From 8bb73c2731ff5e21e62ed2da071aed10c3b0c379 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Sun, 10 Oct 2021 21:19:12 +0100
Subject: [PATCH 01/37] Adding 1.3GHz support to Tramp

This is to support the Matek 1G3SE VTx, which can be updated with Tramp.

Initial coding
---
 docs/Settings.md              |  10 +++
 src/main/drivers/vtx_common.h |   6 ++
 src/main/fc/settings.yaml     |  10 +++
 src/main/io/vtx.c             |   1 +
 src/main/io/vtx.h             |   1 +
 src/main/io/vtx_string.c      |  61 +++++++++++++---
 src/main/io/vtx_string.h      |   7 ++
 src/main/io/vtx_tramp.c       | 133 +++++++++++++++++++++-------------
 src/main/io/vtx_tramp.h       |  19 ++++-
 9 files changed, 183 insertions(+), 65 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index d53df0dd7..25fa8bb4a 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -5642,6 +5642,16 @@ Channel to use within the configured `vtx_band`. Valid values are [1, 8].
 
 ---
 
+### vtx_frequency_group
+
+VTx Frequency group to use. Frequency groups: FREQUENCYGROUP_5G8: 5.8GHz, FREQUENCYGROUP_2G4: 2.4GHz, FREQUENCYGROUP_1G3: 1.3GHz.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| FREQUENCYGROUP_5G8 | 0 | 2 |
+
+---
+
 ### vtx_halfduplex
 
 Use half duplex UART to communicate with the VTX, using only a TX pin in the FC.
diff --git a/src/main/drivers/vtx_common.h b/src/main/drivers/vtx_common.h
index c83b0aeab..1910075a8 100644
--- a/src/main/drivers/vtx_common.h
+++ b/src/main/drivers/vtx_common.h
@@ -66,6 +66,12 @@ typedef enum {
     VTXDEV_UNKNOWN    = 0xFF,
 } vtxDevType_e;
 
+typedef enum {
+    FREQUENCYGROUP_5G8 = 0,
+    FREQUENCYGROUP_2G4 = 1,
+    FREQUENCYGROUP_1G3 = 2,
+} vtxFrequencyGroups_e;
+
 struct vtxVTable_s;
 
 typedef struct vtxDeviceCapability_s {
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 70789c9ea..b6f82bc23 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -127,6 +127,9 @@ tables:
   - name: vtx_low_power_disarm
     values: ["OFF", "ON", "UNTIL_FIRST_ARM"]
     enum: vtxLowerPowerDisarm_e
+  - name: vtx_frequency_groups
+    values: ["FREQUENCYGROUP_5G8", "FREQUENCYGROUP_2G4", "FREQUENCYGROUP_1G3"]
+    enum: vtxFrequencyGroups_e
   - name: filter_type
     values: ["PT1", "BIQUAD"]
   - name: filter_type_full
@@ -3632,6 +3635,13 @@ groups:
         field: maxPowerOverride
         min: 0
         max: 10000
+      - name: vtx_frequency_group
+        field: frequencyGroup
+        description: "VTx Frequency group to use. Frequency groups: FREQUENCYGROUP_5G8: 5.8GHz, FREQUENCYGROUP_2G4: 2.4GHz, FREQUENCYGROUP_1G3: 1.3GHz."
+        table: vtx_frequency_groups
+        min: 0
+        max: 2
+        default_value: FREQUENCYGROUP_5G8
 
