Merge remote-tracking branch 'origin/master' into sh_ahrs

src/main/fc/fc_core.c

@@ -106,6 +106,7 @@ enum {
 #define EMERGENCY_ARMING_TIME_WINDOW_MS 10000
 #define EMERGENCY_ARMING_COUNTER_STEP_MS 1000
 #define EMERGENCY_ARMING_MIN_ARM_COUNT 10
+#define EMERGENCY_INFLIGHT_REARM_TIME_WINDOW_MS 5000
 
 timeDelta_t cycleTime = 0;         // this is the number in micro second to achieve a full loop, it can differ a little and is taken into account in the PID loop
 static timeUs_t flightTime = 0;
@@ -120,6 +121,7 @@ uint8_t motorControlEnable = false;
 static bool isRXDataNew;
 static disarmReason_t lastDisarmReason = DISARM_NONE;
 timeUs_t lastDisarmTimeUs = 0;
+timeMs_t emergRearmStabiliseTimeout = 0;
 
 static bool prearmWasReset = false; // Prearm must be reset (RC Mode not active) before arming is possible
 static timeMs_t prearmActivationTime = 0;
@@ -315,11 +317,11 @@ static void updateArmingStatus(void)
 
         /* CHECK: Do not allow arming if Servo AutoTrim is enabled */
         if (IS_RC_MODE_ACTIVE(BOXAUTOTRIM)) {
-	       ENABLE_ARMING_FLAG(ARMING_DISABLED_SERVO_AUTOTRIM);
+           ENABLE_ARMING_FLAG(ARMING_DISABLED_SERVO_AUTOTRIM);
-	    }
+        }
         else {
-	       DISABLE_ARMING_FLAG(ARMING_DISABLED_SERVO_AUTOTRIM);
+           DISABLE_ARMING_FLAG(ARMING_DISABLED_SERVO_AUTOTRIM);
-	    }
+        }
 
 #ifdef USE_DSHOT
         /* CHECK: Don't arm if the DShot beeper was used recently, as there is a minimum delay before sending the next DShot command */
@@ -435,6 +437,7 @@ void disarm(disarmReason_t disarmReason)
         lastDisarmReason = disarmReason;
         lastDisarmTimeUs = micros();
         DISABLE_ARMING_FLAG(ARMED);
+        DISABLE_STATE(IN_FLIGHT_EMERG_REARM);
 
 #ifdef USE_BLACKBOX
         if (feature(FEATURE_BLACKBOX)) {
@@ -505,14 +508,27 @@ bool emergencyArmingUpdate(bool armingSwitchIsOn, bool forceArm)
     return counter >= EMERGENCY_ARMING_MIN_ARM_COUNT;
 }
 
-#define TELEMETRY_FUNCTION_MASK (FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_SMARTPORT | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_MAVLINK | FUNCTION_TELEMETRY_IBUS)
+bool emergInflightRearmEnabled(void)
+{
+    /* Emergency rearm allowed within 5s timeout period after disarm if craft still flying */
+    timeMs_t currentTimeMs = millis();
+    emergRearmStabiliseTimeout = 0;
 
-void releaseSharedTelemetryPorts(void) {
+    if ((lastDisarmReason != DISARM_SWITCH && lastDisarmReason != DISARM_KILLSWITCH) ||
-    serialPort_t *sharedPort = findSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
+        (currentTimeMs > US2MS(lastDisarmTimeUs) + EMERGENCY_INFLIGHT_REARM_TIME_WINDOW_MS)) {
-    while (sharedPort) {
+        return false;
-        mspSerialReleasePortIfAllocated(sharedPort);
-        sharedPort = findNextSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
     }
+
+    // allow emergency rearm if MR has vertical speed at least 1.5 sec after disarm indicating still flying
+    bool mcDisarmVertVelCheck = STATE(MULTIROTOR) && (currentTimeMs > US2MS(lastDisarmTimeUs) + 1500) && fabsf(getEstimatedActualVelocity(Z)) > 100.0f;
+
+    if (isProbablyStillFlying() || mcDisarmVertVelCheck) {
+        emergRearmStabiliseTimeout = currentTimeMs + 5000;  // activate Angle mode for 5s after rearm to help stabilise craft
+        ENABLE_STATE(IN_FLIGHT_EMERG_REARM);
+        return true;
+    }
+
+    return false;   // craft doesn't appear to be flying, don't allow emergency rearm
 }
 
 void tryArm(void)
@@ -538,9 +554,10 @@ void tryArm(void)
 #endif
 
 #ifdef USE_PROGRAMMING_FRAMEWORK
-    if (!isArmingDisabled() || emergencyArmingIsEnabled() || LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_ARMING_SAFETY)) {
+    if (emergInflightRearmEnabled() || !isArmingDisabled() || emergencyArmingIsEnabled() ||
+        LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_ARMING_SAFETY)) {
 #else
-    if (!isArmingDisabled() || emergencyArmingIsEnabled()) {
+    if (emergInflightRearmEnabled() || !isArmingDisabled() || emergencyArmingIsEnabled()) {
 #endif
         // If nav_extra_arming_safety was bypassed we always
         // allow bypassing it even without the sticks set
@@ -558,11 +575,14 @@ void tryArm(void)
         ENABLE_ARMING_FLAG(WAS_EVER_ARMED);
         //It is required to inform the mixer that arming was executed and it has to switch to the FORWARD direction
         ENABLE_STATE(SET_REVERSIBLE_MOTORS_FORWARD);
-        logicConditionReset();
 
+        if (!STATE(IN_FLIGHT_EMERG_REARM)) {
+            resetLandingDetectorActiveState();  // reset landing detector after arming to avoid false detection before flight
+            logicConditionReset();
 #ifdef USE_PROGRAMMING_FRAMEWORK
-        programmingPidReset();
+            programmingPidReset();
 #endif
+        }
 
         headFreeModeHold = DECIDEGREES_TO_DEGREES(attitude.values.yaw);
 
@@ -595,6 +615,16 @@ void tryArm(void)
     }
 }
 
+#define TELEMETRY_FUNCTION_MASK (FUNCTION_TELEMETRY_HOTT | FUNCTION_TELEMETRY_SMARTPORT | FUNCTION_TELEMETRY_LTM | FUNCTION_TELEMETRY_MAVLINK | FUNCTION_TELEMETRY_IBUS)
+
+void releaseSharedTelemetryPorts(void) {
+    serialPort_t *sharedPort = findSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
+    while (sharedPort) {
+        mspSerialReleasePortIfAllocated(sharedPort);
+        sharedPort = findNextSharedSerialPort(TELEMETRY_FUNCTION_MASK, FUNCTION_MSP);
+    }
+}
+
 void processRx(timeUs_t currentTimeUs)
 {
     // Calculate RPY channel data
@@ -645,9 +675,12 @@ void processRx(timeUs_t currentTimeUs)
         processRcAdjustments(CONST_CAST(controlRateConfig_t*, currentControlRateProfile), canUseRxData);
     }
 
