Merge branch 'master' into dzikuvx-drop-rx-serial

README.md

@@ -6,12 +6,13 @@
 
 * [INAV Discord Server](https://discord.gg/peg2hhbYwN)
 * [INAV Official on Facebook](https://www.facebook.com/groups/INAVOfficial)
-* [RC Groups Support](https://www.rcgroups.com/forums/showthread.php?2495732-Cleanflight-iNav-(navigation-rewrite)-project)
 * [INAV Official on Telegram](https://t.me/INAVFlight)
 
 ## Features
 
-* Runs on the most popular F4 and F7 flight controllers
+* Runs on the most popular F4, F7 and H7 flight controllers
+* On Screen Display (OSD) - both character and pixel style
+* DJI OSD integration: all elements, system messages and warnings
 * Outstanding performance out of the box
 * Position Hold, Altitude Hold, Return To Home and Missions
 * Excellent support for fixed wing UAVs: airplanes, flying wings 
@@ -19,11 +20,9 @@
 * Multiple sensor support: GPS, Pitot tube, sonar, lidar, temperature, ESC with BlHeli_32 telemetry
 * SmartAudio and IRC Tramp VTX support
 * Blackbox flight recorder logging
-* On Screen Display (OSD) - both character and pixel style
-* DJI OSD integration: all elements, system messages and warnings
 * Telemetry: SmartPort, FPort, MAVlink, LTM
 * Multi-color RGB LED Strip support
-* Advanced gyro filtering: Matrix Filter and RPM filter
+* Advanced gyro filtering
 * Logic Conditions, Global Functions and Global Variables: you can program INAV with a GUI
 * And many more!
 
@@ -56,15 +55,16 @@ Users of OpenTX radios (Taranis, Horus, Jumper, Radiomaster, Nirvana) can use IN
 See: https://github.com/iNavFlight/inav/blob/master/docs/Installation.md
 
 ## Documentation, support and learning resources
-* [Target documentation](https://github.com/iNavFlight/inav/tree/master/docs/boards)
+* [INAV 5 on a flying wing full tutorial](https://www.youtube.com/playlist?list=PLOUQ8o2_nCLkZlulvqsX_vRMfXd5zM7Ha)
+* [INAV on a multirotor drone tutorial](https://www.youtube.com/playlist?list=PLOUQ8o2_nCLkfcKsWobDLtBNIBzwlwRC8)
 * [Fixed Wing Guide](docs/INAV_Fixed_Wing_Setup_Guide.pdf)
 * [Autolaunch Guide](docs/INAV_Autolaunch.pdf)
 * [Modes Guide](docs/INAV_Modes.pdf)
 * [Wing Tuning Masterclass](docs/INAV_Wing_Tuning_Masterclass.pdf)
 * [Official documentation](https://github.com/iNavFlight/inav/tree/master/docs)
 * [Official Wiki](https://github.com/iNavFlight/inav/wiki)
-* [Video series by Painless360](https://www.youtube.com/playlist?list=PLYsWjANuAm4qdXEGFSeUhOZ10-H8YTSnH)
 * [Video series by Paweł Spychalski](https://www.youtube.com/playlist?list=PLOUQ8o2_nCLloACrA6f1_daCjhqY2x0fB)
+* [Target documentation](https://github.com/iNavFlight/inav/tree/master/docs/boards)
 
 ## Contributing
 
@@ -91,6 +91,5 @@ Before creating new issues please check to see if there is an existing one, sear
 
 Please refer to the development section in the [docs/development](https://github.com/iNavFlight/inav/tree/master/docs/development) folder.
 
-
 ## INAV Releases
 https://github.com/iNavFlight/inav/releases

docs/Rx.md

@@ -113,22 +113,6 @@ set serialrx_inverted = ON
 set serialrx_halfduplex = ON
 ```
 
-### XBUS
-
-The firmware currently supports the MODE B version of the XBus protocol.
-Make sure to set your TX to use "MODE B" for XBUS in the TX menus!
-See here for info on JR's XBUS protocol: http://www.jrpropo.com/english/propo/XBus/
-
-These receivers are reported working:
-
-XG14 14ch DMSS System w/RG731BX XBus Receiver
-http://www.jramericas.com/233794/JRP00631/
-
-There exist a remote receiver made for small BNF-models like the Align T-Rex 150 helicopter. The code also supports using the Align DMSS RJ01 receiver directly with the INAV software.
-To use this receiver you must power it with 3V from the hardware, and then connect the serial line as other serial RX receivers.
-In order for this receiver to work, you need to specify the XBUS_MODE_B_RJ01 for serialrx_provider. Note that you need to set your radio mode for XBUS "MODE B" also for this receiver to work.
-Receiver name: Align DMSS RJ01 (HER15001)
-
 ### SUMD
 
 16 channels via serial currently supported.
@@ -268,21 +252,10 @@ Allowed values: NONE, PPM, SERIAL, MSP, SPI, UIB
 
 # get serialrx
 serialrx_provider = SBUS
-Allowed values: SPEK1024, SPEK2048, SBUS, SUMD, SUMH, XB-B, XB-B-RJ01, IBUS, JETIEXBUS, CRSF, FPORT, SBUS_FAST, FPORT2, SRXL2
+Allowed values: SPEK1024, SPEK2048, SBUS, SUMD, SUMH, IBUS, JETIEXBUS, CRSF, FPORT, SBUS_FAST, FPORT2, SRXL2
 
 ```
 
-### PPM/PWM input filtering.
-
-Hardware input filtering can be enabled if you are experiencing interference on the signal sent via your PWM/PPM RX.
-
-Use the `input_filtering_mode` CLI setting to select a mode.
-
-| Value | Meaning   |
-| ----- | --------- |
-| 0     | Disabled  |
-| 1     | Enabled   |
-
 ## Receiver configuration.
 
 ### FrSky D4R-II

src/main/CMakeLists.txt

@@ -94,8 +94,6 @@ main_sources(COMMON_SRC
     drivers/accgyro/accgyro_mpu6500.h
     drivers/accgyro/accgyro_mpu9250.c
     drivers/accgyro/accgyro_mpu9250.h
-    drivers/accgyro/accgyro_bno055.c
-    drivers/accgyro/accgyro_bno055.h
     drivers/accgyro/accgyro_bno055_serial.c
     drivers/accgyro/accgyro_bno055_serial.h
 
@@ -412,8 +410,6 @@ main_sources(COMMON_SRC
     rx/sumd.h
     rx/sumh.c
     rx/sumh.h
-    rx/xbus.c
-    rx/xbus.h
 
     scheduler/scheduler.c
     scheduler/scheduler.h

src/main/drivers/accgyro/accgyro_bno055.c

@@ -28,7 +28,6 @@
 #include "drivers/time.h"
 #include "build/debug.h"
 #include "common/vector.h"
-#include "drivers/accgyro/accgyro_bno055.h"
 
 #ifdef USE_IMU_BNO055
 

src/main/drivers/accgyro/accgyro_bno055.h

@@ -25,64 +25,6 @@
 
 #include "common/vector.h"
 