   - name: PG_PINIOBOX_CONFIG
     type: pinioBoxConfig_t
diff --git a/src/main/io/vtx.c b/src/main/io/vtx.c
index eabe0d1f0..c7891ce6b 100644
--- a/src/main/io/vtx.c
+++ b/src/main/io/vtx.c
@@ -53,6 +53,7 @@ PG_RESET_TEMPLATE(vtxSettingsConfig_t, vtxSettingsConfig,
     .pitModeChan = SETTING_VTX_PIT_MODE_CHAN_DEFAULT,
     .lowPowerDisarm = SETTING_VTX_LOW_POWER_DISARM_DEFAULT,
     .maxPowerOverride = SETTING_VTX_MAX_POWER_OVERRIDE_DEFAULT,
+    .frequencyGroup = SETTING_VTX_FREQUENCY_GROUP_DEFAULT,
 );
 
 typedef enum {
diff --git a/src/main/io/vtx.h b/src/main/io/vtx.h
index 4bff70af5..1a0fcaac4 100644
--- a/src/main/io/vtx.h
+++ b/src/main/io/vtx.h
@@ -41,6 +41,7 @@ typedef struct vtxSettingsConfig_s {
     uint16_t pitModeChan;       // sets out-of-range pitmode frequency
     uint8_t lowPowerDisarm;     // min power while disarmed, from vtxLowerPowerDisarm_e
     uint16_t maxPowerOverride;  // for VTX drivers that are polling VTX capabilities - override what VTX is reporting
+    uint8_t frequencyGroup;     // Frequencies being used, i.e. 5.8, 2.4, or 1.3 GHz 
 } vtxSettingsConfig_t;
 
 PG_DECLARE(vtxSettingsConfig_t, vtxSettingsConfig);
diff --git a/src/main/io/vtx_string.c b/src/main/io/vtx_string.c
index ed75c981b..b86a7ba02 100644
--- a/src/main/io/vtx_string.c
+++ b/src/main/io/vtx_string.c
@@ -25,11 +25,15 @@
 #include "platform.h"
 #include "build/debug.h"
 
-#define VTX_STRING_BAND_COUNT  5
-#define VTX_STRING_CHAN_COUNT  8
-#define VTX_STRING_POWER_COUNT 5
+#define VTX_STRING_5G8_BAND_COUNT  5
+#define VTX_STRING_5G8_CHAN_COUNT  8
+#define VTX_STRING_5G8_POWER_COUNT 5
 
-const uint16_t vtx58frequencyTable[VTX_STRING_BAND_COUNT][VTX_STRING_CHAN_COUNT] =
+#define VTX_STRING_1G3_BAND_COUNT  2
+#define VTX_STRING_1G3_CHAN_COUNT  8
+#define VTX_STRING_1G3_POWER_COUNT 3
+
+const uint16_t vtx58frequencyTable[VTX_STRING_5G8_BAND_COUNT][VTX_STRING_5G8_CHAN_COUNT] =
 {
     { 5865, 5845, 5825, 5805, 5785, 5765, 5745, 5725 }, // A
     { 5733, 5752, 5771, 5790, 5809, 5828, 5847, 5866 }, // B
@@ -38,7 +42,7 @@ const uint16_t vtx58frequencyTable[VTX_STRING_BAND_COUNT][VTX_STRING_CHAN_COUNT]
     { 5658, 5695, 5732, 5769, 5806, 5843, 5880, 5917 }, // R
 };
 
-const char * const vtx58BandNames[VTX_STRING_BAND_COUNT + 1] = {
+const char * const vtx58BandNames[VTX_STRING_5G8_BAND_COUNT + 1] = {
     "-",
     "A",
     "B",
@@ -47,16 +51,38 @@ const char * const vtx58BandNames[VTX_STRING_BAND_COUNT + 1] = {
     "R",
 };
 
-const char vtx58BandLetter[VTX_STRING_BAND_COUNT + 1] = "-ABEFR";
+const char vtx58BandLetter[VTX_STRING_5G8_BAND_COUNT + 1] = "-ABEFR";
 
-const char * const vtx58ChannelNames[VTX_STRING_CHAN_COUNT + 1] = {
+const char * const vtx58ChannelNames[VTX_STRING_5G8_CHAN_COUNT + 1] = {
     "-", "1", "2", "3", "4", "5", "6", "7", "8",
 };
 
