Merge remote-tracking branch 'origin/maintenance-8.x.x'

CMakeLists.txt

@@ -51,8 +51,7 @@ else()
     endif()
 endif()
 
-
+project(INAV VERSION 8.0.1)
-project(INAV VERSION 9.0.0)
 
 enable_language(ASM)
 

docs/ADSB.md

@@ -13,6 +13,7 @@ All ADSB receivers which can send Mavlink [ADSB_VEHICLE](https://mavlink.io/en/m
 
 * [PINGRX](https://uavionix.com/product/pingrx-pro/) (not tested)
 * [TT-SC1](https://www.aerobits.pl/product/aero/) (tested)
+* [ADSBee1090](https://pantsforbirds.com/adsbee-1090/) (tested)
 
 ## TT-SC1 settings
 * download software for ADSB TT-SC1 from https://www.aerobits.pl/product/aero/ , file Micro_ADSB_App-vX.XX.X_win_setup.zip and install it
@@ -24,3 +25,21 @@ All ADSB receivers which can send Mavlink [ADSB_VEHICLE](https://mavlink.io/en/m
 PCB board for TT-SC1-B module https://oshwlab.com/error414/adsb-power-board
 ![TT-SC1 settings](Screenshots/ADSB_TTSC01_settings.png)
 
+## ADSBee 1090 settings
+* connect to ADSBee1090 via USB and set COMMS_UART to mavlink2 \
+``
+AT+PROTOCOL=COMMS_UART,MAVLINK2
+``\
+``
+AT+BAUDRATE=COMMS_UART,115200
+``\
+It's recommended to turn of wifi \
+``
+AT+ESP32_ENABLE=0
+``\
+``
+AT+SETTINGS=SAVE
+``
+* in INAV configurator ports TAB set telemetry MAVLINK, and baudrate 115200
+* https://pantsforbirds.com/adsbee-1090/quick-start/
+

docs/OSD.md

@@ -23,8 +23,8 @@ Not all OSDs are created equally. This table shows the differences between the d
 | DJI WTFOS                   | 60 x 22        | X         |        | X               | YES                     |
 | HDZero                      | 50 x 18        | X         |        | X               | YES                     |
 | Avatar                      | 53 x 20        | X         |        | X               | YES                     |
-| DJI O3                      | 53 x 20 (HD)   | X         |        | X (partial)     | NO - BF Characters only |
 | DJI O3 Goggles V2 + WTFOS   | 53 x 20        | X         |        | X               | YES                     |
+| DJI Goggles 2 and newer     | 53 x 20 (HD)   | X         |        | X               | YES (no custom fonts)   |
 
 ## OSD Elements
 Here are the OSD Elements provided by INAV.

lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_mdma.c

@@ -23,8 +23,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32H7xx_LL_Driver
   * @{

lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_rcc.c

@@ -22,8 +22,10 @@
 #ifdef  USE_FULL_ASSERT
 #include "stm32_assert.h"
 #else
+#ifndef assert_param
 #define assert_param(expr) ((void)0U)
 #endif
+#endif
 
 /** @addtogroup STM32H7xx_LL_Driver
   * @{

src/main/config/config_eeprom.c

@@ -118,6 +118,12 @@ void initEEPROM(void)
     BUILD_BUG_ON(sizeof(configFooter_t) != 2);
     BUILD_BUG_ON(sizeof(configRecord_t) != 6);
 
+#ifdef STM32H7A3xx
+    BUILD_BUG_ON(CONFIG_STREAMER_BUFFER_SIZE != 16);
+#elif defined(STM32H743xx)
+    BUILD_BUG_ON(CONFIG_STREAMER_BUFFER_SIZE != 32);
+#endif
+
 #if defined(CONFIG_IN_EXTERNAL_FLASH)
     bool eepromLoaded = loadEEPROMFromExternalFlash();
     if (!eepromLoaded) {

src/main/config/config_streamer.c

@@ -55,7 +55,7 @@ int config_streamer_write(config_streamer_t *c, const uint8_t *p, uint32_t size)
         return -1;
     }
 
-    for (const uint8_t *pat = p; pat != (uint8_t*)p + size; pat++) {
+    for (const uint8_t *pat = p; pat != (uint8_t *)p + size; pat++) {
         c->buffer.b[c->at++] = *pat;
 
         if (c->at == sizeof(c->buffer)) {
@@ -81,7 +81,7 @@ int config_streamer_flush(config_streamer_t *c)
         c->err = config_streamer_impl_write_word(c, &c->buffer.w);
         c->at = 0;
     }
-    return c-> err;
+    return c->err;
 }
 
 int config_streamer_finish(config_streamer_t *c)
@@ -91,4 +91,4 @@ int config_streamer_finish(config_streamer_t *c)
         c->unlocked = false;
     }
     return c->err;
-}
+}

src/main/config/config_streamer.h

@@ -27,15 +27,14 @@
 
 #ifdef CONFIG_IN_EXTERNAL_FLASH
 #define CONFIG_STREAMER_BUFFER_SIZE M25P16_PAGESIZE // Must match flash device page size
-typedef uint32_t config_streamer_buffer_align_type_t;
 #elif defined(STM32H7)
-#define CONFIG_STREAMER_BUFFER_SIZE 32  // Flash word = 256-bits
+#define CONFIG_STREAMER_BUFFER_SIZE (FLASH_NB_32BITWORD_IN_FLASHWORD * 4) // Flash word = 256-bits or 128bits, depending on the mcu
-typedef uint64_t config_streamer_buffer_align_type_t;
 #else
 #define CONFIG_STREAMER_BUFFER_SIZE 4
-typedef uint32_t config_streamer_buffer_align_type_t;
 #endif
 
+typedef uint32_t config_streamer_buffer_align_type_t;
+
 typedef struct config_streamer_s {
     uintptr_t address;
     uintptr_t end;

src/main/config/config_streamer_stm32h7.c

@@ -15,16 +15,45 @@
  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#include <string.h>
+ #include <string.h>
-#include "platform.h"
+ #include "platform.h"
-#include "drivers/system.h"
+ #include "drivers/system.h"
-#include "config/config_streamer.h"
+ #include "config/config_streamer.h"
+ 
+ #if defined(STM32H7) && !defined(CONFIG_IN_RAM) && !defined(CONFIG_IN_EXTERNAL_FLASH)
 