-#define BNO055_ADDR_PWR_MODE 0x3E
-#define BNO055_ADDR_OPR_MODE 0x3D
-#define BNO055_ADDR_CALIB_STAT 0x35
-
-#define BNO055_PWR_MODE_NORMAL  0x00
-#define BNO055_OPR_MODE_CONFIG  0x00
-#define BNO055_OPR_MODE_NDOF    0x0C
-
-#define BNO055_ADDR_EUL_YAW_LSB 0x1A
-#define BNO055_ADDR_EUL_YAW_MSB 0x1B
-#define BNO055_ADDR_EUL_ROLL_LSB 0x1C
-#define BNO055_ADDR_EUL_ROLL_MSB 0x1D
-#define BNO055_ADDR_EUL_PITCH_LSB 0x1E
-#define BNO055_ADDR_EUL_PITCH_MSB 0x1F
-
-#define BNO055_ADDR_MAG_RADIUS_MSB 0x6A 
-#define BNO055_ADDR_MAG_RADIUS_LSB 0x69
-#define BNO055_ADDR_ACC_RADIUS_MSB 0x68
-#define BNO055_ADDR_ACC_RADIUS_LSB 0x67
-
-#define BNO055_ADDR_GYR_OFFSET_Z_MSB 0x66
-#define BNO055_ADDR_GYR_OFFSET_Z_LSB 0x65
-#define BNO055_ADDR_GYR_OFFSET_Y_MSB 0x64
-#define BNO055_ADDR_GYR_OFFSET_Y_LSB 0x63
-#define BNO055_ADDR_GYR_OFFSET_X_MSB 0x62
-#define BNO055_ADDR_GYR_OFFSET_X_LSB 0x61
-
-#define BNO055_ADDR_MAG_OFFSET_Z_MSB 0x60
-#define BNO055_ADDR_MAG_OFFSET_Z_LSB 0x5F
-#define BNO055_ADDR_MAG_OFFSET_Y_MSB 0x5E
-#define BNO055_ADDR_MAG_OFFSET_Y_LSB 0x5D
-#define BNO055_ADDR_MAG_OFFSET_X_MSB 0x5C
-#define BNO055_ADDR_MAG_OFFSET_X_LSB 0x5B
-
-#define BNO055_ADDR_ACC_OFFSET_Z_MSB 0x5A
-#define BNO055_ADDR_ACC_OFFSET_Z_LSB 0x59
-#define BNO055_ADDR_ACC_OFFSET_Y_MSB 0x58
-#define BNO055_ADDR_ACC_OFFSET_Y_LSB 0x57
-#define BNO055_ADDR_ACC_OFFSET_X_MSB 0x56
-#define BNO055_ADDR_ACC_OFFSET_X_LSB 0x55
-
-typedef struct {
-    uint8_t sys;
-    uint8_t gyr;
-    uint8_t acc;
-    uint8_t mag;
-} bno055CalibStat_t;
-
-typedef enum {
-    ACC = 0,
-    MAG = 1,
-    GYRO = 2
-} bno055Sensor_e;
-
-typedef struct {
-    int16_t radius[2];
-    int16_t offset[3][3];
-} bno055CalibrationData_t;
 
 bool bno055Init(bno055CalibrationData_t calibrationData, bool setCalibration);
 fpVector3_t bno055GetEurlerAngles(void);

src/main/drivers/accgyro/accgyro_bno055_serial.c

@@ -30,7 +30,6 @@
 #include <stdbool.h>
 #include <stdint.h>
 #include "io/serial.h"
-#include "drivers/accgyro/accgyro_bno055.h"
 #include "build/debug.h"
 #include "drivers/time.h"
 #include "flight/secondary_imu.h"

src/main/drivers/accgyro/accgyro_bno055_serial.h

@@ -25,7 +25,65 @@
 #pragma once
 
 #include "common/vector.h"
-#include "drivers/accgyro/accgyro_bno055.h"
+
+#define BNO055_ADDR_PWR_MODE 0x3E
+#define BNO055_ADDR_OPR_MODE 0x3D
+#define BNO055_ADDR_CALIB_STAT 0x35
+
+#define BNO055_PWR_MODE_NORMAL  0x00
+#define BNO055_OPR_MODE_CONFIG  0x00
+#define BNO055_OPR_MODE_NDOF    0x0C
+
+#define BNO055_ADDR_EUL_YAW_LSB 0x1A
+#define BNO055_ADDR_EUL_YAW_MSB 0x1B
+#define BNO055_ADDR_EUL_ROLL_LSB 0x1C
+#define BNO055_ADDR_EUL_ROLL_MSB 0x1D
+#define BNO055_ADDR_EUL_PITCH_LSB 0x1E
+#define BNO055_ADDR_EUL_PITCH_MSB 0x1F
+
+#define BNO055_ADDR_MAG_RADIUS_MSB 0x6A 
+#define BNO055_ADDR_MAG_RADIUS_LSB 0x69
+#define BNO055_ADDR_ACC_RADIUS_MSB 0x68
+#define BNO055_ADDR_ACC_RADIUS_LSB 0x67
+
+#define BNO055_ADDR_GYR_OFFSET_Z_MSB 0x66
+#define BNO055_ADDR_GYR_OFFSET_Z_LSB 0x65
+#define BNO055_ADDR_GYR_OFFSET_Y_MSB 0x64
+#define BNO055_ADDR_GYR_OFFSET_Y_LSB 0x63
+#define BNO055_ADDR_GYR_OFFSET_X_MSB 0x62
+#define BNO055_ADDR_GYR_OFFSET_X_LSB 0x61
+
+#define BNO055_ADDR_MAG_OFFSET_Z_MSB 0x60
+#define BNO055_ADDR_MAG_OFFSET_Z_LSB 0x5F
+#define BNO055_ADDR_MAG_OFFSET_Y_MSB 0x5E
+#define BNO055_ADDR_MAG_OFFSET_Y_LSB 0x5D
+#define BNO055_ADDR_MAG_OFFSET_X_MSB 0x5C
+#define BNO055_ADDR_MAG_OFFSET_X_LSB 0x5B
+
+#define BNO055_ADDR_ACC_OFFSET_Z_MSB 0x5A
+#define BNO055_ADDR_ACC_OFFSET_Z_LSB 0x59
+#define BNO055_ADDR_ACC_OFFSET_Y_MSB 0x58
+#define BNO055_ADDR_ACC_OFFSET_Y_LSB 0x57
+#define BNO055_ADDR_ACC_OFFSET_X_MSB 0x56
+#define BNO055_ADDR_ACC_OFFSET_X_LSB 0x55
+
+typedef enum {
+    ACC = 0,
+    MAG = 1,
+    GYRO = 2
+} bno055Sensor_e;
+
+typedef struct {
+    uint8_t sys;
+    uint8_t gyr;
+    uint8_t acc;
+    uint8_t mag;
+} bno055CalibStat_t;
+
+typedef struct {
+    int16_t radius[2];
+    int16_t offset[3][3];
+} bno055CalibrationData_t;
 
 bool bno055SerialInit(bno055CalibrationData_t calibrationData, bool setCalibration);
 void bno055SerialFetchEulerAngles(void);

src/main/drivers/bus.h

@@ -144,7 +144,6 @@ typedef enum {
     DEVHW_SDCARD,       // Generic SD-Card
     DEVHW_IRLOCK,       // IR-Lock visual positioning hardware
     DEVHW_PCF8574,      // 8-bit I/O expander
-    DEVHW_BNO055,       // BNO055 IMU
 } devHardwareType_e;
 
 typedef enum {

src/main/fc/fc_core.c

@@ -38,7 +38,6 @@ FILE_COMPILE_FOR_SPEED
 #include "drivers/time.h"
 #include "drivers/system.h"
 #include "drivers/pwm_output.h"
-#include "drivers/accgyro/accgyro_bno055.h"
 
 #include "sensors/sensors.h"
 #include "sensors/diagnostics.h"

src/main/fc/fc_msp.c

@@ -161,10 +161,9 @@ typedef enum {
 } mspFlashfsFlags_e;
 
 typedef enum {
-    MSP_PASSTHROUGH_SERIAL_ID = 0xFD,
+    MSP_PASSTHROUGH_SERIAL_ID          = 0xFD,
     MSP_PASSTHROUGH_SERIAL_FUNCTION_ID = 0xFE,
-
+    MSP_PASSTHROUGH_ESC_4WAY           = 0xFF,
-    MSP_PASSTHROUGH_ESC_4WAY = 0xFF,
  } mspPassthroughType_e;
 
 static uint8_t mspPassthroughMode;

