Merge remote-tracking branch 'origin/master' into Add-target-MicoAir743AIO-and-MicoAir743v2

.github/workflows/ci.yml

@@ -13,6 +13,15 @@ on:
       - 'CMakeLists.txt'
       - '*.sh'
 
+  workflow_call:
+    #inputs:
+    #  release_build:
+    #   description: 'Specifies if it is a build that should include commit hash in hex file names or not'
+    #   default: false
+    #   required: false
+    #   type: boolean
+
+
 jobs:
   build:
     runs-on: ubuntu-latest
@@ -37,7 +46,7 @@ jobs:
           # why we try github.event.pull_request.head.sha first
           COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
           BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }')
           echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
           echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
           echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
@@ -72,7 +81,7 @@ jobs:
           # why we try github.event.pull_request.head.sha first
           COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
           BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }')
           echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
           echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
           echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
@@ -115,7 +124,7 @@ jobs:
           # why we try github.event.pull_request.head.sha first
           COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
           BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }')
           echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
           echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
           echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
@@ -148,7 +157,7 @@ jobs:
           # why we try github.event.pull_request.head.sha first
           COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
           BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }')
           echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
           echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
           echo "NUM_CORES=$(grep processor /proc/cpuinfo  | wc -l)" >> $GITHUB_ENV
@@ -188,7 +197,7 @@ jobs:
           # why we try github.event.pull_request.head.sha first
           COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
           BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
+          VERSION=$( grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t)]/, "", $2); print $2 }' )
           echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
           echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
           

