Merge branch 'release_7.1.1' into abo_autolanding_landing_disarm_fix

docs/Settings.md

@@ -1844,11 +1844,11 @@ Allows to chose when the home position is reset. Can help prevent resetting home
 
 ### inav_use_gps_no_baro
 
-_// TODO_
+Defines if INAV should use only use GPS data for altitude estimation when barometer is not available. If set to ON, INAV will allow GPS assisted modes and RTH even when there is no barometer installed.
 
 | Default | Min | Max |
 | --- | --- | --- |
-| OFF | OFF | ON |
+| ON | OFF | ON |
 
 ---
 

src/main/blackbox/blackbox.c

@@ -1308,10 +1308,16 @@ static void writeSlowFrame(void)
 static void loadSlowState(blackboxSlowState_t *slow)
 {
     memcpy(&slow->flightModeFlags, &rcModeActivationMask, sizeof(slow->flightModeFlags)); //was flightModeFlags;
-    // Also log Nav auto selected flight modes rather than just those selected by boxmode
+    // Also log Nav auto enabled flight modes rather than just those selected by boxmode
-    if (!IS_RC_MODE_ACTIVE(BOXANGLE) && FLIGHT_MODE(ANGLE_MODE)) {
+    if (FLIGHT_MODE(ANGLE_MODE)) {
         slow->flightModeFlags |= (1 << BOXANGLE);
     }
+    if (FLIGHT_MODE(NAV_ALTHOLD_MODE)) {
+        slow->flightModeFlags |= (1 << BOXNAVALTHOLD);
+    }
+    if (FLIGHT_MODE(NAV_RTH_MODE)) {
+        slow->flightModeFlags |= (1 << BOXNAVRTH);
+    }
     if (navigationGetHeadingControlState() == NAV_HEADING_CONTROL_AUTO) {
         slow->flightModeFlags |= (1 << BOXHEADINGHOLD);
     }

src/main/fc/fc_core.c

@@ -350,6 +350,10 @@ static void updateArmingStatus(void)
             DISABLE_ARMING_FLAG(ARMING_DISABLED_NO_PREARM);
         }
 
+        if (ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED) && !IS_RC_MODE_ACTIVE(BOXARM)) {
+            DISABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED);
+        }
+
         /* CHECK: Arming switch */
         // If arming is disabled and the ARM switch is on
         // Note that this should be last check so all other blockers could be cleared correctly

src/main/fc/settings.yaml

@@ -2288,9 +2288,10 @@ groups:
         field: use_gps_velned
         type: bool
       - name: inav_use_gps_no_baro
+        description: "Defines if INAV should use only use GPS data for altitude estimation when barometer is not available. If set to ON, INAV will allow GPS assisted modes and RTH even when there is no barometer installed."
         field: use_gps_no_baro
         type: bool
-        default_value: OFF
+        default_value: ON
       - name: inav_allow_dead_reckoning
         description: "Defines if INAV will dead-reckon over short GPS outages. May also be useful for indoors OPFLOW navigation"
         default_value: OFF

src/main/navigation/navigation.c

@@ -328,8 +328,8 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(navigationFSMState_t previousState);
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_TRACKBACK(navigationFSMState_t previousState);
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigationFSMState_t previousState);
-static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING(navigationFSMState_t previousState);
+static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING(navigationFSMState_t previousState);
-static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME(navigationFSMState_t previousState);
+static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LOITER_ABOVE_HOME(navigationFSMState_t previousState);
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LANDING(navigationFSMState_t previousState);
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_FINISHING(navigationFSMState_t previousState);
 static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_FINISHED(navigationFSMState_t previousState);
@@ -424,7 +424,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_INITIALIZE,
         .onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE,
         .timeoutMs = 0,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT,
         .mapToFlightModes = NAV_ALTHOLD_MODE | NAV_POSHOLD_MODE,
         .mwState = MW_NAV_STATE_HOLD_INFINIT,
         .mwError = MW_NAV_ERROR_NONE,
@@ -439,7 +439,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_IN_PROGRESS,
         .onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_IN_PROGRESS,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_RC_ALT | NAV_RC_POS | NAV_RC_YAW,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_RC_ALT | NAV_RC_POS | NAV_RC_YAW,
         .mapToFlightModes = NAV_ALTHOLD_MODE | NAV_POSHOLD_MODE,
         .mwState = MW_NAV_STATE_HOLD_INFINIT,
         .mwError = MW_NAV_ERROR_NONE,
@@ -586,7 +586,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
             [NAV_FSM_EVENT_SUCCESS]                             = NAV_STATE_RTH_CLIMB_TO_SAFE_ALT,
             [NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_TRACKBACK]   = NAV_STATE_RTH_TRACKBACK,
             [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING]         = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
-            [NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING]               = NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
+            [NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING]               = NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING,
             [NAV_FSM_EVENT_SWITCH_TO_IDLE]                      = NAV_STATE_IDLE,
         }
     },
@@ -595,7 +595,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_CLIMB_TO_SAFE_ALT,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,     // allow pos adjustment while climbind to safe alt
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,     // allow pos adjustment while climbind to safe alt
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_RTH_CLIMB,
         .mwError = MW_NAV_ERROR_WAIT_FOR_RTH_ALT,
@@ -635,13 +635,13 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_HEAD_HOME,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_HEAD_HOME,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_RTH_ENROUTE,
         .mwError = MW_NAV_ERROR_NONE,
         .onEvent = {
             [NAV_FSM_EVENT_TIMEOUT]                        = NAV_STATE_RTH_HEAD_HOME,           // re-process the state
-            [NAV_FSM_EVENT_SUCCESS]                        = NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
+            [NAV_FSM_EVENT_SUCCESS]                        = NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING,
             [NAV_FSM_EVENT_SWITCH_TO_IDLE]                 = NAV_STATE_IDLE,
             [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD]              = NAV_STATE_ALTHOLD_INITIALIZE,
             [NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D]           = NAV_STATE_POSHOLD_3D_INITIALIZE,
@@ -652,37 +652,37 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         }
     },
 
-    [NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING] = {
+    [NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING] = {
-        .persistentId = NAV_PERSISTENT_ID_RTH_HOVER_PRIOR_TO_LANDING,
+        .persistentId = NAV_PERSISTENT_ID_RTH_LOITER_PRIOR_TO_LANDING,
-        .onEntry = navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
+        .onEntry = navOnEnteringState_NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING,
         .timeoutMs = 500,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LAND_SETTLE,
         .mwError = MW_NAV_ERROR_NONE,
         .onEvent = {
-            [NAV_FSM_EVENT_TIMEOUT]                        = NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
+            [NAV_FSM_EVENT_TIMEOUT]                         = NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING,
-            [NAV_FSM_EVENT_SUCCESS]                        = NAV_STATE_RTH_LANDING,
+            [NAV_FSM_EVENT_SUCCESS]                         = NAV_STATE_RTH_LANDING,
-            [NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME] = NAV_STATE_RTH_HOVER_ABOVE_HOME,
+            [NAV_FSM_EVENT_SWITCH_TO_RTH_LOITER_ABOVE_HOME] = NAV_STATE_RTH_LOITER_ABOVE_HOME,
-            [NAV_FSM_EVENT_SWITCH_TO_IDLE]                 = NAV_STATE_IDLE,
+            [NAV_FSM_EVENT_SWITCH_TO_IDLE]                  = NAV_STATE_IDLE,
-            [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD]              = NAV_STATE_ALTHOLD_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD]               = NAV_STATE_ALTHOLD_INITIALIZE,
-            [NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D]           = NAV_STATE_POSHOLD_3D_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D]            = NAV_STATE_POSHOLD_3D_INITIALIZE,
-            [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING]    = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING]     = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
-            [NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD]          = NAV_STATE_COURSE_HOLD_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_COURSE_HOLD]           = NAV_STATE_COURSE_HOLD_INITIALIZE,
-            [NAV_FSM_EVENT_SWITCH_TO_CRUISE]               = NAV_STATE_CRUISE_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_CRUISE]                = NAV_STATE_CRUISE_INITIALIZE,
         }
     },
 