-#if defined(STM32H7) && !defined(CONFIG_IN_RAM) && !defined(CONFIG_IN_EXTERNAL_FLASH)
+static uint32_t getFLASHBankForEEPROM(uint32_t address)
+{
+#ifdef DUAL_BANK
+    if (address < (FLASH_BASE + FLASH_BANK_SIZE)) {
+        return FLASH_BANK_1;
+    }
 
-#if defined(STM32H743xx)
+    return FLASH_BANK_2;
+#else
+    return FLASH_BANK_1;
+#endif
+}
+
+#if defined(STM32H7A3xx)
+static uint32_t getFLASHSectorForEEPROM(uint32_t address)
+{
+    uint32_t sector = 0;
+
+    if (address < (FLASH_BASE + FLASH_BANK_SIZE)) {
+        sector = (address - FLASH_BASE) / FLASH_SECTOR_SIZE;
+    } else {
+        sector = (address - (FLASH_BASE + FLASH_BANK_SIZE)) / FLASH_SECTOR_SIZE;
+    }
+
+    if (sector > FLASH_SECTOR_TOTAL) {
+        failureMode(FAILURE_FLASH_WRITE_FAILED);
+    }
+
+    return sector;
+}
+#elif defined(STM32H743xx)
 /* Sectors 0-7 of 128K each */
-#define FLASH_PAGE_SIZE     ((uint32_t)0x20000) // 128K sectors
 static uint32_t getFLASHSectorForEEPROM(uint32_t address)
 {
     if (address <= 0x0801FFFF)
@@ -49,9 +78,9 @@ static uint32_t getFLASHSectorForEEPROM(uint32_t address)
     }
 }
 #elif defined(STM32H750xx)
-#  error "STM32750xx only has one flash page which contains the bootloader, no spare flash pages available, use external storage for persistent config or ram for target testing"
+#error "STM32750xx only has one flash page which contains the bootloader, no spare flash pages available, use external storage for persistent config or ram for target testing"
 #else
-#  error "Unsupported CPU!"
+#error "Unsupported CPU!"
 #endif
 
 void config_streamer_impl_unlock(void)
@@ -70,30 +99,31 @@ int config_streamer_impl_write_word(config_streamer_t *c, config_streamer_buffer
         return c->err;
     }
 
-    if (c->address % FLASH_PAGE_SIZE == 0) {
+    if (c->address % FLASH_SECTOR_SIZE == 0) {
         FLASH_EraseInitTypeDef EraseInitStruct = {
-            .TypeErase     = FLASH_TYPEERASE_SECTORS,
+            .TypeErase = FLASH_TYPEERASE_SECTORS,
-            .VoltageRange  = FLASH_VOLTAGE_RANGE_3, // 2.7-3.6V
+#ifdef FLASH_VOLTAGE_RANGE_3
-            .NbSectors     = 1,
+            .VoltageRange = FLASH_VOLTAGE_RANGE_3,  // 2.7-3.6V
-            .Banks         = FLASH_BANK_1
-        };
-        EraseInitStruct.Sector = getFLASHSectorForEEPROM(c->address);
-
-        uint32_t SECTORError;
-        const HAL_StatusTypeDef status = HAL_FLASHEx_Erase(&EraseInitStruct, &SECTORError);
-        if (status != HAL_OK) {
-            return -1;
-        }
-    }
-
-    // On H7 HAL_FLASH_Program takes data address, not the raw word value
-    const HAL_StatusTypeDef status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_FLASHWORD, c->address, (uint32_t)buffer);
-    if (status != HAL_OK) {
-        return -2;
-    }
-
-    c->address += CONFIG_STREAMER_BUFFER_SIZE;
-    return 0;
-}
-
 #endif
+            .NbSectors = 1};
+         EraseInitStruct.Banks = getFLASHBankForEEPROM(c->address);
+         EraseInitStruct.Sector = getFLASHSectorForEEPROM(c->address);
+
+         uint32_t SECTORError;
+         const HAL_StatusTypeDef status = HAL_FLASHEx_Erase(&EraseInitStruct, &SECTORError);
+         if (status != HAL_OK) {
+             return -1;
+         }
+     }
+
+     // On H7 HAL_FLASH_Program takes data address, not the raw word value
+     const HAL_StatusTypeDef status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_FLASHWORD, c->address, (uint32_t)buffer);
+     if (status != HAL_OK) {
+         return -2;
+     }
+
+     c->address += CONFIG_STREAMER_BUFFER_SIZE;
+     return 0;
+ }
+
+#endif

src/main/drivers/bus_spi.h

@@ -67,6 +67,10 @@ typedef enum SPIDevice {
 #define SPIDEV_COUNT 4
 #endif
 
+#if defined(AT32F43x)
+typedef spi_type SPI_TypeDef;
+#endif
+
 typedef struct SPIDevice_s {
 #if defined(AT32F43x)
      spi_type *dev;

src/main/drivers/osd.h

@@ -50,7 +50,8 @@ typedef enum {
     VIDEO_SYSTEM_DJIWTF,
     VIDEO_SYSTEM_AVATAR,
     VIDEO_SYSTEM_DJICOMPAT,
-    VIDEO_SYSTEM_DJICOMPAT_HD
+    VIDEO_SYSTEM_DJICOMPAT_HD,
+    VIDEO_SYSTEM_DJI_NATIVE
 } videoSystem_e;
 
 typedef enum {

src/main/fc/cli.c

@@ -1578,11 +1578,11 @@ static void printGeozones(uint8_t dumpMask, const geoZoneConfig_t *geoZone, cons
             && geoZone[i].fenceAction == defaultGeoZone->fenceAction
             && geoZone[i].vertexCount == defaultGeoZone->vertexCount;
 
