULT_RX_FEATURE | FEATURE_FAILSAFE , config);
 #ifdef DEFAULT_FEATURES
     intFeatureSet(DEFAULT_FEATURES, config);
 #endif

src/main/config/config.h

@@ -49,7 +49,7 @@ typedef enum {
     FEATURE_CHANNEL_FORWARDING = 1 << 20,
     FEATURE_TRANSPONDER = 1 << 21,
     FEATURE_AIRMODE = 1 << 22,
-    FEATURE_SUPEREXPO_RATES = 1 << 23,
+    //FEATURE_SUPEREXPO_RATES = 1 << 23,
     FEATURE_VTX = 1 << 24,
     FEATURE_RX_NRF24 = 1 << 25,
     FEATURE_SOFTSPI = 1 << 26,

src/main/drivers/pwm_mapping.c

@@ -235,6 +235,13 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
                 type = MAP_TO_SERVO_OUTPUT;
 #endif
 
+#if defined(RCEXPLORERF3)
+            if (timerIndex == PWM2)
+            {
+                type = MAP_TO_SERVO_OUTPUT;
+            }
+#endif
+
 #if (defined(STM32F3DISCOVERY) && !defined(CHEBUZZF3))
             // remap PWM 5+6 or 9+10 as servos - softserial pin pairs require timer ports that use the same timer
             if (init->useSoftSerial) {

src/main/fc/mw.c

@@ -174,22 +174,44 @@ bool isCalibrating()
     return (!isAccelerationCalibrationComplete() && sensors(SENSOR_ACC)) || (!isGyroCalibrationComplete());
 }
 
+#define RC_RATE_INCREMENTAL 14.54f
+
 float calculateSetpointRate(int axis, int16_t rc) {
-    float angleRate;
+    float angleRate, rcRate, rcSuperfactor, rcCommandf;
+    uint8_t rcExpo;
 
-    if (isSuperExpoActive()) {
+    if (axis != YAW) {
-        rcInput[axis] = (axis == YAW) ? (ABS(rc) / (500.0f * (currentControlRateProfile->rcYawRate8 / 100.0f))) : (ABS(rc) / (500.0f * (currentControlRateProfile->rcRate8 / 100.0f)));
+        rcExpo = currentControlRateProfile->rcExpo8;
-        float rcFactor = 1.0f / (constrainf(1.0f - (rcInput[axis] * (currentControlRateProfile->rates[axis] / 100.0f)), 0.01f, 1.00f));
+        rcRate = currentControlRateProfile->rcRate8 / 100.0f;
-
-        angleRate = rcFactor * ((27 * rc) / 16.0f);
     } else {
-        angleRate = (float)((currentControlRateProfile->rates[axis] + 27) * rc) / 16.0f;
+        rcExpo = currentControlRateProfile->rcYawExpo8;
+        rcRate = currentControlRateProfile->rcYawRate8 / 100.0f;
+    }
+
+    if (rcRate > 2.0f) rcRate = rcRate + (RC_RATE_INCREMENTAL * (rcRate - 2.0f));
+    rcCommandf = rc / 500.0f;
+    rcInput[axis] = ABS(rcCommandf);
+
+    if (rcExpo) {
+        float expof = rcExpo / 100.0f;
+        rcCommandf = rcCommandf * (expof * (rcInput[axis] * rcInput[axis] * rcInput[axis]) + rcInput[axis]*(1-expof));
+    }
+
+    angleRate = 200.0f * rcRate * rcCommandf;
+
+    if (currentControlRateProfile->rates[axis]) {
+        rcSuperfactor = 1.0f / (constrainf(1.0f - (rcInput[axis] * (currentControlRateProfile->rates[axis] / 100.0f)), 0.01f, 1.00f));
+        angleRate *= rcSuperfactor;
+    }
+
+    if (debugMode == DEBUG_ANGLERATE) {
+        debug[axis] = angleRate;
     }
 
