Merge remote-tracking branch 'origin/master' into mmosca-gps-glonass

docs/Settings.md

@@ -1422,6 +1422,16 @@ Which SBAS mode to be used
 
 ---
 
+### gps_ublox_nav_hz
+
+Navigation update rate for UBLOX7 receivers. Some receivers may limit the maximum number of satellites tracked when set to a higher rate or even stop sending navigation updates if the value is too high. Some M10 devices can do up to 25Hz. 10 is a safe value for M8 and newer.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 10 | 5 | 200 |
+
+---
+
 ### gps_ublox_use_beidou
 
 Enable use of Beidou satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires gps hardware support [OFF/ON].

src/main/fc/settings.yaml

@@ -1553,6 +1553,14 @@ groups:
         field: gpsMinSats
         min: 5
         max: 10
+      - name: gps_ublox_nav_hz
+        description: "Navigation update rate for UBLOX7 receivers. Some receivers may limit the maximum number of satellites tracked when set to a higher rate or even stop sending navigation updates if the value is too high. Some M10 devices can do up to 25Hz. 10 is a safe value for M8 and newer."
+        default_value: 10
+        field: ubloxNavHz
+        type: uint8_t
+        min: 5
+        max: 200
+
 
   - name: PG_RC_CONTROLS_CONFIG
     type: rcControlsConfig_t

src/main/io/gps.c

@@ -124,6 +124,7 @@ PG_RESET_TEMPLATE(gpsConfig_t, gpsConfig,
     .ubloxUseGalileo = SETTING_GPS_UBLOX_USE_GALILEO_DEFAULT,
     .ubloxUseBeidou = SETTING_GPS_UBLOX_USE_BEIDOU_DEFAULT,
     .ubloxUseGlonass = SETTING_GPS_UBLOX_USE_GLONASS_DEFAULT,
+    .ubloxNavHz = SETTING_GPS_UBLOX_NAV_HZ_DEFAULT
 );
 
 void gpsSetState(gpsState_e state)

src/main/io/gps.h

@@ -96,6 +96,7 @@ typedef struct gpsConfig_s {
     bool ubloxUseBeidou;
     bool ubloxUseGlonass;
     uint8_t gpsMinSats;
+    uint8_t ubloxNavHz;
 } gpsConfig_t;
 
 PG_DECLARE(gpsConfig_t, gpsConfig);

src/main/io/gps_ublox.c

@@ -667,6 +667,11 @@ static bool gpsNewFrameUBLOX(uint8_t data)
     return parsed;
 }
 
+static uint16_t hz2rate(uint8_t hz)
+{
+    return 1000 / hz;
+}
+
 STATIC_PROTOTHREAD(gpsConfigure)
 {
     ptBegin(gpsConfigure);
@@ -736,10 +741,17 @@ STATIC_PROTOTHREAD(gpsConfigure)
         configureMSG(MSG_CLASS_UBX, MSG_NAV_SIG, 0);
         ptWait(_ack_state == UBX_ACK_GOT_ACK);
 
-        // u-Blox 9 receivers such as M9N can do 10Hz as well, but the number of used satellites will be restricted to 16.
-        // Not mentioned in the datasheet
-        configureRATE(200);
-        ptWait(_ack_state == UBX_ACK_GOT_ACK);
+        if ((gpsState.gpsConfig->provider == GPS_UBLOX7PLUS) && (gpsState.hwVersion >= UBX_HW_VERSION_UBLOX7)) {
+            configureRATE(hz2rate(gpsState.gpsConfig->ubloxNavHz)); // default 10Hz
+        } else {
+            configureRATE(200); // 5Hz
+        }
+        ptWait(_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK);
+
+        if(_ack_state == UBX_ACK_GOT_NAK) { // Fallback to safe 5Hz in case of error
+            configureRATE(200); // 5Hz
+            ptWait(_ack_state == UBX_ACK_GOT_ACK);
+        }
     }
     else {
         // u-Blox 5/6/7/8 or unknown
@@ -767,12 +779,17 @@ STATIC_PROTOTHREAD(gpsConfigure)
             ptWait(_ack_state == UBX_ACK_GOT_ACK);
 
