Merge pull request #8186 from iNavFlight/release_5.1.0

INAV 5.1.0 Release branch

docs/Cli.md

@@ -57,6 +57,9 @@ To perform the restore simply paste the saved commands in the Configurator CLI t
 
 After restoring it's always a good idea to `dump` or `diff` the settings once again and compare the output with previous one to verify if everything is set as it should be.
 
+## Flight Controller opereration while connected to the CLI
+
+While connected to the CLI, all Logical Switches are temporarily disabled (5.1.0 onwards).
 
 ## CLI Command Reference
 

docs/boards/MatekF405 Wing.md

@@ -18,6 +18,11 @@
 * SBUS pin is connected to UART2
 * SmartPort telemetry can be setup with `SoftwareSerial` feature turned on, SmartPort configured in SoftwareSerial1 and receiver connected to UART2 TX pad
 
+### Alternate targets
+
+#### MATEKF045SE_PINIO
+`MATEKF045SE_PINIO` replaces UART 6 (TX) with a pad that can be used for PINIO
+
 ## Where to buy:
 
 * [Banggood](https://inavflight.com/shop/p/MATEKF405WING)

src/main/fc/cli.c

@@ -3639,7 +3639,7 @@ static void printConfig(const char *cmdline, bool doDiff)
         printMotorMix(dumpMask, primaryMotorMixer_CopyArray, primaryMotorMixer(0));
 
         // print custom servo mixer if exists
-        cliPrintHashLine("servo mix");
+        cliPrintHashLine("servo mixer");
         cliDumpPrintLinef(dumpMask, customServoMixers_CopyArray[0].rate == 0, "smix reset\r\n");
         printServoMix(dumpMask, customServoMixers_CopyArray, customServoMixers(0));
 
@@ -3651,16 +3651,6 @@ static void printConfig(const char *cmdline, bool doDiff)
         cliPrintHashLine("safehome");
         printSafeHomes(dumpMask, safeHomeConfig_CopyArray, safeHomeConfig(0));
 #endif
-#ifdef USE_PROGRAMMING_FRAMEWORK
-        cliPrintHashLine("logic");
-        printLogic(dumpMask, logicConditions_CopyArray, logicConditions(0));
-
-        cliPrintHashLine("gvar");
-        printGvar(dumpMask, globalVariableConfigs_CopyArray, globalVariableConfigs(0));
-
-        cliPrintHashLine("pid");
-        printPid(dumpMask, programmingPids_CopyArray, programmingPids(0));
-#endif
 
         cliPrintHashLine("feature");
         printFeature(dumpMask, &featureConfig_Copy, featureConfig());
@@ -3716,6 +3706,17 @@ static void printConfig(const char *cmdline, bool doDiff)
         printOsdLayout(dumpMask, &osdLayoutsConfig_Copy, osdLayoutsConfig(), -1, -1);
 #endif
 
+#ifdef USE_PROGRAMMING_FRAMEWORK
+        cliPrintHashLine("logic");
+        printLogic(dumpMask, logicConditions_CopyArray, logicConditions(0));
+
+        cliPrintHashLine("global vars");
+        printGvar(dumpMask, globalVariableConfigs_CopyArray, globalVariableConfigs(0));
+
+        cliPrintHashLine("programmable pid controllers");
+        printPid(dumpMask, programmingPids_CopyArray, programmingPids(0));
+#endif
+
         cliPrintHashLine("master");
         dumpAllValues(MASTER_VALUE, dumpMask);
 
@@ -3736,7 +3737,6 @@ static void printConfig(const char *cmdline, bool doDiff)
             cliPrintLinef("profile %d", currentProfileIndexSave + 1);
             cliPrintLinef("battery_profile %d", currentBatteryProfileIndexSave + 1);
 
-            cliPrintHashLine("save configuration\r\nsave");
 #ifdef USE_CLI_BATCH
             batchModeEnabled = false;
 #endif
@@ -3755,6 +3755,10 @@ static void printConfig(const char *cmdline, bool doDiff)
         cliDumpBatteryProfile(getConfigBatteryProfile(), dumpMask);
     }
 