-            cliDefaultPrintLinef(dumpMask, equalsDefault, format, defaultGeoZone[i].shape, defaultGeoZone[i].type, defaultGeoZone[i].minAltitude, defaultGeoZone[i].maxAltitude, defaultGeoZone[i].isSealevelRef, defaultGeoZone[i].fenceAction, defaultGeoZone[i].vertexCount);  
+            cliDefaultPrintLinef(dumpMask, equalsDefault, format, defaultGeoZone[i].shape, defaultGeoZone[i].type, defaultGeoZone[i].minAltitude, defaultGeoZone[i].maxAltitude, defaultGeoZone[i].isSealevelRef, defaultGeoZone[i].fenceAction, defaultGeoZone[i].vertexCount);
         }
-        cliDumpPrintLinef(dumpMask, equalsDefault, format, i, geoZone[i].shape, geoZone[i].type, geoZone[i].minAltitude, geoZone[i].maxAltitude, geoZone[i].isSealevelRef, geoZone[i].fenceAction, geoZone[i].vertexCount);    
+        cliDumpPrintLinef(dumpMask, equalsDefault, format, i, geoZone[i].shape, geoZone[i].type, geoZone[i].minAltitude, geoZone[i].maxAltitude, geoZone[i].isSealevelRef, geoZone[i].fenceAction, geoZone[i].vertexCount);
     }
-} 
+}
 
 static void printGeozoneVertices(uint8_t dumpMask, const vertexConfig_t *vertices, const vertexConfig_t *defaultVertices)
 {
@@ -1594,11 +1594,11 @@ static void printGeozoneVertices(uint8_t dumpMask, const vertexConfig_t *vertice
             && vertices[i].lat == defaultVertices->lat
             && vertices[i].lon == defaultVertices->lon
             && vertices[i].zoneId == defaultVertices->zoneId;
-            
+
             cliDefaultPrintLinef(dumpMask, equalsDefault, format, defaultVertices[i].zoneId, defaultVertices[i].idx, defaultVertices[i].lat, defaultVertices[i].lon);
         }
-        
+
-        cliDumpPrintLinef(dumpMask, equalsDefault, format, vertices[i].zoneId, vertices[i].idx, vertices[i].lat, vertices[i].lon);    
+        cliDumpPrintLinef(dumpMask, equalsDefault, format, vertices[i].zoneId, vertices[i].idx, vertices[i].lat, vertices[i].lon);
     }
 
     if (!defaultVertices) {
@@ -1608,10 +1608,10 @@ static void printGeozoneVertices(uint8_t dumpMask, const vertexConfig_t *vertice
 }
 
 static void cliGeozone(char* cmdLine)
-{  
+{
     if (isEmpty(cmdLine)) {
         printGeozones(DUMP_MASTER, geoZonesConfig(0), NULL);
-    } else if (sl_strcasecmp(cmdLine, "vertex") == 0) {    
+    } else if (sl_strcasecmp(cmdLine, "vertex") == 0) {
         printGeozoneVertices(DUMP_MASTER, geoZoneVertices(0), NULL);
     } else if (sl_strncasecmp(cmdLine, "vertex reset", 12) == 0) {
          const char* ptr = &cmdLine[12];
@@ -1648,7 +1648,7 @@ static void cliGeozone(char* cmdLine)
         const char* ptr = cmdLine;
         uint8_t argumentCount = 1;
 
-        if ((ptr = nextArg(ptr))) {         
+        if ((ptr = nextArg(ptr))) {
             zoneId = fastA2I(ptr);
             if (zoneId < 0) {
                 return;
@@ -1678,7 +1678,7 @@ static void cliGeozone(char* cmdLine)
             cliShowParseError();
             return;
         }
-        
+
         if ((ptr = nextArg(ptr))) {
             argumentCount++;
             lon = fastA2I(ptr);
@@ -1695,7 +1695,7 @@ static void cliGeozone(char* cmdLine)
             cliShowParseError();
             return;
         }
-        
+
         for (uint8_t i = 0; i < MAX_VERTICES_IN_CONFIG; i++) {
             if (geoZoneVertices(i)->zoneId == zoneId && geoZoneVertices(i)->idx == vertexZoneIdx)  {
                 geoZoneVerticesMutable(i)->lat = lat;
@@ -1719,8 +1719,8 @@ static void cliGeozone(char* cmdLine)
         geoZoneVerticesMutable(vertexIdx)->lat = lat;
         geoZoneVerticesMutable(vertexIdx)->lon = lon;
         geoZoneVerticesMutable(vertexIdx)->zoneId = zoneId;
-        geoZoneVerticesMutable(vertexIdx)->idx = vertexZoneIdx;  
+        geoZoneVerticesMutable(vertexIdx)->idx = vertexZoneIdx;
-        
+
         uint8_t totalVertices = geozoneGetUsedVerticesCount();
         cliPrintLinef("# %u vertices free (Used %u of %u)", MAX_VERTICES_IN_CONFIG - totalVertices, totalVertices, MAX_VERTICES_IN_CONFIG);
 
@@ -1733,7 +1733,7 @@ static void cliGeozone(char* cmdLine)
         } else {
             geozoneReset(-1);
             geozoneResetVertices(-1, -1);
-        } 
+        }
     } else {
         int8_t idx = 0, isPolygon = 0, isInclusive = 0, fenceAction = 0, seaLevelRef = 0, vertexCount = 0;
         int32_t minAltitude = 0, maxAltitude = 0;
@@ -1745,7 +1745,7 @@ static void cliGeozone(char* cmdLine)
             cliShowArgumentRangeError("geozone index", 0, MAX_GEOZONES_IN_CONFIG - 1);
             return;
         }
-        
+
         if ((ptr = nextArg(ptr))) {
             argumentCount++;
             isPolygon = fastA2I(ptr);
@@ -1787,7 +1787,7 @@ static void cliGeozone(char* cmdLine)
         }
 
         if ((ptr = nextArg(ptr))){
-            argumentCount++;        
+            argumentCount++;
             fenceAction = fastA2I(ptr);
             if (fenceAction < 0 || fenceAction > GEOFENCE_ACTION_RTH) {
                 cliShowArgumentRangeError("fence action", 0, GEOFENCE_ACTION_RTH);
@@ -1812,7 +1812,7 @@ static void cliGeozone(char* cmdLine)
 