-const char * const vtx58DefaultPowerNames[VTX_STRING_POWER_COUNT + 1] = {
+const char * const vtx58DefaultPowerNames[VTX_STRING_5G8_POWER_COUNT + 1] = {
     "---", "PL1", "PL2", "PL3", "PL4", "PL5"
 };
 
+const uint16_t vtx1G3frequencyTable[VTX_STRING_1G3_BAND_COUNT][VTX_STRING_1G3_CHAN_COUNT] =
+{
+    { 1080, 1120, 1160, 1200, 1240, 1280, 1320, 1360 }, // A
+    { 1080, 1120, 1160, 1200, 1258, 1280, 1320, 1360 }, // B
+};
+
+const char * const vtx1G3BandNames[VTX_STRING_1G3_BAND_COUNT + 1] = {
+    "-",
+    "A",
+    "B",
+};
+
+const char vtx1G3BandLetter[VTX_STRING_1G3_BAND_COUNT + 1] = "-AB";
+
+const char * const vtx1G3ChannelNames[VTX_STRING_1G3_CHAN_COUNT + 1] = {
+    "-", "1", "2", "3", "4", "5", "6", "7", "8",
+};
+
+const char * const vtx1G3DefaultPowerNames[VTX_STRING_1G3_POWER_COUNT + 1] = {
+    "---", "PL1", "PL2", "PL3"
+};
+
 bool vtx58_Freq2Bandchan(uint16_t freq, uint8_t *pBand, uint8_t *pChannel)
 {
     int8_t band;
@@ -80,15 +106,28 @@ bool vtx58_Freq2Bandchan(uint16_t freq, uint8_t *pBand, uint8_t *pChannel)
     return false;
 }
 
-//Converts band and channel values to a frequency (in MHz) value.
+// Converts band and channel values to a frequency (in MHz) value.
 // band: Band value (1 to 5).
 // channel:  Channel value (1 to 8).
 // Returns frequency value (in MHz), or 0 if band/channel out of range.
 uint16_t vtx58_Bandchan2Freq(uint8_t band, uint8_t channel)
 {
-    if (band > 0 && band <= VTX_STRING_BAND_COUNT &&
-                          channel > 0 && channel <= VTX_STRING_CHAN_COUNT) {
+    if (band > 0 && band <= VTX_STRING_5G8_BAND_COUNT &&
+                          channel > 0 && channel <= VTX_STRING_5G8_CHAN_COUNT) {
         return vtx58frequencyTable[band - 1][channel - 1];
     }
     return 0;
 }
+
+// Converts band and channel values to a frequency (in MHz) value.
+// band: Band value (1 to 2).
+// channel:  Channel value (1 to 8).
+// Returns frequency value (in MHz), or 0 if band/channel out of range.
+uint16_t vtx1G3_Bandchan2Freq(uint8_t band, uint8_t channel)
+{
+    if (band > 0 && band <= VTX_STRING_1G3_BAND_COUNT &&
+                          channel > 0 && channel <= VTX_STRING_1G3_CHAN_COUNT) {
+        return vtx1G3frequencyTable[band - 1][channel - 1];
+    }
+    return 0;
+}
diff --git a/src/main/io/vtx_string.h b/src/main/io/vtx_string.h
index cb63cbe7a..e23990ec7 100644
--- a/src/main/io/vtx_string.h
+++ b/src/main/io/vtx_string.h
@@ -8,5 +8,12 @@ extern const char * const vtx58ChannelNames[];
 extern const char * const vtx58DefaultPowerNames[];
 extern const char vtx58BandLetter[];
 
