Merge remote-tracking branch 'upstream/master' into abo_wp_mission_flight_select

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)

docs/development/Software In The Loop (HITL) plugin for X-Plane 11.md

@@ -0,0 +1,11 @@
+# Software In The Loop (HITL) plugin for X-Plane 11
+
+**Hardware-in-the-loop (HITL) simulation**, is a technique that is used in the development and testing of complex real-time embedded systems. 
+
+**X-Plane** is a flight simulation engine series developed and published by Laminar Research https://www.x-plane.com/
+
+**INAV-X-Plane-HITL** is plugin for **X-Plane** for testing and developing flight controllers with **INAV flight controller firmware** 
+
+https://github.com/iNavFlight/inav.
+
+HITL technique can be used to test features during development. Please check page above for installation instructions.

src/main/blackbox/blackbox.c

@@ -1627,7 +1627,7 @@ static void loadMainState(timeUs_t currentTimeUs)
 #endif
 
 #ifdef USE_PITOT
-    blackboxCurrent->airSpeed = pitot.airSpeed;
+    blackboxCurrent->airSpeed = getAirspeedEstimate();
 #endif
 
 #ifdef USE_RANGEFINDER

src/main/cms/cms_menu_imu.c

@@ -250,10 +250,12 @@ static const OSD_Entry cmsx_menuPidGpsnavEntries[] =
 
     OTHER_PIDFF_ENTRY("POS P", &cmsx_pidPosXY.P),
     OTHER_PIDFF_ENTRY("POS I", &cmsx_pidPosXY.I),
+    OTHER_PIDFF_ENTRY("POS D", &cmsx_pidPosXY.D),
 
-    OTHER_PIDFF_ENTRY("POSR P", &cmsx_pidVelXY.P),
+    OTHER_PIDFF_ENTRY("VEL P", &cmsx_pidVelXY.P),
-    OTHER_PIDFF_ENTRY("POSR I", &cmsx_pidVelXY.I),
+    OTHER_PIDFF_ENTRY("VEL I", &cmsx_pidVelXY.I),
-    OTHER_PIDFF_ENTRY("POSR D", &cmsx_pidVelXY.D),
+    OTHER_PIDFF_ENTRY("VEL D", &cmsx_pidVelXY.D),
+    OTHER_PIDFF_ENTRY("VEL FF", &cmsx_pidVelXY.FF),
 
     OSD_BACK_AND_END_ENTRY,
 };

src/main/drivers/bus_i2c_hal.c

@@ -107,7 +107,7 @@ static i2cState_t i2cState[I2CDEV_COUNT];
 
 void i2cSetSpeed(uint8_t speed)
 {
-    for (unsigned int i = 0; i < sizeof(i2cHardwareMap) / sizeof(i2cHardwareMap[0]); i++) {
+    for (unsigned int i = 0; i < ARRAYLEN(i2cHardwareMap); i++) {
         i2cHardwareMap[i].speed = speed;
     }
 }

src/main/drivers/bus_i2c_stm32f40x.c

@@ -458,7 +458,7 @@ static void i2cStateMachine(i2cBusState_t * i2cBusState, const timeUs_t currentT
 
 void i2cSetSpeed(uint8_t speed)
 {
-    for (unsigned int i = 0; i < sizeof(i2cHardwareMap) / sizeof(i2cHardwareMap[0]); i++) {
+    for (unsigned int i = 0; i < ARRAYLEN(i2cHardwareMap); i++) {
         i2cHardwareMap[i].speed = speed;
     }
 }

src/main/drivers/display.c

@@ -31,6 +31,7 @@
 #include "drivers/time.h"
 
 #include "fc/settings.h"
+#include "fc/runtime_config.h"
 
 #define SW_BLINK_CYCLE_MS 200 // 200ms on / 200ms off
 
@@ -176,6 +177,18 @@ int displayWriteChar(displayPort_t *instance, uint8_t x, uint8_t y, uint16_t c)
     if (instance->maxChar == 0) {
         displayUpdateMaxChar(instance);
     }
+
+#ifdef USE_SIMULATOR
+	if (ARMING_FLAG(SIMULATOR_MODE)) {
+		//some FCs do not power max7456 from USB power 
+		//driver can not read font metadata 
+		//chip assumed to not support second bank of font
+		//artifical horizon, variometer and home direction are not drawn ( display.c: displayUpdateMaxChar())
+		//return dummy metadata to let all OSD elements to work in simulator mode
+		instance->maxChar = 512;
+	}
+#endif
+
     if (c > instance->maxChar) {
         return -1;
     }

src/main/drivers/dma_stm32f4xx.c

@@ -123,7 +123,7 @@ uint32_t dmaGetChannelByTag(dmaTag_t tag)
 
 DMA_t dmaGetByRef(const DMA_Stream_TypeDef* ref)
 {
-    for (unsigned i = 0; i < (sizeof(dmaDescriptors) / sizeof(dmaDescriptors[0])); i++) {
+    for (unsigned i = 0; i < ARRAYLEN(dmaDescriptors); i++) {
         if (ref == dmaDescriptors[i].ref) {
             return &dmaDescriptors[i];
         }

src/main/drivers/dma_stm32f7xx.c

@@ -122,7 +122,7 @@ uint32_t dmaGetChannelByTag(dmaTag_t tag)
 
 DMA_t dmaGetByRef(const DMA_Stream_TypeDef* ref)
 {
-    for (unsigned i = 0; i < (sizeof(dmaDescriptors) / sizeof(dmaDescriptors[0])); i++) {
+    for (unsigned i = 0; i < ARRAYLEN(dmaDescriptors); i++) {
         if (ref == dmaDescriptors[i].ref) {
             return &dmaDescriptors[i];
         }

src/main/drivers/dma_stm32h7xx.c

@@ -118,7 +118,7 @@ void dmaSetHandler(DMA_t dma, dmaCallbackHandlerFuncPtr callback, uint32_t prior
 
 DMA_t dmaGetByRef(const DMA_Stream_TypeDef* ref)
 {
-    for (unsigned i = 0; i < (sizeof(dmaDescriptors) / sizeof(dmaDescriptors[0])); i++) {
+    for (unsigned i = 0; i < ARRAYLEN(dmaDescriptors); i++) {
         if (ref == dmaDescriptors[i].ref) {
             return &dmaDescriptors[i];
         }

src/main/drivers/flash.c

@@ -80,7 +80,7 @@ static bool flashDeviceInit(void)
 {
     bool detected = false;
 