     if (currentProfile->pidProfile.pidController == PID_CONTROLLER_LEGACY)
-	    return  constrainf(angleRate, -8190.0f, 8190.0f); // Rate limit protection
+	    return  constrainf(angleRate * 4.1f, -8190.0f, 8190.0f); // Rate limit protection
     else
-        return  constrainf(angleRate / 4.1f, -1997.0f, 1997.0f); // Rate limit protection (deg/sec)
+        return  constrainf(angleRate, -1998.0f, 1998.0f); // Rate limit protection (deg/sec)
 }
 
 void scaleRcCommandToFpvCamAngle(void) {
@@ -299,14 +321,14 @@ static void updateRcCommands(void)
             } else {
                 tmp = 0;
             }
-            rcCommand[axis] = rcLookup(tmp, currentControlRateProfile->rcExpo8, currentControlRateProfile->rcRate8);
+            rcCommand[axis] = tmp;
         } else if (axis == YAW) {
             if (tmp > masterConfig.rcControlsConfig.yaw_deadband) {
                 tmp -= masterConfig.rcControlsConfig.yaw_deadband;
             } else {
                 tmp = 0;
             }
-            rcCommand[axis] = rcLookup(tmp, currentControlRateProfile->rcYawExpo8, currentControlRateProfile->rcYawRate8) * -masterConfig.yaw_control_direction;;
+            rcCommand[axis] = tmp * -masterConfig.yaw_control_direction;
         }
         if (rcData[axis] < masterConfig.rxConfig.midrc) {
             rcCommand[axis] = -rcCommand[axis];
@@ -814,28 +836,16 @@ uint8_t setPidUpdateCountDown(void) {
 // Function for loop trigger
 void taskMainPidLoopCheck(void)
 {
-    static uint32_t previousTime;
     static bool runTaskMainSubprocesses;
+    static uint8_t pidUpdateCountdown;
 
-    cycleTime = micros() - previousTime;
+    cycleTime = getTaskDeltaTime(TASK_SELF);
-    previousTime = micros();
 
     if (debugMode == DEBUG_CYCLETIME) {
         debug[0] = cycleTime;
         debug[1] = averageSystemLoadPercent;
     }
 
-    const uint32_t startTime = micros();
-
-    while (true) {
-        if (gyroSyncCheckUpdate(&gyro)) {
-            if (debugMode == DEBUG_PIDLOOP) {debug[0] = micros() - startTime;} // time spent busy waiting
-            break;
-        }
-    }
-
-    static uint8_t pidUpdateCountdown;
-
     if (runTaskMainSubprocesses) {
         subTaskMainSubprocesses();
         runTaskMainSubprocesses = false;

src/main/fc/rc_controls.c

@@ -76,10 +76,6 @@ bool isAirmodeActive(void) {
     return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || feature(FEATURE_AIRMODE));
 }
 
-bool isSuperExpoActive(void) {
-    return (feature(FEATURE_SUPEREXPO_RATES));
-}
-
 void blackboxLogInflightAdjustmentEvent(adjustmentFunction_e adjustmentFunction, int32_t newValue) {
 #ifndef BLACKBOX
     UNUSED(adjustmentFunction);

src/main/fc/rc_controls.h

@@ -254,7 +254,6 @@ typedef struct adjustmentState_s {
 #define MAX_ADJUSTMENT_RANGE_COUNT 15
 
 bool isAirmodeActive(void);
-bool isSuperExpoActive(void);
 void resetAdjustmentStates(void);
 void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
 void processRcAdjustments(controlRateConfig_t *controlRateConfig, struct rxConfig_s *rxConfig);

src/main/fc/rc_curves.c

@@ -50,12 +50,6 @@ void generateThrottleCurve(controlRateConfig_t *controlRateConfig, escAndServoCo
     }
 }
 