+extern const uint16_t vtx1G3frequencyTable[2][8];
+extern const char * const vtx1G3BandNames[];
+extern const char * const vtx1G3ChannelNames[];
+extern const char * const vtx1G3DefaultPowerNames[];
+extern const char vtx51G3BandLetter[];
+
 bool vtx58_Freq2Bandchan(uint16_t freq, uint8_t *pBand, uint8_t *pChannel);
 uint16_t vtx58_Bandchan2Freq(uint8_t band, uint8_t channel);
+uint16_t vtx1G3_Bandchan2Freq(uint8_t band, uint8_t channel);
diff --git a/src/main/io/vtx_tramp.c b/src/main/io/vtx_tramp.c
index 7e5012211..557c26886 100644
--- a/src/main/io/vtx_tramp.c
+++ b/src/main/io/vtx_tramp.c
@@ -407,8 +407,12 @@ static void impl_SetBandAndChannel(vtxDevice_t * vtxDevice, uint8_t band, uint8_
         return;
     }
 
-    // TRAMP is 5.8 GHz only
-    uint16_t newFreqMhz  = vtx58_Bandchan2Freq(band, channel);
+    // Default to 5.8 GHz
+    uint16_t newFreqMhz = vtx58_Bandchan2Freq(band, channel);
+
+    if (vtxSettingsConfig()->frequencyGroup == FREQUENCYGROUP_1G3) {
+        newFreqMhz = vtx1G3_Bandchan2Freq(band, channel);
+    }
 
     if (newFreqMhz < vtxState.capabilities.freqMin || newFreqMhz > vtxState.capabilities.freqMax) {
         return;
@@ -512,9 +516,20 @@ static bool impl_GetOsdInfo(const  vtxDevice_t *vtxDevice, vtxDeviceOsdInfo_t *
     pOsdInfo->frequency = vtxState.request.freq;
     pOsdInfo->powerIndex = vtxState.request.powerIndex;
     pOsdInfo->powerMilliwatt = vtxState.request.power;
-    pOsdInfo->bandLetter = vtx58BandNames[vtxState.request.band][0];
-    pOsdInfo->bandName = vtx58BandNames[vtxState.request.band];
-    pOsdInfo->channelName = vtx58ChannelNames[vtxState.request.channel];
+
+    switch (vtxSettingsConfig()->frequencyGroup) {
+        case FREQUENCYGROUP_1G3:
+            pOsdInfo->bandLetter = vtx1G3BandNames[vtxState.request.band][0];
+            pOsdInfo->bandName = vtx1G3BandNames[vtxState.request.band];
+            pOsdInfo->channelName = vtx1G3ChannelNames[vtxState.request.channel];
+            break;
+        default: // Currently all except 1.3GHz
+            pOsdInfo->bandLetter = vtx58BandNames[vtxState.request.band][0];
+            pOsdInfo->bandName = vtx58BandNames[vtxState.request.band];
+            pOsdInfo->channelName = vtx58ChannelNames[vtxState.request.channel];
+            break;
+    }
+    
     pOsdInfo->powerIndexLetter = '0' + vtxState.request.powerIndex;
     return true;
 }
@@ -539,67 +554,85 @@ static vtxDevice_t impl_vtxDevice = {
     .vTable = &impl_vtxVTable,
     .capability.bandCount = VTX_TRAMP_5G8_BAND_COUNT,
     .capability.channelCount = VTX_TRAMP_5G8_CHANNEL_COUNT,
-    .capability.powerCount = VTX_TRAMP_MAX_POWER_COUNT,
+    .capability.powerCount = VTX_TRAMP_5G8_MAX_POWER_COUNT,
     .capability.bandNames = (char **)vtx58BandNames,
     .capability.channelNames = (char **)vtx58ChannelNames,
     .capability.powerNames = NULL,
 };
 