src/main/fc/fc_msp_box.c

@@ -46,55 +46,55 @@
 #define BOX_SUFFIX_LEN 1
 
 static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
-    { BOXARM, "ARM", 0 },
+    { .boxId = BOXARM,              .boxName = "ARM",               .permanentId = 0 },
-    { BOXANGLE, "ANGLE", 1 },
+    { .boxId = BOXANGLE,            .boxName = "ANGLE",             .permanentId = 1 },
-    { BOXHORIZON, "HORIZON", 2 },
+    { .boxId = BOXHORIZON,          .boxName = "HORIZON",           .permanentId = 2 },
-    { BOXNAVALTHOLD, "NAV ALTHOLD", 3 },
+    { .boxId = BOXNAVALTHOLD,       .boxName = "NAV ALTHOLD",       .permanentId = 3 },
-    { BOXHEADINGHOLD, "HEADING HOLD", 5 },
+    { .boxId = BOXHEADINGHOLD,      .boxName = "HEADING HOLD",      .permanentId = 5 },
-    { BOXHEADFREE, "HEADFREE", 6 },
+    { .boxId = BOXHEADFREE,         .boxName = "HEADFREE",          .permanentId = 6 },
-    { BOXHEADADJ, "HEADADJ", 7 },
+    { .boxId = BOXHEADADJ,          .boxName = "HEADADJ",           .permanentId = 7 },
-    { BOXCAMSTAB, "CAMSTAB", 8 },
+    { .boxId = BOXCAMSTAB,          .boxName = "CAMSTAB",           .permanentId = 8 },
-    { BOXNAVRTH, "NAV RTH", 10 },
+    { .boxId = BOXNAVRTH,           .boxName = "NAV RTH",           .permanentId = 10 },
-    { BOXNAVPOSHOLD, "NAV POSHOLD", 11 },
+    { .boxId = BOXNAVPOSHOLD,       .boxName = "NAV POSHOLD",       .permanentId = 11 },
-    { BOXMANUAL, "MANUAL", 12 },
+    { .boxId = BOXMANUAL,           .boxName = "MANUAL",            .permanentId = 12 },
-    { BOXBEEPERON, "BEEPER", 13 },
+    { .boxId = BOXBEEPERON,         .boxName = "BEEPER",            .permanentId = 13 },
-    { BOXLEDLOW, "LEDS OFF", 15 },
+    { .boxId = BOXLEDLOW,           .boxName = "LEDS OFF",          .permanentId = 15 },
-    { BOXLIGHTS, "LIGHTS", 16 },
+    { .boxId = BOXLIGHTS,           .boxName = "LIGHTS",            .permanentId = 16 },
-    { BOXOSD, "OSD OFF", 19 },
+    { .boxId = BOXOSD,              .boxName = "OSD OFF",           .permanentId = 19 },
-    { BOXTELEMETRY, "TELEMETRY", 20 },
+    { .boxId = BOXTELEMETRY,        .boxName = "TELEMETRY",         .permanentId = 20 },
-    { BOXAUTOTUNE, "AUTO TUNE", 21 },
+    { .boxId = BOXAUTOTUNE,         .boxName = "AUTO TUNE",         .permanentId = 21 },
-    { BOXBLACKBOX, "BLACKBOX", 26 },
+    { .boxId = BOXBLACKBOX,         .boxName = "BLACKBOX",          .permanentId = 26 },
-    { BOXFAILSAFE, "FAILSAFE", 27 },
+    { .boxId = BOXFAILSAFE,         .boxName = "FAILSAFE",          .permanentId = 27 },
-    { BOXNAVWP, "NAV WP", 28 },
+    { .boxId = BOXNAVWP,            .boxName = "NAV WP",            .permanentId = 28 },
-    { BOXAIRMODE, "AIR MODE", 29 },
+    { .boxId = BOXAIRMODE,          .boxName = "AIR MODE",          .permanentId = 29 },
-    { BOXHOMERESET, "HOME RESET", 30 },
+    { .boxId = BOXHOMERESET,        .boxName = "HOME RESET",        .permanentId = 30 },
-    { BOXGCSNAV, "GCS NAV", 31 },
+    { .boxId = BOXGCSNAV,           .boxName = "GCS NAV",           .permanentId = 31 },
-    { BOXFPVANGLEMIX, "FPV ANGLE MIX", 32 },
+    { .boxId = BOXFPVANGLEMIX,      .boxName = "FPV ANGLE MIX",     .permanentId = 32 },
-    { BOXSURFACE, "SURFACE", 33 },
+    { .boxId = BOXSURFACE,          .boxName = "SURFACE",           .permanentId = 33 },
-    { BOXFLAPERON, "FLAPERON", 34 },
+    { .boxId = BOXFLAPERON,         .boxName = "FLAPERON",          .permanentId = 34 },
-    { BOXTURNASSIST, "TURN ASSIST", 35 },
+    { .boxId = BOXTURNASSIST,       .boxName = "TURN ASSIST",       .permanentId = 35 },
-    { BOXNAVLAUNCH, "NAV LAUNCH", 36 },
+    { .boxId = BOXNAVLAUNCH,        .boxName = "NAV LAUNCH",        .permanentId = 36 },
-    { BOXAUTOTRIM, "SERVO AUTOTRIM", 37 },
+    { .boxId = BOXAUTOTRIM,         .boxName = "SERVO AUTOTRIM",    .permanentId = 37 },
-    { BOXKILLSWITCH, "KILLSWITCH", 38 },
+    { .boxId = BOXKILLSWITCH,       .boxName = "KILLSWITCH",        .permanentId = 38 },
-    { BOXCAMERA1, "CAMERA CONTROL 1", 39 },
+    { .boxId = BOXCAMERA1,          .boxName = "CAMERA CONTROL 1",  .permanentId = 39 },
-    { BOXCAMERA2, "CAMERA CONTROL 2", 40 },
+    { .boxId = BOXCAMERA2,          .boxName = "CAMERA CONTROL 2",  .permanentId = 40 },
-    { BOXCAMERA3, "CAMERA CONTROL 3", 41 },
+    { .boxId = BOXCAMERA3,          .boxName = "CAMERA CONTROL 3",  .permanentId = 41 },
-    { BOXOSDALT1, "OSD ALT 1", 42 },
+    { .boxId = BOXOSDALT1,          .boxName = "OSD ALT 1",         .permanentId = 42 },
-    { BOXOSDALT2, "OSD ALT 2", 43 },
+    { .boxId = BOXOSDALT2,          .boxName = "OSD ALT 2",         .permanentId = 43 },
-    { BOXOSDALT3, "OSD ALT 3", 44 },
+    { .boxId = BOXOSDALT3,          .boxName = "OSD ALT 3",         .permanentId = 44 },
-    { BOXNAVCOURSEHOLD, "NAV COURSE HOLD", 45 },
+    { .boxId = BOXNAVCOURSEHOLD,    .boxName = "NAV COURSE HOLD",   .permanentId = 45 },
-    { BOXBRAKING, "MC BRAKING", 46 },
+    { .boxId = BOXBRAKING,          .boxName = "MC BRAKING",        .permanentId = 46 },
-    { BOXUSER1, "USER1", BOX_PERMANENT_ID_USER1 },
+    { .boxId = BOXUSER1,            .boxName = "USER1",             .permanentId = BOX_PERMANENT_ID_USER1 },
-    { BOXUSER2, "USER2", BOX_PERMANENT_ID_USER2 },
+    { .boxId = BOXUSER2,            .boxName = "USER2",             .permanentId = BOX_PERMANENT_ID_USER2 },
-    { BOXLOITERDIRCHN, "LOITER CHANGE", 49 },
+    { .boxId = BOXLOITERDIRCHN,     .boxName = "LOITER CHANGE",     .permanentId = 49 },
-    { BOXMSPRCOVERRIDE, "MSP RC OVERRIDE", 50 },
+    { .boxId = BOXMSPRCOVERRIDE,    .boxName = "MSP RC OVERRIDE",   .permanentId = 50 },
-    { BOXPREARM, "PREARM", 51 },
+    { .boxId = BOXPREARM,           .boxName = "PREARM",            .permanentId = 51 },
-    { BOXTURTLE, "TURTLE", 52 },
+    { .boxId = BOXTURTLE,           .boxName = "TURTLE",            .permanentId = 52 },
-    { BOXNAVCRUISE, "NAV CRUISE", 53 },
+    { .boxId = BOXNAVCRUISE,        .boxName = "NAV CRUISE",        .permanentId = 53 },
-    { BOXAUTOLEVEL, "AUTO LEVEL", 54 },
+    { .boxId = BOXAUTOLEVEL,        .boxName = "AUTO LEVEL",        .permanentId = 54 },
-    { BOXPLANWPMISSION, "WP PLANNER", 55 },
+    { .boxId = BOXPLANWPMISSION,    .boxName = "WP PLANNER",        .permanentId = 55 },
-    { BOXSOARING, "SOARING", 56 },
+    { .boxId = BOXSOARING,          .boxName = "SOARING",           .permanentId = 56 },
-    { CHECKBOX_ITEM_COUNT, NULL, 0xFF }
+    { .boxId = CHECKBOX_ITEM_COUNT, .boxName = NULL,                .permanentId = 0xFF }
 };
 
 // this is calculated at startup based on enabled features.