-int16_t rcLookup(int32_t tmp, uint8_t expo, uint8_t rate)
-{
-    float tmpf = tmp / 100.0f;
-    return (int16_t)((2500.0f + (float)expo * (tmpf * tmpf - 25.0f)) * tmpf * (float)(rate) / 2500.0f );
-}
-
 int16_t rcLookupThrottle(int32_t tmp)
 {
     const int32_t tmp2 = tmp / 100;

src/main/fc/rc_curves.h

@@ -21,6 +21,5 @@ struct controlRateConfig_s;
 struct escAndServoConfig_s;
 void generateThrottleCurve(struct controlRateConfig_s *controlRateConfig, struct escAndServoConfig_s *escAndServoConfig);
 
-int16_t rcLookup(int32_t tmp, uint8_t expo, uint8_t rate);
 int16_t rcLookupThrottle(int32_t tmp);
 

src/main/flight/pid.c

@@ -125,6 +125,25 @@ void initFilters(const pidProfile_t *pidProfile)
     }
 }
 
+        } else {
+            if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
+
+            axisPID[axis] = lrintf(PTerm + ITerm);
+
+            DTerm = 0.0f; // needed for blackbox
+        } else {
+            if (pidProfile->yaw_lpf_hz) PTerm = pt1FilterApply4(&yawFilter, PTerm, pidProfile->yaw_lpf_hz, getdT());
+
+            axisPID[axis] = PTerm + ITerm;
+
+            if (motorCount >= 4) {
+                int16_t yaw_jump_prevention_limit = constrain(YAW_JUMP_PREVENTION_LIMIT_HIGH - (pidProfile->D8[axis] << 3), YAW_JUMP_PREVENTION_LIMIT_LOW, YAW_JUMP_PREVENTION_LIMIT_HIGH);
+
+                // prevent "yaw jump" during yaw correction
+                axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
+            }
+
+            DTerm = 0; // needed for blackbox
 void pidSetController(pidControllerType_e type)
 {
     switch (type) {

src/main/io/ledstrip.c

@@ -189,10 +189,10 @@ STATIC_UNIT_TESTED void determineLedStripDimensions(void)
 
 STATIC_UNIT_TESTED void determineOrientationLimits(void)
 {
-    highestYValueForNorth = (ledGridHeight / 2) - 1;
+    highestYValueForNorth = MIN((ledGridHeight / 2) - 1, 0);
-    lowestYValueForSouth = ((ledGridHeight + 1) / 2);
+    lowestYValueForSouth = (ledGridHeight + 1) / 2;
-    highestXValueForWest = (ledGridWidth / 2) - 1;
+    highestXValueForWest = MIN((ledGridWidth / 2) - 1, 0);
-    lowestXValueForEast = ((ledGridWidth + 1) / 2);
+    lowestXValueForEast = (ledGridWidth + 1) / 2;
 }
 
 STATIC_UNIT_TESTED void updateLedCount(void)
@@ -463,7 +463,11 @@ static void applyLedFixedLayers()
             case LED_FUNCTION_FLIGHT_MODE:
                 for (unsigned i = 0; i < ARRAYLEN(flightModeToLed); i++)
                     if (!flightModeToLed[i].flightMode || FLIGHT_MODE(flightModeToLed[i].flightMode)) {
-                        color = *getDirectionalModeColor(ledIndex, &masterConfig.modeColors[flightModeToLed[i].ledMode]);
+                        hsvColor_t *directionalColor = getDirectionalModeColor(ledIndex, &masterConfig.modeColors[flightModeToLed[i].ledMode]);
+                        if (directionalColor) {
+                            color = *directionalColor;
+                        }
+
                         break; // stop on first match
                     }
                 break;

src/main/io/serial_cli.c

@@ -489,6 +489,7 @@ static const char * const lookupTableDebug[DEBUG_COUNT] = {
     "RC_INTERPOLATION",
     "VELOCITY",
     "DFILTER",
+    "ANGLERATE",
 };
 