+    // Angle mode forced on briefly after emergency inflight rearm to help stabilise attitude (currently limited to MR)
+    bool emergRearmAngleEnforce = STATE(MULTIROTOR) && emergRearmStabiliseTimeout > US2MS(currentTimeUs);
+    bool autoEnableAngle = failsafeRequiresAngleMode() || navigationRequiresAngleMode() || emergRearmAngleEnforce;
     bool canUseHorizonMode = true;
 
-    if ((IS_RC_MODE_ACTIVE(BOXANGLE) || failsafeRequiresAngleMode() || navigationRequiresAngleMode()) && sensors(SENSOR_ACC)) {
+    if (sensors(SENSOR_ACC) && (IS_RC_MODE_ACTIVE(BOXANGLE) || autoEnableAngle)) {
         // bumpless transfer to Level mode
         canUseHorizonMode = false;
 
@@ -816,7 +849,6 @@ void processRx(timeUs_t currentTimeUs)
         }
     }
 #endif
-
 }
 
 // Function for loop trigger
@@ -876,6 +908,10 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
         processDelayedSave();
     }
 
+    if (armTime > 1 * USECS_PER_SEC) {     // reset in flight emerg rearm flag 1 sec after arming once it's served its purpose
+        DISABLE_STATE(IN_FLIGHT_EMERG_REARM);
+    }
+
 #if defined(SITL_BUILD)
     if (lockMainPID()) {
 #endif
@@ -925,15 +961,15 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     //Servos should be filtered or written only when mixer is using servos or special feaures are enabled
 
 #ifdef USE_SIMULATOR
-	if (!ARMING_FLAG(SIMULATOR_MODE_HITL)) {
+    if (!ARMING_FLAG(SIMULATOR_MODE_HITL)) {
-	    if (isServoOutputEnabled()) {
+        if (isServoOutputEnabled()) {
-	        writeServos();
+            writeServos();
-	    }
+        }
 
-	    if (motorControlEnable) {
+        if (motorControlEnable) {
-	        writeMotors();
+            writeMotors();
-	    }
+        }
-	}
+    }
 #else
     if (isServoOutputEnabled()) {
         writeServos();

src/main/fc/fc_msp.c

@@ -462,6 +462,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
             sbufWriteU16(dst, packSensorStatus());
             sbufWriteU16(dst, averageSystemLoadPercent);
             sbufWriteU8(dst, (getConfigBatteryProfile() << 4) | getConfigProfile());
+            sbufWriteU8(dst, getConfigMixerProfile());
             sbufWriteU32(dst, armingFlags);
             sbufWriteData(dst, &mspBoxModeFlags, sizeof(mspBoxModeFlags));
         }
@@ -523,6 +524,18 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
             sbufWriteU8(dst, -1);
         #endif
         }
+        if(MAX_MIXER_PROFILE_COUNT==1) break;
+        for (int i = 0; i < MAX_SERVO_RULES; i++) {
+            sbufWriteU8(dst, mixerServoMixersByIndex(nextMixerProfileIndex)[i].targetChannel);
+            sbufWriteU8(dst, mixerServoMixersByIndex(nextMixerProfileIndex)[i].inputSource);
+            sbufWriteU16(dst, mixerServoMixersByIndex(nextMixerProfileIndex)[i].rate);
+            sbufWriteU8(dst, mixerServoMixersByIndex(nextMixerProfileIndex)[i].speed);
+        #ifdef USE_PROGRAMMING_FRAMEWORK
+            sbufWriteU8(dst, mixerServoMixersByIndex(nextMixerProfileIndex)[i].conditionId);
+        #else
+            sbufWriteU8(dst, -1);
+        #endif
+        }
         break;
 #ifdef USE_PROGRAMMING_FRAMEWORK
     case MSP2_INAV_LOGIC_CONDITIONS:
@@ -568,11 +581,18 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
 #endif
     case MSP2_COMMON_MOTOR_MIXER:
         for (uint8_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
-            sbufWriteU16(dst, primaryMotorMixer(i)->throttle * 1000);
+            sbufWriteU16(dst, constrainf(primaryMotorMixer(i)->throttle + 2.0f, 0.0f, 4.0f) * 1000);
             sbufWriteU16(dst, constrainf(primaryMotorMixer(i)->roll + 2.0f, 0.0f, 4.0f) * 1000);
             sbufWriteU16(dst, constrainf(primaryMotorMixer(i)->pitch + 2.0f, 0.0f, 4.0f) * 1000);
             sbufWriteU16(dst, constrainf(primaryMotorMixer(i)->yaw + 2.0f, 0.0f, 4.0f) * 1000);
         }
+        if (MAX_MIXER_PROFILE_COUNT==1) break;
+        for (uint8_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
+            sbufWriteU16(dst, constrainf(mixerMotorMixersByIndex(nextMixerProfileIndex)[i].throttle + 2.0f, 0.0f, 4.0f) * 1000);
+            sbufWriteU16(dst, constrainf(mixerMotorMixersByIndex(nextMixerProfileIndex)[i].roll + 2.0f, 0.0f, 4.0f) * 1000);
+            sbufWriteU16(dst, constrainf(mixerMotorMixersByIndex(nextMixerProfileIndex)[i].pitch + 2.0f, 0.0f, 4.0f) * 1000);
+            sbufWriteU16(dst, constrainf(mixerMotorMixersByIndex(nextMixerProfileIndex)[i].yaw + 2.0f, 0.0f, 4.0f) * 1000);
+        }
         break;
 
     case MSP_MOTOR:
@@ -2121,7 +2141,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
     case MSP2_COMMON_SET_MOTOR_MIXER:
         sbufReadU8Safe(&tmp_u8, src);
         if ((dataSize == 9) && (tmp_u8 < MAX_SUPPORTED_MOTORS)) {
-            primaryMotorMixerMutable(tmp_u8)->throttle = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 1.0f);
+            primaryMotorMixerMutable(tmp_u8)->throttle = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
             primaryMotorMixerMutable(tmp_u8)->roll = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
             primaryMotorMixerMutable(tmp_u8)->pitch = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
             primaryMotorMixerMutable(tmp_u8)->yaw = constrainf(sbufReadU16(src) / 1000.0f, 0.0f, 4.0f) - 2.0f;
@@ -3015,6 +3035,14 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         }
         break;
 