         if ((ptr = nextArg(ptr))){
             argumentCount++;
-        } 
+        }
 
         if (argumentCount != 8) {
             cliShowParseError();
@@ -4190,14 +4190,19 @@ static void cliStatus(char *cmdline)
 #if defined(USE_OSD)
     if (armingFlags & ARMING_DISABLED_NAVIGATION_UNSAFE) {
 	    navArmingBlocker_e reason = navigationIsBlockingArming(NULL);
-        if (reason & NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR)
+        if (reason == NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR)
             cliPrintLinef("  %s", OSD_MSG_JUMP_WP_MISCONFIG);
-        if (reason & NAV_ARMING_BLOCKER_MISSING_GPS_FIX) {
+        if (reason == NAV_ARMING_BLOCKER_MISSING_GPS_FIX) {
             cliPrintLinef("  %s", OSD_MSG_WAITING_GPS_FIX);
 		} else {
-            if (reason & NAV_ARMING_BLOCKER_NAV_IS_ALREADY_ACTIVE)
+            if (reason == NAV_ARMING_BLOCKER_NAV_IS_ALREADY_ACTIVE) {
-                cliPrintLinef("  %s", OSD_MSG_DISABLE_NAV_FIRST);
+		if(armingFlags & ARMING_DISABLED_RC_LINK) {
-            if (reason & NAV_ARMING_BLOCKER_FIRST_WAYPOINT_TOO_FAR)
+		    cliPrintLinef("  ENABLE RX TO CLEAR NAV");
+		} else {
+		    cliPrintLinef("  %s", OSD_MSG_DISABLE_NAV_FIRST);
+		}
+	    }
+            if (reason == NAV_ARMING_BLOCKER_FIRST_WAYPOINT_TOO_FAR)
                 cliPrintLinef("  FIRST WP TOO FAR");
        }
     }

src/main/fc/settings.yaml

@@ -67,7 +67,7 @@ tables:
     values: ["MAH", "WH"]
     enum: osd_stats_energy_unit_e
   - name: osd_video_system
-    values: ["AUTO", "PAL", "NTSC", "HDZERO", "DJIWTF", "AVATAR", "BF43COMPAT", "BFHDCOMPAT"]
+    values: ["AUTO", "PAL", "NTSC", "HDZERO", "DJIWTF", "AVATAR", "BF43COMPAT", "BFHDCOMPAT", "DJI_NATIVE"]
     enum: videoSystem_e
   - name: osd_telemetry
     values: ["OFF", "ON","TEST"]

src/main/io/displayport_msp_osd.c

@@ -494,6 +494,7 @@ displayPort_t* mspOsdDisplayPortInit(const videoSystem_e videoSystem)
             break;
         case VIDEO_SYSTEM_DJICOMPAT_HD:
         case VIDEO_SYSTEM_AVATAR:
+        case VIDEO_SYSTEM_DJI_NATIVE:
             currentOsdMode = HD_5320;
             screenRows = AVATAR_ROWS;
             screenCols = AVATAR_COLS;

src/main/navigation/navigation_multicopter.c

@@ -140,19 +140,14 @@ bool adjustMulticopterAltitudeFromRCInput(void)
         const int16_t rcThrottleAdjustment = applyDeadbandRescaled(rcCommand[THROTTLE] - altHoldThrottleRCZero, rcControlsConfig()->alt_hold_deadband, -500, 500);
 
         if (rcThrottleAdjustment) {
-            // set velocity proportional to stick movement
+            /* Set velocity proportional to stick movement
-            float rcClimbRate;
+             * Scale from altHoldThrottleRCZero to maxthrottle or minthrottle to altHoldThrottleRCZero */
 
-            // Make sure we can satisfy max_manual_climb_rate in both up and down directions
+            // Calculate max up or min down limit value scaled for deadband
-            if (rcThrottleAdjustment > 0) {
+            int16_t limitValue = rcThrottleAdjustment > 0 ? getMaxThrottle() : getThrottleIdleValue();
-                // Scaling from altHoldThrottleRCZero to maxthrottle
+            limitValue = applyDeadbandRescaled(limitValue - altHoldThrottleRCZero, rcControlsConfig()->alt_hold_deadband, -500, 500);
-                rcClimbRate = rcThrottleAdjustment * navConfig()->mc.max_manual_climb_rate / (float)(getMaxThrottle() - altHoldThrottleRCZero - rcControlsConfig()->alt_hold_deadband);
-            }
-            else {
-                // Scaling from minthrottle to altHoldThrottleRCZero
-                rcClimbRate = rcThrottleAdjustment * navConfig()->mc.max_manual_climb_rate / (float)(altHoldThrottleRCZero - getThrottleIdleValue() - rcControlsConfig()->alt_hold_deadband);
-            }
 
+            int16_t rcClimbRate = ABS(rcThrottleAdjustment) * navConfig()->mc.max_manual_climb_rate / limitValue;
             updateClimbRateToAltitudeController(rcClimbRate, 0, ROC_TO_ALT_CONSTANT);
 
             return true;

src/main/rx/jetiexbus.c

@@ -39,6 +39,7 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <string.h>
 
 #include "platform.h"
 
@@ -48,6 +49,7 @@
 #include "build/debug.h"
 
 #include "common/utils.h"
+#include "common/maths.h"
 
 #include "drivers/time.h"
 
@@ -83,13 +85,15 @@
 
 serialPort_t *jetiExBusPort;
 
-uint32_t jetiTimeStampRequest = 0;
+volatile uint32_t jetiTimeStampRequest = 0;
+
+volatile bool jetiExBusCanTx = false;
 
 static uint8_t jetiExBusFramePosition;
 static uint8_t jetiExBusFrameLength;
 
-static uint8_t jetiExBusFrameState = EXBUS_STATE_ZERO;
+static volatile uint8_t jetiExBusFrameState = EXBUS_STATE_ZERO;
-uint8_t jetiExBusRequestState = EXBUS_STATE_ZERO;
+volatile uint8_t jetiExBusRequestState = EXBUS_STATE_ZERO;
 
 // Use max values for ram areas
 static uint8_t jetiExBusChannelFrame[EXBUS_MAX_CHANNEL_FRAME_SIZE];
@@ -117,16 +121,18 @@ void jetiExBusDecodeChannelFrame(uint8_t *exBusFrame)
 {
     uint16_t value;
     uint8_t frameAddr;
+    uint8_t channelDataLen = exBusFrame[EXBUS_HEADER_LEN - 1];
+    uint8_t receivedChannelCount = MIN((channelDataLen) / 2, JETIEXBUS_CHANNEL_COUNT);
 