-    [NAV_STATE_RTH_HOVER_ABOVE_HOME] = {
+    [NAV_STATE_RTH_LOITER_ABOVE_HOME] = {
-        .persistentId = NAV_PERSISTENT_ID_RTH_HOVER_ABOVE_HOME,
+        .persistentId = NAV_PERSISTENT_ID_RTH_LOITER_ABOVE_HOME,
-        .onEntry = navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME,
+        .onEntry = navOnEnteringState_NAV_STATE_RTH_LOITER_ABOVE_HOME,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW | NAV_RC_ALT,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW | NAV_RC_ALT,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_HOVER_ABOVE_HOME,
         .mwError = MW_NAV_ERROR_NONE,
         .onEvent = {
-            [NAV_FSM_EVENT_TIMEOUT]                        = NAV_STATE_RTH_HOVER_ABOVE_HOME,
+            [NAV_FSM_EVENT_TIMEOUT]                        = NAV_STATE_RTH_LOITER_ABOVE_HOME,
             [NAV_FSM_EVENT_SWITCH_TO_IDLE]                 = NAV_STATE_IDLE,
             [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD]              = NAV_STATE_ALTHOLD_INITIALIZE,
             [NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D]           = NAV_STATE_POSHOLD_3D_INITIALIZE,
@@ -696,20 +696,20 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_LANDING,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_LANDING,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_LANDING,
         .onEvent = {
-            [NAV_FSM_EVENT_TIMEOUT]                        = NAV_STATE_RTH_LANDING,         // re-process state
+            [NAV_FSM_EVENT_TIMEOUT]                         = NAV_STATE_RTH_LANDING,         // re-process state
-            [NAV_FSM_EVENT_SUCCESS]                        = NAV_STATE_RTH_FINISHING,
+            [NAV_FSM_EVENT_SUCCESS]                         = NAV_STATE_RTH_FINISHING,
-            [NAV_FSM_EVENT_SWITCH_TO_IDLE]                 = NAV_STATE_IDLE,
+            [NAV_FSM_EVENT_SWITCH_TO_IDLE]                  = NAV_STATE_IDLE,
-            [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD]              = NAV_STATE_ALTHOLD_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_ALTHOLD]               = NAV_STATE_ALTHOLD_INITIALIZE,
-            [NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D]           = NAV_STATE_POSHOLD_3D_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_POSHOLD_3D]            = NAV_STATE_POSHOLD_3D_INITIALIZE,
-            [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING]    = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING]     = NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
-            [NAV_FSM_EVENT_SWITCH_TO_MIXERAT]              = NAV_STATE_MIXERAT_INITIALIZE,
+            [NAV_FSM_EVENT_SWITCH_TO_MIXERAT]               = NAV_STATE_MIXERAT_INITIALIZE,
-            [NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING] = NAV_STATE_FW_LANDING_CLIMB_TO_LOITER,
+            [NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_FW_LANDING]  = NAV_STATE_FW_LANDING_CLIMB_TO_LOITER,
-            [NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME] = NAV_STATE_RTH_HOVER_ABOVE_HOME,
+            [NAV_FSM_EVENT_SWITCH_TO_RTH_LOITER_ABOVE_HOME] = NAV_STATE_RTH_LOITER_ABOVE_HOME,
         }
     },
 
@@ -717,7 +717,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_RTH_FINISHING,
         .onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHING,
         .timeoutMs = 0,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
         .mapToFlightModes = NAV_RTH_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -828,7 +828,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_WAYPOINT_HOLD_TIME,                             // There is no state for timed hold?
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_HOLD_TIME,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
         .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_HOLD_TIMED,
         .mwError = MW_NAV_ERROR_NONE,
@@ -849,7 +849,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_WAYPOINT_RTH_LAND,
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
         .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -887,7 +887,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_WAYPOINT_FINISHED,
         .onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP | NAV_AUTO_WP_DONE,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP | NAV_AUTO_WP_DONE,
         .mapToFlightModes = NAV_WP_MODE | NAV_ALTHOLD_MODE,
         .mwState = MW_NAV_STATE_WP_ENROUTE,
         .mwError = MW_NAV_ERROR_FINISH,
@@ -908,7 +908,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_INITIALIZE,
         .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
         .timeoutMs = 0,
-        .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
+        .stateFlags = NAV_CTL_EMERG | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE,
         .mapToFlightModes = 0,
         .mwState = MW_NAV_STATE_EMERGENCY_LANDING,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -926,7 +926,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_IN_PROGRESS,
         .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
+        .stateFlags = NAV_CTL_EMERG | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE,
         .mapToFlightModes = 0,
         .mwState = MW_NAV_STATE_EMERGENCY_LANDING,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -944,7 +944,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_FINISHED,
         .onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINISHED,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
+        .stateFlags = NAV_CTL_EMERG | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE,
         .mapToFlightModes = 0,
         .mwState = MW_NAV_STATE_LANDED,
         .mwError = MW_NAV_ERROR_LANDING,
@@ -1053,7 +1053,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_FW_LANDING_CLIMB_TO_LOITER,
         .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_CLIMB_TO_LOITER,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
         .mapToFlightModes = NAV_FW_AUTOLAND,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_NONE,
@@ -1074,7 +1074,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
         .persistentId = NAV_PERSISTENT_ID_FW_LANDING_LOITER,
         .onEntry = navOnEnteringState_NAV_STATE_FW_LANDING_LOITER,
         .timeoutMs = 10,
-        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
+        .stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_HOLD | NAV_REQUIRE_ANGLE | NAV_AUTO_RTH,
         .mapToFlightModes = NAV_FW_AUTOLAND,
         .mwState = MW_NAV_STATE_LAND_IN_PROGRESS,
         .mwError = MW_NAV_ERROR_NONE,
@@ -1264,7 +1264,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE(n
     }
 
     // Prepare position controller if idle or current Mode NOT active in position hold state
-    if (previousState != NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING && previousState != NAV_STATE_RTH_HOVER_ABOVE_HOME &&
+    if (previousState != NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING && previousState != NAV_STATE_RTH_LOITER_ABOVE_HOME &&
         previousState != NAV_STATE_RTH_LANDING && previousState != NAV_STATE_WAYPOINT_RTH_LAND &&
         previousState != NAV_STATE_WAYPOINT_FINISHED && previousState != NAV_STATE_WAYPOINT_HOLD_TIME)
         {
@@ -1445,7 +1445,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
             setHomePosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING, NAV_HOME_VALID_ALL);
             setDesiredPosition(&navGetCurrentActualPositionAndVelocity()->pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
 
