Merge branch 'master' into abo_wp_mission_flight_select

Dockerfile

@@ -2,7 +2,9 @@ FROM ubuntu:focal
 
 ENV DEBIAN_FRONTEND noninteractive
 
-RUN apt-get update && apt-get install -y git cmake make ruby gcc
+RUN apt-get update && apt-get install -y git cmake make ruby gcc python3 python3-pip
+
+RUN pip install pyyaml
 
 RUN useradd inav
 

cmake/docker_docs.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+cd /src/
+python3 src/utils/update_cli_docs.py

docs/Navigation.md

@@ -77,13 +77,24 @@ Parameters:
 
   * `<lon>` - Longitude.
 
-  * `<alt>` - Altitude in cm.
+  * `<alt>` - Altitude in cm. See `p3` bit 0 for datum definition.
 
   * `<p1>` - For a RTH waypoint, p1 > 0 enables landing. For a normal waypoint it is the speed to this waypoint (cm/s), it is taken into account only for multicopters and when > 50 and < nav_auto_speed. For POSHOLD TIME waypoint it is time to loiter in seconds. For JUMP it is the target WP **index** (not number). For SET_HEAD, it is the desired heading (0-359) or -1 to cancel a previous SET_HEAD or SET_POI.
 
   * `<p2>` - For a POSHOLD TIME it is the speed to this waypoint (cm/s), it is taken into account only for multicopters and when > 50 and < nav_auto_speed. For JUMP it is the number of iterations of the JUMP.
 
-  * `<p3>` - Reserved for future use. If `p2` is provided, then `p3` is also required.
+  * `<p3>` - A  bitfield with four bits reserved for user specified actions. It is anticipated that these actions will be exposed through the logic conditions.
+      * Bit 0 - Altitude (`alt`) : Relative (to home altitude) (0) or Absolute (AMSL) (1).
+	  * Bit 1 - WP Action 1
+	  * Bit 2 - WP Action 2
+      * Bit 3 - WP Action 3
+      * Bit 4 - WP Action 4
+	  * Bits 5 - 15 : undefined / reserved.
+
+      Note:
+
+	  * If `p2` is specified, then `p3` is also required.
+	  * `p3` is only defined for navigable WP types (WAYPOINT, POSHOLD_TIME, LAND). The affect of specifying a non-zero `p3` for other WP types is undefined.
 
   * `<flag>` - Last waypoint must have `flag` set to 165 (0xA5).
 
@@ -116,7 +127,8 @@ wp 59 0 0 0 0 0 0 0 0
 
 Note that the `wp` CLI command shows waypoint list indices, while the MW-XML definition used by mwp, ezgui and the configurator use WP numbers.
 
-**Multi-missions**\
+## Multi-missions
+
 Multi-missions allows up to 9 missions to be stored in the FC at the same time. It is possible to load them into the FC using the CLI. This is acheived by entering single missions into the CLI followed by `wp save` **after** the final mission has been entered (the single missions can be entered one after the other or as a single block entry, it doesn't matter). All missions will then be saved as a Multi Mission in the FC. Saved multi missions display consecutive WP indices from 0 to the last WP in the last mission when displayed using the `wp` command.
 
 E.g. to enter 3 missions in the CLI enter each mission as a single mission (start WP index for each mission must be 0).
@@ -156,4 +168,4 @@ wp 11 0 0 0 0 0 0 0 0
 wp 12 0 0 0 0 0 0 0 0
 ...
 wp 59 0 0 0 0 0 0 0 0
-```
+```

docs/Settings.md

@@ -902,13 +902,13 @@ What failsafe procedure to initiate in Stage 2 when craft is closer to home than
 
 ---
 
-### failsafe_mission
+### failsafe_mission_delay
 
-If set to `OFF` the failsafe procedure won't be triggered and the mission will continue if the FC is in WP (automatic mission) mode
+Applies if failsafe occurs when a WP mission is in progress. Sets the time delay in seconds between failsafe occurring and the selected failsafe procedure activating. If set to -1 the failsafe procedure won't activate at all and the mission will continue until the end.
 
 | Default | Min | Max |
 | --- | --- | --- |
-| ON | OFF | ON |
+| 0 | -1 | 600 |
 
 ---
 

docs/development/Building in Docker.md

@@ -39,4 +39,6 @@ You'll have to manually execute the same steps that the build script does:
    + Where `<PATH_TO_REPO>` must be replaced with the absolute path of where you cloned this repo (see above), and `<TARGET>` with the name of the target that you want to build.
    + Note that on Windows/WSL 2 mounted /src folder is writeable for root user only. You have to run build under root user. You can achieve this by using `-u root` option in the command line above, or by removing "USER inav" line from the .\DockerFile before building image.   
 
-Refer to the [Linux](#Linux) instructions or the [build script](/build.sh) for more details.
+3. If you need to update `Settings.md`, run `docker run --entrypoint /src/cmake/docker_docs.sh --rm -it -u root -v <PATH_TO_REPO>:/src inav-build`
+
+Refer to the [Linux](#Linux) instructions or the [build script](/build.sh) for more details.

src/main/CMakeLists.txt

@@ -302,8 +302,6 @@ main_sources(COMMON_SRC
 
     flight/failsafe.c
     flight/failsafe.h
-    flight/hil.c
-    flight/hil.h
     flight/imu.c
     flight/imu.h
     flight/kalman.c

src/main/cms/cms_menu_navigation.c

@@ -191,7 +191,7 @@ static const OSD_Entry cmsx_menuMissionSettingsEntries[] =
     OSD_LABEL_ENTRY("-- MISSIONS --"),
 
     OSD_SETTING_ENTRY("MC WP SLOWDOWN", SETTING_NAV_MC_WP_SLOWDOWN),
-    OSD_SETTING_ENTRY("MISSION FAILSAFE", SETTING_FAILSAFE_MISSION),
+    OSD_SETTING_ENTRY("WP FAILSAFE DELAY", SETTING_FAILSAFE_MISSION_DELAY),
     OSD_SETTING_ENTRY("WP LOAD ON BOOT", SETTING_NAV_WP_LOAD_ON_BOOT),
     OSD_SETTING_ENTRY("WP REACHED RADIUS", SETTING_NAV_WP_RADIUS),
     OSD_SETTING_ENTRY("WP ENFORCE ALTITUDE", SETTING_NAV_WP_ENFORCE_ALTITUDE),

src/main/fc/fc_core.c

@@ -389,7 +389,7 @@ static bool emergencyArmingIsEnabled(void)
     return emergencyArmingIsTriggered() && emergencyArmingCanOverrideArmingDisabled();
 }
 
-void annexCode(float dT)
+static void processPilotAndFailSafeActions(float dT)
 {
     if (failsafeShouldApplyControlInput()) {
         // Failsafe will apply rcCommand for us
@@ -436,8 +436,6 @@ void annexCode(float dT)
             rcCommand[PITCH] = rcCommand_PITCH;
         }
     }
-
-    updateArmingStatus();
 }
 
 void disarm(disarmReason_t disarmReason)
@@ -880,7 +878,9 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     imuUpdateAccelerometer();
     imuUpdateAttitude(currentTimeUs);
 