-    for (uint32_t idx = 0; idx <= sizeof(flashDrivers) / sizeof(flashDrivers[0]); idx++)
+    for (uint32_t idx = 0; idx <= ARRAYLEN(flashDrivers); idx++)
     {
         detected = flashDrivers[idx].init(0);
         if (detected)

src/main/drivers/flash_w25n01g.c

@@ -301,7 +301,7 @@ static void w25n01g_programDataLoad(uint16_t columnAddress, const uint8_t *data,
     uint8_t cmd[3] = {W25N01G_INSTRUCTION_PROGRAM_DATA_LOAD, columnAddress >> 8, columnAddress & 0xff};
 
     busTransferDescriptor_t transferDescr[] = {{.length = sizeof(cmd), .rxBuf = NULL, .txBuf = cmd}, {.length = length, .rxBuf = NULL, .txBuf = (uint8_t *)data}};
-    busTransferMultiple(busDev, transferDescr, sizeof(transferDescr) / sizeof(transferDescr[0]));
+    busTransferMultiple(busDev, transferDescr, ARRAYLEN(transferDescr));
 
     w25n01g_setTimeout(W25N01G_TIMEOUT_PAGE_PROGRAM_MS);
 }
@@ -313,7 +313,7 @@ static void w25n01g_randomProgramDataLoad(uint16_t columnAddress, const uint8_t
     uint8_t cmd[3] = {W25N01G_INSTRUCTION_RANDOM_PROGRAM_DATA_LOAD, columnAddress >> 8, columnAddress & 0xff};
 
     busTransferDescriptor_t transferDescr[] = {{.length = sizeof(cmd), .rxBuf = NULL, .txBuf = cmd}, {.length = length, .rxBuf = NULL, .txBuf = (uint8_t *)data}};
-    busTransferMultiple(busDev, transferDescr, sizeof(transferDescr) / sizeof(transferDescr[0]));
+    busTransferMultiple(busDev, transferDescr, ARRAYLEN(transferDescr));
 
     w25n01g_setTimeout(W25N01G_TIMEOUT_PAGE_PROGRAM_MS);
 }
@@ -489,7 +489,7 @@ int w25n01g_readBytes(uint32_t address, uint8_t *buffer, int length)
     const uint8_t cmd[4] = {W25N01G_INSTRUCTION_READ_DATA, (column >> 8) & 0xff, (column >> 0) & 0xff, 0};
 
     busTransferDescriptor_t readDescr[] = {{.length = sizeof(cmd), .rxBuf = NULL, .txBuf = cmd}, {.length = transferLength, .rxBuf = buffer, .txBuf = NULL}};
-    busTransferMultiple(busDev, readDescr, sizeof(readDescr) / sizeof(readDescr[0]));
+    busTransferMultiple(busDev, readDescr, ARRAYLEN(readDescr));
 
     if (!w25n01g_waitForReady(W25N01G_TIMEOUT_PAGE_READ_MS)) {
         return 0;
@@ -530,7 +530,7 @@ int w25n01g_readExtensionBytes(uint32_t address, uint8_t *buffer, int length)
     cmd[3] = 0;
 
     busTransferDescriptor_t readDescr[] = {{.length = sizeof(cmd), .rxBuf = NULL, .txBuf = cmd}, {.length = length, .rxBuf = buffer, .txBuf = NULL}};
-    busTransferMultiple(busDev, readDescr, sizeof(readDescr) / sizeof(readDescr[0]));
+    busTransferMultiple(busDev, readDescr, ARRAYLEN(readDescr));
 
     w25n01g_setTimeout(W25N01G_TIMEOUT_PAGE_READ_MS);
 

src/main/drivers/pinio.c

@@ -60,7 +60,7 @@ const pinioHardware_t pinioHardware[] = {
 #endif
 };
 
-const int pinioHardwareCount = sizeof(pinioHardware) / sizeof(pinioHardware[0]);
+const int pinioHardwareCount = ARRAYLEN(pinioHardware);
 
 /*** Runtime configuration ***/
 typedef struct pinioRuntime_s {

src/main/drivers/sound_beeper.c

@@ -27,6 +27,7 @@
 #include "drivers/pwm_mapping.h"
 #include "drivers/pwm_output.h"
 #include "fc/config.h"
+#include "fc/runtime_config.h"
 
 #include "sound_beeper.h"
 
@@ -45,6 +46,14 @@ void systemBeep(bool onoff)
     UNUSED(onoff);
 #else
 
+#ifdef USE_SIMULATOR
+	if (ARMING_FLAG(SIMULATOR_MODE)) {
+		if (simulatorData.flags & SIMU_MUTE_BEEPER) {
+			onoff = false;
+		}
+	}
+#endif
+
     if (beeperConfig()->pwmMode) {
         pwmWriteBeeper(onoff);
         beeperState = onoff;

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/fc/fc_core.c

@@ -939,6 +939,9 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
     }
 
     //Servos should be filtered or written only when mixer is using servos or special feaures are enabled
+
+#ifdef USE_SMULATOR
+	if (!ARMING_FLAG(SIMULATOR_MODE)) {
 	    if (isServoOutputEnabled()) {
 	        writeServos();
 	    }
@@ -946,6 +949,16 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
 	    if (motorControlEnable) {
 	        writeMotors();
 	    }
+	}
+#else
+    if (isServoOutputEnabled()) {
+        writeServos();
+    }
+
+    if (motorControlEnable) {
+        writeMotors();
+    }
+#endif
 
     // Check if landed, FW and MR
     if (STATE(ALTITUDE_CONTROL)) {

src/main/fc/fc_msp.c

@@ -21,6 +21,7 @@
 #include <string.h>
 #include <math.h>
 
+#include "common/log.h" //for MSP_SIMULATOR
 #include "platform.h"
 
 #include "blackbox/blackbox.h"
@@ -92,12 +93,15 @@
 #include "io/serial_4way.h"
 #include "io/vtx.h"
 #include "io/vtx_string.h"
+#include "io/gps_private.h"  //for MSP_SIMULATOR
 
 #include "msp/msp.h"
 #include "msp/msp_protocol.h"
 #include "msp/msp_serial.h"
 
 #include "navigation/navigation.h"
+#include "navigation/navigation_private.h" //for MSP_SIMULATOR
+#include "navigation/navigation_pos_estimator_private.h" //for MSP_SIMULATOR
 
 #include "rx/rx.h"
 #include "rx/msp.h"
@@ -1424,7 +1428,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
 
     case MSP2_INAV_AIR_SPEED:
 #ifdef USE_PITOT
-        sbufWriteU32(dst, pitot.airSpeed);
+        sbufWriteU32(dst, getAirspeedEstimate());
 #else
         sbufWriteU32(dst, 0);
 #endif
@@ -2474,7 +2478,8 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
 #ifdef USE_GPS
     case MSP_SET_RAW_GPS:
         if (dataSize == 14) {
-            if (sbufReadU8(src)) {
+	    gpsSol.fixType = sbufReadU8(src);
+	    if (gpsSol.fixType) {
 		ENABLE_STATE(GPS_FIX);
             } else {
                 DISABLE_STATE(GPS_FIX);
@@ -2485,7 +2490,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             gpsSol.numSat = sbufReadU8(src);
             gpsSol.llh.lat = sbufReadU32(src);
             gpsSol.llh.lon = sbufReadU32(src);
-            gpsSol.llh.alt = sbufReadU16(src);
+            gpsSol.llh.alt = 100 * sbufReadU16(src); // require cm
             gpsSol.groundSpeed = sbufReadU16(src);
             gpsSol.velNED[X] = 0;
             gpsSol.velNED[Y] = 0;
@@ -3181,8 +3186,147 @@ static bool mspParameterGroupsCommand(sbuf_t *dst, sbuf_t *src)
     return true;
 }
 