     // Decode header
     switch (((uint16_t)exBusFrame[EXBUS_HEADER_SYNC] << 8) | ((uint16_t)exBusFrame[EXBUS_HEADER_REQ])) {
 
     case EXBUS_CHANNELDATA_DATA_REQUEST:                   // not yet specified
     case EXBUS_CHANNELDATA:
-        for (uint8_t i = 0; i < JETIEXBUS_CHANNEL_COUNT; i++) {
+        for (uint8_t i = 0; i < receivedChannelCount; i++) {
-            frameAddr = EXBUS_HEADER_LEN + i * 2;
+            frameAddr = EXBUS_HEADER_LEN + (i * 2);
             value = ((uint16_t)exBusFrame[frameAddr + 1]) << 8;
-            value += (uint16_t)exBusFrame[frameAddr];
+            value |= (uint16_t)exBusFrame[frameAddr];
             // Convert to internal format
             jetiExBusChannelData[i] = value >> 3;
         }
@@ -152,7 +158,7 @@ void jetiExBusFrameReset(void)
 */
 
 // Receive ISR callback
-static void jetiExBusDataReceive(uint16_t c, void *data)
+FAST_CODE NOINLINE static void jetiExBusDataReceive(uint16_t c, void *data)
 {
     UNUSED(data);
 
@@ -189,6 +195,14 @@ static void jetiExBusDataReceive(uint16_t c, void *data)
         }
     }
 
+    if(jetiExBusFramePosition == 1) {
+        if(c == 0x01) {
+            jetiExBusCanTx = true;
+        } else {
+            jetiExBusCanTx = false;
+        }
+    }
+
     if (jetiExBusFramePosition == jetiExBusFrameMaxSize) {
         // frame overrun
         jetiExBusFrameReset();
@@ -204,7 +218,6 @@ static void jetiExBusDataReceive(uint16_t c, void *data)
 
     // Check the header for the message length
     if (jetiExBusFramePosition == EXBUS_HEADER_LEN) {
-
         if ((jetiExBusFrameState == EXBUS_STATE_IN_PROGRESS) && (jetiExBusFrame[EXBUS_HEADER_MSG_LEN] <= EXBUS_MAX_CHANNEL_FRAME_SIZE)) {
             jetiExBusFrameLength = jetiExBusFrame[EXBUS_HEADER_MSG_LEN];
             return;
@@ -223,9 +236,12 @@ static void jetiExBusDataReceive(uint16_t c, void *data)
 
     // Done?
     if (jetiExBusFrameLength == jetiExBusFramePosition) {
-        if (jetiExBusFrameState == EXBUS_STATE_IN_PROGRESS)
+        if (jetiExBusFrameState == EXBUS_STATE_IN_PROGRESS) {
             jetiExBusFrameState = EXBUS_STATE_RECEIVED;
+            jetiExBusRequestState = EXBUS_STATE_ZERO;
+        }
         if (jetiExBusRequestState == EXBUS_STATE_IN_PROGRESS) {
+            jetiExBusFrameState = EXBUS_STATE_ZERO;
             jetiExBusRequestState = EXBUS_STATE_RECEIVED;
             jetiTimeStampRequest = now;
         }
@@ -268,6 +284,8 @@ bool jetiExBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfi
     rxRuntimeConfig->rcReadRawFn = jetiExBusReadRawRC;
     rxRuntimeConfig->rcFrameStatusFn = jetiExBusFrameStatus;
 
+    memset(jetiExBusChannelData, 0, sizeof(uint16_t) * JETIEXBUS_CHANNEL_COUNT);
+
     jetiExBusFrameReset();
 
     const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);

src/main/rx/jetiexbus.h

@@ -21,7 +21,7 @@
 #define EXBUS_CRC_LEN                   2
 #define EXBUS_OVERHEAD                  (EXBUS_HEADER_LEN + EXBUS_CRC_LEN)
 #define EXBUS_MAX_CHANNEL_FRAME_SIZE    (EXBUS_HEADER_LEN + JETIEXBUS_CHANNEL_COUNT*2 + EXBUS_CRC_LEN)
-#define EXBUS_MAX_REQUEST_FRAME_SIZE    9
+#define EXBUS_MAX_REQUEST_FRAME_SIZE    32 //9
 
 #define EXBUS_EX_REQUEST                (0x3A)
 
@@ -42,11 +42,13 @@ enum {
     EXBUS_STATE_PROCESSED
 };
 
-extern uint8_t jetiExBusRequestState;
+extern volatile uint8_t jetiExBusRequestState;
-extern uint32_t jetiTimeStampRequest;
+extern volatile uint32_t jetiTimeStampRequest;
 extern uint8_t jetiExBusRequestFrame[EXBUS_MAX_REQUEST_FRAME_SIZE];
 struct serialPort_s;
 extern struct serialPort_s *jetiExBusPort;
 
+extern volatile bool jetiExBusCanTx;
+
 uint16_t jetiExBusCalcCRC16(uint8_t *pt, uint8_t msgLen);
 bool jetiExBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig);

src/main/target/MATEKF405/CMakeLists.txt

@@ -1,2 +1,3 @@
 target_stm32f405xg(MATEKF405)
 target_stm32f405xg(MATEKF405OSD)
+target_stm32f405xg(MATEKF405MINI)

src/main/target/MATEKF405/target.h

@@ -53,15 +53,7 @@
 #define SPI3_MISO_PIN   	    PB4
 #define SPI3_MOSI_PIN   	    PB5
 
-#ifdef MATEKF405OSD
+#ifdef MATEKF405MINI
-// *************** SD Card **************************
-#define USE_SDCARD
-#define USE_SDCARD_SPI
-#define SDCARD_SPI_BUS          BUS_SPI3
-#define SDCARD_CS_PIN           PC1
-
-#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
-#else
 // *************** M25P256 flash ********************
 #define USE_FLASHFS
 #define USE_FLASH_M25P16
@@ -69,6 +61,14 @@
 #define M25P16_CS_PIN           PC0
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#else
+// *************** SD Card **************************
+#define USE_SDCARD
+#define USE_SDCARD_SPI
+#define SDCARD_SPI_BUS          BUS_SPI3
+#define SDCARD_CS_PIN           PC1
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 #endif
 
 // *************** OSD *****************************
@@ -173,11 +173,7 @@
 #define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
 #define RSSI_ADC_CHANNEL            ADC_CHN_3
 