+    case MSP2_INAV_SELECT_MIXER_PROFILE:
+        if (!ARMING_FLAG(ARMED) && sbufReadU8Safe(&tmp_u8, src)) {
+                setConfigMixerProfileAndWriteEEPROM(tmp_u8);
+        } else {
+            return MSP_RESULT_ERROR;
+        }
+        break;
+
 #ifdef USE_TEMPERATURE_SENSOR
     case MSP2_INAV_SET_TEMP_SENSOR_CONFIG:
         if (dataSize == sizeof(tempSensorConfig_t) * MAX_TEMP_SENSORS) {
@@ -3633,6 +3661,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
 				}
 #endif
 				ENABLE_ARMING_FLAG(SIMULATOR_MODE_HITL);
+                ENABLE_STATE(ACCELEROMETER_CALIBRATED);
 				LOG_DEBUG(SYSTEM, "Simulator enabled");
 			}
 

src/main/fc/runtime_config.h

@@ -139,6 +139,7 @@ typedef enum {
     FW_HEADING_USE_YAW                  = (1 << 24),
     ANTI_WINDUP_DEACTIVATED             = (1 << 25),
     LANDING_DETECTED                    = (1 << 26),
+    IN_FLIGHT_EMERG_REARM               = (1 << 27),
 } stateFlags_t;
 
 #define DISABLE_STATE(mask) (stateFlags &= ~(mask))

src/main/flight/mixer_profile.c

@@ -35,7 +35,7 @@ int currentMixerProfileIndex;
 bool isMixerTransitionMixing;
 bool isMixerTransitionMixing_requested;
 mixerProfileAT_t mixerProfileAT;
-int nextProfileIndex;
+int nextMixerProfileIndex;
 
 PG_REGISTER_ARRAY_WITH_RESET_FN(mixerProfile_t, MAX_MIXER_PROFILE_COUNT, mixerProfiles, PG_MIXER_PROFILE, 1);
 
@@ -81,7 +81,7 @@ void pgResetFn_mixerProfiles(mixerProfile_t *instance)
 void activateMixerConfig(){
     currentMixerProfileIndex = getConfigMixerProfile();
     currentMixerConfig = *mixerConfig();
-    nextProfileIndex = (currentMixerProfileIndex + 1) % MAX_MIXER_PROFILE_COUNT;
+    nextMixerProfileIndex = (currentMixerProfileIndex + 1) % MAX_MIXER_PROFILE_COUNT;
 }
 
 void mixerConfigInit(void)
@@ -113,7 +113,7 @@ bool platformTypeConfigured(flyingPlatformType_e platformType)
     if (!isModeActivationConditionPresent(BOXMIXERPROFILE)){
         return false;
     }
-    return mixerConfigByIndex(nextProfileIndex)->platformType == platformType;
+    return mixerConfigByIndex(nextMixerProfileIndex)->platformType == platformType;
 }
 
 bool checkMixerATRequired(mixerProfileATRequest_e required_action)
@@ -171,7 +171,7 @@ bool mixerATUpdateState(mixerProfileATRequest_e required_action)
             isMixerTransitionMixing_requested = true;
             if (millis() > mixerProfileAT.transitionTransEndTime){
                 isMixerTransitionMixing_requested = false;
-                outputProfileHotSwitch(nextProfileIndex);
+                outputProfileHotSwitch(nextMixerProfileIndex);
                 mixerProfileAT.phase = MIXERAT_PHASE_IDLE;
                 reprocessState = true;
                 //transition is done

src/main/flight/mixer_profile.h

@@ -54,6 +54,7 @@ bool mixerATUpdateState(mixerProfileATRequest_e required_action);
 
 extern mixerConfig_t currentMixerConfig;
 extern int currentMixerProfileIndex;
+extern int nextMixerProfileIndex;
 extern bool isMixerTransitionMixing;
 #define mixerConfig() (&(mixerProfiles(systemConfig()->current_mixer_profile_index)->mixer_config))
 #define mixerConfigMutable() ((mixerConfig_t *) mixerConfig())

src/main/io/displayport_msp_bf_compat.c

@@ -96,10 +96,31 @@ uint8_t getBfCharacter(uint8_t ch, uint8_t page)
 
     case SYM_AH_DECORATION_DOWN:
         return BF_SYM_AH_DECORATION_DOWN;
-
-    case SYM_DIRECTION:
-        return BF_SYM_DIRECTION;
 */
+    case SYM_DIRECTION:
+        return BF_SYM_ARROW_NORTH;
+    
+    case SYM_DIRECTION + 1: // NE pointing arrow
+        return BF_SYM_ARROW_7;
+
+    case SYM_DIRECTION + 2: // E pointing arrow
+        return BF_SYM_ARROW_EAST;
+
+    case SYM_DIRECTION + 3: // SE pointing arrow
+        return BF_SYM_ARROW_3;
+
+    case SYM_DIRECTION + 4: // S pointing arrow
+        return BF_SYM_ARROW_SOUTH;
+
+    case SYM_DIRECTION + 5: // SW pointing arrow
+        return BF_SYM_ARROW_15;
+
+    case SYM_DIRECTION + 6: // W pointing arrow
+        return BF_SYM_ARROW_WEST;
+
+    case SYM_DIRECTION + 7: // NW pointing arrow
+        return BF_SYM_ARROW_11;
+
     case SYM_VOLT:
         return BF_SYM_VOLT;
 
@@ -187,13 +208,9 @@ uint8_t getBfCharacter(uint8_t ch, uint8_t page)
     case SYM_ALT_M:
         return BF_SYM_M;
 
-/*
-    case SYM_TRIP_DIST:
-        return BF_SYM_TRIP_DIST;
-
     case SYM_TOTAL:
-        return BF_SYM_TOTAL;
+        return BF_SYM_TOTAL_DISTANCE;
-
+/*
     case SYM_ALT_KM:
         return BF_SYM_ALT_KM;
 
@@ -226,20 +243,19 @@ uint8_t getBfCharacter(uint8_t ch, uint8_t page)
 /*
     case SYM_NM:
         return BF_SYM_NM;
-
+*/
     case SYM_WIND_HORIZONTAL:
-        return BF_SYM_WIND_HORIZONTAL;
+        return 'W';     // W for wind
 
+/*
     case SYM_WIND_VERTICAL:
         return BF_SYM_WIND_VERTICAL;
 
     case SYM_3D_KT:
         return BF_SYM_3D_KT;
-
-
-    case SYM_AIR:
-        return BF_SYM_AIR;
 */
+    case SYM_AIR:
+        return 'A';     // A for airspeed
 
     case SYM_3D_KMH:
         return BF_SYM_KPH;
@@ -334,10 +350,12 @@ uint8_t getBfCharacter(uint8_t ch, uint8_t page)
 
     case SYM_PITCH_DOWN:
         return BF_SYM_PITCH_DOWN;
+ */
 
     case SYM_GFORCE:
-        return BF_SYM_GFORCE;
+        return 'G';
 
+/*
     case SYM_GFORCE_X:
         return BF_SYM_GFORCE_X;
 

src/main/io/osd.c

@@ -1201,7 +1201,7 @@ int32_t osdGetAltitude(void)
 
 static inline int32_t osdGetAltitudeMsl(void)
 {
-    return getEstimatedActualPosition(Z)+GPS_home.alt;
+    return getEstimatedActualPosition(Z) + posControl.gpsOrigin.alt;
 }
 
 uint16_t osdGetRemainingGlideTime(void) {
@@ -1911,7 +1911,7 @@ static bool osdDrawSingleElement(uint8_t item)
         osdFormatDistanceSymbol(buff + 1, getTotalTravelDistance(), 0);
         break;
 