-            return NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING;   // NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING
+            return NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING;   // NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING
         }
         else {
             // Switch to RTH trackback
@@ -1519,8 +1519,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT(n
             initializeRTHSanityChecker();
         }
 
-        // Save initial home distance for future use
+        // Save initial home distance and direction for future use
         posControl.rthState.rthInitialDistance = posControl.homeDistance;
+        posControl.activeWaypoint.bearing = posControl.homeDirection;
         fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_INITIAL);
 
         if (navConfig()->general.flags.rth_tail_first && !STATE(FIXED_WING_LEGACY)) {
@@ -1634,7 +1635,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigatio
     if ((posControl.flags.estPosStatus >= EST_USABLE)) {
         fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_PROPORTIONAL);
 
-        if (isWaypointReached(tmpHomePos, 0)) {
+        if (isWaypointReached(tmpHomePos, &posControl.activeWaypoint.bearing)) {
             // Successfully reached position target - update XYZ-position
             setDesiredPosition(tmpHomePos, posControl.rthState.homePosition.heading, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
 
@@ -1643,7 +1644,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigatio
             if (navConfig()->general.flags.rth_use_linear_descent && posControl.rthState.rthLinearDescentActive)
                 posControl.rthState.rthLinearDescentActive = false;
 
-            return NAV_FSM_EVENT_SUCCESS;       // NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING
+            return NAV_FSM_EVENT_SUCCESS;       // NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING
         } else {
             setDesiredPosition(tmpHomePos, 0, NAV_POS_UPDATE_Z | NAV_POS_UPDATE_XY);
             return NAV_FSM_EVENT_NONE;
@@ -1657,7 +1658,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigatio
     return NAV_FSM_EVENT_NONE;
 }
 
-static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING(navigationFSMState_t previousState)
+static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING(navigationFSMState_t previousState)
 {
     UNUSED(previousState);
 
@@ -1691,7 +1692,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LAND
     if (!pauseLanding && ((ABS(wrap_18000(posControl.rthState.homePosition.heading - posControl.actualState.yaw)) < DEGREES_TO_CENTIDEGREES(15)) || STATE(FIXED_WING_LEGACY))) {
         resetLandingDetector();     // force reset landing detector just in case
         updateClimbRateToAltitudeController(0, 0, ROC_TO_ALT_RESET);
-        return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME; // success = land
+        return navigationRTHAllowsLanding() ? NAV_FSM_EVENT_SUCCESS : NAV_FSM_EVENT_SWITCH_TO_RTH_LOITER_ABOVE_HOME; // success = land
     } else {
         fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_ENROUTE_FINAL);
         setDesiredPosition(tmpHomePos, posControl.rthState.homePosition.heading, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
@@ -1699,7 +1700,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LAND
     }
 }
 
-static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME(navigationFSMState_t previousState)
+static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_LOITER_ABOVE_HOME(navigationFSMState_t previousState)
 {
     UNUSED(previousState);
 
@@ -1708,7 +1709,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HOVER_ABOVE_HOME(na
         return NAV_FSM_EVENT_SWITCH_TO_EMERGENCY_LANDING;
     }
 
-    fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_FINAL_HOVER);
+    fpVector3_t * tmpHomePos = rthGetHomeTargetPosition(RTH_HOME_FINAL_LOITER);
     setDesiredPosition(tmpHomePos, 0, NAV_POS_UPDATE_Z);
 
     return NAV_FSM_EVENT_NONE;
@@ -2577,7 +2578,7 @@ static fpVector3_t * rthGetHomeTargetPosition(rthTargetMode_e mode)
             posControl.rthState.homeTmpWaypoint.z = posControl.rthState.rthFinalAltitude;
             break;
 
-        case RTH_HOME_FINAL_HOVER:
+        case RTH_HOME_FINAL_LOITER:
             if (navConfig()->general.rth_home_altitude) {
                 posControl.rthState.homeTmpWaypoint.z = posControl.rthState.homePosition.pos.z + navConfig()->general.rth_home_altitude;
             }
@@ -2862,30 +2863,28 @@ static bool getLocalPosNextWaypoint(fpVector3_t * nextWpPos)
 
 /*-----------------------------------------------------------
  * Check if waypoint is/was reached.
- * waypointBearing stores initial bearing to waypoint
+ * 'waypointBearing' stores initial bearing to waypoint.
  *-----------------------------------------------------------*/
 static bool isWaypointReached(const fpVector3_t * waypointPos, const int32_t * waypointBearing)
 {
     posControl.wpDistance = calculateDistanceToDestination(waypointPos);
 
-    // Airplane will do a circular loiter at hold waypoints and might never approach them closer than waypoint_radius
+    // Check if waypoint was missed based on bearing to waypoint exceeding given angular limit relative to initial waypoint bearing.
-    // Check within 10% margin of circular loiter radius
+    // Default angular limit = 100 degs with a reduced limit of 60 degs used if fixed wing waypoint turn smoothing option active
-    if (STATE(AIRPLANE) && isNavHoldPositionActive() && posControl.wpDistance <= (navConfig()->fw.loiter_radius * 1.10f)) {
+    uint16_t relativeBearingTargetAngle = 10000;
-        return true;
-    }
 
-    if (navGetStateFlags(posControl.navState) & NAV_AUTO_WP || posControl.flags.rthTrackbackActive) {
+    if (STATE(AIRPLANE) && posControl.flags.wpTurnSmoothingActive) {
-        // If WP turn smoothing CUT option used WP is reached when start of turn is initiated
+        // If WP mode turn smoothing CUT option used waypoint is reached when start of turn is initiated
-        if (navConfig()->fw.wp_turn_smoothing == WP_TURN_SMOOTHING_CUT && posControl.flags.wpTurnSmoothingActive) {
+        if (navConfig()->fw.wp_turn_smoothing == WP_TURN_SMOOTHING_CUT) {
             posControl.flags.wpTurnSmoothingActive = false;
             return true;
         }
-        // Check if waypoint was missed based on bearing to WP exceeding 100 degrees relative to waypoint Yaw
+        relativeBearingTargetAngle = 6000;
-        // Same method for turn smoothing option but relative bearing set at 60 degrees
+    }
-        uint16_t relativeBearing = posControl.flags.wpTurnSmoothingActive ? 6000 : 10000;
+
-        if (ABS(wrap_18000(calculateBearingToDestination(waypointPos) - *waypointBearing)) > relativeBearing) {
+
-            return true;
+    if (ABS(wrap_18000(calculateBearingToDestination(waypointPos) - *waypointBearing)) > relativeBearingTargetAngle) {
-        }
+        return true;
     }
 
     return posControl.wpDistance <= (navConfig()->general.waypoint_radius);
@@ -3463,9 +3462,6 @@ void updateLandingStatus(timeMs_t currentTimeMs)
         }
         resetLandingDetector();
 
-        if (!IS_RC_MODE_ACTIVE(BOXARM)) {
-            DISABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED);
-        }
         return;
     }
 