src/main/fc/fc_msp_box.h

@@ -22,8 +22,8 @@
 #include "io/piniobox.h"
 
 typedef struct box_s {
-    const uint8_t boxId;            // see boxId_e
     const char *boxName;            // GUI-readable box name
+    const uint8_t boxId;            // see boxId_e
     const uint8_t permanentId;      // permanent ID used to identify BOX. This ID is unique for one function, DO NOT REUSE IT
 } box_t;
 

src/main/fc/rc_modes.c

@@ -209,11 +209,3 @@ void updateUsedModeActivationConditionFlags(void)
                         isModeActivationConditionPresent(BOXNAVCRUISE) ||
                         isModeActivationConditionPresent(BOXNAVWP);
 }
-
-void configureModeActivationCondition(int macIndex, boxId_e modeId, uint8_t auxChannelIndex, uint16_t startPwm, uint16_t endPwm)
-{
-    modeActivationConditionsMutable(macIndex)->modeId = modeId;
-    modeActivationConditionsMutable(macIndex)->auxChannelIndex = auxChannelIndex;
-    modeActivationConditionsMutable(macIndex)->range.startStep = CHANNEL_VALUE_TO_STEP(startPwm);
-    modeActivationConditionsMutable(macIndex)->range.endStep = CHANNEL_VALUE_TO_STEP(endPwm);
-}

src/main/fc/rc_modes.h

@@ -133,4 +133,3 @@ bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range);
 
 void updateActivatedModes(void);
 void updateUsedModeActivationConditionFlags(void);
-void configureModeActivationCondition(int macIndex, boxId_e modeId, uint8_t auxChannelIndex, uint16_t startPwm, uint16_t endPwm);

src/main/fc/settings.yaml

@@ -10,7 +10,7 @@ tables:
     values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C"]
     enum: rangefinderType_e
   - name: secondary_imu_hardware
-    values: ["NONE", "BNO055", "BNO055_SERIAL"]
+    values: ["NONE", "BNO055_SERIAL"]
     enum: secondaryImuType_e
   - name: mag_hardware
     values: ["NONE", "AUTO", "HMC5883", "AK8975", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "VCM5883", "MLX90393", "FAKE"]
@@ -28,7 +28,7 @@ tables:
     values: ["NONE", "SERIAL", "MSP"]
     enum: rxReceiverType_e
   - name: serial_rx
-    values: ["SPEK1024", "SPEK2048", "SBUS", "SUMD", "SUMH", "XB-B", "XB-B-RJ01", "IBUS", "JETIEXBUS", "CRSF", "FPORT", "SBUS_FAST", "FPORT2", "SRXL2", "GHST", "MAVLINK"]
+    values: ["SPEK1024", "SPEK2048", "SBUS", "SUMD", "SUMH", "IBUS", "JETIEXBUS", "CRSF", "FPORT", "SBUS_FAST", "FPORT2", "SRXL2", "GHST", "MAVLINK"]
   - name: blackbox_device
     values: ["SERIAL", "SPIFLASH", "SDCARD"]
   - name: motor_pwm_protocol

src/main/flight/secondary_imu.c

@@ -37,7 +37,6 @@
 #include "config/parameter_group_ids.h"
 
 #include "drivers/sensor.h"
-#include "drivers/accgyro/accgyro_bno055.h"
 #include "drivers/accgyro/accgyro_bno055_serial.h"
 
 #include "fc/settings.h"
@@ -47,7 +46,7 @@
 #include "sensors/boardalignment.h"
 #include "sensors/compass.h"
 
-PG_REGISTER_WITH_RESET_FN(secondaryImuConfig_t, secondaryImuConfig, PG_SECONDARY_IMU, 1);
+PG_REGISTER_WITH_RESET_FN(secondaryImuConfig_t, secondaryImuConfig, PG_SECONDARY_IMU, 2);
 
 EXTENDED_FASTRAM secondaryImuState_t secondaryImuState;
 
@@ -100,15 +99,7 @@ void secondaryImuInit(void)
 
     requestedSensors[SENSOR_INDEX_IMU2] = secondaryImuConfig()->hardwareType;
 
-    if (secondaryImuConfig()->hardwareType == SECONDARY_IMU_BNO055) {
+    if (secondaryImuConfig()->hardwareType == SECONDARY_IMU_BNO055_SERIAL) {
-        secondaryImuState.active = bno055Init(calibrationData, (secondaryImuConfig()->calibrationRadiusAcc && secondaryImuConfig()->calibrationRadiusMag));
-
-        if (secondaryImuState.active) {
-            detectedSensors[SENSOR_INDEX_IMU2] = SECONDARY_IMU_BNO055;
-            rescheduleTask(TASK_SECONDARY_IMU, TASK_PERIOD_HZ(10));
-        }
-
-    } else if (secondaryImuConfig()->hardwareType == SECONDARY_IMU_BNO055_SERIAL) {
         secondaryImuState.active = bno055SerialInit(calibrationData, (secondaryImuConfig()->calibrationRadiusAcc && secondaryImuConfig()->calibrationRadiusMag));
 
         if (secondaryImuState.active) {
@@ -174,19 +165,7 @@ void taskSecondaryImu(timeUs_t currentTimeUs)
      */
     UNUSED(currentTimeUs);
 
-    if (secondaryImuConfig()->hardwareType == SECONDARY_IMU_BNO055) {
+    if (secondaryImuConfig()->hardwareType == SECONDARY_IMU_BNO055_SERIAL) {
-        bno055FetchEulerAngles(secondaryImuState.eulerAngles.raw);
-        secondaryImuProcess();
-
-        /*
-        * Every 2 seconds fetch current calibration state
-        */
-        if (tick == 20)
-        {
-            secondaryImuState.calibrationStatus = bno055GetCalibStat();
-            tick = 0;
-        }
-    } else if (secondaryImuConfig()->hardwareType == SECONDARY_IMU_BNO055_SERIAL) {
         /*
          * Every 2 seconds fetch current calibration state
          */
@@ -203,9 +182,7 @@ void taskSecondaryImu(timeUs_t currentTimeUs)
 void secondaryImuFetchCalibration(void) {
     bno055CalibrationData_t calibrationData;
 
-    if (secondaryImuConfig()->hardwareType == SECONDARY_IMU_BNO055) {
+    if (secondaryImuConfig()->hardwareType == SECONDARY_IMU_BNO055_SERIAL) {
-        calibrationData = bno055GetCalibrationData();
-    } else if (secondaryImuConfig()->hardwareType == SECONDARY_IMU_BNO055_SERIAL) {
         calibrationData = bno055SerialGetCalibrationData();
     } else {
         return;

src/main/flight/secondary_imu.h

@@ -27,14 +27,12 @@
 #include "config/parameter_group.h"
 #include "common/time.h"
 #include "sensors/sensors.h"
-#include "drivers/accgyro/accgyro_bno055.h"
 #include "drivers/accgyro/accgyro_bno055_serial.h"
 #include "sensors/diagnostics.h"
 
 typedef enum {
     SECONDARY_IMU_NONE          = 0,
-    SECONDARY_IMU_BNO055        = 1,
+    SECONDARY_IMU_BNO055_SERIAL = 1,
-    SECONDARY_IMU_BNO055_SERIAL = 2,
 } secondaryImuType_e;
 
 typedef struct secondaryImuConfig_s {

src/main/rx/rx.c

@@ -62,7 +62,6 @@
 #include "rx/srxl2.h"
 #include "rx/sumd.h"
 #include "rx/sumh.h"
-#include "rx/xbus.h"
 #include "rx/ghst.h"
 #include "rx/mavlink.h"
 
@@ -215,12 +214,6 @@ bool serialRxInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig
         enabled = sumhInit(rxConfig, rxRuntimeConfig);
         break;
 #endif
-#ifdef USE_SERIALRX_XBUS
-    case SERIALRX_XBUS_MODE_B:
-    case SERIALRX_XBUS_MODE_B_RJ01:
-        enabled = xBusInit(rxConfig, rxRuntimeConfig);
-        break;
-#endif
 #ifdef USE_SERIALRX_IBUS
     case SERIALRX_IBUS:
         enabled = ibusInit(rxConfig, rxRuntimeConfig);

src/main/rx/rx.h

@@ -73,8 +73,6 @@ typedef enum {
     SERIALRX_SBUS = 2,
     SERIALRX_SUMD = 3,
     SERIALRX_SUMH = 4,
-    SERIALRX_XBUS_MODE_B = 5,
-    SERIALRX_XBUS_MODE_B_RJ01 = 6,
     SERIALRX_IBUS = 7,
     SERIALRX_JETIEXBUS = 8,
     SERIALRX_CRSF = 9,