-    case OSD_ODOMETER:    
+    case OSD_ODOMETER:
         {
             displayWriteChar(osdDisplayPort, elemPosX, elemPosY, SYM_ODOMETER);
             uint32_t odometerDist = (uint32_t)(getTotalTravelDistance() / 100);
@@ -3955,7 +3955,7 @@ void pgResetFn_osdLayoutsConfig(osdLayoutsConfig_t *osdLayoutsConfig)
 
 /**
  * @brief Draws the INAV and/or pilot logos on the display
- * 
+ *
  * @param singular If true, only one logo will be drawn. If false, both logos will be drawn, separated by osdConfig()->inav_to_pilot_logo_spacing characters
  * @param row The row number to start drawing the logos. If not singular, both logos are drawn on the same rows.
  * @return uint8_t The row number after the logo(s).
@@ -4005,7 +4005,7 @@ uint8_t drawLogos(bool singular, uint8_t row) {
         } else {
             logo_x = logoColOffset + SYM_LOGO_WIDTH + logoSpacing;
         }
-        
+
         for (uint8_t lRow = 0; lRow < SYM_LOGO_HEIGHT; lRow++) {
             for (uint8_t lCol = 0; lCol < SYM_LOGO_WIDTH; lCol++) {
                 displayWriteChar(osdDisplayPort, logo_x + lCol, logoRow, logo_c++);
@@ -4129,7 +4129,7 @@ static void osdCompleteAsyncInitialization(void)
 
     if (fontHasMetadata && metadata.charCount > 256) {
         hasExtendedFont = true;
-    
+
         y = drawLogos(false, y);
         y++;
     } else if (!fontHasMetadata) {
@@ -4568,12 +4568,12 @@ static void osdShowHDArmScreen(void)
 
                 displayWrite(osdDisplayPort, col, armScreenRow, buf);
                 displayWrite(osdDisplayPort, col + strlen(buf) + gap, armScreenRow++, buf2);
-                
+
                 int digits = osdConfig()->plus_code_digits;
                 olc_encode(GPS_home.lat, GPS_home.lon, digits, buf, sizeof(buf));
                 displayWrite(osdDisplayPort, (osdDisplayPort->cols - strlen(buf)) / 2, armScreenRow++, buf);
             }
-            
+
 #if defined (USE_SAFE_HOME)
             if (posControl.safehomeState.distance) { // safehome found during arming
                 if (navConfig()->general.flags.safehome_usage_mode == SAFEHOME_USAGE_OFF) {
@@ -4653,7 +4653,7 @@ static void osdShowSDArmScreen(void)
                 uint8_t gpsStartCol = (osdDisplayPort->cols - (strlen(buf) + strlen(buf2) + 2)) / 2;
                 displayWrite(osdDisplayPort, gpsStartCol, armScreenRow, buf);
                 displayWrite(osdDisplayPort, gpsStartCol + strlen(buf) + 2, armScreenRow++, buf2);
-                
+
                 int digits = osdConfig()->plus_code_digits;
                 olc_encode(GPS_home.lat, GPS_home.lon, digits, buf, sizeof(buf));
                 displayWrite(osdDisplayPort, (osdDisplayPort->cols - strlen(buf)) / 2, armScreenRow++, buf);
@@ -4806,10 +4806,14 @@ static void osdRefresh(timeUs_t currentTimeUs)
             statsDisplayed = false;
             osdResetStats();
             osdShowArmed();
-            uint32_t delay = osdConfig()->arm_screen_display_time;
+            uint16_t delay = osdConfig()->arm_screen_display_time;
+            if (STATE(IN_FLIGHT_EMERG_REARM)) {
+                delay = 500;
+            }
 #if defined(USE_SAFE_HOME)
-            if (posControl.safehomeState.distance)
+            else if (posControl.safehomeState.distance) {
-                delay+= 3000;
+                delay += 3000;
+            }
 #endif
             osdSetNextRefreshIn(delay);
         } else {

src/main/msp/msp_protocol_v2_inav.h

@@ -97,3 +97,5 @@
 
 #define MSP2_INAV_EZ_TUNE                       0x2070
 #define MSP2_INAV_EZ_TUNE_SET                   0x2071
+
+#define MSP2_INAV_SELECT_MIXER_PROFILE          0x2080

src/main/navigation/navigation.c

@@ -62,6 +62,7 @@
 #include "sensors/acceleration.h"
 #include "sensors/boardalignment.h"
 #include "sensors/battery.h"
+#include "sensors/gyro.h"
 
 #include "programming/global_variables.h"
 
@@ -223,6 +224,7 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
 static navWapointHeading_t wpHeadingControl;
 navigationPosControl_t posControl;
 navSystemStatus_t NAV_Status;
+static bool landingDetectorIsActive;
 
 EXTENDED_FASTRAM multicopterPosXyCoefficients_t multicopterPosXyCoefficients;
 