.github/workflows/dev-builds.yml

@@ -1,245 +0,0 @@
-name: Build pre-release
-# Don't enable CI on push, just on PR. If you
-# are working on the main repo and want to trigger
-# a CI build submit a draft PR.
-on: 
-  push:
-    branches:
-    - master
-    paths:
-      - 'src/**'
-      - '.github/**'
-      - 'cmake/**'
-      - 'lib/**'
-      - 'docs/Settings.md'
-      - 'CMakeLists.txt'
-      - '*.sh'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-        matrix:
-          id: [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14]
-
-    steps:
-      - uses: actions/checkout@v4
-      - name: Install dependencies
-        run: sudo apt-get update && sudo apt-get -y install ninja-build
-      - name: Setup environment
-        env:
-          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
-        run: |
-          # This is the hash of the commit for the PR
-          # when the action is triggered by PR, empty otherwise
-          COMMIT_ID=${{ github.event.pull_request.head.sha }}
-          # This is the hash of the commit when triggered by push
-          # but the hash of refs/pull/<n>/merge, which is different
-          # from the hash of the latest commit in the PR, that's
-          # why we try github.event.pull_request.head.sha first
-          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
-          BUILD_SUFFIX=dev-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
-          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
-          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
-          echo "NUM_CORES=$(grep processor /proc/cpuinfo | wc -l)" >> $GITHUB_ENV
-      - uses: actions/cache@v4
-        with:
-          path: downloads
-          key: ${{ runner.os }}-downloads-${{ hashFiles('CMakeLists.txt') }}-${{ hashFiles('**/cmake/*')}}
-      - name: Build targets (${{ matrix.id }})
-        run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -DVERSION_TYPE=dev -G Ninja .. && ninja -j${{ env.NUM_CORES }} ci
-      - name: Upload artifacts
-        uses: actions/upload-artifact@v4
-        with:
-          name: ${{ env.BUILD_NAME }}.${{ matrix.id }}
-          path: ./build/*.hex
-
-  build-SITL-Linux:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - name: Install dependencies
-        run: sudo apt-get update && sudo apt-get -y install ninja-build
-      - name: Setup environment
-        env:
-          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
-        run: |
-          # This is the hash of the commit for the PR
-          # when the action is triggered by PR, empty otherwise
-          COMMIT_ID=${{ github.event.pull_request.head.sha }}
-          # This is the hash of the commit when triggered by push
-          # but the hash of refs/pull/<n>/merge, which is different
-          # from the hash of the latest commit in the PR, that's
-          # why we try github.event.pull_request.head.sha first
-          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
-          BUILD_SUFFIX=dev-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t\)]+/, "", $2); print $2 }')
-          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
-          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
-          echo "NUM_CORES=$(grep processor /proc/cpuinfo | wc -l)" >> $GITHUB_ENV
-      - name: Build SITL
-        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja -DVERSION_TYPE=dev .. && ninja -j${{ env.NUM_CORES }}
-      - name: Upload artifacts
-        uses: actions/upload-artifact@v4
-        with:
-          name: sitl-${{ env.BUILD_NAME }}-Linux
-          path: ./build_SITL/*_SITL
-
-  build-SITL-Mac:
-    runs-on: macos-latest
-    steps:
-      - uses: actions/checkout@v4
-      - name: Install dependencies
-        run: |
-          brew install cmake ninja ruby
-
-      - name: Setup environment
-        env:
-          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
-        run: |
-          # This is the hash of the commit for the PR
-          # when the action is triggered by PR, empty otherwise
-          COMMIT_ID=${{ github.event.pull_request.head.sha }}
-          # This is the hash of the commit when triggered by push
-          # but the hash of refs/pull/<n>/merge, which is different
-          # from the hash of the latest commit in the PR, that's
-          # why we try github.event.pull_request.head.sha first
-          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
-          BUILD_SUFFIX=dev-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t\)]+/, "", $2); print $2 }')
-          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
-          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
-      - name: Build SITL
-        run: |
-          mkdir -p build_SITL && cd build_SITL
-          cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DCMAKE_OSX_ARCHITECTURES="arm64;x86_64" -DVERSION_TYPE=dev -G Ninja ..
-          ninja -j4
-
-      - name: Upload artifacts
-        uses: actions/upload-artifact@v4
-        with:
-          name: sitl-${{ env.BUILD_NAME }}-MacOS
-          path: ./build_SITL/*_SITL
-
-  build-SITL-Windows:
-    runs-on: windows-latest
-    defaults:
-      run:
-        shell: C:\tools\cygwin\bin\bash.exe -o igncr '{0}'
-    steps:
-      - uses: actions/checkout@v4
-      - name: Setup Cygwin
-        uses: egor-tensin/setup-cygwin@v4
-        with:
-          packages: cmake ruby ninja gcc-g++
-      - name: Setup environment
-        env:
-          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
-        run: |
-          # This is the hash of the commit for the PR
-          # when the action is triggered by PR, empty otherwise
-          COMMIT_ID=${{ github.event.pull_request.head.sha }}
-          # This is the hash of the commit when triggered by push
-          # but the hash of refs/pull/<n>/merge, which is different
-          # from the hash of the latest commit in the PR, that's
-          # why we try github.event.pull_request.head.sha first
-          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
-          BUILD_SUFFIX=dev-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t\)]+/, "", $2); print $2 }')
-          #echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
-          #echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
-          #echo "VERSION_TAG=-$(date '+%Y%m%d')" >> $GITHUB_ENV
-          echo "version=${VERSION}" >> $GITHUB_OUTPUT
-      - name: Build SITL
-        run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -DVERSION_TYPE=dev -G Ninja .. && ninja -j4
-      - name: Upload artifacts
-        uses: actions/upload-artifact@v4
-        with:
-          name: sitl-${{ env.BUILD_NAME }}-WIN
-          path: ./build_SITL/*.exe
-
-
-  test:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - name: Install dependencies
-        run: sudo apt-get update && sudo apt-get -y install ninja-build
-      - name: Run Tests
-        run: mkdir -p build && cd build && cmake -DTOOLCHAIN=none -G Ninja .. && ninja check
-
-  release:
-    needs: [build, build-SITL-Linux, build-SITL-Mac, build-SITL-Windows, test]
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - name: Get version
-        id: version
-        run: |
-          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t\)]+/, "", $2); print $2 }')
-          echo "version=${VERSION}" >> $GITHUB_OUTPUT
-      - name: Get current date
-        id: date
-        run: echo "today=$(date '+%Y%m%d')" >> $GITHUB_OUTPUT
-      - name: download artifacts
-        uses: actions/download-artifact@v4
-        with:
-          path: hexes
-          pattern: inav-*
-          merge-multiple: true
-      - name: download sitl linux
-        uses: actions/download-artifact@v4
-        with:
-          path: resources/sitl/linux
-          pattern: sitl-*-Linux
-          merge-multiple: true
-      - name: download sitl windows
-        uses: actions/download-artifact@v4
-        with:
-          path: resources/sitl/windows
-          pattern: sitl-*-WIN
-          merge-multiple: true
-      - name: download sitl mac
-        uses: actions/download-artifact@v4
-        with:
-          path: resources/sitl/macos
-          pattern: sitl-*-MacOS
-          merge-multiple: true
-      - name: Consolidate sitl files
-        run: |
-          zip -r -9 sitl-resources.zip resources/
-      - name: Upload release artifacts
-        uses: softprops/action-gh-release@v2
-        with:
-          name: inav-${{ steps.version.outputs.version }}-dev-${{ steps.date.outputs.today }}-${{ github.run_number }}-${{ github.sha }}
-          tag_name: v${{ steps.version.outputs.version }}-${{ steps.date.outputs.today }}.${{ github.run_number }}
-          # To create release on a different repo, we need a token setup
-          token: ${{ secrets.NIGHTLY_TOKEN }}
-          repository: iNavFlight/inav-nightly
-          prerelease: true
-          draft: false
-          #generate_release_notes: true
-          make_latest: false
-          files: |
-            hexes/*.hex
-            sitl-resources.zip
-          body: |
-            ${{ steps.notes.outputs.notes }}
-
-            ### Flashing
-            These are nightly builds and configuration settings can be added and removed often. Flashing with Full chip erase is strongly recommended to avoid issues.
-            Firmware related issues should be opened in the iNavflight/inav repository, not in inav-nightly.
-
-            ### Repository:
-            ${{ github.repository }} ([link](${{ github.event.repository.html_url }}))
-
-            ### Branch:
-            ${{ github.ref_name }} ([link](${{ github.event.repository.html_url }}/tree/${{ github.ref_name }}))
-
-            ### Latest changeset:
-            ${{ github.event.head_commit.id }} ([link](${{ github.event.head_commit.url }}))
-
-            ### Changes:
-            ${{ github.event.head_commit.message }}
-