+    if ((dumpMask & DUMP_MASTER) || (dumpMask & DUMP_ALL)) {
+        cliPrintHashLine("save configuration\r\nsave");
+    }
+
 #ifdef USE_CLI_BATCH
     if (batchModeEnabled) {
         cliPrintHashLine("end the command batch");

src/main/navigation/navigation.c

@@ -201,8 +201,6 @@ PG_RESET_TEMPLATE(navConfig_t, navConfig,
         .launch_max_altitude = SETTING_NAV_FW_LAUNCH_MAX_ALTITUDE_DEFAULT,      // cm, altitude where to consider launch ended
         .launch_climb_angle = SETTING_NAV_FW_LAUNCH_CLIMB_ANGLE_DEFAULT,        // 18 degrees
         .launch_max_angle = SETTING_NAV_FW_LAUNCH_MAX_ANGLE_DEFAULT,            // 45 deg
-        .launch_manual_throttle = SETTING_NAV_FW_LAUNCH_MANUAL_THROTTLE_DEFAULT,// OFF
-        .launch_abort_deadband = SETTING_NAV_FW_LAUNCH_ABORT_DEADBAND_DEFAULT,  // 100 us
         .cruise_yaw_rate  = SETTING_NAV_FW_CRUISE_YAW_RATE_DEFAULT,             // 20dps
         .allow_manual_thr_increase = SETTING_NAV_FW_ALLOW_MANUAL_THR_INCREASE_DEFAULT,
         .useFwNavYawControl = SETTING_NAV_USE_FW_YAW_CONTROL_DEFAULT,

src/main/programming/logic_condition.c

@@ -35,6 +35,7 @@
 #include "rx/rx.h"
 #include "common/maths.h"
 #include "fc/config.h"
+#include "fc/cli.h"
 #include "fc/fc_core.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"
@@ -411,7 +412,7 @@ void logicConditionProcess(uint8_t i) {
 
     const int activatorValue = logicConditionGetValue(logicConditions(i)->activatorId);
 
-    if (logicConditions(i)->enabled && activatorValue) {
+    if (logicConditions(i)->enabled && activatorValue && !cliMode) {
         
         /*
          * Process condition only when latch flag is not set

src/main/sensors/esc_sensor.h

@@ -26,7 +26,7 @@
 
 typedef struct {
     uint8_t dataAge;
-    int8_t temperature;
+    int16_t temperature;
     int16_t voltage;
     int32_t current;
     uint32_t rpm;

src/main/target/ATOMRCF405NAVI/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32f405xg(ATOMRCF405NAVI)

src/main/target/ATOMRCF405NAVI/target.c

@@ -0,0 +1,49 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM8, CH3,  PC8,    TIM_USE_MC_MOTOR |                    TIM_USE_FW_MOTOR,    0, 0), // S1
+    DEF_TIM(TIM8, CH4,  PC9,    TIM_USE_MC_MOTOR |                    TIM_USE_FW_MOTOR,    0, 0), // S2
+    DEF_TIM(TIM1, CH1,  PA8,    TIM_USE_MC_MOTOR |                    TIM_USE_FW_SERVO,    0, 0), // S3
+    DEF_TIM(TIM1, CH3N, PB1,    TIM_USE_MC_MOTOR |                    TIM_USE_FW_SERVO,    0, 0), // S4
+    DEF_TIM(TIM2, CH1,  PA15,   TIM_USE_MC_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_SERVO,    0, 0), // S5
+    DEF_TIM(TIM2, CH3,  PB10,   TIM_USE_MC_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_SERVO,    0, 0), // S6
+    DEF_TIM(TIM2, CH4,  PB11,   TIM_USE_MC_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_SERVO,    0, 0), // S7
+    DEF_TIM(TIM3, CH3,  PB0,    TIM_USE_MC_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_SERVO,    0, 0), // S8
+
+    DEF_TIM(TIM4, CH2,  PB7,    TIM_USE_LED,                                               0, 0), // LED_STRIP
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/ATOMRCF405NAVI/target.h