+#ifdef USE_SIMULATOR
+bool isOSDTypeSupportedBySimulator(void)
+{
+	displayPort_t *osdDisplayPort = osdGetDisplayPort();
+	return (osdDisplayPort && osdDisplayPort->cols == 30 && (osdDisplayPort->rows == 13 || osdDisplayPort->rows == 16));
+}
+
+void mspWriteSimulatorOSD(sbuf_t *dst)
+{
+	//RLE encoding
+	//scan displayBuffer iteratively
+	//no more than 80+3+2 bytes output in single run
+	//0 and 255 are special symbols
+	//255 - font bank switch
+	//0  - font bank switch, blink switch and character repeat
+
+	static uint8_t osdPos_y = 0;
+	static uint8_t osdPos_x = 0;
+
+
+	if (isOSDTypeSupportedBySimulator())
+	{
+		displayPort_t *osdDisplayPort = osdGetDisplayPort();
+
+		sbufWriteU8(dst, osdPos_y | (osdDisplayPort->rows == 16 ? 128: 0));
+		sbufWriteU8(dst, osdPos_x);
+
+		int bytesCount = 0;
+
+		uint16_t c = 0;
+		textAttributes_t attr = 0;
+		bool highBank = false;
+		bool blink = false;
+		int count = 0;
+
+		int processedRows = 16;
+
+		while (bytesCount < 80) //whole response should be less 155 bytes at worst. 
+		{
+			bool blink1;
+			uint16_t lastChar;
+
+			count = 0;
+			while ( true )
+			{
+				displayReadCharWithAttr(osdDisplayPort, osdPos_x, osdPos_y, &c, &attr);
+				if (c == 0 || c == 255) c = 32;
+
+				//REVIEW: displayReadCharWithAttr() should return mode with _TEXT_ATTRIBUTES_BLINK_BIT !
+				//for max7456 it returns mode with MAX7456_MODE_BLINK instead (wrong)
+				//because max7456ReadChar() does not decode from MAX7456_MODE_BLINK to _TEXT_ATTRIBUTES_BLINK_BIT
+				//it should!
+
+				//bool blink2 = TEXT_ATTRIBUTES_HAVE_BLINK(attr);
+				bool blink2 = attr & (1<<4); //MAX7456_MODE_BLINK
+
+				if (count == 0)
+				{
+					lastChar = c;
+					blink1 = blink2;
+				}
+				else if (lastChar != c || blink2 != blink1 || count == 63)
+				{
+					break;
+				}
+
+				count++;
+
+				osdPos_x++;
+				if (osdPos_x == 30)
+				{
+					osdPos_x = 0;
+					osdPos_y++;
+					processedRows--;
+					if (osdPos_y == 16)
+					{
+						osdPos_y = 0;
+					}
+				}
+			}
+
+			uint8_t cmd = 0;
+			if (blink1 != blink)
+			{
+				cmd |= 128;//switch blink attr
+				blink = blink1;
+			}
+
+			bool highBank1 = lastChar > 255;
+			if (highBank1 != highBank)
+			{
+				cmd |= 64;//switch bank attr
+				highBank = highBank1;
+			}
+
+			if (count == 1 && cmd == 64)
+			{
+				sbufWriteU8(dst, 255);  //short command for bank switch
+				sbufWriteU8(dst, lastChar & 0xff);
+				bytesCount += 2;
+			}
+			else if (count > 2 || cmd !=0 )
+			{
+				cmd |= count;  //long command for blink/bank switch and symbol repeat
+				sbufWriteU8(dst, 0); 
+				sbufWriteU8(dst, cmd);
+				sbufWriteU8(dst, lastChar & 0xff);
+				bytesCount += 3;
+			}
+			else if (count == 2)  //cmd == 0 here
+			{
+				sbufWriteU8(dst, lastChar & 0xff);  
+				sbufWriteU8(dst, lastChar & 0xff);
+				bytesCount+=2;
+			}
+			else
+			{
+				sbufWriteU8(dst, lastChar & 0xff);
+				bytesCount++;
+			}
+
+			if ( processedRows <= 0 )
+			{
+				break;
+			}
+		}
+		sbufWriteU8(dst, 0);  //command 0 with length=0 -> stop
+		sbufWriteU8(dst, 0);
+	}
+	else
+	{
+		sbufWriteU8(dst, 255);
+	}
+}
+#endif
+
 bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResult_e *ret)
 {
+    uint8_t tmp_u8;
+    const unsigned int dataSize = sbufBytesRemaining(src);
+
     switch (cmdMSP) {
 
     case MSP_WP:
@@ -3253,6 +3397,175 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
          *ret = mspFcSafeHomeOutCommand(dst, src);
          break;
 