.github/workflows/nightly-build.yml

@@ -0,0 +1,97 @@
+name: Build pre-release
+# Don't enable CI on push, just on PR. If you
+# are working on the main repo and want to trigger
+# a CI build submit a draft PR.
+on: 
+  push:
+    branches:
+    - master
+    paths:
+      - 'src/**'
+      - '.github/**'
+      - 'cmake/**'
+      - 'lib/**'
+      - 'docs/Settings.md'
+      - 'CMakeLists.txt'
+      - '*.sh'
+
+jobs:
+  build:
+    name: build
+    uses: ./.github/workflows/ci.yml
+
+  release:
+    name: Release
+    needs: [build]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Get version
+        id: version
+        run: |
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/[ \t\)]/, "", $2); print $2 }')
+          echo "version=${VERSION}" >> $GITHUB_OUTPUT
+      - name: Get current date
+        id: date
+        run: echo "today=$(date '+%Y%m%d')" >> $GITHUB_OUTPUT
+      - name: download artifacts
+        uses: actions/download-artifact@v4
+        with:
+          path: hexes
+          pattern: matrix-inav-*
+          merge-multiple: true
+      - name: download sitl linux
+        uses: actions/download-artifact@v4
+        with:
+          path: resources/sitl/linux
+          pattern: inav-*SITIL-Linux
+          merge-multiple: true
+      - name: download sitl windows
+        uses: actions/download-artifact@v4
+        with:
+          path: resources/sitl/windows
+          pattern: inav-*SITL-WIN
+          merge-multiple: true
+      - name: download sitl mac
+        uses: actions/download-artifact@v4
+        with:
+          path: resources/sitl/macos
+          pattern: inav-*SITL-MacOS
+          merge-multiple: true
+      - name: Consolidate sitl files
+        run: |
+          zip -r -9 sitl-resources.zip resources/
+      - name: Upload release artifacts
+        uses: softprops/action-gh-release@v2
+        with:
+          name: inav-${{ steps.version.outputs.version }}-dev-${{ steps.date.outputs.today }}-${{ github.run_number }}-${{ github.sha }}
+          tag_name: v${{ steps.version.outputs.version }}-${{ steps.date.outputs.today }}.${{ github.run_number }}
+          # To create release on a different repo, we need a token setup
+          token: ${{ secrets.NIGHTLY_TOKEN }}
+          repository: iNavFlight/inav-nightly
+          prerelease: true
+          draft: false
+          #generate_release_notes: true
+          make_latest: false
+          files: |
+            hexes/*.hex
+            sitl-resources.zip
+          body: |
+            ${{ steps.notes.outputs.notes }}
+
+            ### Flashing
+            These are nightly builds and configuration settings can be added and removed often. Flashing with Full chip erase is strongly recommended to avoid issues.
+            Firmware related issues should be opened in the iNavflight/inav repository, not in inav-nightly.
+
+            ### Repository:
+            ${{ github.repository }} ([link](${{ github.event.repository.html_url }}))
+
+            ### Branch:
+            ${{ github.ref_name }} ([link](${{ github.event.repository.html_url }}/tree/${{ github.ref_name }}))
+
+            ### Latest changeset:
+            ${{ github.event.head_commit.id }} ([link](${{ github.event.head_commit.url }}))
+
+            ### Changes:
+            ${{ github.event.head_commit.message }}
+