-#ifdef MATEKF405
 #define DEFAULT_FEATURES        (FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY | FEATURE_BLACKBOX )
-#else
-#define DEFAULT_FEATURES        (FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY )
-#endif
 #define CURRENT_METER_SCALE   179
 
 #define USE_LED_STRIP

src/main/target/ORBITF435/CMakeLists.txt

@@ -0,0 +1,2 @@
+target_at32f43x_xGT7(ORBITF435)
+target_at32f43x_xGT7(ORBITF435_SD)

src/main/target/ORBITF435/config.c

@@ -0,0 +1,67 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute 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.
+ *
+ * This file 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 this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <platform.h>
+
+#include "fc/fc_msp_box.h"
+#include "io/piniobox.h"
+#include "io/serial.h"
+
+#include "common/axis.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/pwm_mapping.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"
+
+void targetConfiguration(void)
+{
+
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].functionMask = FUNCTION_ESCSERIAL;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART6)].functionMask = FUNCTION_GPS;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART2)].functionMask = FUNCTION_RX_SERIAL;
+
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; //VTX power switch
+}

src/main/target/ORBITF435/target.c

@@ -0,0 +1,52 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute 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.
+ *
+ * This file 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 this program. 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_icm42688, DEVHW_ICM42605, ICM42688_SPI_BUS,  ICM42688_CS_PIN,  NONE,  0,  DEVFLAGS_NONE,  IMU_ICM42688_ALIGN);
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TMR3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 4), // M1
+    DEF_TIM(TMR3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 5), // M2
+    DEF_TIM(TMR2, CH3, PB10, TIM_USE_OUTPUT_AUTO, 0, 2), // M3
+    DEF_TIM(TMR2, CH4, PB11, TIM_USE_OUTPUT_AUTO, 0, 3), // M4
+    DEF_TIM(TMR2, CH1, PA15, TIM_USE_OUTPUT_AUTO, 0, 0), // M5
+    DEF_TIM(TMR4, CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0, 6), // M6
+    DEF_TIM(TMR4, CH2, PB7,  TIM_USE_OUTPUT_AUTO, 0, 7), // M7
+    DEF_TIM(TMR2, CH2, PA1,  TIM_USE_OUTPUT_AUTO, 0, 1), // M8
+    
+    //DEF_TIM(TMR9, CH2, PA3, TIM_USE_PPM, 0, 0), // PPM
+    //DEF_TIM(TMR12, CH1, PB14,  TIM_USE_CAMERA_CONTROL, 0, -1), // Camera Control
+    DEF_TIM(TMR5, CH1, PA0,  TIM_USE_LED ,   0, 8) //2812LED
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/ORBITF435/target.h

@@ -0,0 +1,193 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute 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.
+ *
+ * This file 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 this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#pragma once
+
+#ifdef ORBITF435
+#define TARGET_BOARD_IDENTIFIER "ORB4"
+#define USBD_PRODUCT_STRING     "ORBITF435"
+#else
+#define TARGET_BOARD_IDENTIFIER "ORB4SD"
+#define USBD_PRODUCT_STRING     "ORBITF435_SD"
+#endif
+
+/*** Indicators ***/
+#define LED0                    PC13  //Blue  
+
+#define BEEPER                  PC15
+#define BEEPER_INVERTED
+
+/*** PINIO ***/
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                  PC8
+#define PINIO1_FLAGS                PINIO_FLAGS_INVERTED
+
+// *************** UART *****************************
+#define USE_VCP
+#define USB_DETECT_PIN          PC9
+#define USE_UART_INVERTER
+
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define USE_UART4
+#define USE_UART5
+#define USE_UART6
+
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+#define INVERTER_PIN_UART2_RX   PB2
+
+#define UART3_TX_PIN            PC10 // No connection
+#define UART3_RX_PIN            PC11 // ESC TLM
+
+#define UART4_TX_PIN            PH3
+#define UART4_RX_PIN            PH2 
+
+#define UART5_TX_PIN            PC12
+#define UART5_RX_PIN            PD2  
+
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+
+#define SERIAL_PORT_COUNT       7 //VCP, UART1, UART2, UART3, UART4, UART5, UART6
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+// *************** 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        //Using ICM42688
+#define IMU_ICM42688_ALIGN      CW270_DEG
+#define ICM42688_CS_PIN         PA4
+#define ICM42688_SPI_BUS        BUS_SPI1
+
+// *************** I2C(Baro & I2C) **************************
+#define USE_I2C
+#define USE_BARO
+#define USE_MAG
+#define USE_RANGEFINDER
+
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_BMP085
+#define USE_BARO_DPS310
+#define USE_BARO_SPL06
+
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_ALL
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+#define PITOT_I2C_BUS           BUS_I2C1
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+
+// *************** Internal SD card && FLASH **************************
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN           PB4
+#define SPI3_MOSI_PIN           PB5
+
+#if defined(ORBITF435_SD)
+//SDCARD Definations
+#define USE_SDCARD
+#define USE_SDCARD_SPI
+#define SDCARD_SPI_BUS          BUS_SPI3
+#define SDCARD_CS_PIN           PC14
+#define SDCARD_DETECT_INVERTED
+#define SDCARD_DETECT_PIN       PA8
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+#else
+//FLASHFS Definations
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_SPI_BUS                  BUS_SPI3
+#define M25P16_CS_PIN                   PB15
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#endif
+
+// *************** OSD *****************************
+#define USE_SPI_DEVICE_2
+#define USE_OSD
+
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PC2
+#define SPI2_MOSI_PIN           PC3
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          PB12
+
+// *************** ADC *****************************
+
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN           PC0
+#define ADC_CHANNEL_2_PIN           PC1
+#define ADC_CHANNEL_3_PIN           PC5
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+
+#define VBAT_SCALE_DEFAULT      1010
+#define CURRENT_METER_SCALE     125
+
+// *************** LED *****************************
+#define USE_LED_STRIP
+#define WS2811_PIN PA0
+
+#define DEFAULT_FEATURES                (FEATURE_TX_PROF_SEL  | FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT  | FEATURE_BLACKBOX | FEATURE_TELEMETRY | FEATURE_OSD | FEATURE_LED_STRIP)
+
+
+#define USE_DSHOT
+#define USE_SERIALSHOT
+#define USE_ESCSERIAL
+#define USE_ESC_SENSOR
+#define USE_RPM_FILTER
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define MAX_PWM_OUTPUT_PORTS        11
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE BIT(2)
+#define TARGET_IO_PORTH (BIT(1)|BIT(2)|BIT(3))