@@ -4085,16 +4081,7 @@ bool isLastMissionWaypoint(void)
 /* Checks if Nav hold position is active */
 bool isNavHoldPositionActive(void)
 {
-    // WP mode last WP hold and Timed hold positions
+    return navGetCurrentStateFlags() & NAV_CTL_HOLD;
-    if (FLIGHT_MODE(NAV_WP_MODE)) {
-        return isLastMissionWaypoint() || NAV_Status.state == MW_NAV_STATE_HOLD_TIMED;
-    }
-    // RTH mode (spiral climb and Home positions but excluding RTH Trackback point positions) and POSHOLD mode
-    // Also hold position during emergency landing if position valid
-    return (FLIGHT_MODE(NAV_RTH_MODE) && !posControl.flags.rthTrackbackActive) ||
-            FLIGHT_MODE(NAV_POSHOLD_MODE) ||
-            (posControl.navState == NAV_STATE_FW_LANDING_CLIMB_TO_LOITER || posControl.navState == NAV_STATE_FW_LANDING_LOITER) ||
-            navigationIsExecutingAnEmergencyLanding();
 }
 
 float getActiveSpeed(void)

src/main/navigation/navigation_private.h

@@ -174,7 +174,7 @@ typedef enum {
     NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_INITIALIZE = NAV_FSM_EVENT_STATE_SPECIFIC_1,
     NAV_FSM_EVENT_SWITCH_TO_NAV_STATE_RTH_TRACKBACK = NAV_FSM_EVENT_STATE_SPECIFIC_2,
     NAV_FSM_EVENT_SWITCH_TO_RTH_HEAD_HOME = NAV_FSM_EVENT_STATE_SPECIFIC_3,
-    NAV_FSM_EVENT_SWITCH_TO_RTH_HOVER_ABOVE_HOME = NAV_FSM_EVENT_STATE_SPECIFIC_4,
+    NAV_FSM_EVENT_SWITCH_TO_RTH_LOITER_ABOVE_HOME = NAV_FSM_EVENT_STATE_SPECIFIC_4,
     NAV_FSM_EVENT_SWITCH_TO_RTH_LANDING = NAV_FSM_EVENT_STATE_SPECIFIC_5,
 
     NAV_FSM_EVENT_COUNT,
@@ -199,7 +199,7 @@ typedef enum {
     NAV_PERSISTENT_ID_RTH_INITIALIZE                            = 8,
     NAV_PERSISTENT_ID_RTH_CLIMB_TO_SAFE_ALT                     = 9,
     NAV_PERSISTENT_ID_RTH_HEAD_HOME                             = 10,
-    NAV_PERSISTENT_ID_RTH_HOVER_PRIOR_TO_LANDING                = 11,
+    NAV_PERSISTENT_ID_RTH_LOITER_PRIOR_TO_LANDING               = 11,
     NAV_PERSISTENT_ID_RTH_LANDING                               = 12,
     NAV_PERSISTENT_ID_RTH_FINISHING                             = 13,
     NAV_PERSISTENT_ID_RTH_FINISHED                              = 14,
@@ -230,7 +230,7 @@ typedef enum {
     NAV_PERSISTENT_ID_CRUISE_ADJUSTING                          = 34,
 
     NAV_PERSISTENT_ID_WAYPOINT_HOLD_TIME                        = 35,
-    NAV_PERSISTENT_ID_RTH_HOVER_ABOVE_HOME                      = 36,
+    NAV_PERSISTENT_ID_RTH_LOITER_ABOVE_HOME                     = 36,
     NAV_PERSISTENT_ID_UNUSED_4                                  = 37, // was NAV_STATE_WAYPOINT_HOVER_ABOVE_HOME
     NAV_PERSISTENT_ID_RTH_TRACKBACK                             = 38,
 
@@ -261,8 +261,8 @@ typedef enum {
     NAV_STATE_RTH_CLIMB_TO_SAFE_ALT,
     NAV_STATE_RTH_TRACKBACK,
     NAV_STATE_RTH_HEAD_HOME,
-    NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
+    NAV_STATE_RTH_LOITER_PRIOR_TO_LANDING,
-    NAV_STATE_RTH_HOVER_ABOVE_HOME,
+    NAV_STATE_RTH_LOITER_ABOVE_HOME,
     NAV_STATE_RTH_LANDING,
     NAV_STATE_RTH_FINISHING,
     NAV_STATE_RTH_FINISHED,
@@ -331,9 +331,10 @@ typedef enum {
 
     /* Additional flags */
     NAV_CTL_LAND            = (1 << 14),
-    NAV_AUTO_WP_DONE        = (1 << 15),    //Waypoint mission reached the last waypoint and is idling
+    NAV_AUTO_WP_DONE        = (1 << 15),    // Waypoint mission reached the last waypoint and is idling
 
-    NAV_MIXERAT             = (1 << 16),    //MIXERAT in progress
+    NAV_MIXERAT             = (1 << 16),    // MIXERAT in progress
+    NAV_CTL_HOLD            = (1 << 17),    // Nav loiter active at position or will be when position reached
 } navigationFSMStateFlags_t;
 
 typedef struct {
@@ -400,7 +401,7 @@ typedef enum {
     RTH_HOME_ENROUTE_INITIAL,       // Initial position for RTH approach
     RTH_HOME_ENROUTE_PROPORTIONAL,  // Prorpotional position for RTH approach
     RTH_HOME_ENROUTE_FINAL,         // Final position for RTH approach
-    RTH_HOME_FINAL_HOVER,           // Final hover altitude (if rth_home_altitude is set)
+    RTH_HOME_FINAL_LOITER,          // Final loiter altitude (if rth_home_altitude is set)
     RTH_HOME_FINAL_LAND,            // Home position and altitude
 } rthTargetMode_e;
 

src/main/target/AOCODARCF4V3/CMakeLists.txt

@@ -0,0 +1,3 @@
+target_stm32f405xg(AOCODARCF4V3_SD)
+target_stm32f405xg(AOCODARCF4V3)
+

src/main/target/AOCODARCF4V3/config.c

@@ -0,0 +1,40 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+//#include "fc/config.h"
+
+#include "io/piniobox.h"
+#include "drivers/serial.h"
+#include "io/serial.h"
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+    pinioBoxConfigMutable()->permanentId[2] = BOX_PERMANENT_ID_USER3;
+   // beeperConfigMutable()->pwmMode = true;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART5)].functionMask = FUNCTION_MSP;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART5)].msp_baudrateIndex = BAUD_115200;
+    serialConfigMutable()->portConfigs[4].functionMask = FUNCTION_VTX_TRAMP;
+        serialConfigMutable()->portConfigs[4].peripheral_baudrateIndex = BAUD_115200;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART2)].functionMask = FUNCTION_RX_SERIAL;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].functionMask = FUNCTION_ESCSERIAL;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_GPS;
+}

src/main/target/AOCODARCF4V3/target.c

@@ -0,0 +1,46 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
+#include <stdint.h>
+
+#include "platform.h"
+#include "drivers/io.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/bus.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM5,  CH4,  PA3,     TIM_USE_PPM,       0, 0 ),       // PPM IN
+
+    DEF_TIM(TIM8,   CH1,  PC6,    TIM_USE_OUTPUT_AUTO,  0, 1 ),     // S1 
+    DEF_TIM(TIM8,   CH2,  PC7,    TIM_USE_OUTPUT_AUTO,  0, 1 ),     // S2
+    DEF_TIM(TIM8,   CH3,  PC8,    TIM_USE_OUTPUT_AUTO,  0, 1 ),     // S3
+    DEF_TIM(TIM8,   CH4,  PC9,    TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S4
+
+    DEF_TIM(TIM2,   CH1,  PA15,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S5
+    DEF_TIM(TIM1,   CH1,  PA8,    TIM_USE_OUTPUT_AUTO,  0, 1 ),     // S6
+
+    DEF_TIM(TIM2,   CH3,  PB10,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S7
+    DEF_TIM(TIM2,   CH4,  PB11,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S8
+
+    DEF_TIM(TIM3,   CH4,  PB1,   TIM_USE_LED,  0, 0 ),     // LED_STRIP
+
+    
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/AOCODARCF4V3/target.h