cmake/ci.cmake

@@ -3,13 +3,20 @@ if(DEFINED CI_JOB_INDEX AND DEFINED CI_JOB_COUNT)
     message("-- configuring CI job ${job_name}/${CI_JOB_COUNT}")
     get_property(targets GLOBAL PROPERTY RELEASE_TARGETS)
     list(LENGTH targets count)
+    message("-- ${count} total targets")
     math(EXPR per_job "(${count}+${CI_JOB_COUNT}-1)/${CI_JOB_COUNT}")
-    message("-- ${per_job} targets per job")
     math(EXPR start "${CI_JOB_INDEX}*${per_job}")
-    list(SUBLIST targets ${start} ${per_job} ci_targets)
+    message("-- ${per_job} targets per job, starting at ${start}")
-    message("-- will build targets: ${ci_targets}")
+    if(${start} LESS ${count})
-    add_custom_target(ci
+        list(SUBLIST targets ${start} ${per_job} ci_targets)
-        ${CMAKE_COMMAND} -E true
+        message("-- will build targets: ${ci_targets}")
-        DEPENDS ${ci_targets}
+        add_custom_target(ci
-)
+            ${CMAKE_COMMAND} -E true
+            DEPENDS ${ci_targets}
+        )
+    else()
+        add_custom_target(ci
+            ${CMAKE_COMMAND} -E true
+        )
+    endif()
 endif()

docs/SITL/SITL.md

@@ -62,7 +62,7 @@ All other interfaces (I2C, SPI, etc.) are not emulated.
 ## Remote control
 Multiple methods for connecting RC Controllers are available:
 - MSP_RX (TCP/IP)
-- joystick (via simulator)
+- joystick / radio attached via USB (via simulator)
 - serial receiver via USB to serial converter
 - any receiver with proxy flight controller
 
@@ -75,6 +75,7 @@ MSP_RX is the default, 18 channels are supported over TCP/IP connection.
 Only 8 channels are supported.
 
 Select "SIM (SITL)" as the receiver and set up a joystick in the simulator.
+Many RC transmittters (radios) can function as a joystick by plugging them in to the computer via USB, making this the simplest option in many cases.
 