 #ifdef OSD
@@ -803,9 +804,9 @@ const clivalue_t valueTable[] = {
     { "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 } },
     { "thr_expo",                   VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].thrExpo8, .config.minmax = { 0,  100 } },
-    { "roll_rate",                  VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rates[FD_ROLL], .config.minmax = { 0,  CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX } },
+    { "roll_srate",                 VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rates[FD_ROLL], .config.minmax = { 0,  CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX } },
-    { "pitch_rate",                 VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rates[FD_PITCH], .config.minmax = { 0,  CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX } },
+    { "pitch_srate",                VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rates[FD_PITCH], .config.minmax = { 0,  CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX } },
-    { "yaw_rate",                   VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rates[FD_YAW], .config.minmax = { 0,  CONTROL_RATE_CONFIG_YAW_RATE_MAX } },
+    { "yaw_srate",                  VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].rates[FD_YAW], .config.minmax = { 0,  CONTROL_RATE_CONFIG_YAW_RATE_MAX } },
     { "tpa_rate",                   VAR_UINT8  | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].dynThrPID, .config.minmax = { 0,  CONTROL_RATE_CONFIG_TPA_MAX} },
     { "tpa_breakpoint",             VAR_UINT16 | PROFILE_RATE_VALUE, &masterConfig.profile[0].controlRateProfile[0].tpa_breakpoint, .config.minmax = { PWM_RANGE_MIN,  PWM_RANGE_MAX} },
     { "airmode_activate_throttle",  VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.airModeActivateThreshold, .config.minmax = {1000, 2000 } },
@@ -855,7 +856,7 @@ 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, 200 } },
+    { "dterm_setpoint_weight",      VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 255 } },
     { "yaw_rate_accel_limit",       VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0, 1000 } },
     { "rate_accel_limit",           VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0, 1000 } },
 
@@ -864,7 +865,9 @@ const clivalue_t valueTable[] = {
     { "yaw_lowpass",                VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },
     { "pid_process_denom",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.pid_process_denom, .config.minmax = { 1,  8 } },
 
+#ifndef SKIP_PID_FLOAT
     { "pid_controller",             VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidController, .config.lookup = { TABLE_PID_CONTROLLER } },
+#endif
 
     { "p_pitch",                    VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PITCH], .config.minmax = { 0,  200 } },
     { "i_pitch",                    VAR_UINT8  | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PITCH], .config.minmax = { 0,  200 } },

src/main/io/serial_msp.c

@@ -1360,8 +1360,10 @@ static bool processInCommand(void)
         read16();
         break;
     case MSP_SET_PID_CONTROLLER:
+#ifndef SKIP_PID_FLOAT
         currentProfile->pidProfile.pidController = constrain(read8(), 0, 1);
         pidSetController(currentProfile->pidProfile.pidController);
+#endif
         break;
     case MSP_SET_PID:
         for (i = 0; i < PID_ITEM_COUNT; i++) {

src/main/main.c

@@ -604,7 +604,6 @@ void init(void)
 
     setTargetPidLooptime((gyro.targetLooptime + LOOPTIME_SUSPEND_TIME) * masterConfig.pid_process_denom); // Initialize pid looptime
 
-
 #ifdef BLACKBOX
     initBlackbox();
 #endif

src/main/target/CC3D/target.h

@@ -118,6 +118,7 @@
 #undef SONAR
 #undef USE_SOFTSERIAL1
 #undef LED_STRIP
+#define SKIP_PID_FLOAT
 #endif
 
 #define DEFAULT_RX_FEATURE      FEATURE_RX_PPM

src/main/target/IRCFUSIONF3/target.h

@@ -23,6 +23,9 @@
 
 #define LED0                    PB3
 
+#define USE_EXTI
+#define MPU_INT_EXTI PC13
+
 #define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready, no MAG
 