             if ((gpsState.gpsConfig->provider == GPS_UBLOX7PLUS) && (gpsState.hwVersion >= UBX_HW_VERSION_UBLOX7)) {
-                configureRATE(100); // 10Hz
+                configureRATE(hz2rate(gpsState.gpsConfig->ubloxNavHz)); // default 10Hz
             }
             else {
                 configureRATE(200); // 5Hz
             }
-            ptWait(_ack_state == UBX_ACK_GOT_ACK);
+            ptWait(_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK);
+
+            if(_ack_state == UBX_ACK_GOT_NAK) { // Fallback to safe 5Hz in case of error
+                configureRATE(200); // 5Hz
+                ptWait(_ack_state == UBX_ACK_GOT_ACK);
+            }
         }
         // u-Blox 5/6 doesn't support PVT, use legacy config
         // UNKNOWN also falls here, use as a last resort

src/main/target/AOCODARCF405AIO/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32f405xg(AOCODARCF405AIO)

src/main/target/AOCODARCF405AIO/config.c

@@ -0,0 +1,30 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+#include "io/piniobox.h"
+#include "sensors/boardalignment.h"
+#include "sensors/barometer.h"
+#include "sensors/compass.h"
+
+void targetConfiguration(void)
+{
+    boardAlignmentMutable()->yawDeciDegrees = 450;
+}

src/main/target/AOCODARCF405AIO/target.c

@@ -0,0 +1,41 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/sensor.h"
+
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,  DEVHW_MPU6500,   MPU6500_SPI_BUS, MPU6500_CS_PIN,  NONE,  0, DEVFLAGS_NONE, IMU_MPU6500_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,  DEVHW_MPU6000,   MPU6000_SPI_BUS, MPU6000_CS_PIN,  NONE,  0, DEVFLAGS_NONE, IMU_MPU6500_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,  DEVHW_BMI270,   BMI270_SPI_BUS, BMI270_CS_PIN,  NONE,  0, DEVFLAGS_NONE, IMU_BMI270_ALIGN);
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM2, CH2, PA10,  TIM_USE_PPM, 0, 0),  // PPM
+    
+    DEF_TIM(TIM3, CH1, PC6,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),  // S1
+    DEF_TIM(TIM3, CH2, PC7,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),  // S2
+    DEF_TIM(TIM3, CH3, PC8,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S3
+    DEF_TIM(TIM3, CH4, PC9,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S4
+
+    DEF_TIM(TIM1, CH1, PB1,  TIM_USE_LED, 0, 0),  // LED
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/AOCODARCF405AIO/target.h

@@ -0,0 +1,171 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "F405AIO"       
+#define USBD_PRODUCT_STRING  "AocodaRCF405AIO"  
+
+#define LED0                 PC13
+
+#define USE_BEEPER
+#define BEEPER               PB8
+#define BEEPER_INVERTED
+
+/*** UART ***/
+#define USB_IO
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_RX_PIN         PA10
+#define UART1_TX_PIN         PA9
+
+#define USE_UART2
+#define UART2_RX_PIN         PA3
+#define UART2_TX_PIN         PA2
+
+#define USE_UART3
+#define UART3_RX_PIN         PC11
+#define UART3_TX_PIN         PC10
+
+#define USE_UART4
+#define UART4_RX_PIN         PA1
+#define UART4_TX_PIN         PA0
+
+#define USE_UART5
+#define UART5_RX_PIN         PC12
+#define UART5_TX_PIN         PD2
+
+#define SERIAL_PORT_COUNT    6               
+
+/*** Gyro & Acc ***/
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+
+#define SPI1_SCK_PIN         PA5
+#define SPI1_MISO_PIN        PA6
+#define SPI1_MOSI_PIN        PA7
+
+#define USE_IMU_MPU6500
+#define MPU6500_CS_PIN           PA4
+#define MPU6500_SPI_BUS          BUS_SPI1
+#define MPU6500_EXTI_PIN         PC5
+#define IMU_MPU6500_ALIGN        CW90_DEG
+
+#define USE_IMU_MPU6000
+#define MPU6000_CS_PIN           PA4
+#define MPU6000_SPI_BUS          BUS_SPI1
+#define MPU6000_EXTI_PIN         PC5
+#define IMU_MPU6000_ALIGN        CW90_DEG
+
+#define USE_IMU_BMI270
+#define BMI270_CS_PIN           PA4
+#define BMI270_SPI_BUS          BUS_SPI1
+#define BMI270_EXTI_PIN         PC5
+#define IMU_BMI270_ALIGN        CW90_DEG
+
+/*** I2C (Baro & Mag) ***/
+#define USE_I2C
+
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL             PB6
+#define I2C1_SDA             PB7
+
+// Baro
+#define USE_BARO
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_DPS310
+#define USE_BARO_SPL06
+#define BARO_I2C_BUS         BUS_I2C1	
+
+// Mag 
+#define USE_MAG
+#define MAG_I2C_BUS          BUS_I2C1
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_IST8308
+#define USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+#define USE_MAG_MLX90393
+
+/*** Onboard Flash ***/    
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN         PB3
+#define SPI3_MISO_PIN   	 PB5
+#define SPI3_MOSI_PIN   	 PB4
+
+#define M25P16_SPI_BUS       BUS_SPI3
+#define M25P16_CS_PIN        PC0
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+/*** OSD ***/
+#define USE_OSD
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN         PB13
+#define SPI2_MISO_PIN        PB14
+#define SPI2_MOSI_PIN        PB15
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS      BUS_SPI2
+#define MAX7456_CS_PIN       PA13
+
+/*** ADC ***/
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN    PC2
+#define ADC_CHANNEL_2_PIN    PC3
+#define ADC_CHANNEL_3_PIN    PC1
+
+#define VBAT_ADC_CHANNEL          ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL ADC_CHN_3
+#define RSSI_ADC_CHANNEL          ADC_CHN_2
+
+/*** LED ***/
+#define USE_LED_STRIP
+#define WS2811_PIN PB1
+
+/*** Default settings ***/
+#define SERIALRX_UART        SERIAL_PORT_USART2
+#define DEFAULT_RX_TYPE      RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER    SERIALRX_CRSF
+#define CURRENT_METER_SCALE  250
+
+/*** Optical Flow & Lidar ***/
+#define USE_RANGEFINDER
+#define USE_RANGEFINDER_MSP
+#define USE_OPFLOW
+#define USE_OPFLOW_MSP
+
+/*** Timer/PWM output ***/
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+#define MAX_PWM_OUTPUT_PORTS 8
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+
+/*** Misc ***/
+#define DEFAULT_FEATURES     (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX)
+
+#define TARGET_IO_PORTA      0xffff
+#define TARGET_IO_PORTB      0xffff
+#define TARGET_IO_PORTC      0xffff
+#define TARGET_IO_PORTD      (BIT(2))