 *Not available with INAV-X-Plane-HITL plugin.*
 

docs/Settings.md

@@ -3018,7 +3018,7 @@ If enabled, motor will stop when throttle is low on this mixer_profile
 
 | Default | Min | Max |
 | --- | --- | --- |
-| OFF | OFF | ON |
+| ON | OFF | ON |
 
 ---
 

src/main/drivers/barometer/barometer_bmp085.c

@@ -34,7 +34,9 @@
 
 #if defined(USE_BARO_BMP085)
 
+#if !defined(BMP085_I2C_ADDR)
 #define BMP085_I2C_ADDR         0x77
+#endif
 #define BMP085_CHIP_ID          0x55
 
 typedef struct {

src/main/drivers/barometer/barometer_bmp388.c

@@ -39,7 +39,9 @@
 
 #if defined(USE_BARO) && (defined(USE_BARO_BMP388) || defined(USE_BARO_SPI_BMP388) || defined(USE_BARO_BMP390) || defined(USE_BARO_SPI_BMP390))
 
+#if !defined(BMP388_I2C_ADDR)
 #define BMP388_I2C_ADDR                                 (0x76) // same as BMP280/BMP180
+#endif
 #define BMP388_DEFAULT_CHIP_ID                          (0x50) // from https://github.com/BoschSensortec/BMP3-Sensor-API/blob/master/bmp3_defs.h#L130
 #define BMP390_DEFAULT_CHIP_ID                          (0x60) // from https://github.com/BoschSensortec/BMP3-Sensor-API/blob/master/bmp3_defs.h#L133
 

src/main/drivers/barometer/barometer_spl06.h

@@ -17,7 +17,9 @@
 
 #pragma once
 
+#if !defined(SPL06_I2C_ADDR)
 #define SPL06_I2C_ADDR                         0x76
+#endif
 #define SPL06_DEFAULT_CHIP_ID                  0x10
 
 #define SPL06_PRESSURE_START_REG               0x00

src/main/drivers/gimbal_common.h

@@ -62,9 +62,9 @@ typedef struct gimbalConfig_s {
     uint8_t tiltChannel;
     uint8_t rollChannel;
     int8_t sensitivity;
-    uint16_t panTrim;
+    int16_t panTrim;
-    uint16_t tiltTrim;
+    int16_t tiltTrim;
-    uint16_t rollTrim;
+    int16_t rollTrim;
 } gimbalConfig_t;
 
 PG_DECLARE(gimbalConfig_t, gimbalConfig);

src/main/drivers/osd_symbols.h

@@ -162,9 +162,9 @@
 
 #define SYM_MAX                     0xCE  // 206 MAX symbol
 #define SYM_PROFILE                 0xCF  // 207 Profile symbol
-#define SYM_SWITCH_INDICATOR_LOW    0xD0  // 208 Switch High
+#define SYM_SWITCH_INDICATOR_LOW    0xD0  // 208 Switch Indicator Down/Low - Note: Some systems have HIGH us values for a switch in the down position
-#define SYM_SWITCH_INDICATOR_MID    0xD1  // 209 Switch Mid
+#define SYM_SWITCH_INDICATOR_MID    0xD1  // 209 Switch Indicator Mid
-#define SYM_SWITCH_INDICATOR_HIGH   0xD2  // 210 Switch Low
+#define SYM_SWITCH_INDICATOR_HIGH   0xD2  // 210 Switch Indicator Up/High - Note: Some systems have LOW us values for a switch in the up position
 #define SYM_AH                      0xD3  // 211 Amphours symbol
 #define SYM_GLIDE_DIST              0xD4  // 212 Glide Distance
 #define SYM_GLIDE_MINS              0xD5  // 213 Glide Minutes

src/main/fc/settings.yaml

@@ -1231,7 +1231,7 @@ groups:
         max: INT16_MAX
       - name: motorstop_on_low
         description: "If enabled, motor will stop when throttle is low on this mixer_profile"
-        default_value: OFF
+        default_value: ON
         field: mixer_config.motorstopOnLow
         type: bool
       - name: mixer_pid_profile_linking

src/main/target/HGLRCF405V2/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32f405xg(HGLRCF405V2)