@@ -0,0 +1,192 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+ 
+#define USE_TARGET_CONFIG
+
+#ifdef AOCODARCF4V3
+#define TARGET_BOARD_IDENTIFIER "AOF4V3"
+#define USBD_PRODUCT_STRING     "AOCODARCF4V3"
+#else
+#define TARGET_BOARD_IDENTIFIER "AOF4V3SD"
+#define USBD_PRODUCT_STRING     "AOCODARCF4V3_SD"
+#endif
+
+// ******** Board LEDs  **********************
+#define LED0                            PC13
+
+// ******* Beeper ***********
+#define BEEPER                          PB8
+#define BEEPER_INVERTED
+
+
+// ******* GYRO and ACC ********
+#define USE_IMU_MPU6500
+#define IMU_MPU6500_ALIGN               CW90_DEG
+#define MPU6500_SPI_BUS                 BUS_SPI1
+#define MPU6500_CS_PIN                  PA4
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN               CW90_DEG
+#define MPU6000_SPI_BUS                 BUS_SPI1
+#define MPU6000_CS_PIN                  PA4
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN               CW90_DEG
+#define ICM42605_SPI_BUS                 BUS_SPI1
+#define ICM42605_CS_PIN                  PA4
+
+
+// *************** Baro **************************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+
+#define I2C1_SCL                        PB6        // SCL
+#define I2C1_SDA                        PB7        // SDA
+#define DEFAULT_I2C_BUS                 BUS_I2C1
+
+#define USE_BARO
+#define BARO_I2C_BUS                    DEFAULT_I2C_BUS
+
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_DPS310
+#define USE_BARO_SPL06
+
+//*********** Magnetometer / Compass *************
+#define USE_MAG
+#define MAG_I2C_BUS                     DEFAULT_I2C_BUS
+#define USE_MAG_ALL
+
+// ******* SERIAL ********
+#define USE_VCP
+#define VBUS_SENSING_PIN        PB12
+#define VBUS_SENSING_ENABLED
+
+#define USE_UART1
+#define UART1_TX_PIN                    PA9
+#define UART1_RX_PIN                    PA10
+
+#define USE_UART2
+#define UART2_TX_PIN                    PA2
+#define UART2_RX_PIN                    PA3
+
+#define USE_UART3
+#define UART3_TX_PIN                    PC10
+#define UART3_RX_PIN                    PC11
+
+#define USE_UART4
+#define UART4_TX_PIN                    PA0
+#define UART4_RX_PIN                    PA1
+
+#define USE_UART5
+#define UART5_TX_PIN                    PC12
+#define UART5_RX_PIN                    PD2
+
+
+#define SERIAL_PORT_COUNT              6
+
+
+// ******* SPI ********
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+#define SPI1_NSS_PIN                    PA4
+#define SPI1_SCK_PIN                    PA5
+#define SPI1_MISO_PIN                   PA6
+#define SPI1_MOSI_PIN                   PA7
+
+#define USE_SPI_DEVICE_2
+#define SPI2_NSS_PIN                    PA13
+#define SPI2_SCK_PIN                    PB13
+#define SPI2_MISO_PIN                   PB14
+#define SPI2_MOSI_PIN                   PB15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN                    PC0
+#define SPI3_SCK_PIN                    PB3
+#define SPI3_MISO_PIN                   PB4
+#define SPI3_MOSI_PIN                   PB5
+
+// ******* ADC ********
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN               PC1
+#define ADC_CHANNEL_2_PIN               PC2
+#define ADC_CHANNEL_3_PIN               PC3
+
+#define VBAT_ADC_CHANNEL                ADC_CHN_2
+#define RSSI_ADC_CHANNEL                ADC_CHN_3
+#define CURRENT_METER_ADC_CHANNEL       ADC_CHN_1
+
+#define VBAT_SCALE_DEFAULT              1100
+#define CURRENT_METER_SCALE             206
+
+// ******* OSD ********
+#define USE_OSD
+#define USE_MAX7456
+#define MAX7456_SPI_BUS                 BUS_SPI2
+#define MAX7456_CS_PIN                  PA13
+
+//******* FLASH ********
+#if defined(AOCODARCF4V3_SD)
+#define USE_SDCARD
+#define USE_SDCARD_SPI
+#define SDCARD_SPI_BUS          BUS_SPI3
+#define SDCARD_CS_PIN           PC0
+#define SDCARD_DETECT_INVERTED
+#define SDCARD_DETECT_PIN       PC14
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+#else
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_SPI_BUS                  BUS_SPI3
+#define M25P16_CS_PIN                   PC0
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#endif
+// *************** PINIO ***************************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                  PC5  // VTX power switcher
+#define PINIO2_PIN                  PA14  //bluetooth
+#define PINIO3_PIN                  PC15 //Camera control
+#define PINIO1_FLAGS				PINIO_FLAGS_INVERTED
+#define PINIO2_FLAGS				PINIO_FLAGS_INVERTED
+
+//************ LEDSTRIP *****************
+#define USE_LED_STRIP
+#define WS2811_PIN                      PB1
+
+// ******* FEATURES ********
+#define DEFAULT_RX_TYPE                 RX_TYPE_SERIAL
+#define SERIALRX_UART                   SERIAL_PORT_USART2
+#define SERIALRX_PROVIDER               SERIALRX_CRSF
+
+#define DEFAULT_FEATURES                (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_GPS | FEATURE_BLACKBOX | FEATURE_LED_STRIP)
+
+#define TARGET_IO_PORTA                 0xffff
+#define TARGET_IO_PORTB                 0xffff
+#define TARGET_IO_PORTC                 0xffff
+#define TARGET_IO_PORTD                 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS            10
+
+// ESC-related features
+#define USE_DSHOT
+#define USE_SERIALSHOT
+#define USE_ESC_SENSOR
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE

src/main/target/JHEMCUF405WING/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32f405xg(JHEMCUF405WING)

src/main/target/JHEMCUF405WING/config.c

@@ -0,0 +1,42 @@
+/*
+ * 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 <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+#include "fc/config.h"
+#include "io/serial.h"
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_RX_SERIAL;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].functionMask = FUNCTION_GPS;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART6)].functionMask = FUNCTION_MSP;
+	
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+}

src/main/target/JHEMCUF405WING/target.c

@@ -0,0 +1,47 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#include <stdint.h>
+#include <stdbool.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"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM4, CH2, PB7, TIM_USE_OUTPUT_AUTO, 1, 0), // S1 D(1,3,2)
+    DEF_TIM(TIM4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 1, 0), // S2 D(1,0,2)
+
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 1, 0), // S3 D(1,7,5)
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 1, 0), // S4 D(1,2,5)
+    DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 1, 0), // S5 D(2,4,7)
+    DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 1, 0), // S6 D(2,7,7)
+    
+    DEF_TIM(TIM8, CH2N,PB14, TIM_USE_OUTPUT_AUTO, 1, 0), // S7
+    DEF_TIM(TIM2, CH1, PA15, TIM_USE_OUTPUT_AUTO, 1, 0), // S8
+    DEF_TIM(TIM2, CH3, PB10, TIM_USE_OUTPUT_AUTO, 1, 0), // S9
+    DEF_TIM(TIM2, CH4, PB11, TIM_USE_OUTPUT_AUTO, 1, 0), // S10
+    DEF_TIM(TIM12, CH2,PB15, TIM_USE_OUTPUT_AUTO, 1, 0), // S11 
+
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 0), // 2812LED
+    DEF_TIM(TIM5, CH3, PA2, TIM_USE_ANY, 0, 0), // TX2
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/JHEMCUF405WING/target.h