 #define USE_MPU_DATA_READY_SIGNAL

src/main/target/OMNIBUS/target.c

@@ -88,8 +88,8 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
 
     { TIM4,  IO_TAG(PB8),  TIM_Channel_3, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 },  // PWM1 - PB8
     { TIM4,  IO_TAG(PB9),  TIM_Channel_4, TIM4_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2 },  // PWM2 - PB9
-    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 },  // PWM3 - PA2
+    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 },  // PWM3 - PA3
-    { TIM15, IO_TAG(PA3),  TIM_Channel_2, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 },  // PWM4 - PA3
+    { TIM15, IO_TAG(PA2),  TIM_Channel_1, TIM1_BRK_TIM15_IRQn,     1, IOCFG_AF_PP, GPIO_AF_9 },  // PWM4 - PA2
 
     // UART3 RX/TX
     { TIM2,  IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn,               1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM5  - PB10 - TIM2_CH3 / UART3_TX (AF7)

src/main/target/RCEXPLORERF3/target.c

@@ -0,0 +1,71 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+const uint16_t multiPPM[] = {
+    PWM6  | (MAP_TO_PPM_INPUT << 8),    // PPM input
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM17 - can be switched to servo
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM1
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+    0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+        PWM3  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+        PWM2  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM17 - can be switched to servo
+        PWM4  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+        PWM1  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM1
+        PWM5  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+    0xFFFF
+};
+
+const uint16_t airPPM[] = {
+    PWM6  | (MAP_TO_PPM_INPUT << 8),    // PPM input
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM17 - can be switched to servo
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM1
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+    0xFFFF
+};
+
+const uint16_t airPWM[] = {
+    PWM3  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+    PWM2  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM17 - can be switched to servo
+    PWM4  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+    PWM1  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM1
+    PWM5  | (MAP_TO_MOTOR_OUTPUT << 8), // TIM3
+    0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    { TIM3,  IO_TAG(PA4),  TIM_Channel_2, TIM3_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2}, // PWM1 - PA4
+    { TIM17, IO_TAG(PA7),  TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1}, // PWM2 - PA7
+    { TIM1,  IO_TAG(PA8),  TIM_Channel_1, TIM1_CC_IRQn,            1, IOCFG_AF_PP, GPIO_AF_6}, // PWM3 - PA8
+    { TIM3,  IO_TAG(PB0),  TIM_Channel_3, TIM3_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2}, // PWM4 - PB0
+    { TIM3,  IO_TAG(PB1),  TIM_Channel_4, TIM3_IRQn,               1, IOCFG_AF_PP, GPIO_AF_2}, // PWM5 - PB1
+    { TIM2,  IO_TAG(PA1),  TIM_Channel_2, TIM2_IRQn,               0, IOCFG_AF_PP, GPIO_AF_1}, // PWM6 - PPM
+};