@@ -2660,11 +2662,15 @@ bool findNearestSafeHome(void)
  *-----------------------------------------------------------*/
 void updateHomePosition(void)
 {
-    // Disarmed and have a valid position, constantly update home
+    // Disarmed and have a valid position, constantly update home before first arm (depending on setting)
+    // Update immediately after arming thereafter if reset on each arm (required to avoid home reset after emerg in flight rearm)
+    static bool setHome = false;
+    navSetWaypointFlags_t homeUpdateFlags = NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING;
+
     if (!ARMING_FLAG(ARMED)) {
         if (posControl.flags.estPosStatus >= EST_USABLE) {
             const navigationHomeFlags_t validHomeFlags = NAV_HOME_VALID_XY | NAV_HOME_VALID_Z;
-            bool setHome = (posControl.rthState.homeFlags & validHomeFlags) != validHomeFlags;
+            setHome = (posControl.rthState.homeFlags & validHomeFlags) != validHomeFlags;
             switch ((nav_reset_type_e)positionEstimationConfig()->reset_home_type) {
                 case NAV_RESET_NEVER:
                     break;
@@ -2675,24 +2681,16 @@ void updateHomePosition(void)
                     setHome = true;
                     break;
             }
-            if (setHome) {
-#if defined(USE_SAFE_HOME)
-                findNearestSafeHome();
-#endif
-                setHomePosition(&posControl.actualState.abs.pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, navigationActualStateHomeValidity());
-                // save the current location in case it is replaced by a safehome or HOME_RESET
-                posControl.rthState.originalHomePosition = posControl.rthState.homePosition.pos;
-            }
         }
     }
     else {
         static bool isHomeResetAllowed = false;
-
         // If pilot so desires he may reset home position to current position
         if (IS_RC_MODE_ACTIVE(BOXHOMERESET)) {
             if (isHomeResetAllowed && !FLIGHT_MODE(FAILSAFE_MODE) && !FLIGHT_MODE(NAV_RTH_MODE) && !FLIGHT_MODE(NAV_WP_MODE) && (posControl.flags.estPosStatus >= EST_USABLE)) {
-                const navSetWaypointFlags_t homeUpdateFlags = STATE(GPS_FIX_HOME) ? (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING) : (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
+                homeUpdateFlags = 0;
-                setHomePosition(&posControl.actualState.abs.pos, posControl.actualState.yaw, homeUpdateFlags, navigationActualStateHomeValidity());
+                homeUpdateFlags = STATE(GPS_FIX_HOME) ? (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_HEADING) : (NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
+                setHome = true;
                 isHomeResetAllowed = false;
             }
         }
@@ -2707,6 +2705,22 @@ void updateHomePosition(void)
             posControl.homeDirection = calculateBearingToDestination(tmpHomePos);
             updateHomePositionCompatibility();
         }
+
+        setHome &= !STATE(IN_FLIGHT_EMERG_REARM);   // prevent reset following emerg in flight rearm
+    }
+
+    if (setHome && (!ARMING_FLAG(WAS_EVER_ARMED) || ARMING_FLAG(ARMED))) {
+#if defined(USE_SAFE_HOME)
+        findNearestSafeHome();
+#endif
+        setHomePosition(&posControl.actualState.abs.pos, posControl.actualState.yaw, homeUpdateFlags, navigationActualStateHomeValidity());
+
+        if (ARMING_FLAG(ARMED) && positionEstimationConfig()->reset_altitude_type == NAV_RESET_ON_EACH_ARM) {
+            posControl.rthState.homePosition.pos.z = 0;     // force to 0 if reference altitude also reset every arm
+        }
+        // save the current location in case it is replaced by a safehome or HOME_RESET
+        posControl.rthState.originalHomePosition = posControl.rthState.homePosition.pos;
+        setHome = false;
     }
 }
 
@@ -2952,14 +2966,15 @@ void updateLandingStatus(timeMs_t currentTimeMs)
     }
     lastUpdateTimeMs = currentTimeMs;
 
-    static bool landingDetectorIsActive;
-
     DEBUG_SET(DEBUG_LANDING, 0, landingDetectorIsActive);
     DEBUG_SET(DEBUG_LANDING, 1, STATE(LANDING_DETECTED));
 
     if (!ARMING_FLAG(ARMED)) {
+        if (STATE(LANDING_DETECTED)) {
+            landingDetectorIsActive = false;
+        }
         resetLandingDetector();
-        landingDetectorIsActive = false;
+
         if (!IS_RC_MODE_ACTIVE(BOXARM)) {
             DISABLE_ARMING_FLAG(ARMING_DISABLED_LANDING_DETECTED);
         }
@@ -2996,11 +3011,28 @@ void resetLandingDetector(void)
     posControl.flags.resetLandingDetector = true;
 }
 
+void resetLandingDetectorActiveState(void)
+{
+    landingDetectorIsActive = false;
+}
+
 bool isFlightDetected(void)
 {
     return STATE(AIRPLANE) ? isFixedWingFlying() : isMulticopterFlying();
 }
 
+bool isProbablyStillFlying(void)
+{
+    bool inFlightSanityCheck;
+    if (STATE(MULTIROTOR)) {
+        inFlightSanityCheck = posControl.actualState.velXY > MC_LAND_CHECK_VEL_XY_MOVING || averageAbsGyroRates() > 4.0f;
+    } else {
+        inFlightSanityCheck = isGPSHeadingValid();
+    }
+
+    return landingDetectorIsActive && inFlightSanityCheck;
+}
+
 /*-----------------------------------------------------------
  * Z-position controller
  *-----------------------------------------------------------*/
@@ -3944,7 +3976,7 @@ static navigationFSMEvent_t selectNavEventFromBoxModeInput(void)
         canActivateWaypoint = false;
 
         // Launch mode can be activated if feature FW_LAUNCH is enabled or BOX is turned on prior to arming (avoid switching to LAUNCH in flight)
-        canActivateLaunchMode = isNavLaunchEnabled();
+        canActivateLaunchMode = isNavLaunchEnabled() && (!sensors(SENSOR_GPS) || (sensors(SENSOR_GPS) && !isGPSHeadingValid()));
     }
 
     return NAV_FSM_EVENT_SWITCH_TO_IDLE;

src/main/navigation/navigation.h

@@ -610,6 +610,8 @@ const char * fixedWingLaunchStateMessage(void);
 float calculateAverageSpeed(void);
 
 void updateLandingStatus(timeMs_t currentTimeMs);
+bool isProbablyStillFlying(void);
+void resetLandingDetectorActiveState(void);
 
 const navigationPIDControllers_t* getNavigationPIDControllers(void);
 

src/main/navigation/navigation_fixedwing.c

@@ -695,7 +695,7 @@ bool isFixedWingFlying(void)
     bool velCondition = posControl.actualState.velXY > 250.0f || airspeed > 250.0f;
     bool launchCondition = isNavLaunchEnabled() && fixedWingLaunchStatus() == FW_LAUNCH_FLYING;
 
-    return (isImuHeadingValid() && throttleCondition && velCondition) || launchCondition;
+    return (isGPSHeadingValid() && throttleCondition && velCondition) || launchCondition;
 }
 
 /*-----------------------------------------------------------

src/main/navigation/navigation_pos_estimator.c

@@ -54,6 +54,7 @@
 #include "sensors/opflow.h"
 
 navigationPosEstimator_t posEstimator;
+static float initialBaroAltitudeOffset = 0.0f;
 
 PG_REGISTER_WITH_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig, PG_POSITION_ESTIMATION_CONFIG, 5);
 
@@ -110,6 +111,25 @@ static bool updateTimer(navigationTimer_t * tim, timeUs_t interval, timeUs_t cur
 
 static bool shouldResetReferenceAltitude(void)
 {
+    /* Reference altitudes reset constantly when disarmed.
+     * On arming ref altitudes saved as backup in case of emerg in flight rearm
+     * If emerg in flight rearm active ref altitudes reset to backup values to avoid unwanted altitude reset */
+
+    static float backupInitialBaroAltitudeOffset = 0.0f;
+    static int32_t backupGpsOriginAltitude = 0;
+    static bool emergRearmResetCheck = false;
+
+    if (ARMING_FLAG(ARMED) && emergRearmResetCheck) {
+        if (STATE(IN_FLIGHT_EMERG_REARM)) {
+            initialBaroAltitudeOffset = backupInitialBaroAltitudeOffset;
+            posControl.gpsOrigin.alt = backupGpsOriginAltitude;
+        } else {
+            backupInitialBaroAltitudeOffset = initialBaroAltitudeOffset;
+            backupGpsOriginAltitude = posControl.gpsOrigin.alt;
+        }
+    }
+    emergRearmResetCheck = !ARMING_FLAG(ARMED);
+
     switch ((nav_reset_type_e)positionEstimationConfig()->reset_altitude_type) {
         case NAV_RESET_NEVER:
             return false;
@@ -305,7 +325,6 @@ void onNewGPSData(void)
  */
 void updatePositionEstimator_BaroTopic(timeUs_t currentTimeUs)
 {
-    static float initialBaroAltitudeOffset = 0.0f;
     float newBaroAlt = baroCalculateAltitude();
 