src/main/target/AOCODARCH7DUAL/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32h743xi(AOCODARCH7DUAL)

src/main/target/AOCODARCH7DUAL/config.c

@@ -0,0 +1,32 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+#include "fc/config.h"
+
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+    beeperConfigMutable()->pwmMode = true;
+}

src/main/target/AOCODARCH7DUAL/target.c

@@ -0,0 +1,54 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     MPU6000_EXTI_PIN,  DEVFLAGS_NONE,  0,   IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270_1,      DEVHW_BMI270,       BMI270_SPI_BUS_1,     BMI270_CS_PIN_1,      BMI270_EXTI_PIN_1,  DEVFLAGS_NONE,  0,    IMU_BMI270_ALIGN_1);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270_2,      DEVHW_BMI270,       BMI270_SPI_BUS_2,     BMI270_CS_PIN_2,      BMI270_EXTI_PIN_2,  DEVFLAGS_NONE,  1,    IMU_BMI270_ALIGN_2);
+
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),   // S1
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1),   // S2
+    DEF_TIM(TIM5, CH1, PA0, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 2),   // S3  
+    DEF_TIM(TIM5, CH2, PA1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 3),   // S4
+    
+    DEF_TIM(TIM5, CH3, PA2, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 4),   // S5
+    DEF_TIM(TIM5, CH4, PA3, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 5),   // S6
+    DEF_TIM(TIM4, CH1, PD12, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 6),   // S7
+    DEF_TIM(TIM4, CH2, PD13, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 7),   // S8
+    
+    DEF_TIM(TIM4, CH3, PD14, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S9
+    DEF_TIM(TIM4, CH4, PD15, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),   // S10 DMA_NONE
+    DEF_TIM(TIM15, CH1, PE5, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),   // S11
+    DEF_TIM(TIM15, CH2, PE6, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),   // S12 DMA_NONE
+
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_LED, 0, 9),    // LED_2812
+  
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/AOCODARCH7DUAL/target.h