-    annexCode(dT);
+    processPilotAndFailSafeActions(dT);
+
+    updateArmingStatus();
 
     if (rxConfig()->rcFilterFrequency) {
         rcInterpolationApply(isRXDataNew, currentTimeUs);
@@ -924,13 +924,6 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     // Calculate stabilisation
     pidController(dT);
 
-#ifdef HIL
-    if (hilActive) {
-        hilUpdateControlState();
-        motorControlEnable = false;
-    }
-#endif
-
     mixTable();
 
     if (isMixerUsingServos()) {

src/main/fc/fc_msp.c

@@ -73,7 +73,6 @@
 
 #include "flight/failsafe.h"
 #include "flight/imu.h"
-#include "flight/hil.h"
 #include "flight/mixer.h"
 #include "flight/pid.h"
 #include "flight/servos.h"
@@ -402,15 +401,6 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteData(dst, shortGitRevision, GIT_SHORT_REVISION_LENGTH);
         break;
 
-#ifdef HIL
-    case MSP_HIL_STATE:
-        sbufWriteU16(dst, hilToSIM.pidCommand[ROLL]);
-        sbufWriteU16(dst, hilToSIM.pidCommand[PITCH]);
-        sbufWriteU16(dst, hilToSIM.pidCommand[YAW]);
-        sbufWriteU16(dst, hilToSIM.pidCommand[THROTTLE]);
-        break;
-#endif
-
     case MSP_SENSOR_STATUS:
         sbufWriteU8(dst, isHardwareHealthy() ? 1 : 0);
         sbufWriteU8(dst, getHwGyroStatus());

src/main/fc/fc_msp_box.c

@@ -87,14 +87,14 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
     { .boxId = BOXUSER1,            .boxName = "USER1",             .permanentId = BOX_PERMANENT_ID_USER1 },
     { .boxId = BOXUSER2,            .boxName = "USER2",             .permanentId = BOX_PERMANENT_ID_USER2 },
     { .boxId = BOXUSER3,            .boxName = "USER3",             .permanentId = BOX_PERMANENT_ID_USER3 },
-    { .boxId = BOXLOITERDIRCHN,     .boxName = "LOITER CHANGE",     .permanentId = 50 },
+    { .boxId = BOXMSPRCOVERRIDE,    .boxName = "MSP RC OVERRIDE",   .permanentId = 50 },
-    { .boxId = BOXMSPRCOVERRIDE,    .boxName = "MSP RC OVERRIDE",   .permanentId = 51 },
+    { .boxId = BOXPREARM,           .boxName = "PREARM",            .permanentId = 51 },
-    { .boxId = BOXPREARM,           .boxName = "PREARM",            .permanentId = 52 },
+    { .boxId = BOXTURTLE,           .boxName = "TURTLE",            .permanentId = 52 },
-    { .boxId = BOXTURTLE,           .boxName = "TURTLE",            .permanentId = 53 },
+    { .boxId = BOXNAVCRUISE,        .boxName = "NAV CRUISE",        .permanentId = 53 },
-    { .boxId = BOXNAVCRUISE,        .boxName = "NAV CRUISE",        .permanentId = 54 },
+    { .boxId = BOXAUTOLEVEL,        .boxName = "AUTO LEVEL",        .permanentId = 54 },
-    { .boxId = BOXAUTOLEVEL,        .boxName = "AUTO LEVEL",        .permanentId = 55 },
+    { .boxId = BOXPLANWPMISSION,    .boxName = "WP PLANNER",        .permanentId = 55 },
-    { .boxId = BOXPLANWPMISSION,    .boxName = "WP PLANNER",        .permanentId = 56 },
+    { .boxId = BOXSOARING,          .boxName = "SOARING",           .permanentId = 56 },
-    { .boxId = BOXSOARING,          .boxName = "SOARING",           .permanentId = 57 },
+    { .boxId = BOXLOITERDIRCHN,     .boxName = "LOITER CHANGE",     .permanentId = 57 },
     { .boxId = BOXCHANGEMISSION,    .boxName = "MISSION CHANGE",    .permanentId = 58 },
     { .boxId = CHECKBOX_ITEM_COUNT, .boxName = NULL,                .permanentId = 0xFF }
 };

src/main/fc/settings.yaml

@@ -927,10 +927,11 @@ groups:
         description: "What failsafe procedure to initiate in Stage 2 when craft is closer to home than failsafe_min_distance. See [Failsafe documentation](Failsafe.md#failsafe_throttle)."
         default_value: "DROP"
         table: failsafe_procedure
-      - name: failsafe_mission
+      - name: failsafe_mission_delay
-        description: "If set to `OFF` the failsafe procedure won't be triggered and the mission will continue if the FC is in WP (automatic mission) mode"
+        description: "Applies if failsafe occurs when a WP mission is in progress. Sets the time delay in seconds between failsafe occurring and the selected failsafe procedure activating. If set to -1 the failsafe procedure won't activate at all and the mission will continue until the end."
-        default_value: ON
+        default_value: 0
-        type: bool
+        min: -1
+        max: 600
 
   - name: PG_LIGHTS_CONFIG
     type: lightsConfig_t

src/main/flight/failsafe.c

@@ -67,13 +67,13 @@
 
 static failsafeState_t failsafeState;
 
-PG_REGISTER_WITH_RESET_TEMPLATE(failsafeConfig_t, failsafeConfig, PG_FAILSAFE_CONFIG, 2);
+PG_REGISTER_WITH_RESET_TEMPLATE(failsafeConfig_t, failsafeConfig, PG_FAILSAFE_CONFIG, 3);
 
 PG_RESET_TEMPLATE(failsafeConfig_t, failsafeConfig,
     .failsafe_delay = SETTING_FAILSAFE_DELAY_DEFAULT,                                   // 0.5 sec
     .failsafe_recovery_delay = SETTING_FAILSAFE_RECOVERY_DELAY_DEFAULT,                 // 0.5 seconds (plus 200ms explicit delay)
     .failsafe_off_delay = SETTING_FAILSAFE_OFF_DELAY_DEFAULT,                           // 20sec
-    .failsafe_throttle_low_delay = SETTING_FAILSAFE_THROTTLE_LOW_DELAY_DEFAULT,                                   // default throttle low delay for "just disarm" on failsafe condition
+    .failsafe_throttle_low_delay = SETTING_FAILSAFE_THROTTLE_LOW_DELAY_DEFAULT,         // default throttle low delay for "just disarm" on failsafe condition
     .failsafe_procedure = SETTING_FAILSAFE_PROCEDURE_DEFAULT,                           // default full failsafe procedure
     .failsafe_fw_roll_angle = SETTING_FAILSAFE_FW_ROLL_ANGLE_DEFAULT,                   // 20 deg left
     .failsafe_fw_pitch_angle = SETTING_FAILSAFE_FW_PITCH_ANGLE_DEFAULT,                 // 10 deg dive (yes, positive means dive)
@@ -81,7 +81,7 @@ PG_RESET_TEMPLATE(failsafeConfig_t, failsafeConfig,
     .failsafe_stick_motion_threshold = SETTING_FAILSAFE_STICK_THRESHOLD_DEFAULT,
     .failsafe_min_distance = SETTING_FAILSAFE_MIN_DISTANCE_DEFAULT,                     // No minimum distance for failsafe by default
     .failsafe_min_distance_procedure = SETTING_FAILSAFE_MIN_DISTANCE_PROCEDURE_DEFAULT, // default minimum distance failsafe procedure
-    .failsafe_mission = SETTING_FAILSAFE_MISSION_DEFAULT,                               // Enable failsafe in WP mode or not
+    .failsafe_mission_delay = SETTING_FAILSAFE_MISSION_DELAY_DEFAULT,                   // Time delay before Failsafe activated during WP mission (s)
 );
 