     /* If we are required - keep altitude at zero */

src/main/target/AIKONF4/target.h

@@ -86,14 +86,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             DEFAULT_I2C_BUS
-#define USE_MAG_AK8963
+#define USE_MAG_ALL
-#define USE_MAG_AK8975
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define RANGEFINDER_I2C_BUS     DEFAULT_I2C_BUS
 #define TEMPERATURE_I2C_BUS     DEFAULT_I2C_BUS

src/main/target/AIRBOTF4/target.h

@@ -41,14 +41,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_AK8963
-#define USE_MAG_AK8975
-#define USE_MAG_MAG3110
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_LIS3MDL
 
 #define USE_BARO
 #define BARO_I2C_BUS             BUS_I2C2
@@ -139,4 +132,4 @@
 #define TARGET_IO_PORTD         0xffff
 
 #define USE_DSHOT
-#define USE_ESC_SENSOR
+#define USE_ESC_SENSOR

src/main/target/AIRBOTF7/target.h

@@ -70,12 +70,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1

src/main/target/ALIENFLIGHTF4/target.h

@@ -46,13 +46,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_MPU9250
+#define USE_MAG_ALL
-#define USE_MAG_HMC5883
-#define USE_MAG_MAG3110
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 

src/main/target/ALIENFLIGHTNGF7/target.h

@@ -44,14 +44,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_AK8963
+#define USE_MAG_ALL
-#define USE_MAG_MPU9250
-#define USE_MAG_HMC5883
-#define USE_MAG_MAG3110
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_LIS3MDL
 
 #define AK8963_CS_PIN           PC15
 #define AK8963_SPI_BUS          BUS_SPI3

src/main/target/ANYFC/target.h

@@ -35,12 +35,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_MAG3110
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
 

src/main/target/ANYFCF7/target.h

@@ -35,12 +35,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
 

src/main/target/ANYFCM7/target.h

@@ -35,12 +35,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
 

src/main/target/AOCODARCF405AIO/target.h

@@ -98,13 +98,7 @@
 // Mag 
 #define USE_MAG
 #define MAG_I2C_BUS          BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
-#define USE_MAG_MLX90393
 
 /*** Onboard Flash ***/    
 #define USE_SPI_DEVICE_3

src/main/target/AOCODARCF4V2/target.h

@@ -60,13 +60,7 @@
 //*********** Magnetometer / Compass *************
 #define USE_MAG
 #define MAG_I2C_BUS                     DEFAULT_I2C_BUS
-
+#define USE_MAG_ALL
-#define USE_MAG_AK8975
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
 
 // ******* SERIAL ********
 #define USE_VCP

src/main/target/AOCODARCF722AIO/target.h

@@ -101,12 +101,7 @@
 // Mag   
 #define USE_MAG
 #define MAG_I2C_BUS          BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 /*** Onboard Flash ***/    
 #define USE_SPI_DEVICE_3

src/main/target/AOCODARCF7DUAL/target.h

@@ -67,13 +67,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define USE_MAG_AK8975
+#define USE_MAG_ALL
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
 

src/main/target/AOCODARCF7MINI/target.h

@@ -64,13 +64,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_AK8975
+#define USE_MAG_ALL
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 

src/main/target/AOCODARCH7DUAL/target.h

@@ -116,13 +116,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
-#define USE_MAG_VCM5883
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1

src/main/target/ASGARD32F7/target.h

@@ -42,11 +42,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
 

src/main/target/ATOMRCF405NAVI/target.h

@@ -74,12 +74,7 @@
  */
 #define USE_MAG
 #define MAG_I2C_BUS                     DEFAULT_I2C_BUS
-
+#define USE_MAG_ALL
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 /*
  * Barometer

src/main/target/AXISFLYINGF7PRO/target.h

@@ -134,11 +134,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define PITOT_I2C_BUS           BUS_I2C1
 

src/main/target/BEEROTORF4/target.h

@@ -37,14 +37,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_AK8963
-#define USE_MAG_AK8975
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 

src/main/target/BETAFLIGHTF4/target.h

@@ -112,14 +112,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define USE_MAG_AK8963
+#define USE_MAG_ALL
-#define USE_MAG_AK8975
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
 

src/main/target/BETAFPVF435/target.h

@@ -116,14 +116,12 @@
 #define MAX7456_CS_PIN          PA15
 #endif
 
-#if 0
 // I2C
 #define USE_I2C
 #define USE_I2C_DEVICE_2
 #define I2C2_SCL                PB10        // SCL pad
 #define I2C2_SDA                PB11        // SDA pad
 #define USE_I2C_PULLUP
-#endif
 
 #define USE_BARO
 #define BARO_I2C_BUS            BUS_I2C2
@@ -198,4 +196,4 @@
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 //#define USE_DSHOT
 //#define USE_ESC_SENSOR
-#define USE_ESCSERIAL
+#define USE_ESCSERIAL

src/main/target/BETAFPVF722/target.h

@@ -70,12 +70,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
 #define PITOT_I2C_BUS           BUS_I2C2

src/main/target/BLACKPILL_F411/target.h

@@ -113,13 +113,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
-#define USE_MAG_AK8975
 
 #define PITOT_I2C_BUS           BUS_I2C1
 #define TEMPERATURE_I2C_BUS     BUS_I2C1

src/main/target/BLUEJAYF4/target.h

@@ -41,12 +41,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 

src/main/target/COLIBRI/target.h

@@ -42,12 +42,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C3
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C3
 

src/main/target/DALRCF405/target.h

@@ -82,13 +82,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             DEFAULT_I2C_BUS
-#define USE_MAG_AK8963
+#define USE_MAG_ALL
-#define USE_MAG_AK8975
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 

src/main/target/DALRCF722DUAL/target.h

@@ -63,19 +63,12 @@
 
 #define USE_BARO
 #define BARO_I2C_BUS            BUS_I2C1
-#define USE_BARO_BMP280
+#define USE_BARO_ALL
-#define USE_BARO_MS5611
-#define USE_BARO_BMP085
 
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1

src/main/target/F4BY/target.h

@@ -41,12 +41,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
 

src/main/target/FIREWORKSV2/target.h

@@ -87,11 +87,7 @@
 #else
 #define MAG_I2C_BUS             BUS_I2C2
 #endif
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #if defined(OMNIBUSF4V6)
 #define TEMPERATURE_I2C_BUS     BUS_I2C1

src/main/target/FISHDRONEF4/target.h

@@ -47,13 +47,7 @@
 // *************** Compass *****************************
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_MPU9250
+#define USE_MAG_ALL
-#define USE_MAG_MAG3110
-#define USE_MAG_HMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_QMC5883
-#define USE_MAG_LIS3MDL
 