src/main/rx/xbus.c

@@ -1,348 +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/>.
- */
-
-#include <stdbool.h>
-#include <stdint.h>
-#include <stdlib.h>
-
-#include "platform.h"
-
-#ifdef USE_SERIALRX_XBUS
-
-#include "common/utils.h"
-
-#include "drivers/serial.h"
-#include "drivers/time.h"
-
-#include "io/serial.h"
-
-#include "rx/rx.h"
-#include "rx/xbus.h"
-
-#include "telemetry/telemetry.h"
-
-//
-// Serial driver for JR's XBus (MODE B) receiver
-//
-
-#define XBUS_CHANNEL_COUNT 12
-#define XBUS_RJ01_CHANNEL_COUNT 12
-
-// Frame is: ID(1 byte) + 12*channel(2 bytes) + CRC(2 bytes) = 27
-#define XBUS_FRAME_SIZE 27
-
-#define XBUS_RJ01_FRAME_SIZE 33
-#define XBUS_RJ01_MESSAGE_LENGTH 30
-#define XBUS_RJ01_OFFSET_BYTES 3
-
-#define XBUS_CRC_AND_VALUE 0x8000
-#define XBUS_CRC_POLY 0x1021
-
-#define XBUS_BAUDRATE 115200
-#define XBUS_RJ01_BAUDRATE 250000
-#define XBUS_MAX_FRAME_TIME 8000
-
-// NOTE!
-// This is actually based on ID+LENGTH (nibble each)
-// 0xA - Multiplex ID (also used by JR, no idea why)
-// 0x1 - 12 channels
-// 0x2 - 16 channels
-// However, the JR XG14 that is used for test at the moment
-// does only use 0xA1 as its output. This is why the implementation
-// is based on these numbers only. Maybe update this in the future?
-#define XBUS_START_OF_FRAME_BYTE (0xA1)
-
-// Pulse length convertion from [0...4095] to µs:
-//      800µs  -> 0x000
-//      1500µs -> 0x800
-//      2200µs -> 0xFFF
-// Total range is: 2200 - 800 = 1400 <==> 4095
-// Use formula: 800 + value * 1400 / 4096 (i.e. a shift by 12)
-#define XBUS_CONVERT_TO_USEC(V) (800 + ((V * 1400) >> 12))
-
-static bool xBusFrameReceived = false;
-static bool xBusDataIncoming = false;
-static uint8_t xBusFramePosition;
-static uint8_t xBusFrameLength;
-static uint8_t xBusChannelCount;
-static uint8_t xBusProvider;
-
-
-// Use max values for ram areas
-static volatile uint8_t xBusFrame[XBUS_RJ01_FRAME_SIZE];
-static uint16_t xBusChannelData[XBUS_RJ01_CHANNEL_COUNT];
-
-// The xbus mode B CRC calculations
-static uint16_t xBusCRC16(uint16_t crc, uint8_t value)
-{
-    uint8_t i;
-
-    crc = crc ^ (int16_t)value << 8;
-
-    for (i = 0; i < 8; i++) {
-        if (crc & XBUS_CRC_AND_VALUE) {
-            crc = crc << 1 ^ XBUS_CRC_POLY;
-        } else {
-            crc = crc << 1;
-        }
-    }
-    return crc;
-}
-
-// Full RJ01 message CRC calculations
-uint8_t xBusRj01CRC8(uint8_t inData, uint8_t seed)
-{
-    uint8_t bitsLeft;
-    uint8_t temp;
-
-    for (bitsLeft = 8; bitsLeft > 0; bitsLeft--) {
-        temp = ((seed ^ inData) & 0x01);
-
-        if (temp == 0) {
-            seed >>= 1;
-        } else {
-            seed ^= 0x18;
-            seed >>= 1;
-            seed |= 0x80;
-        }
-
-        inData >>= 1;
-    }
-
-    return seed;
-}
-
-
-static void xBusUnpackModeBFrame(uint8_t offsetBytes)
-{
-    // Calculate the CRC of the incoming frame
-    uint16_t crc = 0;
-    uint16_t inCrc = 0;
-    uint8_t i = 0;
-    uint16_t value;
-    uint8_t frameAddr;
-
-    // Calculate on all bytes except the final two CRC bytes
-    for (i = 0; i < XBUS_FRAME_SIZE - 2; i++) {
-        inCrc = xBusCRC16(inCrc, xBusFrame[i+offsetBytes]);
-    }
-
-    // Get the received CRC
-    crc = ((uint16_t)xBusFrame[offsetBytes + XBUS_FRAME_SIZE - 2]) << 8;
-    crc = crc + ((uint16_t)xBusFrame[offsetBytes + XBUS_FRAME_SIZE - 1]);
-
-    if (crc == inCrc) {
-        // Unpack the data, we have a valid frame
-        for (i = 0; i < xBusChannelCount; i++) {
-
-            frameAddr = offsetBytes + 1 + i * 2;
-            value = ((uint16_t)xBusFrame[frameAddr]) << 8;
-            value = value + ((uint16_t)xBusFrame[frameAddr + 1]);
-
-            // Convert to internal format
-            xBusChannelData[i] = XBUS_CONVERT_TO_USEC(value);
-        }
-
-        xBusFrameReceived = true;
-    }
-
-}
-
-static void xBusUnpackRJ01Frame(void)
-{
-    // Calculate the CRC of the incoming frame
-    uint8_t outerCrc = 0;
-    uint8_t i = 0;
-
-    // When using the Align RJ01 receiver with
-    // a MODE B setting in the radio (XG14 tested)
-    // the MODE_B -frame is packed within some
-    // at the moment unknown bytes before and after:
-    // 0xA1 LEN __ 0xA1 12*(High + Low) CRC1 CRC2 + __ __ CRC_OUTER
-    // Compared to a standard MODE B frame that only
-    // contains the "middle" package.
-    // Hence, at the moment, the unknown header and footer
-    // of the RJ01 MODEB packages are discarded.
-    // However, the LAST byte (CRC_OUTER) is infact an 8-bit
-    // CRC for the whole package, using the Dallas-One-Wire CRC
-    // method.
-    // So, we check both these values as well as the provided length
-    // of the outer/full message (LEN)
-
-    //
-    // Check we have correct length of message
-    //
-    if (xBusFrame[1] != XBUS_RJ01_MESSAGE_LENGTH)
-    {
-        // Unknown package as length is not ok
-        return;
-    }
-
-    //
-    // CRC calculation & check for full message
-    //
-    for (i = 0; i < xBusFrameLength - 1; i++) {
-        outerCrc = xBusRj01CRC8(outerCrc, xBusFrame[i]);
-    }
-
-    if (outerCrc != xBusFrame[xBusFrameLength - 1])
-    {
-        // CRC does not match, skip this frame
-        return;
-    }
-
-    // Now unpack the "embedded MODE B frame"
-    xBusUnpackModeBFrame(XBUS_RJ01_OFFSET_BYTES);
-}
-
-// Receive ISR callback
-static void xBusDataReceive(uint16_t c, void *rxCallbackData)
-{
-    UNUSED(rxCallbackData);
-
-    timeUs_t now;
-    static timeUs_t xBusTimeLast;
-    timeDelta_t xBusTimeInterval;
-
-    // Check if we shall reset frame position due to time
-    now = micros();
-    xBusTimeInterval = cmpTimeUs(now, xBusTimeLast);
-    xBusTimeLast = now;
-    if (xBusTimeInterval > XBUS_MAX_FRAME_TIME) {
-        xBusFramePosition = 0;
-        xBusDataIncoming = false;
-    }
-
-    // Check if we shall start a frame?
-    if ((xBusFramePosition == 0) && (c == XBUS_START_OF_FRAME_BYTE)) {
-        xBusDataIncoming = true;
-    }
-
-    // Only do this if we are receiving to a frame
-    if (xBusDataIncoming == true) {
-        // Store in frame copy
-        xBusFrame[xBusFramePosition] = (uint8_t)c;
-        xBusFramePosition++;
-    }
-
-    // Done?
-    if (xBusFramePosition == xBusFrameLength) {
-        switch (xBusProvider) {
-        case SERIALRX_XBUS_MODE_B:
-            xBusUnpackModeBFrame(0);
-            break;
-        case SERIALRX_XBUS_MODE_B_RJ01:
-            xBusUnpackRJ01Frame();
-            break;
-        }
-        xBusDataIncoming = false;
-        xBusFramePosition = 0;
-    }
-}
-
-// Indicate time to read a frame from the data...
-static uint8_t xBusFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
-{
-    UNUSED(rxRuntimeConfig);
-
-    if (!xBusFrameReceived) {
-        return RX_FRAME_PENDING;
-    }
-
-    xBusFrameReceived = false;
-
-    return RX_FRAME_COMPLETE;
-}
-
-static uint16_t xBusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)
-{
-    uint16_t data;
-
-    // Deliver the data wanted
-    if (chan >= rxRuntimeConfig->channelCount) {
-        return 0;
-    }
-
-    data = xBusChannelData[chan];
-
-    return data;
-}
-
-bool xBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
-{
-    uint32_t baudRate;
-
-    switch (rxConfig->serialrx_provider) {
-    case SERIALRX_XBUS_MODE_B:
-        rxRuntimeConfig->channelCount = XBUS_CHANNEL_COUNT;
-        xBusFrameReceived = false;
-        xBusDataIncoming = false;
-        xBusFramePosition = 0;
-        baudRate = XBUS_BAUDRATE;
-        xBusFrameLength = XBUS_FRAME_SIZE;
-        xBusChannelCount = XBUS_CHANNEL_COUNT;
-        xBusProvider = SERIALRX_XBUS_MODE_B;
-        break;
-    case SERIALRX_XBUS_MODE_B_RJ01:
-        rxRuntimeConfig->channelCount = XBUS_RJ01_CHANNEL_COUNT;
-        xBusFrameReceived = false;
-        xBusDataIncoming = false;
-        xBusFramePosition = 0;
-        baudRate = XBUS_RJ01_BAUDRATE;
-        xBusFrameLength = XBUS_RJ01_FRAME_SIZE;
-        xBusChannelCount = XBUS_RJ01_CHANNEL_COUNT;
-        xBusProvider = SERIALRX_XBUS_MODE_B_RJ01;
-        break;
-    default:
-        return false;
-        break;
-    }
-
-    rxRuntimeConfig->rxRefreshRate = 11000;
-
-    rxRuntimeConfig->rcReadRawFn = xBusReadRawRC;
-    rxRuntimeConfig->rcFrameStatusFn = xBusFrameStatus;
-
-    const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
-    if (!portConfig) {
-        return false;
-    }
-
-#ifdef USE_TELEMETRY
-    bool portShared = telemetryCheckRxPortShared(portConfig);
-#else
-    bool portShared = false;
-#endif
-
-    serialPort_t *xBusPort = openSerialPort(portConfig->identifier,
-        FUNCTION_RX_SERIAL,
-        xBusDataReceive,
-        NULL,
-        baudRate,
-        portShared ? MODE_RXTX : MODE_RX,
-        SERIAL_NOT_INVERTED | (tristateWithDefaultOffIsActive(rxConfig->halfDuplex) ? SERIAL_BIDIR : 0)
-        );
-
-#ifdef USE_TELEMETRY
-    if (portShared) {
-        telemetrySharedPort = xBusPort;
-    }
-#endif
-
-    return xBusPort != NULL;
-}
-#endif // USE_SERIALRX_XBUS