+#ifdef USE_SIMULATOR
+    case MSP_SIMULATOR:
+		tmp_u8 = sbufReadU8(src); //MSP_SIMULATOR version
+		if (tmp_u8 != 2) break;
+
+		simulatorData.flags = sbufReadU8(src);
+
+        if ((simulatorData.flags & SIMU_ENABLE) == 0) {
+
+			if (ARMING_FLAG(SIMULATOR_MODE)) { // just once
+				DISABLE_ARMING_FLAG(SIMULATOR_MODE);
+
+#ifdef USE_BARO
+				baroStartCalibration();
+#endif
+#ifdef USE_MAG
+				DISABLE_STATE(COMPASS_CALIBRATED);
+				compassInit();
+#endif
+				simulatorData.flags = 0;
+				//review: many states were affected. reboot?
+
+				disarm(DISARM_SWITCH);  //disarm to prevent motor output!!!
+			}
+		}
+		else if (!areSensorsCalibrating()) {
+			if (!ARMING_FLAG(SIMULATOR_MODE)) { // just once
+#ifdef USE_BARO
+				baroStartCalibration(); 
+#endif			
+#ifdef USE_MAG
+				if (compassConfig()->mag_hardware != MAG_NONE){
+					sensorsSet(SENSOR_MAG);
+					ENABLE_STATE(COMPASS_CALIBRATED);
+					DISABLE_ARMING_FLAG(ARMING_DISABLED_HARDWARE_FAILURE);
+					mag.magADC[X] = 800;
+					mag.magADC[Y] = 0;
+					mag.magADC[Z] = 0;
+				}
+#endif
+				ENABLE_ARMING_FLAG(SIMULATOR_MODE);
+				LOG_D(SYSTEM, "Simulator enabled");
+			}
+
+			if (dataSize >= 14) {
+
+				if (feature(FEATURE_GPS) && ((simulatorData.flags & SIMU_HAS_NEW_GPS_DATA)!=0) ) {
+					gpsSol.fixType = sbufReadU8(src);
+					gpsSol.hdop = gpsSol.fixType == GPS_NO_FIX ? 9999 : 100;
+					gpsSol.flags.hasNewData = true;
+					gpsSol.numSat = sbufReadU8(src);
+
+					if (gpsSol.fixType != GPS_NO_FIX) {
+						gpsSol.flags.validVelNE = 1;
+						gpsSol.flags.validVelD = 1;
+						gpsSol.flags.validEPE = 1;
+
+						gpsSol.llh.lat = sbufReadU32(src);
+						gpsSol.llh.lon = sbufReadU32(src);
+						gpsSol.llh.alt = sbufReadU32(src);
+						gpsSol.groundSpeed = (int16_t)sbufReadU16(src);
+						gpsSol.groundCourse = (int16_t)sbufReadU16(src);
+
+						gpsSol.velNED[X] = (int16_t)sbufReadU16(src);
+						gpsSol.velNED[Y] = (int16_t)sbufReadU16(src);
+						gpsSol.velNED[Z] = (int16_t)sbufReadU16(src);
+
+						gpsSol.eph = 100;
+						gpsSol.epv = 100;
+
+						ENABLE_STATE(GPS_FIX);
+
+						// Feed data to navigation
+						gpsProcessNewSolutionData();
+					}
+					else {
+						sbufAdvance(src, 4 + 4 + 4 + 2 + 2 + 2 * 3);
+						// Feed data to navigation
+						gpsProcessNewSolutionData();
+					}
+				}
+				else {
+					sbufAdvance(src, 1 + 1 + 4 + 4 + 4 + 2 + 2 + 2 * 3);
+				}
+
+				if ((simulatorData.flags & SIMU_USE_SENSORS) == 0) {
+					attitude.values.roll = (int16_t)sbufReadU16(src);
+					attitude.values.pitch = (int16_t)sbufReadU16(src);
+					attitude.values.yaw = (int16_t)sbufReadU16(src);
+				}
+				else
+				{
+					sbufAdvance(src, 2*3);
+				}
+
+				acc.accADCf[X] = ((int16_t)sbufReadU16(src)) / 1000.0f;// acceleration in 1G units
+				acc.accADCf[Y] = ((int16_t)sbufReadU16(src)) / 1000.0f;
+				acc.accADCf[Z] = ((int16_t)sbufReadU16(src)) / 1000.0f;
+				acc.accVibeSq[X] = 0;
+				acc.accVibeSq[Y] = 0;
+				acc.accVibeSq[Z] = 0;
+
+				gyro.gyroADCf[X] = ((int16_t)sbufReadU16(src)) / 16.0f;
+				gyro.gyroADCf[Y] = ((int16_t)sbufReadU16(src)) / 16.0f;
+				gyro.gyroADCf[Z] = ((int16_t)sbufReadU16(src)) / 16.0f;
+
+				if (sensors(SENSOR_BARO))
+				{
+					baro.baroPressure = (int32_t)sbufReadU32(src);
+					baro.baroTemperature = 2500;
+				}
+				else {
+					sbufAdvance(src,4);
+				}
+
+				if (sensors(SENSOR_MAG))
+				{
+					mag.magADC[X] = ((int16_t)sbufReadU16(src)) / 20;  //16000/20 = 800uT
+					mag.magADC[Y] = ((int16_t)sbufReadU16(src)) / 20;
+					mag.magADC[Z] = ((int16_t)sbufReadU16(src)) / 20;
+				}
+				else {
+					sbufAdvance(src, 2*3);
+				}
+
+                if (simulatorData.flags & SIMU_EXT_BATTERY_VOLTAGE) {
+                     simulatorData.vbat = sbufReadU8(src);
+                }
+                else {
+                     simulatorData.vbat = 126;
+                }
+
+                if (simulatorData.flags & SIMU_AIRSPEED) {
+                     simulatorData.airSpeed = sbufReadU16(src);   
+			    }
+			}
+			else {
+				DISABLE_STATE(GPS_FIX);
+			}
+		}
+
+		sbufWriteU16(dst, (uint16_t)simulatorData.INPUT_STABILIZED_ROLL);
+		sbufWriteU16(dst, (uint16_t)simulatorData.INPUT_STABILIZED_PITCH);
+		sbufWriteU16(dst, (uint16_t)simulatorData.INPUT_STABILIZED_YAW);
+		sbufWriteU16(dst, (uint16_t)(ARMING_FLAG(ARMED) ? simulatorData.INPUT_STABILIZED_THROTTLE : -500));
+
+		simulatorData.debugIndex++;
+		if (simulatorData.debugIndex == 8) {
+			simulatorData.debugIndex = 0;
+		}
+
+		tmp_u8 = simulatorData.debugIndex | 
+			((mixerConfig()->platformType == PLATFORM_AIRPLANE) ? 128 : 0) | 
+			(ARMING_FLAG(ARMED) ? 64 : 0) |
+			(!feature(FEATURE_OSD) ? 32: 0) |
+			(!isOSDTypeSupportedBySimulator() ? 16: 0);
+		sbufWriteU8(dst, tmp_u8 );
+		sbufWriteU32(dst, debug[simulatorData.debugIndex]);
+
+		sbufWriteU16(dst, attitude.values.roll);
+		sbufWriteU16(dst, attitude.values.pitch);
+		sbufWriteU16(dst, attitude.values.yaw);
+
+		mspWriteSimulatorOSD(dst);
+
+        *ret = MSP_RESULT_ACK;
+        break;
+#endif
+
     default:
         // Not handled
         return false;

src/main/fc/fc_msp_box.c

@@ -87,15 +87,15 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
     { .boxId = BOXUSER1,            .boxName = "USER1",             .permanentId = BOX_PERMANENT_ID_USER1 },
     { .boxId = BOXUSER2,            .boxName = "USER2",             .permanentId = BOX_PERMANENT_ID_USER2 },
     { .boxId = BOXUSER3,            .boxName = "USER3",             .permanentId = BOX_PERMANENT_ID_USER3 },
-    { .boxId = BOXLOITERDIRCHN,     .boxName = "LOITER CHANGE",     .permanentId = 49 },
+    { .boxId = BOXLOITERDIRCHN,     .boxName = "LOITER CHANGE",     .permanentId = 50 },
-    { .boxId = BOXMSPRCOVERRIDE,    .boxName = "MSP RC OVERRIDE",   .permanentId = 50 },
+    { .boxId = BOXMSPRCOVERRIDE,    .boxName = "MSP RC OVERRIDE",   .permanentId = 51 },
-    { .boxId = BOXPREARM,           .boxName = "PREARM",            .permanentId = 51 },
+    { .boxId = BOXPREARM,           .boxName = "PREARM",            .permanentId = 52 },
-    { .boxId = BOXTURTLE,           .boxName = "TURTLE",            .permanentId = 52 },
+    { .boxId = BOXTURTLE,           .boxName = "TURTLE",            .permanentId = 53 },
-    { .boxId = BOXNAVCRUISE,        .boxName = "NAV CRUISE",        .permanentId = 53 },
+    { .boxId = BOXNAVCRUISE,        .boxName = "NAV CRUISE",        .permanentId = 54 },
-    { .boxId = BOXAUTOLEVEL,        .boxName = "AUTO LEVEL",        .permanentId = 54 },
+    { .boxId = BOXAUTOLEVEL,        .boxName = "AUTO LEVEL",        .permanentId = 55 },
-    { .boxId = BOXPLANWPMISSION,    .boxName = "WP PLANNER",        .permanentId = 55 },
+    { .boxId = BOXPLANWPMISSION,    .boxName = "WP PLANNER",        .permanentId = 56 },
-    { .boxId = BOXSOARING,          .boxName = "SOARING",           .permanentId = 56 },
+    { .boxId = BOXSOARING,          .boxName = "SOARING",           .permanentId = 57 },
-    { .boxId = BOXCHANGEMISSION,    .boxName = "MISSION CHANGE",    .permanentId = 57 },
+    { .boxId = BOXCHANGEMISSION,    .boxName = "MISSION CHANGE",    .permanentId = 58 },
     { .boxId = CHECKBOX_ITEM_COUNT, .boxName = NULL,                .permanentId = 0xFF }
 };
 