src/main/target/SKYSTARSF405WING/target.c

@@ -25,12 +25,12 @@
 #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(TIM8,  CH4,  PC9,  TIM_USE_OUTPUT_AUTO,   0, 0), // S2 D(2,7,7) UP217
+    DEF_TIM(TIM1,  CH1,  PA8,  TIM_USE_OUTPUT_AUTO,   0, 1), // S1 D(2,1,6) UP256
     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,  CH3,  PB10, 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

src/main/target/SKYSTARSF405WING/target.h

@@ -38,7 +38,7 @@
 #define SPI1_MOSI_PIN   	    PA7
 
 #define USE_IMU_ICM42605
-#define IMU_ICM42605_ALIGN      CW180_DEG
+#define IMU_ICM42605_ALIGN      CW270_DEG_FLIP
 #define ICM42605_SPI_BUS        BUS_SPI1
 #define ICM42605_CS_PIN         PC14
 
@@ -130,6 +130,7 @@
 #define USE_PINIOBOX
 #define PINIO1_PIN                  PA4
 #define PINIO2_PIN                  PB5
+#define PINIO1_FLAGS				PINIO_FLAGS_INVERTED
 
 // *************** LEDSTRIP ************************
 #define USE_LED_STRIP

src/main/target/TBS_LUCID_H7/target.c

@@ -32,10 +32,10 @@
 #include "drivers/timer.h"
 #include "drivers/sensor.h"
 
-BUSDEV_REGISTER_SPI_TAG(busdev_gyro1_mpu6000,  DEVHW_MPU6000,  GYRO1_SPI_BUS,   GYRO1_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_gyro1_mpu6000,  DEVHW_MPU6000,  GYRO1_SPI_BUS,   GYRO1_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU_1_MPU6000_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_gyro1_icm42688,  DEVHW_ICM42605,  GYRO1_SPI_BUS,   GYRO1_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU_ICM42605_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_gyro1_icm42688,  DEVHW_ICM42605,  GYRO1_SPI_BUS,   GYRO1_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU_1_ICM42605_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_gyro2_mpu6000,  DEVHW_MPU6000,  GYRO2_SPI_BUS,   GYRO2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_gyro2_mpu6000,  DEVHW_MPU6000,  GYRO2_SPI_BUS,   GYRO2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU_2_MPU6000_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_gyro2_icm42688,  DEVHW_ICM42605,  GYRO2_SPI_BUS,   GYRO2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU_ICM42605_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_gyro2_icm42688,  DEVHW_ICM42605,  GYRO2_SPI_BUS,   GYRO2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU_2_ICM42605_ALIGN);
 
 timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0),   // S1

src/main/target/TBS_LUCID_H7/target.h

@@ -98,13 +98,15 @@
 #define GYRO1_SPI_BUS           BUS_SPI1
 #define GYRO1_CS_PIN            PC15
 #define GYRO2_SPI_BUS           BUS_SPI4
-#define GYRO2_CS_PIN            PC13
+#define GYRO2_CS_PIN            PE11
 
 #define USE_IMU_MPU6000
-#define IMU_MPU6000_ALIGN       CW0_DEG_FLIP
+#define IMU_1_MPU6000_ALIGN       CW0_DEG_FLIP
+#define IMU_2_MPU6000_ALIGN       CW90_DEG_FLIP
 
 #define USE_IMU_ICM42605
-#define IMU_ICM42605_ALIGN      CW90_DEG_FLIP
+#define IMU_1_ICM42605_ALIGN      CW90_DEG_FLIP
+#define IMU_2_ICM42605_ALIGN      CW0_DEG_FLIP
 
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI2

src/main/telemetry/jetiexbus.c

@@ -138,14 +138,22 @@ const exBusSensor_t jetiExSensors[] = {
     {"GPS Speed",       "m/s",      EX_TYPE_22b,   DECIMAL_MASK(2)},
     {"GPS H-Distance",  "m",        EX_TYPE_22b,   DECIMAL_MASK(0)},
     {"GPS H-Direction", "\xB0",     EX_TYPE_22b,   DECIMAL_MASK(1)},
-    {"INAV D2",           "",         EX_TYPE_DES,   0              },     // device descripton
+    {"INAV D2",         "",         EX_TYPE_DES,   0              },     // device descripton
     {"GPS Heading",     "\xB0",     EX_TYPE_22b,   DECIMAL_MASK(1)},
     {"GPS Altitude",    "m",        EX_TYPE_22b,   DECIMAL_MASK(2)},
     {"G-Force X",       "",         EX_TYPE_22b,   DECIMAL_MASK(3)},
     {"G-Force Y",       "",         EX_TYPE_22b,   DECIMAL_MASK(3)},
     {"G-Force Z",       "",         EX_TYPE_22b,   DECIMAL_MASK(3)},
     {"RPM",             "",         EX_TYPE_22b,   DECIMAL_MASK(0)},
-    {"Trip Distance",   "m",        EX_TYPE_22b,   DECIMAL_MASK(1)}
+    {"Trip Distance",   "m",        EX_TYPE_22b,   DECIMAL_MASK(1)},
+    {"DEBUG0",          "",         EX_TYPE_22b,   DECIMAL_MASK(0)},
+    {"DEBUG1",          "",         EX_TYPE_22b,   DECIMAL_MASK(0)},
+    {"DEBUG2",          "",         EX_TYPE_22b,   DECIMAL_MASK(0)},
+    {"DEBUG3",          "",         EX_TYPE_22b,   DECIMAL_MASK(0)},
+    {"DEBUG4",          "",         EX_TYPE_22b,   DECIMAL_MASK(0)},
+    {"DEBUG5",          "",         EX_TYPE_22b,   DECIMAL_MASK(0)},
+    {"DEBUG6",          "",         EX_TYPE_22b,   DECIMAL_MASK(0)},
+    {"DEBUG7",          "",         EX_TYPE_22b,   DECIMAL_MASK(0)}
 };
 