@@ -0,0 +1,163 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define USE_TARGET_CONFIG
+
+#define TARGET_BOARD_IDENTIFIER "JH45"
+#define USBD_PRODUCT_STRING     "JHEMCUF405WING"
+
+// LEDs
+#define LED0                    PA14  //Blue
+#define LED1                    PA13  //Green
+
+// Beeper
+#define BEEPER                  PC15
+#define BEEPER_INVERTED
+
+// SPI1
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN   	    PA6
+#define SPI1_MOSI_PIN   	    PA7
+
+// SPI2
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN   	    PC2
+#define SPI2_MOSI_PIN   	    PC3
+
+// SPI3
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN   	    PB4
+#define SPI3_MOSI_PIN   	    PB5
+
+// Serial ports
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define USE_UART2
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define USE_UART3
+#define UART3_TX_PIN            PC10
+#define UART3_RX_PIN            PC11
+
+#define USE_UART4
+#define UART4_TX_PIN            PA0
+#define UART4_RX_PIN            PA1
+
+#define USE_UART5
+#define UART5_TX_PIN            PC12
+#define UART5_RX_PIN            PD2
+
+#define USE_UART6
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+
+// Optional Softserial on UART2 TX Pin PA2
+#define USE_SOFTSERIAL1
+#define SOFTSERIAL_1_TX_PIN      PA2
+#define SOFTSERIAL_1_RX_PIN      PA2
+
+#define SERIAL_PORT_COUNT       8
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+// ICM42605/ICM42688P
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW270_DEG
+#define ICM42605_CS_PIN         PA4
+#define ICM42605_SPI_BUS        BUS_SPI1
+
+// Baro
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_ALL
+
+// Mag
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_ALL 
+
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+#define PITOT_I2C_BUS           BUS_I2C1
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+
+// OSD
+#define USE_MAX7456
+#define MAX7456_CS_PIN          PB12
+#define MAX7456_SPI_BUS         BUS_SPI2
+
+// SD Card
+#define USE_SDCARD
+#define USE_SDCARD_SPI
+#define SDCARD_SPI_BUS          BUS_SPI3
+#define SDCARD_CS_PIN           PC14
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_CRSF
+#define SERIALRX_UART           SERIAL_PORT_USART1
+
+// ADC
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_Stream0
+#define ADC_CHANNEL_1_PIN           PC0
+#define ADC_CHANNEL_2_PIN           PC1
+#define ADC_CHANNEL_3_PIN           PC5
+#define ADC_CHANNEL_4_PIN           PC4
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_4
+#define AIRSPEED_ADC_CHANNEL        ADC_CHN_3
+
+// LED2812
+#define USE_LED_STRIP
+#define WS2811_PIN              PA8
+
+// PINIO
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN              PC13  // 2xCamera switcher
+
+// OTHERS
+#define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY | FEATURE_BLACKBOX | FEATURE_AIRMODE)
+#define CURRENT_METER_SCALE     175
+
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))
+
+#define MAX_PWM_OUTPUT_PORTS    11

src/main/target/JHEMCUF745/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32f745xg(JHEMCUF745)

src/main/target/JHEMCUF745/config.c

@@ -0,0 +1,29 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "drivers/pwm_mapping.h"
+
+void targetConfiguration(void)
+{
+    timerOverridesMutable(timer2id(TIM1))->outputMode = OUTPUT_MODE_MOTORS;
+    timerOverridesMutable(timer2id(TIM3))->outputMode = OUTPUT_MODE_MOTORS;
+}

src/main/target/JHEMCUF745/target.c

@@ -0,0 +1,44 @@
+/*
+ * This file is part of INAV.
+ *
+ * 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 <platform.h>
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/bus.h"
+#include "drivers/pinio.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO,   0, 0), // M1, DMA1_ST7
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO,   0, 0), // M2, DMA1_ST2
+    DEF_TIM(TIM1, CH1, PE9,  TIM_USE_OUTPUT_AUTO,   0, 0), // M3
+    DEF_TIM(TIM1, CH2, PE11, TIM_USE_OUTPUT_AUTO,   0, 1), // M4, DMA2_ST4
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO,   0, 0), // M5, DMA2_ST7
+    DEF_TIM(TIM5, CH4, PA3,  TIM_USE_OUTPUT_AUTO,   0, 0), // M6, DMA1_ST1
+    DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO,   0, 0), // S7
+    DEF_TIM(TIM3, CH2, PB5,  TIM_USE_OUTPUT_AUTO,   0, 0), // S8
+    DEF_TIM(TIM4, CH1, PD12, TIM_USE_LED,           0, 0), // LED_STRIP, DMA1_ST0
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/JHEMCUF745/target.h