src/main/fc/fc_tasks.c

@@ -306,7 +306,13 @@ void taskUpdateAux(timeUs_t currentTimeUs)
 {
     updatePIDCoefficients();
     dynamicLpfGyroTask();
+#ifdef USE_SIMULATOR
+    if (!ARMING_FLAG(SIMULATOR_MODE)) {
         updateFixedWingLevelTrim(currentTimeUs);
+    }
+#else
+    updateFixedWingLevelTrim(currentTimeUs);
+#endif
 }
 
 void fcTasksInit(void)

src/main/fc/rc_controls.h

@@ -95,8 +95,8 @@ typedef struct rcControlsConfig_s {
 PG_DECLARE(rcControlsConfig_t, rcControlsConfig);
 
 typedef struct armingConfig_s {
-    uint8_t fixed_wing_auto_arm;            // Auto-arm fixed wing aircraft on throttle up and never disarm
+    bool fixed_wing_auto_arm;            // Auto-arm fixed wing aircraft on throttle up and never disarm
-    uint8_t disarm_kill_switch;             // allow disarm via AUX switch regardless of throttle value
+    bool disarm_kill_switch;             // allow disarm via AUX switch regardless of throttle value
     uint16_t switchDisarmDelayMs;           // additional delay between ARM box going off and actual disarm
     uint16_t prearmTimeoutMs;               // duration for which Prearm being activated is valid. after this, Prearm needs to be reset. 0 means Prearm does not timeout.
 } armingConfig_t;

src/main/fc/runtime_config.c

@@ -176,3 +176,10 @@ flightModeForTelemetry_e getFlightModeForTelemetry(void)
 
     return STATE(AIRMODE_ACTIVE) ? FLM_ACRO_AIR : FLM_ACRO;
 }
+
+#ifdef USE_SIMULATOR
+simulatorData_t simulatorData = { 
+	flags: 0, 
+	debugIndex: 0
+};
+#endif

src/main/fc/runtime_config.h

@@ -21,6 +21,7 @@
 typedef enum {
     ARMED                                           = (1 << 2),
     WAS_EVER_ARMED                                  = (1 << 3),
+    SIMULATOR_MODE                                  = (1 << 4),
 
     ARMING_DISABLED_FAILSAFE_SYSTEM                 = (1 << 7),
     ARMING_DISABLED_NOT_LEVEL                       = (1 << 8),
@@ -164,6 +165,32 @@ typedef enum {
 
 flightModeForTelemetry_e getFlightModeForTelemetry(void);
 
+#ifdef USE_SIMULATOR
+typedef enum {
+	SIMU_ENABLE					= (1 << 0),
+	SIMU_SIMULATE_BATTERY		= (1 << 1),
+	SIMU_MUTE_BEEPER			= (1 << 2),
+	SIMU_USE_SENSORS			= (1 << 3),
+	SIMU_HAS_NEW_GPS_DATA		= (1 << 4),
+	SIMU_EXT_BATTERY_VOLTAGE	= (1 << 5),//extend MSP_SIMULATOR format 2
+    SIMU_AIRSPEED               = (1 << 6) 
+} simulatorFlags_t;
+
+typedef struct {
+	simulatorFlags_t flags;
+	uint8_t debugIndex;
+    uint8_t vbat;  //126 ->12.6V
+	uint16_t airSpeed;  //cm/s
+
+	int16_t INPUT_STABILIZED_ROLL;
+	int16_t INPUT_STABILIZED_PITCH;
+	int16_t INPUT_STABILIZED_YAW;
+	int16_t INPUT_STABILIZED_THROTTLE;
+} simulatorData_t;
+
+extern simulatorData_t simulatorData;
+#endif
+
 uint32_t enableFlightMode(flightModeFlags_e mask);
 uint32_t disableFlightMode(flightModeFlags_e mask);
 

src/main/flight/imu.c

@@ -327,6 +327,12 @@ static void imuMahonyAHRSupdate(float dt, const fpVector3_t * gyroBF, const fpVe
                 // Normalize to unit vector
                 vectorNormalize(&vMag, &vMag);
 
+#ifdef USE_SIMULATOR
+            if (ARMING_FLAG(SIMULATOR_MODE)) {
+                    imuSetMagneticDeclination(0);
+                }
+#endif
+
                 // Reference mag field vector heading is Magnetic North in EF. We compute that by rotating True North vector by declination and assuming Z-component is zero
                 // magnetometer error is cross product between estimated magnetic north and measured magnetic north (calculated in EF)
                 vectorCrossProduct(&vErr, &vMag, &vCorrectedMagNorth);
@@ -455,10 +461,19 @@ static void imuMahonyAHRSupdate(float dt, const fpVector3_t * gyroBF, const fpVe
 
 STATIC_UNIT_TESTED void imuUpdateEulerAngles(void)
 {
+#ifdef USE_SIMULATOR
+	if (ARMING_FLAG(SIMULATOR_MODE) && ((simulatorData.flags & SIMU_USE_SENSORS) == 0)) {
+		imuComputeQuaternionFromRPY(attitude.values.roll, attitude.values.pitch, attitude.values.yaw);
+		imuComputeRotationMatrix();
+	}
+	else
+#endif
+	{
 		/* Compute pitch/roll angles */
 		attitude.values.roll = RADIANS_TO_DECIDEGREES(atan2_approx(rMat[2][1], rMat[2][2]));
 		attitude.values.pitch = RADIANS_TO_DECIDEGREES((0.5f * M_PIf) - acos_approx(-rMat[2][0]));
 		attitude.values.yaw = RADIANS_TO_DECIDEGREES(-atan2_approx(rMat[1][0], rMat[0][0]));
+	}
 
     if (attitude.values.yaw < 0)
         attitude.values.yaw += 3600;

src/main/flight/pid.c

@@ -379,7 +379,7 @@ bool pidInitFilters(void)
 void pidResetTPAFilter(void)
 {
     if (usedPidControllerType == PID_TYPE_PIFF && currentControlRateProfile->throttle.fixedWingTauMs > 0) {
-        pt1FilterInitRC(&fixedWingTpaFilter, currentControlRateProfile->throttle.fixedWingTauMs * 1e-3f, TASK_PERIOD_HZ(TASK_AUX_RATE_HZ) * 1e-6f);
+        pt1FilterInitRC(&fixedWingTpaFilter, MS2S(currentControlRateProfile->throttle.fixedWingTauMs), TASK_PERIOD_HZ(TASK_AUX_RATE_HZ) * 1e-6f);
         pt1FilterReset(&fixedWingTpaFilter, getThrottleIdleValue());
     }
 }
@@ -997,15 +997,13 @@ static void NOINLINE pidTurnAssistant(pidState_t *pidState, float bankAngleTarge
             //      yaw_rate = tan(roll_angle) * Gravity / forward_vel
 
 #if defined(USE_PITOT)
-            float airspeedForCoordinatedTurn = sensors(SENSOR_PITOT) ?
+            float airspeedForCoordinatedTurn = sensors(SENSOR_PITOT) ? getAirspeedEstimate() : pidProfile()->fixedWingReferenceAirspeed;
-                    pitot.airSpeed :
-                    pidProfile()->fixedWingReferenceAirspeed;
 #else
             float airspeedForCoordinatedTurn = pidProfile()->fixedWingReferenceAirspeed;
 #endif
 