 typedef enum {
@@ -336,8 +336,14 @@ static bool failsafeCheckStickMotion(void)
 
 static failsafeProcedure_e failsafeChooseFailsafeProcedure(void)
 {
-    if ((FLIGHT_MODE(NAV_WP_MODE) || isWaypointMissionRTHActive()) && !failsafeConfig()->failsafe_mission) {
+    if ((FLIGHT_MODE(NAV_WP_MODE) || isWaypointMissionRTHActive()) && failsafeConfig()->failsafe_mission_delay) {
-        return FAILSAFE_PROCEDURE_NONE;
+        if (!failsafeState.wpModeDelayedFailsafeStart) {
+            failsafeState.wpModeDelayedFailsafeStart = millis();
+            return FAILSAFE_PROCEDURE_NONE;
+        } else if ((millis() - failsafeState.wpModeDelayedFailsafeStart < (MILLIS_PER_SECOND * (uint16_t)failsafeConfig()->failsafe_mission_delay)) ||
+                   failsafeConfig()->failsafe_mission_delay == -1) {
+            return FAILSAFE_PROCEDURE_NONE;
+        }
     }
 
     // Craft is closer than minimum failsafe procedure distance (if set to non-zero)
@@ -393,6 +399,7 @@ void failsafeUpdateState(void)
                             failsafeState.receivingRxDataPeriodPreset = PERIOD_OF_3_SECONDS; // require 3 seconds of valid rxData
                         } else {
                             failsafeState.phase = FAILSAFE_RX_LOSS_DETECTED;
+                            failsafeState.wpModeDelayedFailsafeStart = 0;
                         }
                         reprocessState = true;
                     }
@@ -448,6 +455,9 @@ void failsafeUpdateState(void)
                 if (receivingRxDataAndNotFailsafeMode && sticksAreMoving) {
                     failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;
                     reprocessState = true;
+                } else if (failsafeChooseFailsafeProcedure() != FAILSAFE_PROCEDURE_NONE) {  // trigger new failsafe procedure if changed
+                    failsafeState.phase = FAILSAFE_RX_LOSS_DETECTED;
+                    reprocessState = true;
                 }
                 break;
 

src/main/flight/failsafe.h

@@ -42,7 +42,7 @@ typedef struct failsafeConfig_s {
     uint16_t failsafe_stick_motion_threshold;
     uint16_t failsafe_min_distance;             // Minimum distance required for failsafe procedure to be taken. 1 step = 1 centimeter. 0 = Regular failsafe_procedure always active (default)
     uint8_t failsafe_min_distance_procedure;    // selected minimum distance failsafe procedure is 0: auto-landing, 1: Drop it, 2: Return To Home (RTH)
-    bool failsafe_mission;                      // Enable failsafe in WP mode or not
+    int16_t failsafe_mission_delay;             // Time delay before Failsafe triggered when WP mission in progress (s)
 } failsafeConfig_t;
 
 PG_DECLARE(failsafeConfig_t, failsafeConfig);
@@ -148,6 +148,7 @@ typedef struct failsafeState_s {
     timeMs_t landingShouldBeFinishedAt;
     timeMs_t receivingRxDataPeriod;         // period for the required period of valid rxData
     timeMs_t receivingRxDataPeriodPreset;   // preset for the required period of valid rxData
+    timeMs_t wpModeDelayedFailsafeStart;    // waypoint mission delayed failsafe timer start time
     failsafeProcedure_e activeProcedure;
     failsafePhase_e phase;
     failsafeRxLinkState_e rxLinkState;

src/main/flight/hil.c

@@ -1,73 +0,0 @@
-/*
- * 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/>.
- */
-
-// Inertial Measurement Unit (IMU)
-
-#include <stdbool.h>
-#include <stdint.h>
-#include <math.h>
-
-#include "platform.h"
-
-#ifdef HIL
-
-#include "build/build_config.h"
-#include "build/debug.h"
-
-#include "common/axis.h"
-#include "common/maths.h"
-#include "common/filter.h"
-
-#include "drivers/time.h"
-
-#include "sensors/sensors.h"
-#include "sensors/acceleration.h"
-#include "sensors/boardalignment.h"
-
-#include "flight/pid.h"
-#include "flight/imu.h"
-#include "flight/hil.h"
-
-#include "fc/config.h"
-#include "fc/runtime_config.h"
-
-#include "navigation/navigation.h"
-#include "navigation/navigation_private.h"
-
-
-bool hilActive = false;
-hilIncomingStateData_t hilToFC;
-hilOutgoingStateData_t hilToSIM;
-
-void hilUpdateControlState(void)
-{
-    // FIXME: There must be a cleaner way to to this
-    // If HIL active, store PID outout into hilState and disable motor control
-    if (FLIGHT_MODE(MANUAL_MODE) || !STATE(AIRPLANE)) {
-        hilToSIM.pidCommand[ROLL] = rcCommand[ROLL];
-        hilToSIM.pidCommand[PITCH] = rcCommand[PITCH];
-        hilToSIM.pidCommand[YAW] = rcCommand[YAW];
-    } else {
-        hilToSIM.pidCommand[ROLL] = axisPID[ROLL];
-        hilToSIM.pidCommand[PITCH] = axisPID[PITCH];
-        hilToSIM.pidCommand[YAW] = axisPID[YAW];
-    }
-
-    hilToSIM.pidCommand[THROTTLE] = rcCommand[THROTTLE];
-}
-
-#endif

src/main/flight/hil.h

@@ -1,42 +0,0 @@
-/*
- * 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
-
-#ifdef HIL
-
-typedef struct {
-    int16_t     rollAngle;  // deg * 10
-    int16_t     pitchAngle; // deg * 10
-    int16_t     yawAngle;   // deg * 10
-
-    int32_t     baroAlt;    // cm above launch
-
-    int16_t     bodyAccel[3];   // cm/s/s   // forward, right, up
-} hilIncomingStateData_t;
-
-typedef struct {
-    int16_t     pidCommand[4];
-} hilOutgoingStateData_t;
-
-extern bool hilActive;
-extern hilIncomingStateData_t hilToFC;
-extern hilOutgoingStateData_t hilToSIM;
-
-void hilUpdateControlState(void);
-
-#endif

src/main/flight/imu.c

@@ -47,7 +47,6 @@ FILE_COMPILE_FOR_SPEED
 #include "fc/runtime_config.h"
 #include "fc/settings.h"
 
-#include "flight/hil.h"
 #include "flight/imu.h"
 #include "flight/mixer.h"
 #include "flight/pid.h"
@@ -194,7 +193,7 @@ void imuTransformVectorEarthToBody(fpVector3_t * v)
     quaternionRotateVector(v, v, &orientation);
 }
 