@@ -0,0 +1,197 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#pragma once
+#define TARGET_BOARD_IDENTIFIER "ATF4"
+
+#define USBD_PRODUCT_STRING "AtomRCF405NAVI"
+
+#define LED0                    PA13
+#define LED1                    PA14
+
+#define BEEPER                  PC5
+#define BEEPER_INVERTED
+
+/*
+ * SPI defines
+ */
+#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            PB3
+#define SPI3_MISO_PIN           PB4
+#define SPI3_MOSI_PIN           PB5
+
+/*
+ * I2C defines
+ */
+#define USE_I2C
+#define DEFAULT_I2C_BUS         BUS_I2C1
+
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+/*
+ * Gyroscope
+ */
+#define USE_EXTI
+#define GYRO_INT_EXTI                   PC4
+#define USE_MPU_DATA_READY_SIGNAL
+
+//BMI270
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN                CW180_DEG
+#define BMI270_SPI_BUS                  BUS_SPI1
+#define BMI270_CS_PIN                   PA4
+#define BMI270_EXTI_PIN                 GYRO_INT_EXTI
+
+/*
+ * Magnetometer
+ */
+#define USE_MAG
+#define MAG_I2C_BUS                     DEFAULT_I2C_BUS
+
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+
+/*
+ * Barometer
+ */
+#define USE_BARO
+#define BARO_I2C_BUS                    DEFAULT_I2C_BUS
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_BMP085
+#define USE_BARO_DPS310
+#define USE_BARO_SPL06
+
+/*
+ * Serial ports
+ */
+#define USE_VCP
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define USE_UART4
+#define USE_UART5
+#define USE_UART6
+
+#define UART1_TX_PIN                    PA9
+#define UART1_RX_PIN                    PA10
+
+#define UART2_TX_PIN                    PA2
+#define UART2_RX_PIN                    PA3
+
+#define UART3_TX_PIN                    PC10
+#define UART3_RX_PIN                    PC11
+
+#define UART4_TX_PIN                    PA0
+#define UART4_RX_PIN                    PA1
+
+#define UART5_TX_PIN                    PC12
+#define UART5_RX_PIN                    PD2
+
+#define UART6_TX_PIN                    PC6
+#define UART6_RX_PIN                    PC7
+
+#define SERIAL_PORT_COUNT               7
+
+/*
+ * 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           PC2
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_3
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_1
+
+/*
+ * OSD
+ */
+#define USE_MAX7456
+#define MAX7456_SPI_BUS                 BUS_SPI2
+#define MAX7456_CS_PIN                  PB12
+
+/*
+ * SD Card
+ */
+#define USE_SDCARD
+#define USE_SDCARD_SPI
+#define SDCARD_SPI_BUS          BUS_SPI3
+#define SDCARD_CS_PIN           PB6
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+/*
+ * LED Strip
+ */
+#define USE_LED_STRIP
+#define WS2811_PIN                      PB7
+
+/*
+ * Other configs
+ */
+#define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX | FEATURE_TELEMETRY | FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT )
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+#define USE_RANGEFINDER
+#define USE_RANGEFINDER_MSP
+#define USE_OPFLOW
+#define USE_OPFLOW_MSP
+
+#define RANGEFINDER_I2C_BUS         DEFAULT_I2C_BUS
+#define TEMPERATURE_I2C_BUS         DEFAULT_I2C_BUS
+#define PITOT_I2C_BUS               DEFAULT_I2C_BUS
+
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define MAX_PWM_OUTPUT_PORTS    8
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD (BIT(2))

src/main/target/IFLIGHT_BLITZ_F7_PRO/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32f722xe(IFLIGHT_BLITZ_F7_PRO)