src/main/target/HGLRCF405V2/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 <stdint.h>
+#include <platform.h>
+
+#include "drivers/io.h"
+#include "drivers/timer.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM5, CH4, PA3,   TIM_USE_PPM        , 0, 1), // PPM IN
+
+    DEF_TIM(TIM8, CH1, PC6,   TIM_USE_OUTPUT_AUTO, 0, 1), // S1
+    DEF_TIM(TIM8, CH2, PC7,   TIM_USE_OUTPUT_AUTO, 0, 1), // S2
+    DEF_TIM(TIM8, CH3, PC8,   TIM_USE_OUTPUT_AUTO, 0, 1), // S3
+    DEF_TIM(TIM8, CH4, PC9,   TIM_USE_OUTPUT_AUTO, 0, 0), // S4
+    DEF_TIM(TIM2, CH1, PA15,  TIM_USE_OUTPUT_AUTO, 0, 0), // S5
+    DEF_TIM(TIM1, CH1, PA8,   TIM_USE_OUTPUT_AUTO, 0, 1), // S6
+    DEF_TIM(TIM2, CH3, PB10,  TIM_USE_OUTPUT_AUTO, 0, 0), // S7
+    DEF_TIM(TIM2, CH4, PB11,  TIM_USE_OUTPUT_AUTO, 0, 0), // S8
+
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_LED, 0, 0), // LED_STRIP
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/HGLRCF405V2/target.h

@@ -0,0 +1,157 @@
+/*
+ * 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 "HGF4V2"
+#define USBD_PRODUCT_STRING  "HGLRCF405V2"
+
+#define USE_TARGET_CONFIG
+
+/*** Indicators ***/
+#define LED0                    PC13
+#define BEEPER                  PB8
+#define BEEPER_INVERTED
+
+/*** SPI/I2C bus ***/
+#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_NSS_PIN            PA13
+#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 ***/
+
+// MPU6000
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW270_DEG
+#define MPU6000_SPI_BUS         BUS_SPI1
+#define MPU6000_CS_PIN          SPI1_NSS_PIN
+
+// 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
+
+/*** 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
+
+
+/*** Serial ports ***/
+#define USE_VCP
+// #define USE_UART_INVERTER
+
+#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_UART3
+#define UART3_TX_PIN            PC10
+#define UART3_RX_PIN            PC11
+
+#define USE_UART4
+#define UART4_TX_PIN            PA0
+#define UART4_RX_PIN            PA1
+
+#define USE_UART5
+#define UART5_TX_PIN            PC12
+#define UART5_RX_PIN            PD2
+
+
+#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_ALL
+
+/*** ADC ***/
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN               PC2
+#define ADC_CHANNEL_2_PIN               PC1
+#define ADC_CHANNEL_3_PIN               PC3
+
+#define VBAT_ADC_CHANNEL                ADC_CHN_1 //PC2
+#define CURRENT_METER_ADC_CHANNEL       ADC_CHN_2 //PC1
+#define RSSI_ADC_CHANNEL                ADC_CHN_3 //PC3
+
+#define VBAT_SCALE_DEFAULT              1100
+#define CURRENT_METER_SCALE             206
+
+/*** LED STRIP ***/
+#define USE_LED_STRIP
+#define WS2811_PIN                      PB1
+ 
+/*** Default settings ***/
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#define DEFAULT_RX_TYPE                 RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER               SERIALRX_SBUS
+#define SERIALRX_UART                   SERIAL_PORT_USART2
+
+
+#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            8
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+
+
+/*** Used pins ***/
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))

src/main/target/SKYSTARSF405WING/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32f405xg(SKYSTARSF405WING)

src/main/target/SKYSTARSF405WING/config.c

@@ -0,0 +1,29 @@
+/*
+ * 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 "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/SKYSTARSF405WING/target.c