@@ -0,0 +1,157 @@
+/*
+ * This file is part of INAV.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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 and Betaflight are distributed in the hope that they
+ * 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 software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "JHF7"
+#define USBD_PRODUCT_STRING     "JHEMCUF745"
+
+#define LED0                PA2
+
+#define BEEPER              PD15
+#define BEEPER_INVERTED
+
+#define USE_DSHOT
+#define USE_DSHOT_DMAR
+#define USE_ESC_SENSOR
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN    CW270_DEG
+#define GYRO_INT_EXTI        PE1
+#define MPU6000_CS_PIN       SPI4_NSS_PIN
+#define MPU6000_SPI_BUS      BUS_SPI4
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN   CW270_DEG
+#define ICM42605_CS_PIN      SPI4_NSS_PIN
+#define ICM42605_SPI_BUS     BUS_SPI4
+#define ICM42605_EXTI_PIN    PE1 
+
+#define USB_IO
+#define USE_VCP
+#define VBUS_SENSING_ENABLED
+#define VBUS_SENSING_PIN    PA8
+
+#define USE_UART1
+#define UART1_TX_PIN        PA9
+#define UART1_RX_PIN        PA10
+
+#define USE_UART2
+#define UART2_TX_PIN        PD5
+#define UART2_RX_PIN        PD6
+
+#define USE_UART3
+#define UART3_TX_PIN        PB10
+#define UART3_RX_PIN        PB11
+
+#define USE_UART4
+#define UART4_TX_PIN        PA0
+#define UART4_RX_PIN        PA1
+
+#define USE_UART5
+#define UART5_TX_PIN        PC12
+#define UART5_RX_PIN        PD2
+
+#define USE_UART6
+#define UART6_TX_PIN        PC6
+#define UART6_RX_PIN        PC7
+
+#define USE_UART7
+#define UART7_RX_PIN PE7
+#define UART7_TX_PIN PE8
+
+#define SERIAL_PORT_COUNT   8 // VCP,UART1,UART2,UART3,UART4,UART5,UART6
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1    // FLASH
+#define USE_SPI_DEVICE_2    // OSD
+#define USE_SPI_DEVICE_4    // ICM20689
+
+#define SPI1_NSS_PIN        PA4
+#define SPI1_SCK_PIN        PA5
+#define SPI1_MISO_PIN       PA6
+#define SPI1_MOSI_PIN       PA7
+
+#define SPI2_NSS_PIN        PB12
+#define SPI2_SCK_PIN        PB13
+#define SPI2_MISO_PIN       PB14
+#define SPI2_MOSI_PIN       PB15
+
+#define SPI4_NSS_PIN        PE4
+#define SPI4_SCK_PIN        PE2
+#define SPI4_MISO_PIN       PE5
+#define SPI4_MOSI_PIN       PE6
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS     BUS_SPI2
+#define MAX7456_CS_PIN      SPI2_NSS_PIN
+
+#define M25P16_CS_PIN       SPI1_NSS_PIN
+#define M25P16_SPI_BUS      BUS_SPI1
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL            PB6
+#define I2C1_SDA            PB7
+
+// External I2C bus is the same as interal one
+#define MAG_I2C_BUS         BUS_I2C1
+#define TEMPERATURE_I2C_BUS BUS_I2C1
+#define RANGEFINDER_I2C_BUS BUS_I2C1
+#define DEFAULT_I2C_BUS     BUS_I2C1
+
+#define USE_BARO
+#define USE_BARO_ALL
+#define BARO_I2C_BUS        BUS_I2C1
+
+#define USE_MAG
+#define USE_MAG_ALL
+
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN   PC2
+#define ADC_CHANNEL_2_PIN   PC3
+#define ADC_CHANNEL_3_PIN   PC5
+
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_1
+#define VBAT_ADC_CHANNEL            ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+#define DEFAULT_FEATURES    (FEATURE_TX_PROF_SEL | FEATURE_TELEMETRY | FEATURE_OSD | FEATURE_VBAT | FEATURE_BLACKBOX)
+#define DEFAULT_RX_TYPE     RX_TYPE_SERIAL
+#define SERIALRX_UART       SERIAL_PORT_USART1
+#define SERIALRX_PROVIDER   SERIALRX_SBUS
+
+#define USE_LED_STRIP
+#define WS2811_PIN          PD12
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS    8

src/main/target/JHEMCUH743HD/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32h743xi(JHEMCUH743HD)

src/main/target/JHEMCUH743HD/config.c

@@ -0,0 +1,66 @@
+/*
+ * 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 <platform.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/serial.h"
+
+#include "fc/rc_controls.h"
+
+#include "flight/failsafe.h"
+#include "flight/mixer.h"
+#include "flight/pid.h"
+
+#include "rx/rx.h"
+
+#include "io/serial.h"
+
+#include "sensors/battery.h"
+#include "sensors/sensors.h"
+
+#include "telemetry/telemetry.h"
+
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+    pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
+
+
+    /*
+     * UART1 is SerialRX
+     */
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART1)].functionMask = FUNCTION_RX_SERIAL;
+    
+    /*
+     * Enable MSP at 115200 at UART4
+     */
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART4)].functionMask = FUNCTION_MSP;
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART4)].msp_baudrateIndex = BAUD_115200;
+}

src/main/target/JHEMCUH743HD/target.c

@@ -0,0 +1,49 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,   DEVHW_MPU6000,  MPU6000_SPI_BUS,   MPU6000_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,   DEVHW_BMI270,  BMI270_SPI_BUS,   BMI270_CS_PIN,   NONE,   0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42605,    DEVHW_ICM42605, ICM42605_SPI_BUS,   ICM42605_CS_PIN,    NONE,  0,  DEVFLAGS_NONE,  IMU_ICM42605_ALIGN);
+
+
+timerHardware_t timerHardware[] = {
+
+    DEF_TIM(TIM5, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 0),   // S1  
+    DEF_TIM(TIM5, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 1),   // S2
+    DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 2),   // S3
+    DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 3),   // S4
+
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 4),   // S5
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 5),   // S6
+    DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 6),   // S7
+    DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 7),   // S8
+
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_LED, 0, 9),    // LED_2812
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/JHEMCUH743HD/target.h

@@ -0,0 +1,205 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "JHEH743HD"
+#define USBD_PRODUCT_STRING     "JHEMCUH743HD"
+
+#define USE_TARGET_CONFIG
+
+#define LED0 PE5
+#define LED1 PE4
+
+#define BEEPER PE3
+#define BEEPER_INVERTED
+
+// *************** IMU generic ***********************
+#define USE_DUAL_GYRO
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
+
+// *************** SPI1 IMU0 MPU6000 ****************
+#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_MPU6000
+#define IMU_MPU6000_ALIGN CW180_DEG
+#define MPU6000_SPI_BUS BUS_SPI1
+#define MPU6000_CS_PIN PA4
+
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN CW180_DEG
+#define BMI270_SPI_BUS BUS_SPI1
+#define BMI270_CS_PIN PA4
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW180_DEG
+#define ICM42605_SPI_BUS        BUS_SPI1
+#define ICM42605_CS_PIN         PA4
+
+// *************** SPI2 OSD ***********************
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN PB13
+#define SPI2_MISO_PIN PB14
+#define SPI2_MOSI_PIN PB15
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS BUS_SPI2
+#define MAX7456_CS_PIN PB12
+
+// *************** SPI3 FLASH ***********************
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN PC10
+#define SPI3_MISO_PIN PC11
+#define SPI3_MOSI_PIN PB2
+#define SPI3_NSS_PIN PA15
+#define SPI3_SCK_AF GPIO_AF6_SPI3
+#define SPI3_MISO_AF GPIO_AF6_SPI3
+#define SPI3_MOSI_AF GPIO_AF7_SPI3
+
+#define M25P16_SPI_BUS BUS_SPI3
+#define M25P16_CS_PIN SPI3_NSS_PIN
+
+#define W25N01G_SPI_BUS BUS_SPI3
+#define W25N01G_CS_PIN SPI3_NSS_PIN
+
+#define USE_BLACKBOX
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define USE_FLASH_W25N01G
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** I2C /Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL PB6
+#define I2C1_SDA PB7
+
+#define USE_I2C_DEVICE_2
+#define I2C2_SCL PB10
+#define I2C2_SDA PB11
+
+#define USE_BARO
+#define BARO_I2C_BUS BUS_I2C1
+#define USE_BARO_ALL
+
+#define USE_MAG
+#define MAG_I2C_BUS BUS_I2C1
+#define USE_MAG_ALL
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+#define PITOT_I2C_BUS           BUS_I2C1
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS BUS_I2C1
+
+// *************** UART *****************************
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_TX_PIN PA9
+#define UART1_RX_PIN PA10
+
+#define USE_UART2
+#define UART2_TX_PIN PD5
+#define UART2_RX_PIN PD6
+
+#define USE_UART3
+#define UART3_TX_PIN PD8
+#define UART3_RX_PIN PD9
+
+#define USE_UART4
+#define UART4_TX_PIN PD1
+#define UART4_RX_PIN PD0
+
+#define USE_UART5
+#define UART5_TX_PIN PC12
+#define UART5_RX_PIN PD2
+
+#define USE_UART6
+#define UART6_TX_PIN PC6
+#define UART6_RX_PIN PC7
+
+#define USE_UART7
+#define UART7_TX_PIN PE8
+#define UART7_RX_PIN PE7
+
+#define USE_UART8
+#define UART8_TX_PIN PE1
+#define UART8_RX_PIN PE0
+
+#define SERIAL_PORT_COUNT 9
+
+#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER SERIALRX_SBUS
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE ADC3
+
+#ifdef MAMBAH743_2022B
+
+#define ADC_CHANNEL_1_PIN PC1
+#define ADC_CHANNEL_2_PIN PC3
+#define ADC_CHANNEL_3_PIN PC0
+
+#define VBAT_ADC_CHANNEL ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2
+#define AIRSPEED_ADC_CHANNEL ADC_CHN_3
+
+#else
+
+#define ADC_CHANNEL_1_PIN PC1
+#define ADC_CHANNEL_2_PIN PC3
+#define ADC_CHANNEL_3_PIN PC2
+#define ADC_CHANNEL_4_PIN PC0
+
+#define VBAT_ADC_CHANNEL ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2
+#define RSSI_ADC_CHANNEL ADC_CHN_3
+#define AIRSPEED_ADC_CHANNEL ADC_CHN_4
+
+#endif
+
+// *************** PINIO ***************************
+#define USE_PINIO
+#define USE_PINIOBOX
+
+#define PINIO1_PIN PC2
+#define PINIO2_PIN PC5
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN PA8
+
+#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL)
+#define CURRENT_METER_SCALE 250
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS 8
+#define USE_DSHOT
+#define USE_ESC_SENSOR