             // Constrain to somewhat sane limits - 10km/h - 216km/h
-            airspeedForCoordinatedTurn = constrainf(airspeedForCoordinatedTurn, 300, 6000);
+            airspeedForCoordinatedTurn = constrainf(airspeedForCoordinatedTurn, 300.0f, 6000.0f);
 
             // Calculate rate of turn in Earth frame according to FAA's Pilot's Handbook of Aeronautical Knowledge
             bankAngleTarget = constrainf(bankAngleTarget, -DEGREES_TO_RADIANS(60), DEGREES_TO_RADIANS(60));
@@ -1042,8 +1040,8 @@ static void NOINLINE pidTurnAssistant(pidState_t *pidState, float bankAngleTarge
 static void pidApplyFpvCameraAngleMix(pidState_t *pidState, uint8_t fpvCameraAngle)
 {
     static uint8_t lastFpvCamAngleDegrees = 0;
-    static float cosCameraAngle = 1.0;
+    static float cosCameraAngle = 1.0f;
-    static float sinCameraAngle = 0.0;
+    static float sinCameraAngle = 0.0f;
 
     if (lastFpvCamAngleDegrees != fpvCameraAngle) {
         lastFpvCamAngleDegrees = fpvCameraAngle;

src/main/flight/servos.c

@@ -320,6 +320,13 @@ void servoMixer(float dT)
     input[INPUT_RC_CH16]     = GET_RX_CHANNEL_INPUT(AUX12);
 #undef GET_RX_CHANNEL_INPUT
 
+#ifdef USE_SIMULATOR
+	simulatorData.INPUT_STABILIZED_ROLL = input[INPUT_STABILIZED_ROLL];
+	simulatorData.INPUT_STABILIZED_PITCH = input[INPUT_STABILIZED_PITCH];
+	simulatorData.INPUT_STABILIZED_YAW = input[INPUT_STABILIZED_YAW];
+	simulatorData.INPUT_STABILIZED_THROTTLE = input[INPUT_STABILIZED_THROTTLE];
+#endif
+
     for (int i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
         servo[i] = 0;
     }
@@ -565,6 +572,11 @@ void processContinuousServoAutotrim(const float dT)
 }
 
 void processServoAutotrim(const float dT) {
+#ifdef USE_SIMULATOR
+    if (ARMING_FLAG(SIMULATOR_MODE)) {
+        return;
+    }
+#endif
     if (feature(FEATURE_FW_AUTOTRIM)) {
         processContinuousServoAutotrim(dT);
     } else {

src/main/io/gps.c

@@ -344,6 +344,14 @@ bool gpsUpdate(void)
         return false;
     }
 
+#ifdef USE_SIMULATOR
+    if (ARMING_FLAG(SIMULATOR_MODE)) {
+        gpsUpdateTime();
+        gpsSetState(GPS_RUNNING);
+        sensorsSet(SENSOR_GPS);
+        return gpsSol.flags.hasNewData;
+    }
+#endif
 #ifdef USE_FAKE_GPS
     return gpsFakeGPSUpdate();
 #else

src/main/io/osd.c

@@ -846,6 +846,8 @@ static const char * osdArmingDisabledReasonMessage(void)
             FALLTHROUGH;
         case ARMED:
             FALLTHROUGH;
+        case SIMULATOR_MODE:
+            FALLTHROUGH;
         case WAS_EVER_ARMED:
             break;
     }
@@ -2630,11 +2632,12 @@ static bool osdDrawSingleElement(uint8_t item)
     case OSD_AIR_SPEED:
         {
         #ifdef USE_PITOT
+            const float airspeed_estimate = getAirspeedEstimate();
             buff[0] = SYM_AIR;
-            osdFormatVelocityStr(buff + 1, pitot.airSpeed, false, false);
+            osdFormatVelocityStr(buff + 1, airspeed_estimate, false, false);
 
-            if ((osdConfig()->airspeed_alarm_min != 0 && pitot.airSpeed < osdConfig()->airspeed_alarm_min) ||
+            if ((osdConfig()->airspeed_alarm_min != 0 && airspeed_estimate < osdConfig()->airspeed_alarm_min) ||
-                (osdConfig()->airspeed_alarm_max != 0 && pitot.airSpeed > osdConfig()->airspeed_alarm_max)) {
+                (osdConfig()->airspeed_alarm_max != 0 && airspeed_estimate > osdConfig()->airspeed_alarm_max)) {
                 TEXT_ATTRIBUTES_ADD_BLINK(elemAttr);
             }
         #else
@@ -3775,14 +3778,16 @@ static void osdUpdateStats(void)
 
     if (feature(FEATURE_GPS)) {
         value = osdGet3DSpeed();
+        const float airspeed_estimate = getAirspeedEstimate();
+
         if (stats.max_3D_speed < value)
             stats.max_3D_speed = value;
 
         if (stats.max_speed < gpsSol.groundSpeed)
             stats.max_speed = gpsSol.groundSpeed;
 
-        if (stats.max_air_speed < pitot.airSpeed)
+        if (stats.max_air_speed < airspeed_estimate)
-            stats.max_air_speed = pitot.airSpeed;
+            stats.max_air_speed = airspeed_estimate;
 
         if (stats.max_distance < GPS_distanceToHome)
             stats.max_distance = GPS_distanceToHome;

src/main/io/osd_canvas.c

@@ -517,7 +517,7 @@ static int32_t osdCanvasSidebarGetValue(osd_sidebar_scroll_e scroll)
         case OSD_SIDEBAR_SCROLL_SPEED:
             {
 #if defined(USE_GPS)
-                int speed = osdGetSpeedFromSelectedSource();
+                int16_t speed = osdGetSpeedFromSelectedSource();
                 switch ((osd_unit_e)osdConfig()->units) {
                     case OSD_UNIT_UK:
                         FALLTHROUGH;

src/main/io/osd_common.c

@@ -53,7 +53,7 @@ PG_RESET_TEMPLATE(osdCommonConfig_t, osdCommonConfig,
     .speedSource = SETTING_OSD_SPEED_SOURCE_DEFAULT
 );
 
-int osdGetSpeedFromSelectedSource(void) {
+int16_t osdGetSpeedFromSelectedSource(void) {
     int speed = 0;
     switch (osdCommonConfig()->speedSource) {
         case OSD_SPEED_SOURCE_GROUND:
@@ -64,7 +64,7 @@ int osdGetSpeedFromSelectedSource(void) {
             break;
         case OSD_SPEED_SOURCE_AIR:
             #ifdef USE_PITOT
-            speed = pitot.airSpeed;
+            speed = (int16_t)getAirspeedEstimate();
             #endif
             break;
     }

src/main/io/osd_common.h

@@ -45,7 +45,7 @@ typedef struct {
 
 PG_DECLARE(osdCommonConfig_t, osdCommonConfig);
 
-int osdGetSpeedFromSelectedSource(void);
+int16_t osdGetSpeedFromSelectedSource(void);
 