 // *************** Temperature sensor *****************
 #define TEMPERATURE_I2C_BUS     BUS_I2C1

src/main/target/FLYCOLORF7MINI/target.h

@@ -58,13 +58,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define USE_MAG_AK8975
+#define USE_MAG_ALL
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
 #define PITOT_I2C_BUS           BUS_I2C2

src/main/target/FLYWOOF405PRO/target.h

@@ -68,13 +68,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_AK8963
+#define USE_MAG_ALL
-#define USE_MAG_AK8975
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define USE_RANGEFINDER
 #define USE_RANGEFINDER_HCSR04_I2C

src/main/target/FLYWOOF411/target.h

@@ -70,12 +70,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 // *************** SPI OSD *****************************
 #define USE_MAX7456

src/main/target/FLYWOOF745/target.h

@@ -143,12 +143,7 @@
 #define BARO_I2C_BUS            BUS_I2C1
 
 #define USE_MAG
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_MAG3110
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_LIS3MDL
 
 #define USE_ADC
 #define ADC_CHANNEL_1_PIN           PC2

src/main/target/FLYWOOF7DUAL/target.h

@@ -109,11 +109,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 /*** ADC ***/
 #define USE_ADC

src/main/target/FOXEERF405/target.h

@@ -104,11 +104,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 /*** ADC ***/
 #define USE_ADC

src/main/target/FOXEERF722DUAL/target.h

@@ -112,11 +112,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 /*** ADC ***/
 #define USE_ADC

src/main/target/FOXEERF722V4/target.h

@@ -124,11 +124,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define BNO055_I2C_BUS          BUS_I2C1
 

src/main/target/FOXEERF745AIO/target.h

@@ -112,8 +112,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
 
 /*** ADC ***/
 #define USE_ADC

src/main/target/FOXEERH743/target.h

@@ -83,13 +83,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
-#define USE_MAG_VCM5883
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1
@@ -162,4 +156,4 @@
 
 #define MAX_PWM_OUTPUT_PORTS 8
 #define USE_DSHOT
-#define USE_ESC_SENSOR
+#define USE_ESC_SENSOR

src/main/target/FRSKYPILOT/target.h

@@ -103,12 +103,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C3
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C3
 #define PITOT_I2C_BUS           BUS_I2C3

src/main/target/FRSKY_ROVERF7/target.h

@@ -53,12 +53,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1

src/main/target/FURYF4OSD/target.h

@@ -119,14 +119,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS                 DEFAULT_I2C_BUS
-#define USE_MAG_AK8963
+#define USE_MAG_ALL
-#define USE_MAG_AK8975
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS         DEFAULT_I2C_BUS
 

src/main/target/GEPRCF405/target.h

@@ -70,12 +70,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 

src/main/target/GEPRCF722/target.h

@@ -67,12 +67,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 

src/main/target/GEPRCF722_BT_HD/target.h

@@ -65,12 +65,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
 

src/main/target/GEPRC_F722_AIO/target.h

@@ -65,12 +65,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
 

src/main/target/HAKRCF405D/target.h

@@ -127,11 +127,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 /*** ADC ***/
 #define USE_ADC

src/main/target/HAKRCF405V2/target.h

@@ -134,11 +134,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 /*** ADC ***/
 #define USE_ADC

src/main/target/HAKRCF411D/target.h

@@ -113,11 +113,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define PITOT_I2C_BUS           BUS_I2C1
 

src/main/target/HAKRCF722V2/target.h

@@ -137,11 +137,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define PITOT_I2C_BUS           BUS_I2C1
 

src/main/target/HAKRCKD722/target.h

@@ -102,12 +102,7 @@
 // Mag
 #define USE_MAG
 #define MAG_I2C_BUS          BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 /*** Onboard Flash ***/
 #define USE_SPI_DEVICE_3

src/main/target/HGLRCF722/target.h

@@ -72,13 +72,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_AK8975
+#define USE_MAG_ALL
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1

src/main/target/IFLIGHTF4_SUCCEXD/target.h

@@ -97,13 +97,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
-#define USE_MAG_AK8975
 
 #define PITOT_I2C_BUS           BUS_I2C1
 #define TEMPERATURE_I2C_BUS     BUS_I2C1

src/main/target/IFLIGHTF4_TWING/target.h

@@ -59,12 +59,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 

src/main/target/IFLIGHTF7_TWING/target.h

@@ -56,17 +56,12 @@
 
 #define USE_BARO
 #define BARO_I2C_BUS            BUS_I2C2
-#define USE_BARO_BMP280
+#define USE_BARO_ALL
-#define USE_BARO_DPS310
+
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
 

src/main/target/IFLIGHT_BLITZ_F722/target.h

@@ -56,13 +56,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_AK8975
+#define USE_MAG_ALL
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 

src/main/target/IFLIGHT_BLITZ_F7_AIO/target.h

@@ -85,12 +85,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1

src/main/target/IFLIGHT_BLITZ_F7_PRO/target.h

@@ -62,12 +62,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
 #define PITOT_I2C_BUS           BUS_I2C2

src/main/target/IFLIGHT_H743_AIO_V2/target.h

@@ -66,13 +66,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define USE_MAG_AK8975
+#define USE_MAG_ALL
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
 #define PITOT_I2C_BUS           BUS_I2C2

src/main/target/IFLIGHT_JBF7PRO/target.h

@@ -59,12 +59,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1

src/main/target/JHEH7AIO/target.h

@@ -55,13 +55,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_AK8975
+#define USE_MAG_ALL
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1
@@ -166,4 +160,4 @@
 
 #define MAX_PWM_OUTPUT_PORTS        4
 #define USE_DSHOT
-#define USE_ESC_SENSOR
+#define USE_ESC_SENSOR

src/main/target/KAKUTEF4/target.h

@@ -62,12 +62,7 @@
 
 #   define USE_MAG
 #   define MAG_I2C_BUS             BUS_I2C1
-#   define USE_MAG_HMC5883
+#   define USE_MAG_ALL
-#   define USE_MAG_QMC5883
-#   define USE_MAG_MAG3110
-#   define USE_MAG_IST8310
-#   define USE_MAG_IST8308
-#   define USE_MAG_LIS3MDL
 