-const uint16_t trampPowerTable_200[VTX_TRAMP_MAX_POWER_COUNT]         = { 25, 100, 200, 200, 200 };
-const char * const trampPowerNames_200[VTX_TRAMP_MAX_POWER_COUNT + 1] = { "---", "25 ", "100", "200", "200", "200" };
+const uint16_t trampPowerTable_5G8_200[VTX_TRAMP_5G8_MAX_POWER_COUNT]         = { 25, 100, 200, 200, 200 };
+const char * const trampPowerNames_5G8_200[VTX_TRAMP_5G8_MAX_POWER_COUNT + 1] = { "---", "25 ", "100", "200", "200", "200" };
+
+const uint16_t trampPowerTable_5G8_400[VTX_TRAMP_5G8_MAX_POWER_COUNT]         = { 25, 100, 200, 400, 400 };
+const char * const trampPowerNames_5G8_400[VTX_TRAMP_5G8_MAX_POWER_COUNT + 1] = { "---", "25 ", "100", "200", "400", "400" };
 
-const uint16_t trampPowerTable_400[VTX_TRAMP_MAX_POWER_COUNT]         = { 25, 100, 200, 400, 400 };
-const char * const trampPowerNames_400[VTX_TRAMP_MAX_POWER_COUNT + 1] = { "---", "25 ", "100", "200", "400", "400" };
+const uint16_t trampPowerTable_5G8_600[VTX_TRAMP_5G8_MAX_POWER_COUNT]         = { 25, 100, 200, 400, 600 };
+const char * const trampPowerNames_5G8_600[VTX_TRAMP_5G8_MAX_POWER_COUNT + 1] = { "---", "25 ", "100", "200", "400", "600" };
 
-const uint16_t trampPowerTable_600[VTX_TRAMP_MAX_POWER_COUNT]         = { 25, 100, 200, 400, 600 };
-const char * const trampPowerNames_600[VTX_TRAMP_MAX_POWER_COUNT + 1] = { "---", "25 ", "100", "200", "400", "600" };
+const uint16_t trampPowerTable_5G8_800[VTX_TRAMP_5G8_MAX_POWER_COUNT]         = { 25, 100, 200, 500, 800 };
+const char * const trampPowerNames_5G8_800[VTX_TRAMP_5G8_MAX_POWER_COUNT + 1] = { "---", "25 ", "100", "200", "500", "800" };
 
-const uint16_t trampPowerTable_800[VTX_TRAMP_MAX_POWER_COUNT]         = { 25, 100, 200, 500, 800 };
-const char * const trampPowerNames_800[VTX_TRAMP_MAX_POWER_COUNT + 1] = { "---", "25 ", "100", "200", "500", "800" };
+const uint16_t trampPowerTable_1G3_800[VTX_TRAMP_1G3_MAX_POWER_COUNT]         = { 25, 200, 800 };
+const char * const trampPowerNames_1G3_800[VTX_TRAMP_1G3_MAX_POWER_COUNT + 1] = { "---", "25 ", "200", "800" };
 