 #endif // defined(USE_OSD) || defined(USE_DJI_HD_OSD)
 

src/main/io/osd_dji_hd.c

@@ -537,6 +537,8 @@ static char * osdArmingDisabledReasonMessage(void)
             FALLTHROUGH;
         case ARMED:
             FALLTHROUGH;
+        case SIMULATOR_MODE:
+            FALLTHROUGH;
         case WAS_EVER_ARMED:
             break;
     }
@@ -689,7 +691,7 @@ void osdDJIFormatVelocityStr(char* buff)
         case OSD_SPEED_SOURCE_AIR:
             strcpy(sourceBuf, "AIR");
 #ifdef USE_PITOT
-            vel = pitot.airSpeed;
+            vel = getAirspeedEstimate();
 #endif
             break;
     }

src/main/io/serial.c

@@ -100,7 +100,7 @@ static uint8_t serialPortCount;
 const uint32_t baudRates[] = { 0, 1200, 2400, 4800, 9600, 19200, 38400, 57600, 115200, 230400, 250000,
         460800, 921600, 1000000, 1500000, 2000000, 2470000 }; // see baudRate_e
 
-#define BAUD_RATE_COUNT (sizeof(baudRates) / sizeof(baudRates[0]))
+#define BAUD_RATE_COUNT ARRAYLEN(baudRates)
 
 PG_REGISTER_WITH_RESET_FN(serialConfig_t, serialConfig, PG_SERIAL_CONFIG, 1);
 

src/main/msp/msp_protocol_v2_inav.h

@@ -53,6 +53,8 @@
 #define MSP2_INAV_SET_TEMP_SENSOR_CONFIG        0x201D
 #define MSP2_INAV_TEMPERATURES                  0x201E
 
+#define MSP_SIMULATOR							0x201F
+
 #define MSP2_INAV_SERVO_MIXER                   0x2020
 #define MSP2_INAV_SET_SERVO_MIXER               0x2021
 #define MSP2_INAV_LOGIC_CONDITIONS              0x2022

src/main/navigation/navigation.c

@@ -203,8 +203,6 @@ 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/navigation/navigation_fixedwing.c

@@ -660,12 +660,12 @@ bool isFixedWingAutoThrottleManuallyIncreased()
 
 bool isFixedWingFlying(void)
 {
-    float airspeed = 0;
+    float airspeed = 0.0f;
 #ifdef USE_PITOT
-    airspeed = pitot.airSpeed;
+    airspeed = getAirspeedEstimate();
 #endif
     bool throttleCondition = getMotorCount() == 0 || rcCommand[THROTTLE] > currentBatteryProfile->nav.fw.cruise_throttle;
-    bool velCondition = posControl.actualState.velXY > 250 || airspeed > 250;
+    bool velCondition = posControl.actualState.velXY > 250.0f || airspeed > 250.0f;
     bool launchCondition = isNavLaunchEnabled() && fixedWingLaunchStatus() == FW_LAUNCH_FLYING;
 
     return (isImuHeadingValid() && throttleCondition && velCondition) || launchCondition;

src/main/navigation/navigation_pos_estimator.c

@@ -341,7 +341,7 @@ void updatePositionEstimator_BaroTopic(timeUs_t currentTimeUs)
  */
 void updatePositionEstimator_PitotTopic(timeUs_t currentTimeUs)
 {
-    posEstimator.pitot.airspeed = pitot.airSpeed;
+    posEstimator.pitot.airspeed = getAirspeedEstimate();
     posEstimator.pitot.lastUpdateTime = currentTimeUs;
 }
 #endif
@@ -448,6 +448,11 @@ static void updateIMUTopic(timeUs_t currentTimeUs)
 
         /* If calibration is incomplete - report zero acceleration */
         if (gravityCalibrationComplete()) {
+#ifdef USE_SIMULATOR
+            if (ARMING_FLAG(SIMULATOR_MODE)) {
+                posEstimator.imu.calibratedGravityCMSS = GRAVITY_CMSS;
+            }
+#endif
             posEstimator.imu.accelNEU.z -= posEstimator.imu.calibratedGravityCMSS;
         }
         else {

src/main/navigation/navigation_pos_estimator_private.h

@@ -183,6 +183,8 @@ typedef struct {
     fpVector3_t accBiasCorr;
 } estimationContext_t;
 
+extern navigationPosEstimator_t posEstimator;
+
 extern float updateEPE(const float oldEPE, const float dt, const float newEPE, const float w);
 extern void estimationCalculateAGL(estimationContext_t * ctx);
 extern bool estimationCalculateCorrection_XY_FLOW(estimationContext_t * ctx);

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
@@ -504,7 +505,7 @@ static int logicConditionGetFlightOperandValue(int operand) {
 
         case LOGIC_CONDITION_OPERAND_FLIGHT_AIR_SPEED: // cm/s
         #ifdef USE_PITOT
-            return constrain(pitot.airSpeed, 0, INT16_MAX);
+            return constrain(getAirspeedEstimate(), 0, INT16_MAX);
         #else
             return false;
         #endif

src/main/rx/rx.h

@@ -136,7 +136,7 @@ typedef struct rxConfig_s {
 
 PG_DECLARE(rxConfig_t, rxConfig);
 
-#define REMAPPABLE_CHANNEL_COUNT (sizeof(((rxConfig_t *)0)->rcmap) / sizeof(((rxConfig_t *)0)->rcmap[0]))
+#define REMAPPABLE_CHANNEL_COUNT ARRAYLEN(((rxConfig_t *)0)->rcmap)
 
 typedef struct rxRuntimeConfig_s rxRuntimeConfig_t;
 typedef uint16_t (*rcReadRawDataFnPtr)(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan); // used by receiver driver to return channel data

src/main/sensors/acceleration.c

@@ -503,6 +503,13 @@ float accGetMeasuredMaxG(void)
 
 void accUpdate(void)
 {
+#ifdef USE_SIMULATOR
+    if (ARMING_FLAG(SIMULATOR_MODE)) {
+        //output: acc.accADCf
+        //unused: acc.dev.ADCRaw[], acc.accClipCount, acc.accVibeSq[]
+        return;
+    }
+#endif
     if (!acc.dev.readFn(&acc.dev)) {
         return;
     }

src/main/sensors/barometer.c

@@ -276,7 +276,14 @@ uint32_t baroUpdate(void)
             if (baro.dev.start_ut) {
                 baro.dev.start_ut(&baro.dev);
             }
+#ifdef USE_SIMULATOR
+            if (!ARMING_FLAG(SIMULATOR_MODE)) {
+                //output: baro.baroPressure, baro.baroTemperature
                 baro.dev.calculate(&baro.dev, &baro.baroPressure, &baro.baroTemperature);
+            }
+#else
+                baro.dev.calculate(&baro.dev, &baro.baroPressure, &baro.baroTemperature);
+#endif
             state = BAROMETER_NEEDS_SAMPLES;
             return baro.dev.ut_delay;
         break;

src/main/sensors/battery.c

@@ -290,7 +290,16 @@ static void updateBatteryVoltage(timeUs_t timeDelta, bool justConnected)
             vbat = 0;
             break;
     }
-
+#ifdef USE_SIMULATOR
+	if (ARMING_FLAG(SIMULATOR_MODE)) {
+		if (simulatorData.flags & SIMU_SIMULATE_BATTERY) {
+            vbat = ((uint16_t)simulatorData.vbat)*10;
+            batteryFullVoltage = 1260;
+			batteryWarningVoltage = 1020;
+			batteryCriticalVoltage = 960;
+		}
+	}
+#endif
     if (justConnected) {
         pt1FilterReset(&vbatFilterState, vbat);
     } else {

src/main/sensors/compass.c

@@ -356,6 +356,12 @@ bool compassIsCalibrationComplete(void)
 
 void compassUpdate(timeUs_t currentTimeUs)
 {
+#ifdef USE_SIMULATOR
+	if (ARMING_FLAG(SIMULATOR_MODE)) {
+		magUpdatedAtLeastOnce = 1;
+		return;
+	}
+#endif
     static sensorCalibrationState_t calState;
     static timeUs_t calStartedAt = 0;
     static int16_t magPrev[XYZ_AXIS_COUNT];

src/main/sensors/diagnostics.c

@@ -63,6 +63,11 @@ hardwareSensorStatus_e getHwAccelerometerStatus(void)
 
 hardwareSensorStatus_e getHwCompassStatus(void)
 {
+#ifdef USE_SIMULATOR
+	if (ARMING_FLAG(SIMULATOR_MODE) && sensors(SENSOR_MAG)) {
+		return HW_SENSOR_OK;
+	}
+#endif
 #if defined(USE_MAG)
     if (detectedSensors[SENSOR_INDEX_MAG] != MAG_NONE) {
         if (compassIsHealthy()) {