src/main/rx/xbus.h

@@ -1,20 +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
-
-bool xBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig);

src/main/target/AIKONF4/target.h

@@ -102,7 +102,6 @@
 #define RANGEFINDER_I2C_BUS     DEFAULT_I2C_BUS
 #define TEMPERATURE_I2C_BUS     DEFAULT_I2C_BUS
 #define PITOT_I2C_BUS           DEFAULT_I2C_BUS
-#define BNO055_I2C_BUS          DEFAULT_I2C_BUS
 
 #define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
 #define SERIALRX_PROVIDER       SERIALRX_SBUS

src/main/target/AIRBOTF4/target.h

@@ -64,7 +64,6 @@
 #define USE_PITOT_ADC
 #define PITOT_I2C_BUS           BUS_I2C2
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
-#define BNO055_I2C_BUS          BUS_I2C2
 
 #define M25P16_CS_PIN           PB3
 #define M25P16_SPI_BUS          BUS_SPI3

src/main/target/AIRBOTF7/target.h

@@ -78,7 +78,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1
 
 #define USE_RANGEFINDER

src/main/target/ALIENFLIGHTF4/target.h

@@ -62,7 +62,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 
 #define USE_BARO
 #define BARO_I2C_BUS            BUS_I2C1

src/main/target/ALIENFLIGHTNGF7/target.h

@@ -63,7 +63,6 @@
 #define AK8963_SPI_BUS          BUS_SPI3
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 
 #define USE_BARO
 #define BARO_I2C_BUS            BUS_I2C1

src/main/target/ANYFC/target.h

@@ -52,7 +52,6 @@
 
 #define USE_RANGEFINDER
 #define RANGEFINDER_I2C_BUS     BUS_I2C2
-#define BNO055_I2C_BUS          BUS_I2C2
 
 #define USE_BARO
 #define BARO_I2C_BUS            BUS_I2C1

src/main/target/ANYFCF7/target.h

@@ -48,7 +48,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
-#define BNO055_I2C_BUS          BUS_I2C2
 
 #define USE_BARO
 

src/main/target/ANYFCM7/target.h

@@ -48,7 +48,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
-#define BNO055_I2C_BUS          BUS_I2C2
 
 #define USE_BARO
 #define BARO_I2C_BUS            BUS_I2C2

src/main/target/ASGARD32F4/target.h

@@ -162,4 +162,3 @@
 
 #define PITOT_I2C_BUS           BUS_I2C2
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
-#define BNO055_I2C_BUS          BUS_I2C2

src/main/target/ASGARD32F7/target.h

@@ -166,4 +166,3 @@
 #define TARGET_IO_PORTD         0xffff
 
 #define PITOT_I2C_BUS           BUS_I2C2
-#define BNO055_I2C_BUS          BUS_I2C2

src/main/target/BEEROTORF4/target.h

@@ -55,7 +55,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 
 #define USE_MAX7456
 #define MAX7456_SPI_BUS         BUS_SPI3

src/main/target/BETAFLIGHTF4/target.h

@@ -128,7 +128,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
-#define BNO055_I2C_BUS          BUS_I2C2
 
 #define USE_BARO
 #define BARO_I2C_BUS             BUS_I2C2

src/main/target/BLUEJAYF4/target.h

@@ -53,7 +53,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 
 #define USE_BARO
 #define BARO_I2C_BUS            BUS_I2C1

src/main/target/CLRACINGF4AIR/target.h

@@ -114,7 +114,6 @@
 #define I2C2_SDA                PB11
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
-#define BNO055_I2C_BUS          BUS_I2C2
 #define MAG_I2C_BUS             BUS_I2C2
 #endif
 

src/main/target/COLIBRI/target.h

@@ -56,7 +56,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C3
-#define BNO055_I2C_BUS          BUS_I2C3
 
 #ifdef QUANTON
 #define IMU_MPU6000_ALIGN       CW90_DEG

src/main/target/DALRCF405/target.h

@@ -95,7 +95,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 
 #define USE_RANGEFINDER
 #define RANGEFINDER_I2C_BUS     DEFAULT_I2C_BUS

src/main/target/DALRCF722DUAL/target.h

@@ -82,7 +82,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1
 
 #define USE_SPI

src/main/target/F4BY/target.h

@@ -55,7 +55,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
-#define BNO055_I2C_BUS          BUS_I2C2
 
 #define USE_BARO
 #define BARO_I2C_BUS            BUS_I2C2

src/main/target/FF_F35_LIGHTNING/target.h

@@ -126,7 +126,6 @@
 #define PITOT_I2C_BUS           BUS_I2C1
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_OSD | FEATURE_GPS | FEATURE_TELEMETRY)
 

src/main/target/FIREWORKSV2/target.h

@@ -227,8 +227,3 @@
 #define TARGET_IO_PORTC         0xffff
 #define TARGET_IO_PORTD         0xffff
 
-#if defined(OMNIBUSF4V6)
-#define BNO055_I2C_BUS          BUS_I2C1
-#else
-#define BNO055_I2C_BUS          BUS_I2C2
-#endif

src/main/target/FISHDRONEF4/target.h

@@ -64,8 +64,6 @@
 // *************** Temperature sensor *****************
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 
-#define BNO055_I2C_BUS          BUS_I2C1
-
 // *************** BARO *****************************
 #define USE_BARO
 #define BARO_I2C_BUS            BUS_I2C1
@@ -112,7 +110,6 @@
 #define UART1_RX_PIN            PA10
 #define UART1_TX_PIN            PA9
 