-#if defined(USE_GPS) || defined(HIL)
+#if defined(USE_GPS)
 STATIC_UNIT_TESTED void imuComputeQuaternionFromRPY(int16_t initialRoll, int16_t initialPitch, int16_t initialYaw)
 {
     if (initialRoll > 1800) initialRoll -= 3600;
@@ -600,37 +599,12 @@ static void imuCalculateEstimatedAttitude(float dT)
     imuUpdateEulerAngles();
 }
 
-#ifdef HIL
-void imuHILUpdate(void)
-{
-    /* Set attitude */
-    attitude.values.roll = hilToFC.rollAngle;
-    attitude.values.pitch = hilToFC.pitchAngle;
-    attitude.values.yaw = hilToFC.yawAngle;
-
-    /* Compute rotation quaternion for future use */
-    imuComputeQuaternionFromRPY(attitude.values.roll, attitude.values.pitch, attitude.values.yaw);
-
-    /* Fake accADC readings */
-    accADCf[X] = hilToFC.bodyAccel[X] / GRAVITY_CMSS;
-    accADCf[Y] = hilToFC.bodyAccel[Y] / GRAVITY_CMSS;
-    accADCf[Z] = hilToFC.bodyAccel[Z] / GRAVITY_CMSS;
-}
-#endif
-
 void imuUpdateAccelerometer(void)
 {
-#ifdef HIL
-    if (sensors(SENSOR_ACC) && !hilActive) {
-        accUpdate();
-        isAccelUpdatedAtLeastOnce = true;
-    }
-#else
     if (sensors(SENSOR_ACC)) {
         accUpdate();
         isAccelUpdatedAtLeastOnce = true;
     }
-#endif
 }
 
 void imuCheckVibrationLevels(void)
@@ -655,23 +629,10 @@ void imuUpdateAttitude(timeUs_t currentTimeUs)
     previousIMUUpdateTimeUs = currentTimeUs;
 
     if (sensors(SENSOR_ACC) && isAccelUpdatedAtLeastOnce) {
-#ifdef HIL
-        if (!hilActive) {
-            gyroGetMeasuredRotationRate(&imuMeasuredRotationBF);    // Calculate gyro rate in body frame in rad/s
-            accGetMeasuredAcceleration(&imuMeasuredAccelBF);  // Calculate accel in body frame in cm/s/s
-            imuCheckVibrationLevels();
-            imuCalculateEstimatedAttitude(dT);  // Update attitude estimate
-        }
-        else {
-            imuHILUpdate();
-            imuUpdateMeasuredAcceleration();
-        }
-#else
         gyroGetMeasuredRotationRate(&imuMeasuredRotationBF);    // Calculate gyro rate in body frame in rad/s
         accGetMeasuredAcceleration(&imuMeasuredAccelBF);  // Calculate accel in body frame in cm/s/s
         imuCheckVibrationLevels();
         imuCalculateEstimatedAttitude(dT);  // Update attitude estimate
-#endif
     } else {
         acc.accADCf[X] = 0.0f;
         acc.accADCf[Y] = 0.0f;

src/main/io/osd.c

@@ -4413,7 +4413,7 @@ textAttributes_t osdGetSystemMessage(char *buff, size_t buff_size, bool isCenter
                     messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_WP_RTH_CANCEL);
                 }
                 if (navGetCurrentStateFlags() & NAV_AUTO_WP_DONE) {
-                    messages[messageCount++] = OSD_MESSAGE_STR(OSD_MSG_WP_FINISHED);
+                    messages[messageCount++] = STATE(LANDING_DETECTED) ? OSD_MESSAGE_STR(OSD_MSG_WP_LANDED) : OSD_MESSAGE_STR(OSD_MSG_WP_FINISHED);
                 } else if (NAV_Status.state == MW_NAV_STATE_WP_ENROUTE) {
                     // Countdown display for remaining Waypoints
                     char buf[6];

src/main/io/osd.h

@@ -94,6 +94,7 @@
 #define OSD_MSG_RTH_TRACKBACK       "RTH BACK TRACKING"
 #define OSD_MSG_HEADING_HOME        "EN ROUTE TO HOME"
 #define OSD_MSG_WP_FINISHED         "WP END>HOLDING POSITION"
+#define OSD_MSG_WP_LANDED           "WP END>LANDED"
 #define OSD_MSG_PREPARE_NEXT_WP     "PREPARING FOR NEXT WAYPOINT"
 #define OSD_MSG_ADJUSTING_WP_ALT    "ADJUSTING WP ALTITUDE"
 #define OSD_MSG_MISSION_PLANNER     "(WP MISSION PLANNER)"

src/main/navigation/navigation.c

@@ -202,6 +202,9 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
         .launch_max_altitude = SETTING_NAV_FW_LAUNCH_MAX_ALTITUDE_DEFAULT,      // cm, altitude where to consider launch ended
         .launch_climb_angle = SETTING_NAV_FW_LAUNCH_CLIMB_ANGLE_DEFAULT,        // 18 degrees
         .launch_max_angle = SETTING_NAV_FW_LAUNCH_MAX_ANGLE_DEFAULT,            // 45 deg
+        .launch_manual_throttle = SETTING_NAV_FW_LAUNCH_MANUAL_THROTTLE_DEFAULT,// OFF
+        .launch_abort_deadband = SETTING_NAV_FW_LAUNCH_ABORT_DEADBAND_DEFAULT,  // 100 us
+
         .cruise_yaw_rate  = SETTING_NAV_FW_CRUISE_YAW_RATE_DEFAULT,             // 20dps
         .allow_manual_thr_increase = SETTING_NAV_FW_ALLOW_MANUAL_THR_INCREASE_DEFAULT,
         .useFwNavYawControl = SETTING_NAV_USE_FW_YAW_CONTROL_DEFAULT,
@@ -658,7 +661,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_FINISHING,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHING,
         .timeoutMs = 0,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -672,7 +675,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_FINISHED,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHED,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LANDED,
         .mwError = MW_NAV_ERROR_NONE,
@@ -1463,6 +1466,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF
     }
 
     float descentVelLimited = 0;
+    int32_t landingElevation = posControl.rthState.homeTmpWaypoint.z;
 
     // A safeguard - if surface altitude sensors is available and it is reading < 50cm altitude - drop to low descend speed
     if ((posControl.flags.estAglStatus == EST_TRUSTED) && posControl.actualState.agl.pos.z < 50.0f) {
@@ -1472,8 +1476,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationF
     } else {
         // Ramp down descent velocity from 100% at maxAlt altitude to 25% from minAlt to 0cm.
         float descentVelScaled = scaleRangef(navGetCurrentActualPositionAndVelocity()->pos.z,
-                                                navConfig()->general.land_slowdown_minalt, navConfig()->general.land_slowdown_maxalt,
+                                 navConfig()->general.land_slowdown_minalt + landingElevation,
-                                                navConfig()->general.land_minalt_vspd, navConfig()->general.land_maxalt_vspd);
+                                 navConfig()->general.land_slowdown_maxalt + landingElevation,
+                                 navConfig()->general.land_minalt_vspd, navConfig()->general.land_maxalt_vspd);
 
         descentVelLimited = constrainf(descentVelScaled, navConfig()->general.land_minalt_vspd, navConfig()->general.land_maxalt_vspd);
     }
@@ -1806,8 +1811,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINIS
 {
     UNUSED(previousState);
 