src/main/target/TAKERF722SE/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32f722xe(TAKERF722SE)

src/main/target/TAKERF722SE/target.c

@@ -0,0 +1,48 @@
+/*
+* This file is part of INAV Project.
+*
+* INAV is free software: you can redistribute it and/or modify
+* it under the terms of the GNU General Public License as published by
+* the Free Software Foundation, either version 3 of the License, or
+* (at your option) any later version.
+*
+* INAV is distributed in the hope that it will be useful,
+* but WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <stdint.h>
+
+#include "platform.h"
+#include "drivers/io.h"
+
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+
+
+
+
+timerHardware_t timerHardware[] = {
+
+    DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM3, CH2, PB5,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0),
+
+    DEF_TIM(TIM4, CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM4, CH2, PB7,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO, 0, 0),
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO, 0, 0),
+
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED,                         0, 0),
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
+
+

src/main/target/TAKERF722SE/target.h

@@ -0,0 +1,186 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * 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.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "GEPR"
+
+#define USBD_PRODUCT_STRING     "TAKERF722SE"
+
+#define LED0                    PC14
+
+
+// *************** BEEPER ************************
+
+#define BEEPER                  PC13
+#define BEEPER_INVERTED
+
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA8
+
+
+// *************** UART *****************************
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define USE_UART2
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define USE_UART3
+#define UART3_TX_PIN            PB10
+#define UART3_RX_PIN            PB11
+
+#define USE_UART4
+#define UART4_TX_PIN            PA0
+#define UART4_RX_PIN            PA1
+
+#define USE_UART5
+#define UART5_TX_PIN            PC12
+#define UART5_RX_PIN            PD2
+
+#define USE_UART6
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7
+
+
+#define SERIAL_PORT_COUNT       7
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+
+// *************** SPI Bus **********************
+
+#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_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN   	    PB14
+#define SPI2_MOSI_PIN   	    PB15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PB2
+#define SPI3_SCK_AF             GPIO_AF6_SPI3
+#define SPI3_MISO_AF            GPIO_AF6_SPI3
+#define SPI3_MOSI_AF            GPIO_AF7_SPI3
+
+
+// *************** Gyro & ACC **********************
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW0_DEG
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_SPI_BUS         BUS_SPI1
+
+
+#define USE_IMU_ICM42605
+#define IMU_ICM42605_ALIGN      CW0_DEG
+#define ICM42605_CS_PIN         PA4
+#define ICM42605_SPI_BUS        BUS_SPI1
+
+// *************** I2C/Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+
+//***************************************************
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_DPS310
+#define USE_BARO_MS5611
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_IST8308
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+
+#define PITOT_I2C_BUS           BUS_I2C1
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+#define BNO055_I2C_BUS          BUS_I2C1
+
+// *************** FLASH **************************
+
+#define USE_FLASHFS
+
+#define USE_FLASH_M25P16
+#define M25P16_CS_PIN           PA15
+#define M25P16_SPI_BUS          BUS_SPI3
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** OSD *****************************
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          PB12
+
+// *************** ADC *****************************
+
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_Stream0
+#define ADC_CHANNEL_1_PIN           PC3
+#define ADC_CHANNEL_2_PIN           PC0
+#define ADC_CHANNEL_3_PIN           PC2
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define RSSI_ADC_CHANNEL            ADC_CHN_2
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_3
+
+
+#define DEFAULT_FEATURES            (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX)
+
+
+
+
+//**************************************************
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))
+
+
+#define MAX_PWM_OUTPUT_PORTS        8
+
+#define USE_DSHOT
+#define USE_ESC_SENSOR

src/main/target/ZEEZF7/target.c

@@ -32,9 +32,9 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3, CH1,  PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // S3
     DEF_TIM(TIM2, CH2,  PB3, TIM_USE_OUTPUT_AUTO, 0, 0), // S4
     DEF_TIM(TIM8, CH1,  PC6, TIM_USE_OUTPUT_AUTO, 0, 1), // S5
-    DEF_TIM(TIM3, CH2,  PC7, TIM_USE_OUTPUT_AUTO, 0, 0), // S6
+    DEF_TIM(TIM8, CH2,  PC7, TIM_USE_OUTPUT_AUTO, 0, 0), // S6
-    DEF_TIM(TIM3, CH3,  PC8, TIM_USE_OUTPUT_AUTO, 0, 0), // S7
+    DEF_TIM(TIM8, CH3,  PC8, TIM_USE_OUTPUT_AUTO, 0, 0), // S7
-    DEF_TIM(TIM3, CH4,  PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S8
+    DEF_TIM(TIM1, CH3N,  PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S8
 #endif
 
 #ifdef ZEEZF7V2
@@ -42,10 +42,10 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM4, CH1,  PB6, TIM_USE_OUTPUT_AUTO, 0, 0), // S2
     DEF_TIM(TIM3, CH1,  PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // S3
     DEF_TIM(TIM2, CH2,  PB3, TIM_USE_OUTPUT_AUTO, 0, 0), // S4
-    DEF_TIM(TIM3, CH3,  PC8, TIM_USE_OUTPUT_AUTO, 0, 0), // S5
+    DEF_TIM(TIM8, CH3,  PC8, TIM_USE_OUTPUT_AUTO, 0, 0), // S5
-    DEF_TIM(TIM3, CH2,  PC7, TIM_USE_OUTPUT_AUTO, 0, 0), // S6
+    DEF_TIM(TIM8, CH2,  PC7, TIM_USE_OUTPUT_AUTO, 0, 0), // S6
     DEF_TIM(TIM8, CH1,  PC6, TIM_USE_OUTPUT_AUTO, 0, 1), // S7
-    DEF_TIM(TIM3, CH4,  PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S8
+    DEF_TIM(TIM1, CH3N,  PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S8
 #endif
 
 #ifdef ZEEZF7