 static void vtxProtoUpdatePowerMetadata(uint16_t maxPower)
 {
-    if (maxPower >= 800) {
-        // Max power 800mW: Use 25, 100, 200, 500, 800 table
-        vtxState.metadata.powerTablePtr  = trampPowerTable_800;
-        vtxState.metadata.powerTableCount = VTX_TRAMP_MAX_POWER_COUNT;
-        
-        impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_800;
-        impl_vtxDevice.capability.powerCount = VTX_TRAMP_MAX_POWER_COUNT;
-    }
-    else if (maxPower >= 600) {
-        // Max power 600mW: Use 25, 100, 200, 400, 600 table
-        vtxState.metadata.powerTablePtr  = trampPowerTable_600;
-        vtxState.metadata.powerTableCount = VTX_TRAMP_MAX_POWER_COUNT;
+    switch (vtxSettingsConfig()->frequencyGroup) {
+        case FREQUENCYGROUP_1G3:
+            vtxState.metadata.powerTablePtr  = trampPowerTable_1G3_800;
+            vtxState.metadata.powerTableCount = VTX_TRAMP_1G3_MAX_POWER_COUNT;
+            
+            impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_1G3_800;
+            impl_vtxDevice.capability.powerCount = VTX_TRAMP_1G3_MAX_POWER_COUNT;
+            
+            impl_vtxDevice.capability.bandCount = VTX_TRAMP_1G3_BAND_COUNT;
+            impl_vtxDevice.capability.channelCount = VTX_TRAMP_1G3_CHANNEL_COUNT;
+            impl_vtxDevice.capability.bandNames = (char **)vtx1G3BandNames;
+            impl_vtxDevice.capability.channelNames = (char **)vtx1G3ChannelNames;
+            break;
+        default:
+            if (maxPower >= 800) {
+                // Max power 800mW: Use 25, 100, 200, 500, 800 table
+                vtxState.metadata.powerTablePtr  = trampPowerTable_5G8_800;
+                vtxState.metadata.powerTableCount = VTX_TRAMP_5G8_MAX_POWER_COUNT;
+                
+                impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_5G8_800;
+                impl_vtxDevice.capability.powerCount = VTX_TRAMP_5G8_MAX_POWER_COUNT;
+            }
+            else if (maxPower >= 600) {
+                // Max power 600mW: Use 25, 100, 200, 400, 600 table
+                vtxState.metadata.powerTablePtr  = trampPowerTable_5G8_600;
+                vtxState.metadata.powerTableCount = VTX_TRAMP_5G8_MAX_POWER_COUNT;
 
-        impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_600;
-        impl_vtxDevice.capability.powerCount = VTX_TRAMP_MAX_POWER_COUNT;
-    }
-    else if (maxPower >= 400) {
-        // Max power 400mW: Use 25, 100, 200, 400 table
-        vtxState.metadata.powerTablePtr  = trampPowerTable_400;
-        vtxState.metadata.powerTableCount = 4;
+                impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_5G8_600;
+                impl_vtxDevice.capability.powerCount = VTX_TRAMP_5G8_MAX_POWER_COUNT;
+            }
+            else if (maxPower >= 400) {
+                // Max power 400mW: Use 25, 100, 200, 400 table
+                vtxState.metadata.powerTablePtr  = trampPowerTable_5G8_400;
+                vtxState.metadata.powerTableCount = 4;
 
-        impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_400;
-        impl_vtxDevice.capability.powerCount = 4;
-    }
-    else if (maxPower >= 200) {
-        // Max power 200mW: Use 25, 100, 200 table
-        vtxState.metadata.powerTablePtr  = trampPowerTable_200;
-        vtxState.metadata.powerTableCount = 3;
+                impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_5G8_400;
+                impl_vtxDevice.capability.powerCount = 4;
+            }
+            else if (maxPower >= 200) {
+                // Max power 200mW: Use 25, 100, 200 table
+                vtxState.metadata.powerTablePtr  = trampPowerTable_5G8_200;
+                vtxState.metadata.powerTableCount = 3;
 
-        impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_200;
-        impl_vtxDevice.capability.powerCount = 3;
-    }
-    else {
-        // Default to standard TRAMP 600mW VTX
-        vtxState.metadata.powerTablePtr  = trampPowerTable_600;
-        vtxState.metadata.powerTableCount = VTX_TRAMP_MAX_POWER_COUNT;
+                impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_5G8_200;
+                impl_vtxDevice.capability.powerCount = 3;
+            }
+            else {
+                // Default to standard TRAMP 600mW VTX
+                vtxState.metadata.powerTablePtr  = trampPowerTable_5G8_600;
+                vtxState.metadata.powerTableCount = VTX_TRAMP_5G8_MAX_POWER_COUNT;
 