src/main/target/IFLIGHT_BLITZ_F7_PRO/target.c

@@ -0,0 +1,47 @@
+/*
+* This file is part of INAV Project.
+*
+* INAV Project 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 Project 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 Project.  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, MPU6000_EXTI_PIN, 0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270, DEVHW_BMI270, BMI270_SPI_BUS, BMI270_CS_PIN, BMI270_EXTI_PIN, 0, DEVFLAGS_NONE, IMU_BMI270_ALIGN);
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM,   0, 0),  // PPM
+
+    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1),  // S1
+    DEF_TIM(TIM3, CH1, PC6,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),  // S2
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S3
+	DEF_TIM(TIM3, CH2, PC7,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S4
+    DEF_TIM(TIM4, CH1, PB6,  TIM_USE_MC_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),  // S5
+	DEF_TIM(TIM4, CH2, PB7,  TIM_USE_MC_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),  // S6
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S7
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S8
+
+    DEF_TIM(TIM2, CH2, PA1,  TIM_USE_LED, 0, 0),  // LED
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/IFLIGHT_BLITZ_F7_PRO/target.h

@@ -0,0 +1,157 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * INAV Project 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 Project 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 Project.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "IFBLITZF7PRO"
+
+#define USBD_PRODUCT_STRING     "IFLIGHT_BLITZ_F7_PRO"
+
+#define LED0                    PC4
+
+#define BEEPER                  PC15
+#define BEEPER_INVERTED
+
+// *************** IMU generic ***********************
+#define USE_DUAL_GYRO
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
+
+#define USE_EXTI
+#define USE_MPU_DATA_READY_SIGNAL
+
+// *************** Gyro & ACC **********************
+#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       CW270_DEG
+#define MPU6000_SPI_BUS         BUS_SPI1
+#define MPU6000_CS_PIN          PA15
+#define MPU6000_EXTI_PIN        PA8
+
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN        CW0_DEG_FLIP
+#define BMI270_SPI_BUS          BUS_SPI1
+#define BMI270_CS_PIN           PA15
+#define BMI270_EXTI_PIN         PA8
+
+// *************** I2C/Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_2
+#define I2C2_SCL                PB10        // SCL pad
+#define I2C2_SDA                PB11        // SDA pad
+
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C2
+#define USE_BARO_BMP280
+#define USE_BARO_DPS310
+
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C2
+#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
+
+// *************** SD Card **************************
+#define USE_SDCARD
+#define USE_SDCARD_SPI
+#define SDCARD_SPI_BUS          BUS_SPI3
+#define SDCARD_CS_PIN           PB9
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN   	    PB4
+#define SPI3_MOSI_PIN   	    PB5
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+// *************** 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
+
+// *************** UART *****************************
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+
+#define USE_UART2
+#define UART2_RX_PIN            PA3
+#define UART2_TX_PIN            PA2
+
+#define USE_UART4
+#define UART4_RX_PIN            PC11
+#define UART4_TX_PIN            PC10
+
+#define USE_UART5
+#define UART5_RX_PIN            PD2
+#define UART5_TX_PIN            PC12
+
+#define SERIAL_PORT_COUNT       5
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_CRSF
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_Stream0
+#define ADC_CHANNEL_1_PIN           PC1
+#define ADC_CHANNEL_2_PIN           PC2
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define CURRENT_METER_SCALE         65
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS         BUS_I2C2
+
+#define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD)
+
+#define USE_LED_STRIP
+#define WS2811_PIN              PA1  // TIM2_CH2
+
+#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
+
+#define BNO055_I2C_BUS          BUS_I2C2

src/main/target/IFLIGHT_JBF7PRO/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32f722xe(IFLIGHT_JBF7PRO)

src/main/target/IFLIGHT_JBF7PRO/config.c

@@ -0,0 +1,29 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * INAV Project 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 Project 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 Project.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+}