-    rcCommand[THROTTLE] = getThrottleIdleValue();
+    disarm(DISARM_NAVIGATION);
-    ENABLE_STATE(NAV_MOTOR_STOP_OR_IDLE);
 
     return NAV_FSM_EVENT_NONE;
 }
@@ -3377,7 +3381,7 @@ static void calculateAndSetActiveWaypointToLocalPosition(const fpVector3_t * pos
 
 geoAltitudeConversionMode_e waypointMissionAltConvMode(geoAltitudeDatumFlag_e datumFlag)
 {
-    return datumFlag == NAV_WP_MSL_DATUM ? GEO_ALT_ABSOLUTE : GEO_ALT_RELATIVE;
+    return ((datumFlag & NAV_WP_MSL_DATUM) == NAV_WP_MSL_DATUM) ? GEO_ALT_ABSOLUTE : GEO_ALT_RELATIVE;
 }
 
 static void calculateAndSetActiveWaypoint(const navWaypoint_t * waypoint)
@@ -3960,7 +3964,7 @@ void missionPlannerSetWaypoint(void)
     posControl.waypointList[posControl.wpPlannerActiveWPIndex].lon = wpLLH.lon;
     posControl.waypointList[posControl.wpPlannerActiveWPIndex].alt = wpLLH.alt;
     posControl.waypointList[posControl.wpPlannerActiveWPIndex].p1 = posControl.waypointList[posControl.wpPlannerActiveWPIndex].p2 = 0;
-    posControl.waypointList[posControl.wpPlannerActiveWPIndex].p3 = 1;                      // use absolute altitude datum
+    posControl.waypointList[posControl.wpPlannerActiveWPIndex].p3 |= NAV_WP_ALTMODE;      // use absolute altitude datum
     posControl.waypointList[posControl.wpPlannerActiveWPIndex].flag = NAV_WP_FLAG_LAST;
     posControl.waypointListValid = true;
 

src/main/navigation/navigation.h

@@ -352,6 +352,15 @@ typedef enum {
     NAV_WP_FLAG_LAST = 0xA5
 } navWaypointFlags_e;
 
+/* A reminder that P3 is a bitfield */
+typedef enum {
+    NAV_WP_ALTMODE = (1<<0),
+    NAV_WP_USER1 = (1<<1),
+    NAV_WP_USER2 = (1<<2),
+    NAV_WP_USER3 = (1<<3),
+    NAV_WP_USER4 = (1<<4)
+} navWaypointP3Flags_e;
+
 typedef struct {
     int32_t lat;
     int32_t lon;

src/main/navigation/navigation_fixedwing.c

@@ -635,9 +635,11 @@ void applyFixedWingPitchRollThrottleController(navigationFSMStateFlags_t navStat
      * Then altitude is below landing slowdown min. altitude, enable final approach procedure
      * TODO refactor conditions in this metod if logic is proven to be correct
      */
-    if (navStateFlags & NAV_CTL_LAND) {
+    if (navStateFlags & NAV_CTL_LAND || STATE(LANDING_DETECTED)) {
-        if ( ((posControl.flags.estAltStatus >= EST_USABLE) && (navGetCurrentActualPositionAndVelocity()->pos.z <= navConfig()->general.land_slowdown_minalt)) ||
+        int32_t finalAltitude = navConfig()->general.land_slowdown_minalt + posControl.rthState.homeTmpWaypoint.z;
-             ((posControl.flags.estAglStatus == EST_TRUSTED) && (posControl.actualState.agl.pos.z <= navConfig()->general.land_slowdown_minalt)) ) {
+
+        if ((posControl.flags.estAltStatus >= EST_USABLE && navGetCurrentActualPositionAndVelocity()->pos.z <= finalAltitude) ||
+           (posControl.flags.estAglStatus == EST_TRUSTED && posControl.actualState.agl.pos.z <= navConfig()->general.land_slowdown_minalt)) {
 
             // Set motor to min. throttle and stop it when MOTOR_STOP feature is enabled
             rcCommand[THROTTLE] = getThrottleIdleValue();

src/main/sensors/barometer.c

@@ -50,8 +50,6 @@
 #include "sensors/barometer.h"
 #include "sensors/sensors.h"
 
-#include "flight/hil.h"
-
 #ifdef USE_HARDWARE_REVISION_DETECTION
 #include "hardware_revision.h"
 #endif
@@ -325,12 +323,6 @@ int32_t baroCalculateAltitude(void)
         baro.BaroAlt = 0;
     }
     else {
-#ifdef HIL
-        if (hilActive) {
-            baro.BaroAlt = hilToFC.baroAlt;
-            return baro.BaroAlt;
-        }
-#endif
         // calculates height from ground via baro readings
         baro.BaroAlt = pressureToAltitude(baro.baroPressure) - baroGroundAltitude;
    }

src/main/target/ANYFC/target.h

@@ -100,8 +100,6 @@
 #define I2C_DEVICE_2_SHARES_UART3
 //#define USE_I2C_PULLUP
 
-//#define HIL
-
 #define USE_ADC
 #define ADC_CHANNEL_1_PIN               PC0
 #define ADC_CHANNEL_2_PIN               PC1

src/main/target/HAKRCF405D/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32f405xg(HAKRCF405D)

src/main/target/HAKRCF405D/config.c

@@ -0,0 +1,28 @@
+/*
+ * 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"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; 
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+}

src/main/target/HAKRCF405D/target.c

@@ -0,0 +1,42 @@
+/*
+ * 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 <stdbool.h>
+#include <platform.h>
+
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM, 0, 0),  // PPM
+
+    DEF_TIM(TIM3, CH1, PC6,  TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR, 0, 0),  // S1 
+    DEF_TIM(TIM8, CH2, PC7,  TIM_USE_MC_MOTOR  | TIM_USE_FW_MOTOR, 0, 1),  // S2 
+    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_MC_MOTOR  | TIM_USE_FW_SERVO, 0, 1),  // S3 
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_MC_MOTOR  | TIM_USE_FW_SERVO, 0, 0),  // S4  
+    DEF_TIM(TIM2, CH1, PA15, TIM_USE_MC_MOTOR  | TIM_USE_FW_SERVO, 0, 0),  // S5  
+    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_MC_MOTOR  | TIM_USE_FW_SERVO, 0, 0),  // S6 
+    
+    DEF_TIM(TIM4,  CH1, PB8, TIM_USE_LED, 0, 0),  // LED STRIP(2,6)
+    
+    DEF_TIM(TIM5,  CH1, PA0, TIM_USE_PWM, 0, 0),  // PWM1
+    DEF_TIM(TIM5,  CH2, PA1, TIM_USE_PWM, 0, 0),  // PWM2
+    DEF_TIM(TIM9,  CH1, PA2, TIM_USE_PWM, 0, 0),  // PWM3
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/HAKRCF405D/target.h