 // after every 15 sensors increment the step by 2 (e.g. ...EX_VAL15, EX_VAL16 = 17) to skip the device description
@@ -172,6 +180,14 @@ enum exSensors_e {
     EX_GFORCE_Z,
     EX_RPM,
     EX_TRIP_DISTANCE,
+    EX_DEBUG0,
+    EX_DEBUG1,
+    EX_DEBUG2,
+    EX_DEBUG3,
+    EX_DEBUG4,
+    EX_DEBUG5,
+    EX_DEBUG6,
+    EX_DEBUG7
 };
 
 union{
@@ -183,8 +199,7 @@ union{
 
 #define JETI_EX_SENSOR_COUNT (ARRAYLEN(jetiExSensors))
 
-static uint8_t jetiExBusTelemetryFrame[40];
+static uint8_t jetiExBusTelemetryFrame[JETI_EXBUS_TELEMETRY_FRAME_LEN];
-static uint8_t jetiExBusTransceiveState = EXBUS_TRANS_RX;
 static uint8_t firstActiveSensor = 0;
 static uint32_t exSensorEnabled = 0;
 
@@ -283,6 +298,17 @@ void initJetiExBusTelemetry(void)
     }
 #endif
 
+    if (debugMode != DEBUG_NONE) {
+        bitArraySet(&exSensorEnabled, EX_DEBUG0);
+        bitArraySet(&exSensorEnabled, EX_DEBUG1);
+        bitArraySet(&exSensorEnabled, EX_DEBUG2);
+        bitArraySet(&exSensorEnabled, EX_DEBUG3);
+        bitArraySet(&exSensorEnabled, EX_DEBUG4);
+        bitArraySet(&exSensorEnabled, EX_DEBUG5);
+        bitArraySet(&exSensorEnabled, EX_DEBUG6);
+        bitArraySet(&exSensorEnabled, EX_DEBUG7);
+    }
+
     firstActiveSensor = getNextActiveSensor(0);     // find the first active sensor
 }
 
@@ -421,6 +447,23 @@ int32_t getSensorValue(uint8_t sensor)
 
     case EX_TRIP_DISTANCE:
         return getTotalTravelDistance() / 10;
+    
+    case EX_DEBUG0:
+        return debug[0];
+    case EX_DEBUG1:
+        return debug[1];
+    case EX_DEBUG2:
+        return debug[2];
+    case EX_DEBUG3:
+        return debug[3];
+    case EX_DEBUG4:
+        return debug[4];
+    case EX_DEBUG5:
+        return debug[5];
+    case EX_DEBUG6:
+        return debug[6];
+    case EX_DEBUG7:
+        return debug[7];
 
     default:
         return -1;
@@ -503,12 +546,16 @@ void checkJetiExBusTelemetryState(void)
     return;
 }
 
-void handleJetiExBusTelemetry(void)
+void NOINLINE handleJetiExBusTelemetry(void)
 {
     static uint16_t framesLost = 0; // only for debug
     static uint8_t item = 0;
     uint32_t timeDiff;
 
+    if(!jetiExBusCanTx) {
+        return;
+    }
+
     // Check if we shall reset frame position due to time
     if (jetiExBusRequestState == EXBUS_STATE_RECEIVED) {
 
@@ -523,7 +570,6 @@ void handleJetiExBusTelemetry(void)
 
         if ((jetiExBusRequestFrame[EXBUS_HEADER_DATA_ID] == EXBUS_EX_REQUEST) && (jetiExBusCalcCRC16(jetiExBusRequestFrame, jetiExBusRequestFrame[EXBUS_HEADER_MSG_LEN]) == 0)) {
             if (serialRxBytesWaiting(jetiExBusPort) == 0) {
-                jetiExBusTransceiveState = EXBUS_TRANS_TX;
                 item = sendJetiExBusTelemetry(jetiExBusRequestFrame[EXBUS_HEADER_PACKET_ID], item);
                 jetiExBusRequestState = EXBUS_STATE_PROCESSED;
                 return;
@@ -534,13 +580,7 @@ void handleJetiExBusTelemetry(void)
         }
     }
 
-    // check the state if transmit is ready
+    jetiExBusRequestState = EXBUS_STATE_ZERO;
-    if (jetiExBusTransceiveState == EXBUS_TRANS_IS_TX_COMPLETED) {
-        if (isSerialTransmitBufferEmpty(jetiExBusPort)) {
-            jetiExBusTransceiveState = EXBUS_TRANS_RX;
-            jetiExBusRequestState = EXBUS_STATE_ZERO;
-        }
-    }
 }
 
 uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item)
@@ -587,7 +627,7 @@ uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item)
     }
 
     serialWriteBuf(jetiExBusPort, jetiExBusTelemetryFrame, jetiExBusTelemetryFrame[EXBUS_HEADER_MSG_LEN]);
-    jetiExBusTransceiveState = EXBUS_TRANS_IS_TX_COMPLETED;
+    jetiExBusCanTx = false;
 
     return item;
 }

src/main/telemetry/jetiexbus.h

@@ -17,6 +17,8 @@
 
 #pragma once
 
+#define JETI_EXBUS_TELEMETRY_FRAME_LEN  128
+
 void initJetiExBusTelemetry(void);
 void checkJetiExBusTelemetryState(void);
 void handleJetiExBusTelemetry(void);

src/main/telemetry/ltm.c

@@ -212,9 +212,9 @@ void ltm_sframe(sbuf_t *dst)
 void ltm_aframe(sbuf_t *dst)
 {
     sbufWriteU8(dst, 'A');
-    sbufWriteU16(dst, DECIDEGREES_TO_DEGREES(attitude.values.pitch));
+    sbufWriteU16(dst, (int16_t)DECIDEGREES_TO_DEGREES(attitude.values.pitch));
-    sbufWriteU16(dst, DECIDEGREES_TO_DEGREES(attitude.values.roll));
+    sbufWriteU16(dst, (int16_t)DECIDEGREES_TO_DEGREES(attitude.values.roll));
-    sbufWriteU16(dst, DECIDEGREES_TO_DEGREES(attitude.values.yaw));
+    sbufWriteU16(dst, (int16_t)DECIDEGREES_TO_DEGREES(attitude.values.yaw));
 }
 
 #if defined(USE_GPS)