src/main/target/IFLIGHT_JBF7PRO/target.c

@@ -0,0 +1,42 @@
+/*
+* This file is part of INAV Project.
+*
+* INAV Project 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 Project 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 Project.  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"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM9, CH2, PA3,  TIM_USE_PPM,   0, 0),  // PPM
+
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),  // S1
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),  // S2
+    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S3
+	DEF_TIM(TIM8, CH4, PC9,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S4
+    DEF_TIM(TIM4, CH1, PB6,  TIM_USE_MC_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),  // S5
+	DEF_TIM(TIM4, CH2, PB7,  TIM_USE_MC_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),  // S6
+    DEF_TIM(TIM2, CH3, PB10, TIM_USE_MC_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 0),  // S7
+    DEF_TIM(TIM2, CH4, PB11, TIM_USE_MC_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 1),  // S8
+
+    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_LED, 0, 0),  // LED
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/IFLIGHT_JBF7PRO/target.h

@@ -0,0 +1,169 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * INAV Project 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 Project 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 Project.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "IFJBF7"
+
+#define USBD_PRODUCT_STRING     "IFLIGHT_JBF7PRO"
+
+#define LED0                    PC15
+
+
+#define BEEPER                  PC13
+#define BEEPER_INVERTED
+
+// *************** IMU generic ***********************
+#define USE_EXTI
+#define USE_MPU_DATA_READY_SIGNAL
+
+// *************** Gyro & ACC **********************
+#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       CW0_DEG
+#define MPU6000_SPI_BUS         BUS_SPI1
+#define MPU6000_CS_PIN          PA4
+#define MPU6000_EXTI_PIN        PC4
+
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN        CW0_DEG
+#define BMI270_SPI_BUS          BUS_SPI1
+#define BMI270_CS_PIN           PA4
+#define BMI270_EXTI_PIN         PC4
+
+// *************** I2C/Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8        // SCL pad
+#define I2C1_SDA                PB9        // SDA pad
+
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_DPS310
+
+
+#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 USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+#define PITOT_I2C_BUS           BUS_I2C1
+
+// *************** SD Card **************************
+#define USE_SDCARD
+#define USE_SDCARD_SPI
+#define SDCARD_SPI_BUS          BUS_SPI3
+#define SDCARD_CS_PIN           PA15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN   	    PB4
+#define SPI3_MOSI_PIN   	    PB5
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+// *************** OSD *****************************
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PC3
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI2
+#define MAX7456_CS_PIN          PB12
+
+// *************** PINIO ***************************
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN              PC0
+
+// *************** UART *****************************
+#define USE_VCP
+#define VBUS_SENSING_PIN        PB2
+#define VBUS_SENSING_ENABLED
+
+#define USE_UART1
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+
+#define USE_UART2
+#define UART2_RX_PIN            PA3
+#define UART2_TX_PIN            PA2
+
+#define USE_UART3
+#define UART3_RX_PIN            PC11
+#define UART3_TX_PIN            PC10
+
+#define USE_UART4
+#define UART4_RX_PIN            PA1
+#define UART4_TX_PIN            PA0
+
+#define USE_UART5
+#define UART5_RX_PIN            PD2
+#define UART5_TX_PIN            PC12
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            NONE
+
+#define SERIAL_PORT_COUNT       7
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART2
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_Stream0
+#define ADC_CHANNEL_1_PIN           PC2
+#define ADC_CHANNEL_2_PIN           PC1
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS         BUS_I2C1
+
+#define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD)
+
+#define USE_LED_STRIP
+#define WS2811_PIN              PA8  // TIM2_CH1
+
+#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
+
+#define BNO055_I2C_BUS          BUS_I2C1

src/main/target/MATEKF405SE/CMakeLists.txt

@@ -1 +1,2 @@
 target_stm32f405xg(MATEKF405SE)
+target_stm32f405xg(MATEKF405SE_PINIO)

src/main/target/MATEKF405SE/README.md

@@ -13,4 +13,7 @@
 * 1x Softserial
 * 2x I2C
 * 2x Motors & 7x Servos
-* 4x BEC + current sensor
+* 4x BEC + current sensor
+
+### MATEKF405SE_PINIO
+Replaces UART 6 Tx with USER 1 for PINIO

src/main/target/MATEKF405SE/config.c

@@ -17,16 +17,25 @@
 
 #include <stdint.h>
 #include <platform.h>
+
 #include "config/config_master.h"
 #include "config/feature.h"
+
 #include "flight/mixer.h"
+
 #include "io/serial.h"
+
 #include "telemetry/telemetry.h"
+#include "fc/fc_msp_box.h"
+#include "io/piniobox.h"
 