@@ -0,0 +1,180 @@
+/*
+ * 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 "H40D"
+#define USBD_PRODUCT_STRING  "HAKRCF405D"
+
+#define USE_TARGET_CONFIG
+
+/*** Indicators ***/
+#define LED0                    PB9
+#define LED1                    PA14
+#define BEEPER                  PC13
+#define BEEPER_INVERTED
+
+/*** SPI & I2C ***/
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_NSS_PIN            PC2
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_SPI_DEVICE_2
+#define SPI2_NSS_PIN            PB10
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN            PC0
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN           PB4 
+#define SPI3_MOSI_PIN           PB5
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB6      
+#define I2C1_SDA                PB7 
+
+/*** IMU sensors ***/
+#define USE_EXTI
+
+#define GYRO_INT_EXTI           PC3
+#define USE_MPU_DATA_READY_SIGNAL
+
+// MPU6000
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW270_DEG
+#define MPU6000_SPI_BUS         BUS_SPI1
+#define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_EXTI_PIN        GYRO_INT_EXTI
+
+// ICM42605/ICM42688P
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW270_DEG
+#define ICM42605_SPI_BUS        BUS_SPI1
+#define ICM42605_CS_PIN         SPI1_NSS_PIN
+#define ICM42605_EXTI_PIN       GYRO_INT_EXTI
+//BMI270
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN        CW270_DEG
+#define BMI270_SPI_BUS          BUS_SPI1
+#define BMI270_CS_PIN           SPI1_NSS_PIN
+#define BMI270_EXTI_PIN         GYRO_INT_EXTI
+
+/*** OSD ***/
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          SPI2_NSS_PIN
+
+/*** Onboard flash ***/
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_CS_PIN           SPI3_NSS_PIN
+#define M25P16_SPI_BUS          BUS_SPI3
+
+/*** PINIO ***/
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN              PC14
+#define PINIO2_PIN              PC15 
+
+/*** Serial ports ***/
+#define USE_VCP
+#define USB_DETECT_PIN          PB12
+#define USE_USB_DETECT
+
+#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            PD2  
+#define UART5_TX_PIN            PC12  
+
+#define SERIAL_PORT_COUNT       6
+
+/*** BARO & MAG ***/
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_SPL06
+#define USE_BARO_DPS310
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+
+/*** ADC ***/
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN       PC5
+#define ADC_CHANNEL_2_PIN       PB1
+#define ADC_CHANNEL_3_PIN       PC4
+
+#define VBAT_ADC_CHANNEL          ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL ADC_CHN_3
+#define RSSI_METER_ADC_CHANNEL    ADC_CHN_2
+
+/*** LED STRIP ***/
+#define USE_LED_STRIP
+#define WS2811_PIN              PB8
+ 
+/*** Default settings ***/
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define CURRENT_METER_SCALE     179
+
+
+#define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY | FEATURE_SOFTSERIAL)
+
+/*** Timer/PWM output ***/
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+#define MAX_PWM_OUTPUT_PORTS    6
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+
+/*** Optical Flow & Lidar ***/
+#define USE_RANGEFINDER
+#define USE_RANGEFINDER_MSP
+#define USE_OPFLOW
+#define USE_OPFLOW_MSP
+
+/*** Misc ***/
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))

src/main/target/HAKRCF411D/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32f411xe(HAKRCF411D)

src/main/target/HAKRCF411D/config.c

@@ -0,0 +1,31 @@
+/*
+ * 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"
+
+void targetConfiguration(void)
+{
+    boardAlignmentMutable()->yawDeciDegrees = -900;
+
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; 
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+}

src/main/target/HAKRCF411D/target.c

@@ -0,0 +1,39 @@
+/*
+ * 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 <stdbool.h>
+#include <platform.h>
+
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM9, CH2, PA3, TIM_USE_PPM, 0, 0),  // PPM IN
+
+    DEF_TIM(TIM3, CH1, PB4, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),  // S1
+    DEF_TIM(TIM3, CH2, PB5, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),  // S2
+    DEF_TIM(TIM4, CH1, PB6, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S3 
+    DEF_TIM(TIM4, CH2, PB7, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S4  
+
+    DEF_TIM(TIM2, CH1, PA15, TIM_USE_ANY, 0, 0),  // SOFTSERIAL_1_TX_PIN
+    DEF_TIM(TIM2, CH2, PB3,  TIM_USE_ANY, 0, 0),  // SOFTSERIAL_1_RX_PIN
+
+    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_LED, 0, 0),  // 2812LED
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/HAKRCF411D/target.h

@@ -0,0 +1,163 @@
+/*
+ * 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 "H41D"
+#define USBD_PRODUCT_STRING  "HAKRCF411D"
+
+#define USE_TARGET_CONFIG
+
+/*** Indicators ***/
+#define LED0                    PC13
+#define LED1                    PC14
+#define BEEPER                  PB2
+#define BEEPER_INVERTED
+
+/*** SPI & I2C ***/
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_NSS_PIN            PA4
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+/*** IMU sensors ***/
+#define USE_EXTI
+
+#define GYRO_INT_EXTI           PA1
+#define USE_MPU_DATA_READY_SIGNAL
+
+// MPU6000
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW180_DEG
+#define MPU6000_SPI_BUS         BUS_SPI1
+#define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_EXTI_PIN        GYRO_INT_EXTI
+
+// ICM42605/ICM42688P
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW180_DEG
+#define ICM42605_SPI_BUS        BUS_SPI1
+#define ICM42605_CS_PIN         SPI1_NSS_PIN
+#define ICM42605_EXTI_PIN       GYRO_INT_EXTI
+//BMI270
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN        CW180_DEG
+#define BMI270_SPI_BUS          BUS_SPI1
+#define BMI270_CS_PIN           SPI1_NSS_PIN
+#define BMI270_EXTI_PIN         GYRO_INT_EXTI
+
+/*** OSD ***/
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          PB12
+
+/*** Onboard flash ***/
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_CS_PIN           PA0
+#define M25P16_SPI_BUS          BUS_SPI2
+
+/*** UARTs ***/
+#define USE_VCP
+#define VBUS_SENSING_PIN        PC15
+#define VBUS_SENSING_ENABLED
+
+#define USE_UART1
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define USE_UART2
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define USE_SOFTSERIAL1
+#define SOFTSERIAL_1_TX_PIN     PA15 
+#define SOFTSERIAL_1_RX_PIN     PB3
+
+#define SERIAL_PORT_COUNT       4
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+/*** I2C (Baro/Mag/Pitot) ***/
+#define DEFAULT_I2C_BUS         BUS_I2C1
+
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_SPL06
+#define USE_BARO_DPS310
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+#define BNO055_I2C_BUS          BUS_I2C1
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+
+#define PITOT_I2C_BUS           BUS_I2C1
+
+/*** PINIO ***/
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN              PB10
+#define PINIO2_PIN              PC14 
+
+/*** ADC ***/
+#define USE_ADC
+#define ADC_INSTANCE              ADC1
+#define ADC1_DMA_STREAM           DMA2_Stream0
+#define ADC_CHANNEL_1_PIN         PB0
+#define ADC_CHANNEL_2_PIN         PB1
+#define VBAT_ADC_CHANNEL          ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2
+
+/*** WS2812 LEDs ***/
+#define USE_LED_STRIP
+#define WS2811_PIN              PA8
+
+/*** Misc ***/
+#define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY | FEATURE_SOFTSERIAL)
+
+#define USE_DSHOT
+//#define USE_ESC_SENSOR
+
+#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      (BIT(2))
+
+#define MAX_PWM_OUTPUT_PORTS 4