-// provide for xBUS Receiver
 #define USE_UART2
 #define UART2_RX_PIN            PA3
 #define UART2_TX_PIN            PA2

src/main/target/FLYWOOF411/target.h

@@ -76,8 +76,6 @@
 #define USE_BARO_BMP280
 #define USE_BARO_MS5611
 
-#define BNO055_I2C_BUS          BUS_I2C1
-
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
 #define USE_MAG_HMC5883

src/main/target/FLYWOOF7DUAL/target.h

@@ -112,8 +112,6 @@
 #define USE_BARO_BMP280
 #define USE_BARO_MS5611
 
-#define BNO055_I2C_BUS          BUS_I2C1
-
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
 #define USE_MAG_HMC5883

src/main/target/FOXEERF405/target.h

@@ -116,8 +116,6 @@
 #define USE_MAG_MAG3110
 #define USE_MAG_LIS3MDL
 
-#define BNO055_I2C_BUS          BUS_I2C1
-
 /*** ADC ***/
 #define USE_ADC
 #define ADC_CHANNEL_1_PIN               PC0

src/main/target/FOXEERF722DUAL/target.h

@@ -124,8 +124,6 @@
 #define USE_MAG_MAG3110
 #define USE_MAG_LIS3MDL
 
-#define BNO055_I2C_BUS          BUS_I2C1
-
 /*** ADC ***/
 #define USE_ADC
 #define ADC_CHANNEL_1_PIN               PC0

src/main/target/FRSKYPILOT/target.h

@@ -122,7 +122,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C3
-#define BNO055_I2C_BUS          BUS_I2C3
 #define PITOT_I2C_BUS           BUS_I2C3
 
 #define USE_RANGEFINDER

src/main/target/FRSKY_ROVERF7/target.h

@@ -66,7 +66,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1
 
 // *************** SPI2 Flash ***********************

src/main/target/FURYF4OSD/target.h

@@ -133,7 +133,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS         DEFAULT_I2C_BUS
-#define BNO055_I2C_BUS              DEFAULT_I2C_BUS
 
 #define USE_RANGEFINDER
 #define USE_RANGEFINDER_MSP

src/main/target/HGLRCF722/target.h

@@ -86,7 +86,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1
 
 #define USE_RANGEFINDER

src/main/target/IFLIGHTF4_SUCCEXD/target.h

@@ -111,7 +111,6 @@
 
 #define PITOT_I2C_BUS           BUS_I2C1
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 
 #define USE_RANGEFINDER
 #define USE_RANGEFINDER_MSP

src/main/target/IFLIGHTF4_TWING/target.h

@@ -78,8 +78,6 @@
 #define USE_RANGEFINDER
 #define RANGEFINDER_I2C_BUS     BUS_I2C1
 
-#define BNO055_I2C_BUS          BUS_I2C1
-
 // *************** OSD *****************************
 #define USE_SPI_DEVICE_2
 #define SPI2_SCK_PIN            PB13

src/main/target/IFLIGHTF7_TWING/target.h

@@ -80,7 +80,6 @@
 
 #define USE_RANGEFINDER
 #define RANGEFINDER_I2C_BUS     BUS_I2C2
-#define BNO055_I2C_BUS          BUS_I2C2
 
 // *************** FLASH **************************
 #define M25P16_CS_PIN           PB9

src/main/target/IFLIGHT_H743_AIO_V2/target.h

@@ -81,7 +81,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
-#define BNO055_I2C_BUS          BUS_I2C2
 #define PITOT_I2C_BUS           BUS_I2C2
 
 #define USE_RANGEFINDER

src/main/target/JHEH7AIO/target.h

@@ -69,7 +69,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1
 
 #define USE_RANGEFINDER

src/main/target/KAKUTEF4/target.h

@@ -68,7 +68,6 @@
 #   define USE_MAG_LIS3MDL
 
 #   define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS             BUS_I2C1
 
 #   define USE_BARO
 #   define BARO_I2C_BUS            BUS_I2C1

src/main/target/KAKUTEF7/target.h

@@ -178,6 +178,3 @@
 #define TARGET_IO_PORTE 0xffff
 
 #define MAX_PWM_OUTPUT_PORTS       6
-
-#define BNO055_I2C_BUS          BUS_I2C1
-

src/main/target/KAKUTEF7MINIV3/target.h

@@ -165,7 +165,6 @@
 #define RANGEFINDER_I2C_BUS         BUS_I2C1
 #define TEMPERATURE_I2C_BUS         BUS_I2C1
 #define PITOT_I2C_BUS               BUS_I2C1
-#define BNO055_I2C_BUS              BUS_I2C1
 
 /*** Used pins ***/
 #define TARGET_IO_PORTA         0xffff

src/main/target/KAKUTEH7/target.h

@@ -118,7 +118,6 @@
 #define USE_MAG_VCM5883
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1
 
 #define USE_RANGEFINDER

src/main/target/MAMBAF405US/target.h

@@ -175,7 +175,6 @@
 #define WS2811_PIN                      PB3
 
 // ******* FEATURES ********
-#define DEFAULT_RX_FEATURE              FEATURE_RX_SERIAL
 #define SERIALRX_UART                   SERIAL_PORT_USART1
 #define SERIALRX_PROVIDER               SERIALRX_SBUS
 
@@ -197,4 +196,3 @@
 #define TEMPERATURE_I2C_BUS             DEFAULT_I2C_BUS
 #define PITOT_I2C_BUS                   DEFAULT_I2C_BUS
 #define RANGEFINDER_I2C_BUS             DEFAULT_I2C_BUS
-#define BNO055_I2C_BUS                  DEFAULT_I2C_BUS

src/main/target/MAMBAF405_2022A/target.h

@@ -166,7 +166,6 @@
 #define WS2811_PIN                      PB3
 
 // ******* FEATURES ********
-#define DEFAULT_RX_FEATURE              FEATURE_RX_SERIAL
 #define SERIALRX_UART                   SERIAL_PORT_USART1
 #define SERIALRX_PROVIDER               SERIALRX_SBUS
 
@@ -188,7 +187,6 @@
 #define TEMPERATURE_I2C_BUS             DEFAULT_I2C_BUS
 #define PITOT_I2C_BUS                   DEFAULT_I2C_BUS
 #define RANGEFINDER_I2C_BUS             DEFAULT_I2C_BUS
-#define BNO055_I2C_BUS                  DEFAULT_I2C_BUS
 
 // *************** PINIO ***************************
 #define USE_PINIO

src/main/target/MAMBAF722/target.h

@@ -179,7 +179,6 @@
 #define WS2811_PIN                      PB3
 
 // ******* FEATURES ********
-#define DEFAULT_RX_FEATURE              FEATURE_RX_SERIAL
 #define SERIALRX_UART                   SERIAL_PORT_USART1
 #define SERIALRX_PROVIDER               SERIALRX_SBUS
 
@@ -209,7 +208,5 @@
 #define TEMPERATURE_I2C_BUS         DEFAULT_I2C_BUS
 #define PITOT_I2C_BUS               DEFAULT_I2C_BUS
 
-#define BNO055_I2C_BUS              DEFAULT_I2C_BUS
-
 #endif
 

src/main/target/MAMBAF722_2022A/target.h

@@ -158,7 +158,6 @@
 #define WS2811_PIN                      PB3
 
 // ******* FEATURES ********
-#define DEFAULT_RX_FEATURE              FEATURE_RX_SERIAL
 #define SERIALRX_UART                   SERIAL_PORT_USART1
 #define SERIALRX_PROVIDER               SERIALRX_SBUS
 
@@ -181,7 +180,6 @@
 #define RANGEFINDER_I2C_BUS         DEFAULT_I2C_BUS
 #define TEMPERATURE_I2C_BUS         DEFAULT_I2C_BUS
 #define PITOT_I2C_BUS               DEFAULT_I2C_BUS
-#define BNO055_I2C_BUS              DEFAULT_I2C_BUS
 
 // *************** PINIO ***************************
 #define USE_PINIO

src/main/target/MAMBAF722_X8/target.h

@@ -145,7 +145,6 @@
 #define WS2811_PIN                      PB3
 
 // ******* FEATURES ********
-#define DEFAULT_RX_FEATURE              FEATURE_RX_SERIAL
 #define SERIALRX_UART                   SERIAL_PORT_USART1
 #define SERIALRX_PROVIDER               SERIALRX_SBUS
 
@@ -168,5 +167,3 @@
 #define RANGEFINDER_I2C_BUS         DEFAULT_I2C_BUS
 #define TEMPERATURE_I2C_BUS         DEFAULT_I2C_BUS
 #define PITOT_I2C_BUS               DEFAULT_I2C_BUS
-
-#define BNO055_I2C_BUS              DEFAULT_I2C_BUS

src/main/target/MAMBAH743/target.h

@@ -99,7 +99,6 @@
 #define USE_MAG_VCM5883
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1
 