 // alternative defaults settings for MATEKF405SE targets
 void targetConfiguration(void)
-{
+{  
-    
+#ifdef MATEKF405SE_PINIO
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+#endif
+
     serialConfigMutable()->portConfigs[1].functionMask = FUNCTION_MSP;
     serialConfigMutable()->portConfigs[1].msp_baudrateIndex = BAUD_57600;
 

src/main/target/MATEKF405SE/target.h

@@ -20,8 +20,11 @@
 #define TARGET_BOARD_IDENTIFIER "MF4S"
 #define USBD_PRODUCT_STRING  "Matek_F405SE"
 
+// ******** Board LEDs  **********************
 #define LED0                    PA14  //Blue
 #define LED1                    PA13  //Green
+
+// ******* Beeper ***********
 #define BEEPER                  PC15
 #define BEEPER_INVERTED
 
@@ -33,6 +36,7 @@
 #define SPI1_MISO_PIN   	    PA6
 #define SPI1_MOSI_PIN   	    PA7
 
+// MPU6000
 #define USE_IMU_MPU6000
 #define IMU_MPU6000_ALIGN       CW270_DEG
 #define MPU6000_CS_PIN          PA4
@@ -43,7 +47,7 @@
 #define USE_MPU_DATA_READY_SIGNAL
 
 
-// *************** I2C /Baro/Mag *********************
+// *************** I2C/Baro/Mag *********************
 #define USE_I2C
 #define USE_I2C_DEVICE_1
 #define I2C1_SCL                PB8
@@ -126,9 +130,11 @@
 #define UART5_TX_PIN            PC12
 #define UART5_RX_PIN            PD2
 
+#ifndef MATEKF405SE_PINIO
 #define USE_UART6
 #define UART6_TX_PIN            PC6
 #define UART6_RX_PIN            PC7
+#endif
 
 #define USE_SOFTSERIAL1               //Frsky SmartPort on TX2 pad
 #define SOFTSERIAL_1_TX_PIN      PA2
@@ -158,6 +164,13 @@
 #define WS2811_DMA_STREAM               DMA1_Stream5
 #define WS2811_DMA_CHANNEL              DMA_Channel_3
 
+// *************** PINIO ***************************
+#ifdef MATEKF405SE_PINIO
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                  PC6 // USER 1
+#endif
+
 // ***************  OTHERS *************************
 #define DEFAULT_FEATURES        (FEATURE_TX_PROF_SEL | FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY | FEATURE_SOFTSERIAL)
 #define CURRENT_METER_SCALE   317
@@ -167,7 +180,6 @@
 
 #define USE_DSHOT
 #define USE_ESC_SENSOR
-
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff

src/main/target/SPEEDYBEEF7V3/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32f722xe(SPEEDYBEEF7V3)

src/main/target/SPEEDYBEEF7V3/config.c

@@ -0,0 +1,34 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * 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/>.
+ */
+
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+#include "io/serial.h"
+
+void targetConfiguration(void)
+{
+    serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART4)].functionMask = FUNCTION_ESCSERIAL;
+    pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
+}