src/main/target/HAKRCKD772/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32f722xe(HAKRCKD722)

src/main/target/HAKRCKD772/config.c

@@ -0,0 +1,28 @@
+/*
+ * 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"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;  // VTX power switch
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+}

src/main/target/HAKRCKD772/target.c

@@ -0,0 +1,46 @@
+/*
+ * 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_bmi270,   DEVHW_BMI270,   BMI270_SPI_BUS,   BMI270_CS_PIN,   BMI270_EXTI_PIN,   0, DEVFLAGS_NONE, IMU_BMI270_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688, DEVHW_ICM42605, ICM42605_SPI_BUS, ICM42605_CS_PIN, ICM42605_EXTI_PIN, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM, 0, 0),  // PPM
+
+    DEF_TIM(TIM3, CH1, PB4,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),  // S1
+    DEF_TIM(TIM3, CH2, PB5,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),  // S2
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S3
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S4
+    DEF_TIM(TIM2, CH1, PA15, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S5
+    DEF_TIM(TIM2, CH2, PB3,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S6
+    DEF_TIM(TIM4, CH1, PB6,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S7
+    DEF_TIM(TIM4, CH2, PB7,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S8
+
+    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_LED, 0, 0),  // LED
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/HAKRCKD772/target.h

@@ -0,0 +1,177 @@
+/*
+ * 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 "KD7D"
+#define USBD_PRODUCT_STRING  "HAKRCKD722"
+
+#define LED0                 PA14
+#define LED1                 PA13
+
+#define USE_BEEPER
+#define BEEPER               PC13
+#define BEEPER_INVERTED
+
+/*** PINIO ***/
+
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN           PC8 
+#define PINIO2_PIN           PC9  
+
+/*** 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         PB11
+#define UART3_TX_PIN         PB10
+
+#define USE_UART4
+#define UART4_RX_PIN         PA1
+#define UART4_TX_PIN         PA0
+
+#define USE_UART6
+#define UART6_RX_PIN         PC7
+#define UART6_TX_PIN         PC6
+
+#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_ICM42605
+#define IMU_ICM42605_ALIGN   CW180_DEG
+#define ICM42605_SPI_BUS     BUS_SPI1
+#define ICM42605_CS_PIN      PB2
+#define ICM42605_EXTI_PIN    PC4
+
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN     CW180_DEG
+#define BMI270_SPI_BUS       BUS_SPI1
+#define BMI270_CS_PIN        PB2
+#define BMI270_EXTI_PIN      PC4
+
+#define USE_EXTI
+#define USE_MPU_DATA_READY_SIGNAL
+
+/*** I2C (Baro & Mag) ***/
+#define USE_I2C
+
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL             PB8
+#define I2C1_SDA             PB9
+
+// 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
+
+/*** Onboard Flash ***/
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN         PC10
+#define SPI3_MISO_PIN   	 PC11
+#define SPI3_MOSI_PIN   	 PC12
+
+#define M25P16_SPI_BUS       BUS_SPI3
+#define M25P16_CS_PIN        PD2
+
+#define W25N01G_SPI_BUS      BUS_SPI3
+#define W25N01G_CS_PIN       PD2
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define USE_FLASH_W25N01G
+#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       PB12
+
+/*** ADC ***/
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN    PC2
+#define ADC_CHANNEL_2_PIN    PC0
+#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 PA8
+
+/*** Optical Flow & Lidar ***/
+#define USE_RANGEFINDER
+#define USE_RANGEFINDER_MSP
+#define USE_OPFLOW
+#define USE_OPFLOW_MSP
+
+/*** Misc ***/
+#define DEFAULT_FEATURES     (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX)
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define SERIALRX_UART        SERIAL_PORT_USART2
+#define DEFAULT_RX_TYPE      RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER    SERIALRX_SBUS
+
+#define MAX_PWM_OUTPUT_PORTS 8
+
+#define CURRENT_METER_SCALE  250
+
+#define TARGET_IO_PORTA      0xffff
+#define TARGET_IO_PORTB      0xffff
+#define TARGET_IO_PORTC      0xffff
+#define TARGET_IO_PORTD      (BIT(2))

src/main/target/MAMBAF405_2022A/CMakeLists.txt

@@ -1 +1,2 @@
 target_stm32f405xg(MAMBAF405_2022A)
+target_stm32f405xg(MAMBAF405_2022B)

src/main/target/MAMBAF405_2022A/target.h

@@ -19,9 +19,14 @@
 
 #define USE_TARGET_CONFIG
 
-#define TARGET_BOARD_IDENTIFIER         "M42A"
 
+#ifdef MAMBAF405_2022B
+#define USBD_PRODUCT_STRING             "MAMBAF405_2022B"
+#define TARGET_BOARD_IDENTIFIER         "M42B"
+#else
+#define TARGET_BOARD_IDENTIFIER         "M42A"
 #define USBD_PRODUCT_STRING             "MAMBAF405_2022A"
+#endif
 
 // ******** Board LEDs  **********************
 #define LED0                            PC15
@@ -56,6 +61,16 @@
 #define BMI270_CS_PIN                   SPI1_NSS_PIN
 #define BMI270_EXTI_PIN                 GYRO_INT_EXTI
 
+#ifdef MAMBAF405_2022B
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW270_DEG
+#define ICM42605_SPI_BUS        BUS_SPI1
+#define ICM42605_CS_PIN         SPI1_NSS_PIN
+#define ICM42605_EXTI_PIN       GYRO_INT_EXTI
+
+#endif
+
 // *************** Baro **************************
 #define USE_I2C
 
@@ -147,6 +162,7 @@
 #define CURRENT_METER_ADC_CHANNEL       ADC_CHN_2
 
 #define VBAT_SCALE_DEFAULT              1100
+#define CURRENT_METER_SCALE             183
 
 // ******* OSD ********
 #define USE_MAX7456

src/main/target/MAMBAF722_2022A/CMakeLists.txt

@@ -1 +1,2 @@
-target_stm32f722xe(MAMBAF722_2022A)
+target_stm32f722xe(MAMBAF722_2022A)
+target_stm32f722xe(MAMBAF722_2022B)

src/main/target/MAMBAF722_2022A/target.h

@@ -19,9 +19,18 @@
 
 #define USE_TARGET_CONFIG
 
+#ifdef MAMBAF722_2022B
+
+#define TARGET_BOARD_IDENTIFIER         "M72B"
+#define USBD_PRODUCT_STRING             "MAMBAF722_2022B"
+
+#else
+
 #define TARGET_BOARD_IDENTIFIER         "M72A"
 #define USBD_PRODUCT_STRING             "MAMBAF722_2022A"
 
+#endif
+
 // ******** Board LEDs  **********************
 #define LED0                            PC15
 #define LED1                            PC14
@@ -54,6 +63,16 @@
 #define BMI270_CS_PIN                   SPI1_NSS_PIN
 #define BMI270_EXTI_PIN                 GYRO_INT_EXTI
 