@@ -0,0 +1,48 @@
+/*
+ * 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/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/sensor.h"
+#include "drivers/timer_def_stm32f4xx.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM1,  CH1,  PA8,  TIM_USE_OUTPUT_AUTO,   0, 1), // S1 D(2,1,6) UP256
+    DEF_TIM(TIM8,  CH4,  PC9,  TIM_USE_OUTPUT_AUTO,   0, 0), // S2 D(2,7,7) UP217
+    DEF_TIM(TIM8,  CH3,  PC8,  TIM_USE_OUTPUT_AUTO,   0, 0), // S3 D(2,2,0) UP217
+    DEF_TIM(TIM1,  CH3N, PB15, TIM_USE_OUTPUT_AUTO,   0, 0), // S4 D(2,6,0) UP256
+
+    DEF_TIM(TIM1,  CH3N, PB15, TIM_USE_OUTPUT_AUTO,   0, 0), // S5 D(2,6,0) UP256
+    DEF_TIM(TIM2,  CH4,  PB11, TIM_USE_OUTPUT_AUTO,   0, 0), // S6 D(1,7,3) UP173
+    DEF_TIM(TIM2,  CH2,  PB3,  TIM_USE_OUTPUT_AUTO,   0, 0), // S7 D(1,6,3) UP173
+    DEF_TIM(TIM2,  CH1,  PA15, TIM_USE_OUTPUT_AUTO,   0, 0), // S8 D(1,5,3) UP173
+
+    DEF_TIM(TIM12, CH1,  PB14, TIM_USE_OUTPUT_AUTO,   0, 0), // S9  DMA NONE
+    DEF_TIM(TIM13, CH1,  PA6,  TIM_USE_OUTPUT_AUTO,   0, 0), // S10 DMA NONE
+    DEF_TIM(TIM4,  CH1,  PB6,  TIM_USE_OUTPUT_AUTO,   0, 0), // S11 D(1,0,2)
+
+    DEF_TIM(TIM3,  CH4,  PB1,  TIM_USE_LED,    0, 0), // 2812LED  D(1,2,5)
+    DEF_TIM(TIM11, CH1,  PB9,  TIM_USE_BEEPER, 0, 0), // BEEPER PWM
+
+    DEF_TIM(TIM5,  CH3,  PA2,  TIM_USE_ANY,    0, 0), //TX2  softserial1_Tx
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/SKYSTARSF405WING/target.h

@@ -0,0 +1,153 @@
+/*
+ * 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 USE_TARGET_CONFIG
+
+
+#define TARGET_BOARD_IDENTIFIER "SK4W"
+#define USBD_PRODUCT_STRING  "SKYSTARSF405WING"
+
+#define LED0                    PC0
+#define LED1                    PC1
+
+#define BEEPER                  PB9
+#define BEEPER_INVERTED
+#define BEEPER_PWM_FREQUENCY    2500
+
+// *************** SPI1 IMU & OSD *******************
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN   	    PB4
+#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         PC14
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI1
+#define MAX7456_CS_PIN          PB12
+
+// *************** SPI2 Flash/SD Card  ****************
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PC2
+#define SPI2_MOSI_PIN           PC3
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_SPI_BUS          BUS_SPI2
+#define M25P16_CS_PIN           PC13
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** I2C /Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB7
+
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_SPL06
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_ALL
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+#define PITOT_I2C_BUS           BUS_I2C1
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+
+// *************** UART *****************************
+#define USE_VCP
+
+#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_UART3
+#define UART3_TX_PIN            PC10
+#define UART3_RX_PIN            PC11
+
+#define USE_UART4
+#define UART4_TX_PIN            PA0
+#define UART4_RX_PIN            PA1
+
+#define USE_UART5
+#define UART5_TX_PIN            PC12
+#define UART5_RX_PIN            PD2
+
+#define USE_UART6
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+
+#define USE_SOFTSERIAL1
+#define SOFTSERIAL_1_TX_PIN      PA2
+#define SOFTSERIAL_1_RX_PIN      PA2
+
+#define SERIAL_PORT_COUNT       8
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_CRSF
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+// *************** ADC ***************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_Stream4
+#define ADC_CHANNEL_1_PIN           PC4
+#define ADC_CHANNEL_2_PIN           PC5
+#define ADC_CHANNEL_3_PIN           PB0
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+
+// *************** PINIO ***************************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                  PA4
+#define PINIO2_PIN                  PB5
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN                  PB1
+
+// *************** others  ************************
+#define DEFAULT_FEATURES   (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
+#define VBAT_SCALE_DEFAULT      1100
+#define CURRENT_METER_SCALE     150
+
+#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    11
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+#define USE_DSHOT
+#define USE_DSHOT_DMAR
+#define USE_ESC_SENSOR