src/main/target/SPEEDYBEEF7V3/target.c

@@ -0,0 +1,49 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * 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/>.
+ */
+
+#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_bmi270,   DEVHW_BMI270,  BMI270_SPI_BUS,   BMI270_CS_PIN,   BMI270_EXTI_PIN,   0,  DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,  DEVHW_MPU6000, MPU6000_SPI_BUS,  MPU6000_CS_PIN,  MPU6000_EXTI_PIN,  0,  DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+
+timerHardware_t timerHardware[] = {
+
+    DEF_TIM(TIM2, CH1, PA15,    TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),  // S1
+    DEF_TIM(TIM2, CH2, PB3,     TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),  // S2
+    DEF_TIM(TIM3, CH1, PB4,     TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S3
+    DEF_TIM(TIM4, CH1, PB6,     TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S4
+    DEF_TIM(TIM4, CH2, PB7,     TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S5
+    DEF_TIM(TIM3, CH2, PB5,     TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S6 Clash with S2, DSHOT does not work
+    DEF_TIM(TIM3, CH3, PB0,     TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S7
+    DEF_TIM(TIM3, CH4, PB1,     TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0),  // S8
+
+    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_LED, 0, 0),    // LED
+    DEF_TIM(TIM5, CH1, PA0,  TIM_USE_ANY, 0, 0), // Camera Control
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/SPEEDYBEEF7V3/target.h

@@ -0,0 +1,176 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * 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 "SB73"
+#define USBD_PRODUCT_STRING  "SpeedyBeeF7V3"
+
+#define LED0                PA14
+#define LED1                PA15
+
+#define USE_BEEPER
+#define BEEPER              PC13
+#define BEEPER_INVERTED
+
+// *************** UART *****************************
+#define USB_IO
+#define USE_VCP
+// #define VBUS_SENSING_PIN          PC15
+// #define VBUS_SENSING_ENABLED
+
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN                  PC9
+#define PINIO1_FLAGS                PINIO_FLAGS_INVERTED
+
+#define USE_UART1
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+
+#define USE_UART2
+#define UART2_RX_PIN            PA3
+#define UART2_TX_PIN            PA2
+
+#define USE_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_UART4
+#define UART4_RX_PIN            PA1
+#define UART4_TX_PIN            NONE
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+#define SERIAL_PORT_COUNT       6
+
+// *************** Gyro & ACC **********************
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW270_DEG_FLIP
+#define MPU6000_SPI_BUS         BUS_SPI1
+#define MPU6000_CS_PIN          PB2
+#define MPU6000_EXTI_PIN        PC4
+
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN        CW0_DEG_FLIP
+#define BMI270_SPI_BUS          BUS_SPI1
+#define BMI270_CS_PIN           PC15
+#define BMI270_EXTI_PIN         PC3
+
+#define USE_EXTI
+#define USE_MPU_DATA_READY_SIGNAL
+
+// *************** I2C(Baro & I2C) **************************
+#define USE_I2C
+
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+// Baro
+#define USE_BARO
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_DPS310
+#define USE_BARO_SPL06
+#define BARO_I2C_BUS          	BUS_I2C1	
+
+// Mag
+#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 USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+
+// *************** Internal SD card **************************
+
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN   	    PC11
+#define SPI3_MOSI_PIN   	    PC12
+
+#define USE_SDCARD
+#define USE_SDCARD_SPI
+#define SDCARD_SPI_BUS          BUS_SPI3
+#define SDCARD_CS_PIN           PD2
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+// *************** OSD *****************************
+#define USE_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
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN           PC2
+#define ADC_CHANNEL_2_PIN           PC0
+#define ADC_CHANNEL_3_PIN           PC1
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_3
+#define RSSI_ADC_CHANNEL            ADC_CHN_2
+
+// *************** LED *****************************
+#define USE_LED_STRIP
+#define WS2811_PIN PC8
+
+// ********** Optiical Flow adn Lidar **************
+#define USE_RANGEFINDER
+#define USE_RANGEFINDER_MSP
+#define USE_OPFLOW
+#define USE_OPFLOW_MSP
+
+#define DEFAULT_FEATURES            (FEATURE_TX_PROF_SEL | FEATURE_CURRENT_METER | FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_OSD | FEATURE_BLACKBOX)
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define SERIALRX_UART           SERIAL_PORT_USART2
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+
+#define MAX_PWM_OUTPUT_PORTS        8
+
+#define CURRENT_METER_SCALE         490
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         (BIT(2))