src/main/target/RCEXPLORERF3/target.h

@@ -0,0 +1,145 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "REF3"
+
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
+
+#define LED0        PB4
+#define LED1        PB5
+
+#define BEEPER      PA0
+#define BEEPER_INVERTED
+
+#define USABLE_TIMER_CHANNEL_COUNT 6
+
+
+#define USE_EXTI
+#define USE_MPU_DATA_READY_SIGNAL
+#define MPU_INT_EXTI PA15
+#define EXTI15_10_CALLBACK_HANDLER_COUNT 1 // MPU data ready
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define USE_ACC_SPI_MPU6000
+
+#define MPU6000_CS_PIN          PB12
+#define MPU6000_SPI_INSTANCE    SPI2
+
+#define ACC
+
+#define ACC_MPU6000_ALIGN CW180_DEG
+#define GYRO_MPU6000_ALIGN CW180_DEG
+
+#define BARO
+#define USE_BARO_MS5611
+
+#define MAG
+#define USE_MPU9250_MAG // Enables bypass configuration
+#define USE_MAG_AK8975
+#define USE_MAG_HMC5883 // External
+
+#define MAG_AK8975_ALIGN CW180_DEG
+
+#define SONAR
+#define SONAR_TRIGGER_PIN           PA6   // RC_CH7 (PB0) - only 3.3v ( add a 1K Ohms resistor )
+#define SONAR_ECHO_PIN              PB1   // RC_CH8 (PB1) - only 3.3v ( add a 1K Ohms resistor )
+
+#define USB_IO
+
+#define USE_VCP
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define SERIAL_PORT_COUNT 4
+
+#define UART1_TX_PIN            PB6
+#define UART1_RX_PIN            PB7
+
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define UART3_TX_PIN            PB10 // PB10 (AF7)
+#define UART3_RX_PIN            PB11 // PB11 (AF7)
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_2) // SDA (PA10/AF4), SCL (PA9/AF4)
+
+#define I2C2_SCL                PA9
+#define I2C2_SDA                PA10
+
+#define USE_SPI
+#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
+
+#define SPI2_NSS_PIN            PB12
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_GPS | SENSOR_MAG)
+
+#define USE_ADC
+#define BOARD_HAS_VOLTAGE_DIVIDER
+
+#define ADC_INSTANCE                ADC2
+#define VBAT_ADC_PIN                PA5
+#define CURRENT_METER_ADC_PIN       PB2
+#define RSSI_ADC_PIN                PA6
+
+#define LED_STRIP // LED strip configuration using PWM motor output pin 5.
+
+#define USE_LED_STRIP_ON_DMA1_CHANNEL3
+#define WS2811_PIN                      PB8 // TIM16_CH1
+#define WS2811_TIMER                    TIM16
+#define WS2811_DMA_CHANNEL              DMA1_Channel3
+#define WS2811_IRQ                      DMA1_Channel3_IRQn
+#define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC3
+#define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH3_HANDLER
+
+#define DEFAULT_FEATURES        FEATURE_VBAT
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+#define NAV
+#define NAV_AUTO_MAG_DECLINATION
+#define NAV_GPS_GLITCH_DETECTION
+#define NAV_MAX_WAYPOINTS               60
+#define GPS
+#define BLACKBOX
+#define TELEMETRY
+#define SERIAL_RX
+#define AUTOTUNE
+#define DISPLAY
+#define USE_SERVOS
+#define USE_CLI
+
+#define SPEKTRUM_BIND
+// USART3,
+#define BIND_PIN   PA3
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
+
+#define USABLE_TIMER_CHANNEL_COUNT 6
+#define USED_TIMERS  (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(17))

src/main/target/RCEXPLORERF3/target.mk

@@ -0,0 +1,15 @@
+F3_TARGETS  += $(TARGET)
+FEATURES    = VCP
+
+TARGET_SRC = \
+		   drivers/accgyro_mpu.c \
+		   drivers/accgyro_spi_mpu6000.c \
+		   drivers/barometer_ms5611.c \
+		   drivers/compass_hmc5883l.c \
+		   drivers/compass_ak8975.c \
+		   drivers/display_ug2864hsweg01.c \
+		   drivers/serial_usb_vcp.c \
+		   drivers/flash_m25p16.c \
+		   drivers/light_ws2811strip.c \
+		   drivers/light_ws2811strip_stm32f30x.c \
+		   drivers/sonar_hcsr04.c

src/main/target/RMDO/target.h

@@ -26,11 +26,13 @@
 #define BEEPER                  PC15
 #define BEEPER_INVERTED
 
+#define USE_EXTI
+#define MPU_INT_EXTI PC13
 #define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready and MAG data ready
 #define USE_MPU_DATA_READY_SIGNAL
 #define ENSURE_MPU_DATA_READY_IS_LOW
-#define USE_MAG_DATA_READY_SIGNAL
+//#define USE_MAG_DATA_READY_SIGNAL       // XXX Do RMDO has onboard mag???
-#define ENSURE_MAG_DATA_READY_IS_HIGH
+//#define ENSURE_MAG_DATA_READY_IS_HIGH
 
 #define GYRO
 #define USE_GYRO_MPU6050