 #   define TEMPERATURE_I2C_BUS     BUS_I2C1
 

src/main/target/KAKUTEF7/target.h

@@ -135,13 +135,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_MAG3110
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_LIS3MDL
-#define USE_MAG_MLX90393
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 

src/main/target/KAKUTEF7MINIV3/target.h

@@ -116,11 +116,7 @@
  */
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 /*
  * ADC

src/main/target/KAKUTEH7/target.h

@@ -132,13 +132,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
-#define USE_MAG_VCM5883
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1

src/main/target/KAKUTEH7WING/target.h

@@ -107,13 +107,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
-#define USE_MAG_VCM5883
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1

src/main/target/KROOZX/target.h

@@ -36,12 +36,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 

src/main/target/MAMBAF405US/target.h

@@ -74,14 +74,7 @@
 //*********** Magnetometer / Compass *************
 #define USE_MAG
 #define MAG_I2C_BUS                     DEFAULT_I2C_BUS
-
+#define USE_MAG_ALL
-#define USE_MAG_AK8975
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 // ******* SERIAL ********
 #define USE_VCP

src/main/target/MAMBAF405_2022A/target.h

@@ -83,14 +83,7 @@
 //*********** Magnetometer / Compass *************
 #define USE_MAG
 #define MAG_I2C_BUS                     DEFAULT_I2C_BUS
-
+#define USE_MAG_ALL
-#define USE_MAG_AK8975
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 // ******* SERIAL ********
 #define USE_VCP
@@ -200,4 +193,4 @@
 #define USE_PINIO
 #define USE_PINIOBOX
 #define PINIO1_PIN                      PC2
-#define PINIO2_PIN                      PC5
+#define PINIO2_PIN                      PC5

src/main/target/MAMBAF722/target.h

@@ -74,12 +74,7 @@
 //*********** Magnetometer / Compass *************
 #define USE_MAG
 #define MAG_I2C_BUS                     DEFAULT_I2C_BUS
-
+#define USE_MAG_ALL
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 // ******* SERIAL ********
 #define USE_VCP

src/main/target/MAMBAF722_2022A/target.h

@@ -86,11 +86,7 @@
 #define USE_MAG
 #define MAG_I2C_BUS                     DEFAULT_I2C_BUS
 
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 // ******* SERIAL ********
 #define USE_VCP
@@ -197,4 +193,4 @@
 #define USE_PINIO
 #define USE_PINIOBOX
 #define PINIO1_PIN                  PC0   // VTX power switcher
-#define PINIO2_PIN                  PC2   // WiFi Switcher
+#define PINIO2_PIN                  PC2   // WiFi Switcher

src/main/target/MAMBAF722_WING/target.h

@@ -55,12 +55,7 @@
 //*********** Magnetometer / Compass *************
 #define USE_MAG
 #define MAG_I2C_BUS                     DEFAULT_I2C_BUS
-
+#define USE_MAG_ALL
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 // ******* SERIAL ********
 #define USE_VCP
@@ -168,4 +163,4 @@
 #define USE_PINIO
 #define USE_PINIOBOX
 #define PINIO1_PIN                  PC0
-#define PINIO2_PIN                  PC2
+#define PINIO2_PIN                  PC2

src/main/target/MAMBAF722_X8/target.h

@@ -53,12 +53,7 @@
 //*********** Magnetometer / Compass *************
 #define USE_MAG
 #define MAG_I2C_BUS                     DEFAULT_I2C_BUS
-
+#define USE_MAG_ALL
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 // ******* SERIAL ********
 #define USE_VCP

src/main/target/MAMBAH743/target.h

@@ -124,13 +124,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
-#define USE_MAG_VCM5883
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1
@@ -238,4 +232,4 @@
 
 #define MAX_PWM_OUTPUT_PORTS 8
 #define USE_DSHOT
-#define USE_ESC_SENSOR
+#define USE_ESC_SENSOR

src/main/target/MATEKF405/target.h

@@ -147,14 +147,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS                 DEFAULT_I2C_BUS
-#define USE_MAG_AK8963
+#define USE_MAG_ALL
-#define USE_MAG_AK8975
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS         DEFAULT_I2C_BUS
 

src/main/target/MATEKF405CAN/target.h

@@ -55,13 +55,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define USE_MAG_AK8963
+#define USE_MAG_ALL
-#define USE_MAG_AK8975
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define USE_RANGEFINDER
 #define RANGEFINDER_I2C_BUS     BUS_I2C2

src/main/target/MATEKF405SE/target.h

@@ -68,13 +68,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define USE_MAG_AK8963
+#define USE_MAG_ALL
-#define USE_MAG_AK8975
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define USE_RANGEFINDER
 #define USE_RANGEFINDER_US42

src/main/target/MATEKF405TE/target.h

@@ -92,12 +92,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define USE_RANGEFINDER
 #define RANGEFINDER_I2C_BUS     BUS_I2C1

src/main/target/MATEKF411/target.h

@@ -120,11 +120,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define PITOT_I2C_BUS           BUS_I2C1
 

src/main/target/MATEKF411SE/target.h

@@ -103,13 +103,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
-#define USE_MAG_AK8975
 
 #define PITOT_I2C_BUS           BUS_I2C1
 #define TEMPERATURE_I2C_BUS     BUS_I2C1

src/main/target/MATEKF411TE/target.h

@@ -88,13 +88,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
-#define USE_MAG_AK8975
 
 #define PITOT_I2C_BUS           BUS_I2C1
 #define TEMPERATURE_I2C_BUS     BUS_I2C1

src/main/target/MATEKF722/target.h

@@ -56,12 +56,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 
@@ -152,4 +147,4 @@
 
 #define MAX_PWM_OUTPUT_PORTS        7
 #define USE_DSHOT
-#define USE_ESC_SENSOR
+#define USE_ESC_SENSOR

src/main/target/MATEKF722PX/target.h

@@ -54,13 +54,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_AK8975
+#define USE_MAG_ALL
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 #define PITOT_I2C_BUS           BUS_I2C1

src/main/target/MATEKF722SE/target.h

@@ -68,13 +68,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_AK8975
+#define USE_MAG_ALL
-#define USE_MAG_HMC5883
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C1
 

src/main/target/MATEKF765/target.h

@@ -87,12 +87,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
 #define PITOT_I2C_BUS           BUS_I2C2

src/main/target/MATEKH743/target.h

@@ -115,12 +115,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C1
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
-#define USE_MAG_IST8310
-#define USE_MAG_IST8308
-#define USE_MAG_MAG3110
-#define USE_MAG_LIS3MDL
 
 #define TEMPERATURE_I2C_BUS     BUS_I2C2
 #define PITOT_I2C_BUS           BUS_I2C2

src/main/target/NEUTRONRCF435MINI/target.h

@@ -95,8 +95,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
 #define DEFAULT_I2C_BUS         BUS_I2C2
 
 // temperature sensors

src/main/target/NEUTRONRCF435SE/target.h

@@ -93,8 +93,7 @@
 
 #define USE_MAG
 #define MAG_I2C_BUS             BUS_I2C2
-#define USE_MAG_HMC5883
+#define USE_MAG_ALL
-#define USE_MAG_QMC5883
 #define DEFAULT_I2C_BUS         BUS_I2C2
 
 // temperature sensors
@@ -196,4 +195,4 @@
 
 #define MAX_PWM_OUTPUT_PORTS        8
 #define USE_DSHOT
-#define USE_ESC_SENSOR
+#define USE_ESC_SENSOR