@@ -0,0 +1,210 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "AOH7"
+#define USBD_PRODUCT_STRING     "AocodaRCH7Dual"
+
+#define USE_TARGET_CONFIG
+
+#define LED0                    PE3
+#define LED1                    PE4
+
+#define BEEPER                  PA15
+#define BEEPER_INVERTED
+
+// *************** IMU generic ***********************
+#define USE_DUAL_GYRO
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
+// *************** SPI1 IMU0 MPU6000 && BMI270 ****************
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PD7
+
+#define USE_IMU_MPU6000
+
+#define IMU_MPU6000_ALIGN       CW0_DEG
+#define MPU6000_SPI_BUS         BUS_SPI1
+#define MPU6000_CS_PIN          PC15
+#define MPU6000_EXTI_PIN        PB2
+
+#define USE_IMU_BMI270
+
+#define IMU_BMI270_ALIGN_1        CW90_DEG
+#define BMI270_SPI_BUS_1          BUS_SPI1
+#define BMI270_CS_PIN_1           PC15
+#define BMI270_EXTI_PIN_1         PB2
+
+// *************** SPI4 IMU1  BMI270 **************
+#define USE_SPI_DEVICE_4
+#define SPI4_SCK_PIN            PE12
+#define SPI4_MISO_PIN           PE13
+#define SPI4_MOSI_PIN           PE14
+
+#define USE_IMU_BMI270
+
+#define IMU_BMI270_ALIGN_2       CW180_DEG
+#define BMI270_SPI_BUS_2         BUS_SPI4
+#define BMI270_CS_PIN_2          PE11
+#define BMI270_EXTI_PIN_2        PE15
+
+// *************** SPI2 OSD ***********************
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          PB12
+
+// *************** SPI3 FLASH ***********************
+#define USE_SPI_DEVICE_3
+
+#define SPI3_NSS_PIN            PD3
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN           PB4
+#define SPI3_MOSI_PIN           PB5
+ 
+#define SPI3_SCK_AF GPIO_AF6_SPI3
+#define SPI3_MISO_AF GPIO_AF6_SPI3
+#define SPI3_MOSI_AF GPIO_AF7_SPI3
+
+#define W25N01G_SPI_BUS BUS_SPI3
+#define W25N01G_CS_PIN  SPI3_NSS_PIN
+
+#define USE_BLACKBOX
+#define USE_FLASHFS
+#define USE_FLASH_W25N01G
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** I2C /Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL PB6
+#define I2C1_SDA PB7
+
+#define USE_I2C_DEVICE_2
+#define I2C2_SCL PB10
+#define I2C2_SDA PB11
+
+#define USE_BARO
+#define BARO_I2C_BUS BUS_I2C2
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_DPS310
+#define USE_BARO_SPL06
+
+#define USE_MAG
+#define MAG_I2C_BUS BUS_I2C1
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_IST8308
+#define USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+#define USE_MAG_VCM5883
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+#define PITOT_I2C_BUS           BUS_I2C1
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS BUS_I2C1
+
+
+// *************** UART *****************************
+#define USE_VCP
+#define VBUS_SENSING_PIN        PE2
+#define VBUS_SENSING_ENABLED
+
+#define USE_UART1
+#define UART1_TX_PIN PA9
+#define UART1_RX_PIN PA10
+
+#define USE_UART2
+#define UART2_TX_PIN PD5
+#define UART2_RX_PIN PD6
+
+#define USE_UART3
+#define UART3_TX_PIN PD8
+#define UART3_RX_PIN PD9
+
+#define USE_UART4
+#define UART4_TX_PIN PB9
+#define UART4_RX_PIN PB8
+
+#define USE_UART6
+#define UART6_TX_PIN PC6
+#define UART6_RX_PIN PC7
+
+#define USE_UART7
+#define UART7_TX_PIN PE8
+#define UART7_RX_PIN PE7
+
+#define USE_UART8
+#define UART8_TX_PIN PE1
+#define UART8_RX_PIN PE0
+
+#define SERIAL_PORT_COUNT 8
+
+#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER SERIALRX_SBUS
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+
+#define ADC_CHANNEL_1_PIN           PC0  //ADC123 VBAT1
+#define ADC_CHANNEL_2_PIN           PC1  //ADC123 CURR1
+#define ADC_CHANNEL_3_PIN           PC5  //ADC12  RSSI
+#define ADC_CHANNEL_4_PIN           PC4  //ADC12  AirS
+#define ADC_CHANNEL_5_PIN           PA4  //ADC12  VB2
+#define ADC_CHANNEL_6_PIN           PA7  //ADC12  CU2
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+#define AIRSPEED_ADC_CHANNEL        ADC_CHN_4
+
+// *************** PINIO ***************************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                  PD10  // VTX power switcher
+#define PINIO2_PIN                  PD11  // 2xCamera switcher
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA8
+
+#define DEFAULT_FEATURES            (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
+#define CURRENT_METER_SCALE         250
+
+#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 TARGET_IO_PORTE 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS        15
+#define USE_DSHOT
+#define USE_ESC_SENSOR