 #define USE_RANGEFINDER

src/main/target/MATEKF405/target.h

@@ -162,8 +162,6 @@
 
 #define TEMPERATURE_I2C_BUS         DEFAULT_I2C_BUS
 
-#define BNO055_I2C_BUS              DEFAULT_I2C_BUS
-
 #define USE_RANGEFINDER
 #define USE_RANGEFINDER_MSP
 #define RANGEFINDER_I2C_BUS     DEFAULT_I2C_BUS

src/main/target/MATEKF405CAN/target.h

@@ -73,8 +73,6 @@
 
 #define PITOT_I2C_BUS           BUS_I2C2
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
-#define BNO055_I2C_BUS          BUS_I2C2
-
 
 // *************** SPI2 RM3100 **************************
 #define USE_SPI_DEVICE_2

src/main/target/MATEKF405SE/target.h

@@ -76,7 +76,6 @@
 #define RANGEFINDER_I2C_BUS     BUS_I2C2
 #define PITOT_I2C_BUS           BUS_I2C2
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
-#define BNO055_I2C_BUS          BUS_I2C2
 
 
 // *************** SPI2 OSD ***************************

src/main/target/MATEKF405TE/target.h

@@ -106,7 +106,6 @@
 #define RANGEFINDER_I2C_BUS     BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 
 // *************** UART *****************************
 #define USE_VCP

src/main/target/MATEKF411/target.h

@@ -121,7 +121,6 @@
 #define USE_BARO_SPL06
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1

src/main/target/MATEKF411SE/target.h

@@ -118,7 +118,6 @@
 
 #define PITOT_I2C_BUS           BUS_I2C1
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 
 #define USE_RANGEFINDER
 #define USE_RANGEFINDER_MSP

src/main/target/MATEKF411TE/target.h

@@ -96,7 +96,6 @@
 
 #define PITOT_I2C_BUS           BUS_I2C1
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 
 #define USE_RANGEFINDER
 #define USE_RANGEFINDER_MSP

src/main/target/MATEKF722/target.h

@@ -157,6 +157,4 @@
 
 #define MAX_PWM_OUTPUT_PORTS        7
 #define USE_DSHOT
-#define USE_ESC_SENSOR
+#define USE_ESC_SENSOR
-
-#define BNO055_I2C_BUS          BUS_I2C1

src/main/target/MATEKF722PX/target.h

@@ -67,7 +67,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1
 
 #define USE_RANGEFINDER

src/main/target/MATEKF722SE/target.h

@@ -193,6 +193,3 @@
 #define MAX_PWM_OUTPUT_PORTS        8
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-
-#define BNO055_I2C_BUS          BUS_I2C1
-

src/main/target/MATEKF765/target.h

@@ -101,7 +101,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
-#define BNO055_I2C_BUS          BUS_I2C2
 #define PITOT_I2C_BUS           BUS_I2C2
 
 #define USE_RANGEFINDER

src/main/target/MATEKH743/target.h

@@ -121,7 +121,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
-#define BNO055_I2C_BUS          BUS_I2C2
 #define PITOT_I2C_BUS           BUS_I2C2
 
 #define USE_RANGEFINDER

src/main/target/OMNIBUSF4/target.h

@@ -99,7 +99,6 @@
 #define USE_MAG_AK8975
 
 #define TEMPERATURE_I2C_BUS     I2C_EXT_BUS
-#define BNO055_I2C_BUS          I2C_EXT_BUS
 
 #define USE_BARO
 

src/main/target/OMNIBUSF7/target.h

@@ -155,7 +155,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
-#define BNO055_I2C_BUS          BUS_I2C2
 
 #define USE_RANGEFINDER
 #define RANGEFINDER_I2C_BUS     BUS_I2C2

src/main/target/OMNIBUSF7NXT/target.h

@@ -59,7 +59,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 
 #define USE_BARO
 #define USE_BARO_LPS25H

src/main/target/REVO/target.h

@@ -54,7 +54,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
-#define BNO055_I2C_BUS          BUS_I2C2
 
 #define USE_BARO
 #define BARO_I2C_BUS            BUS_I2C1

src/main/target/RUSH_BLADE_F7/target.h

@@ -66,7 +66,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1
 
 #define USE_RANGEFINDER

src/main/target/SKYSTARSF405HD/target.h

@@ -134,8 +134,6 @@
 
 #define TEMPERATURE_I2C_BUS     DEFAULT_I2C_BUS
 
-#define BNO055_I2C_BUS          DEFAULT_I2C_BUS
-
 #define USE_RANGEFINDER
 #define USE_RANGEFINDER_MSP
 #define RANGEFINDER_I2C_BUS     DEFAULT_I2C_BUS

src/main/target/SKYSTARSF722HD/target.h

@@ -128,8 +128,6 @@
 
 #define TEMPERATURE_I2C_BUS     DEFAULT_I2C_BUS
 
-#define BNO055_I2C_BUS          DEFAULT_I2C_BUS
-
 #define USE_RANGEFINDER
 #define USE_RANGEFINDER_MSP
 #define RANGEFINDER_I2C_BUS     DEFAULT_I2C_BUS

src/main/target/SPARKY2/target.h

@@ -52,7 +52,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 
 #define USE_BARO
 #define BARO_I2C_BUS            BUS_I2C1

src/main/target/SPEEDYBEEF4/target.h

@@ -123,8 +123,6 @@
 #define SERIAL_PORT_COUNT       6
 #endif
 
-#define BNO055_I2C_BUS          BUS_I2C1
-
 /*** BARO & MAG ***/
 #define USE_BARO							
 #define BARO_I2C_BUS          	BUS_I2C1	

src/main/target/SPEEDYBEEF7/target.h

@@ -119,7 +119,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
-#define BNO055_I2C_BUS          BUS_I2C2
 #define PITOT_I2C_BUS           BUS_I2C2
 
 #define USE_RANGEFINDER

src/main/target/SPEEDYBEEF7MINI/target.h

@@ -171,5 +171,3 @@
 #define USE_SERIALSHOT
 #define USE_ESC_SENSOR
 
-#define BNO055_I2C_BUS          BUS_I2C1
-

src/main/target/SPRACINGF4EVO/target.h

@@ -59,7 +59,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 
 #define USE_VCP
 

src/main/target/SPRACINGF7DUAL/target.h

@@ -62,8 +62,6 @@
 #define USE_BARO_BMP280
 #define USE_BARO_MS5611
 
-#define BNO055_I2C_BUS          BUS_I2C1
-
 #define MAG_I2C_BUS             BUS_I2C1
 #define USE_MAG
 #define USE_MAG_HMC5883

src/main/target/TMOTORF7V2/target.h

@@ -116,7 +116,6 @@
 #define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1
 
 #define USE_RANGEFINDER

src/main/target/YUPIF4/target.h

@@ -66,7 +66,6 @@
 #define USE_MAG_QMC5883
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
-#define BNO055_I2C_BUS          BUS_I2C2
 
 #define USE_BARO
 #define BARO_I2C_BUS            BUS_I2C2

src/main/target/YUPIF7/target.h

@@ -45,7 +45,6 @@
 #define USE_MAG_HMC5883
 #define USE_MAG_QMC5883
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
-#define BNO055_I2C_BUS          BUS_I2C1
 
 #define USE_BARO
 #define BARO_I2C_BUS            BUS_I2C1

src/main/target/common.h

@@ -205,7 +205,6 @@
 
 #define USE_SERIALRX_SUMD
 #define USE_SERIALRX_SUMH
-#define USE_SERIALRX_XBUS
 #define USE_TELEMETRY_HOTT
 #define USE_HOTT_TEXTMODE
 

src/main/target/common_hardware.c

@@ -417,11 +417,4 @@
     BUSDEV_REGISTER_I2C(busdev_pcf8574,      DEVHW_PCF8574,       PCF8574_I2C_BUS,     0x20,               NONE,           DEVFLAGS_NONE, 0);
 #endif
 
-#ifdef USE_IMU_BNO055
-#ifndef BNO055_I2C_BUS
-    #define BNO055_I2C_BUS BUS_I2C1
-#endif
-    BUSDEV_REGISTER_I2C(busdev_bno055,      DEVHW_BNO055,       BNO055_I2C_BUS,     0x29,               NONE,           DEVFLAGS_NONE, 0);
-#endif
-
 #endif  // USE_TARGET_HARDWARE_DESCRIPTORS