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/sensors/gyro.c

@@ -499,6 +499,13 @@ void FAST_CODE NOINLINE gyroFilter()
 
 void FAST_CODE NOINLINE gyroUpdate()
 {
+#ifdef USE_SIMULATOR
+    if (ARMING_FLAG(SIMULATOR_MODE)) {
+        //output: gyro.gyroADCf[axis]
+        //unused: dev->gyroADCRaw[], dev->gyroZero[];
+        return;
+    }
+#endif
     if (!gyro.initialized) {
         return;
     }

src/main/sensors/pitotmeter.c

@@ -58,6 +58,7 @@ PG_REGISTER_WITH_RESET_TEMPLATE(pitotmeterConfig_t, pitotmeterConfig, PG_PITOTME
 #else
 #define PITOT_HARDWARE_DEFAULT    PITOT_NONE
 #endif
+
 PG_RESET_TEMPLATE(pitotmeterConfig_t, pitotmeterConfig,
     .pitot_hardware = SETTING_PITOT_HARDWARE_DEFAULT,
     .pitot_lpf_milli_hz = SETTING_PITOT_LPF_MILLI_HZ_DEFAULT,
@@ -205,6 +206,11 @@ STATIC_PROTOTHREAD(pitotThread)
         }
 
         pitot.dev.calculate(&pitot.dev, &pitotPressureTmp, NULL);
+#ifdef USE_SIMULATOR
+    	if (simulatorData.flags & SIMU_AIRSPEED) {
+        	pitotPressureTmp = sq(simulatorData.airSpeed) * SSL_AIR_DENSITY / 20000.0f + SSL_AIR_PRESSURE;
+    	}
+#endif
         ptYield();
 
         // Filter pressure
@@ -226,8 +232,13 @@ STATIC_PROTOTHREAD(pitotThread)
             pitot.airSpeed = pitotmeterConfig()->pitot_scale * fast_fsqrtf(2.0f * fabsf(pitot.pressure - pitot.pressureZero) / SSL_AIR_DENSITY) * 100;
         } else {
             performPitotCalibrationCycle();
-            pitot.airSpeed = 0;
+            pitot.airSpeed = 0.0f;
         }
+#ifdef USE_SIMULATOR
+    	if (simulatorData.flags & SIMU_AIRSPEED) {
+        	pitot.airSpeed = simulatorData.airSpeed;
+    	}
+#endif
     }
 
     ptEnd(0);
@@ -238,7 +249,7 @@ void pitotUpdate(void)
     pitotThread();
 }
 
-int32_t pitotCalculateAirSpeed(void)
+float getAirspeedEstimate(void)
 {
     return pitot.airSpeed;
 }

src/main/sensors/pitotmeter.h

@@ -65,7 +65,7 @@ bool pitotInit(void);
 bool pitotIsCalibrationComplete(void);
 void pitotStartCalibration(void);
 void pitotUpdate(void);
-int32_t pitotCalculateAirSpeed(void);
+float getAirspeedEstimate(void);
 bool pitotIsHealthy(void);
 
 #endif

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

@@ -14,3 +14,6 @@
 * 2x I2C
 * 2x Motors & 7x Servos
 * 4x BEC + current sensor
+
+### MATEKF405SE_PINIO
+Replaces UART 6 Tx with USER 1 for PINIO

src/main/target/MATEKF405SE/config.c

@@ -17,15 +17,24 @@
 
 #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))

src/main/target/common.h

@@ -184,6 +184,8 @@
 // Wind estimator
 #define USE_WIND_ESTIMATOR
 
+#define USE_SIMULATOR
+
 //Designed to free space of F722 and F411 MCUs
 #if (MCU_FLASH_SIZE > 512)
 

src/main/telemetry/ibus_shared.c

@@ -169,7 +169,7 @@ static uint8_t dispatchMeasurementRequest(ibusAddress_t address) {
         return sendIbusMeasurement2(address, (uint16_t) (attitude.values.roll * 10)); //in ddeg -> cdeg, 1ddeg = 10cdeg
     } else if (SENSOR_ADDRESS_TYPE_LOOKUP[address].value == IBUS_MEAS_VALUE_VSPEED) { //Speed cm/s
 #ifdef USE_PITOT
-        if (sensors(SENSOR_PITOT)) return sendIbusMeasurement2(address, (uint16_t) (pitot.airSpeed)); //int32_t
+        if (sensors(SENSOR_PITOT)) return sendIbusMeasurement2(address, (uint16_t)getAirspeedEstimate()); //int32_t
         else
 #endif
         return sendIbusMeasurement2(address, 0);

src/main/telemetry/ltm.c

@@ -189,7 +189,7 @@ void ltm_sframe(sbuf_t *dst)
     sbufWriteU16(dst, (uint16_t)constrain(getMAhDrawn(), 0, 0xFFFF));    // current mAh (65535 mAh max)
     sbufWriteU8(dst, (uint8_t)((getRSSI() * 254) / 1023));        // scaled RSSI (uchar)
 #if defined(USE_PITOT)
-    sbufWriteU8(dst, sensors(SENSOR_PITOT) ? pitot.airSpeed / 100.0f : 0);  // in m/s
+    sbufWriteU8(dst, sensors(SENSOR_PITOT) ? getAirspeedEstimate() / 100.0f : 0);  // in m/s
 #else
     sbufWriteU8(dst, 0);
 #endif

src/main/telemetry/mavlink.c

@@ -645,7 +645,7 @@ void mavlinkSendHUDAndHeartbeat(void)
 
 #if defined(USE_PITOT)
     if (sensors(SENSOR_PITOT)) {
-        mavAirSpeed = pitot.airSpeed / 100.0f;
+        mavAirSpeed = getAirspeedEstimate() / 100.0f;
     }
 #endif
 

src/main/telemetry/smartport.c

@@ -551,7 +551,7 @@ void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clear
             case FSSP_DATAID_ASPD       :
 #ifdef USE_PITOT
                 if (sensors(SENSOR_PITOT)) {
-                    smartPortSendPackage(id, pitot.airSpeed * 0.194384449f); // cm/s to knots*1
+                    smartPortSendPackage(id, getAirspeedEstimate() * 0.194384449f); // cm/s to knots*1
                     *clearToSend = false;
                 }
 #endif