+#ifdef MAMBAF722_2022B
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW270_DEG
+#define ICM42605_SPI_BUS        BUS_SPI1
+#define ICM42605_CS_PIN         SPI1_NSS_PIN
+#define ICM42605_EXTI_PIN       GYRO_INT_EXTI
+
+#endif
+
 #define USE_I2C
 
 #define USE_I2C_DEVICE_1

src/main/target/MAMBAH743/CMakeLists.txt

@@ -1 +1,2 @@
 target_stm32h743xi(MAMBAH743)
+target_stm32h743xi(MAMBAH743_2022B)

src/main/target/MAMBAH743/config.c

@@ -15,16 +15,54 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include <stdbool.h>
 #include <stdint.h>
 
-#include "platform.h"
+#include <platform.h>
 
-#include "fc/fc_msp_box.h"
+#include "common/axis.h"
-#include "fc/config.h"
+
+#include "config/config_master.h"
+#include "config/feature.h"
+
+#include "drivers/sensor.h"
+#include "drivers/pwm_esc_detect.h"
+#include "drivers/pwm_output.h"
+#include "drivers/serial.h"
+
+#include "fc/rc_controls.h"
+
+#include "flight/failsafe.h"
+#include "flight/mixer.h"
+#include "flight/pid.h"
+
+#include "rx/rx.h"
+
+#include "io/serial.h"
+
+#include "sensors/battery.h"
+#include "sensors/sensors.h"
+
+#include "telemetry/telemetry.h"
 
 #include "io/piniobox.h"
 
 void targetConfiguration(void)
 {
     pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+
+#ifdef MAMBAH743_2022B
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+#endif 
+
+    /*
+     * UART1 is SerialRX
+     */
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_RX_SERIAL;
+    
+    /*
+     * Enable MSP at 115200 at UART4
+     */
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART4)].functionMask = FUNCTION_MSP;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART4)].msp_baudrateIndex = BAUD_115200;
 }

src/main/target/MAMBAH743/target.c

@@ -26,8 +26,12 @@
 #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,   0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,  MPU6000_SPI_BUS,    MPU6000_CS_PIN,     MPU6000_EXTI_PIN,   0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,   DEVHW_BMI270,  BMI270_SPI_BUS,   BMI270_CS_PIN,   BMI270_EXTI_PIN,   0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,      DEVHW_BMI270,   BMI270_SPI_BUS,     BMI270_CS_PIN,      BMI270_EXTI_PIN,    0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
+
+#ifdef MAMBAH743_2022B
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42605,    DEVHW_ICM42605, ICM42605_SPI_BUS,   ICM42605_CS_PIN,    ICM42605_EXTI_PIN,  0,  DEVFLAGS_NONE,  IMU_ICM42605_ALIGN);
+#endif
 
 timerHardware_t timerHardware[] = {
 

src/main/target/MAMBAH743/target.h

@@ -17,9 +17,18 @@
 
 #pragma once
 
+#ifdef MAMBAH743_2022B
+
+#define TARGET_BOARD_IDENTIFIER "M743"
+#define USBD_PRODUCT_STRING "MAMBAH743_2022B"
+
+#else
+
 #define TARGET_BOARD_IDENTIFIER "M743"
 #define USBD_PRODUCT_STRING "MAMBAH743"
 
+#endif
+
 #define USE_TARGET_CONFIG
 
 #define LED0 PE5
@@ -42,12 +51,6 @@
 #define SPI1_MISO_PIN PA6
 #define SPI1_MOSI_PIN PA7
 
-// SPI4 is used on the second MPU6000 gyro, we do not use it at the moment
-// #define USE_SPI_DEVICE_4
-// #define SPI4_SCK_PIN            PE12
-// #define SPI4_MISO_PIN           PE13
-// #define SPI4_MOSI_PIN           PE14
-
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN CW180_DEG
 #define MPU6000_SPI_BUS BUS_SPI1
@@ -60,6 +63,22 @@
 #define BMI270_CS_PIN PA4
 #define BMI270_EXTI_PIN PC4
 
+#ifdef MAMBAH743_2022B
+
+// SPI4 is used on the second MPU6000 gyro, we do not use it at the moment
+// #define USE_SPI_DEVICE_4
+// #define SPI4_SCK_PIN            PE12
+// #define SPI4_MISO_PIN           PE13
+// #define SPI4_MOSI_PIN           PE14
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW90_DEG
+#define ICM42605_SPI_BUS        BUS_SPI1
+#define ICM42605_CS_PIN         PA4
+#define ICM42605_EXTI_PIN       PC4
+
+#endif
+
 // *************** SPI2 OSD ***********************
 #define USE_SPI_DEVICE_2
 #define SPI2_SCK_PIN PB13
@@ -164,12 +183,23 @@
 
 #define DEFAULT_RX_TYPE RX_TYPE_SERIAL
 #define SERIALRX_PROVIDER SERIALRX_SBUS
-#define SERIALRX_UART SERIAL_PORT_USART6
 
 // *************** ADC *****************************
 #define USE_ADC
 #define ADC_INSTANCE ADC3
 
+#ifdef MAMBAH743_2022B
+
+#define ADC_CHANNEL_1_PIN PC1
+#define ADC_CHANNEL_2_PIN PC3
+#define ADC_CHANNEL_3_PIN PC0
+
+#define VBAT_ADC_CHANNEL ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2
+#define AIRSPEED_ADC_CHANNEL ADC_CHN_3
+
+#else
+
 #define ADC_CHANNEL_1_PIN PC1
 #define ADC_CHANNEL_2_PIN PC3
 #define ADC_CHANNEL_3_PIN PC2
@@ -180,11 +210,23 @@
 #define RSSI_ADC_CHANNEL ADC_CHN_3
 #define AIRSPEED_ADC_CHANNEL ADC_CHN_4
 
+#endif
+
 // *************** PINIO ***************************
 #define USE_PINIO
 #define USE_PINIOBOX
+
+#ifdef MAMBAH743_2022B
+
+#define PINIO1_PIN PC2
+#define PINIO2_PIN PC5
+
+#else
+
 #define PINIO1_PIN PC5
 
+#endif
+
 // *************** LEDSTRIP ************************
 #define USE_LED_STRIP
 #define WS2811_PIN PA8

src/main/target/OMNIBUSF4/target.h

@@ -86,6 +86,13 @@
   #define MPU6500_SPI_BUS         MPU6000_SPI_BUS
   #define USE_IMU_MPU6500
   #define IMU_MPU6500_ALIGN       IMU_MPU6000_ALIGN
+
+  //BMI270
+  #define USE_IMU_BMI270
+  #define IMU_BMI270_ALIGN        IMU_MPU6000_ALIGN
+  #define BMI270_SPI_BUS          MPU6000_SPI_BUS
+  #define BMI270_CS_PIN           MPU6000_CS_PIN
+  #define BMI270_EXTI_PIN         GYRO_INT_EXTI
 #endif
 
 #define USE_MAG

src/main/target/SPEEDYBEEF7V3/target.h

@@ -24,7 +24,7 @@
 #define USBD_PRODUCT_STRING  "SpeedyBeeF7V3"
 
 #define LED0                PA14
-#define LED1                PA15
+#define LED1                PA13
 
 #define USE_BEEPER
 #define BEEPER              PC13