-        impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_600;
-        impl_vtxDevice.capability.powerCount = VTX_TRAMP_MAX_POWER_COUNT;
+                impl_vtxDevice.capability.powerNames = (char **)trampPowerNames_5G8_600;
+                impl_vtxDevice.capability.powerCount = VTX_TRAMP_5G8_MAX_POWER_COUNT;
+            }
+            break;
     }
-
 }
 
 bool vtxTrampInit(void)
diff --git a/src/main/io/vtx_tramp.h b/src/main/io/vtx_tramp.h
index 3d2643c19..1f4420185 100644
--- a/src/main/io/vtx_tramp.h
+++ b/src/main/io/vtx_tramp.h
@@ -19,13 +19,24 @@
 
 #include <stdint.h>
 
+// 5.8 GHz
 #define VTX_TRAMP_5G8_BAND_COUNT        5
 #define VTX_TRAMP_5G8_CHANNEL_COUNT     8
 
-#define VTX_TRAMP_MAX_POWER_COUNT 5
-#define VTX_TRAMP_DEFAULT_POWER 1
+#define VTX_TRAMP_5G8_MAX_POWER_COUNT   5
+#define VTX_TRAMP_5G8_DEFAULT_POWER     1
 
-#define VTX_TRAMP_MIN_FREQUENCY_MHZ 5000             //min freq in MHz
-#define VTX_TRAMP_MAX_FREQUENCY_MHZ 5999             //max freq in MHz
+#define VTX_TRAMP_5G8_MIN_FREQUENCY_MHZ 5000             //min freq in MHz
+#define VTX_TRAMP_5G8_MAX_FREQUENCY_MHZ 5999             //max freq in MHz
+
+// 1.3 GHz
+#define VTX_TRAMP_1G3_BAND_COUNT        2
+#define VTX_TRAMP_1G3_CHANNEL_COUNT     8
+
+#define VTX_TRAMP_1G3_MAX_POWER_COUNT   3
+#define VTX_TRAMP_1G3_DEFAULT_POWER     1
+
+#define VTX_TRAMP_1G3_MIN_FREQUENCY_MHZ 1000
+#define VTX_TRAMP_1G3_MAX_FREQUENCY_MHZ 1399
 
 bool vtxTrampInit(void);

From 10541c9a661c00d70f14ca823c15e9bef9f51e11 Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sun, 13 Feb 2022 11:51:28 +0000
Subject: [PATCH 02/37] Update navigation.c

---
 src/main/navigation/navigation.c | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index 05f8f6a69..d2a4c512f 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -3142,6 +3142,7 @@ static void processNavigationRCAdjustments(void)
             if (!STATE(FIXED_WING_LEGACY)) {
                 resetMulticopterBrakingMode();
             }
+            posControl.flags.isAdjustingPosition = false;
         }
     }
     else {

From c9b19f20d133093fa778a85ef4adfbb216ac756b Mon Sep 17 00:00:00 2001
From: breadoven <56191411+breadoven@users.noreply.github.com>
Date: Sun, 13 Feb 2022 18:28:44 +0000
Subject: [PATCH 03/37] Update navigation.c

Cleaner method
---
 src/main/navigation/navigation.c | 11 +++--------
 1 file changed, 3 insertions(+), 8 deletions(-)

diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
index d2a4c512f..94f162535 100644
--- a/src/main/navigation/navigation.c
+++ b/src/main/navigation/navigation.c
@@ -3135,14 +3135,9 @@ static void processNavigationRCAdjustments(void)
     }
 
     if (navStateFlags & NAV_RC_POS) {
-        if (!FLIGHT_MODE(FAILSAFE_MODE)) {
-            posControl.flags.isAdjustingPosition = adjustPositionFromRCInput();
-        }
-        else {
-            if (!STATE(FIXED_WING_LEGACY)) {
-                resetMulticopterBrakingMode();
-            }
-            posControl.flags.isAdjustingPosition = false;
+        posControl.flags.isAdjustingPosition = adjustPositionFromRCInput() && !FLIGHT_MODE(FAILSAFE_MODE);
+        if (STATE(MULTIROTOR) && FLIGHT_MODE(FAILSAFE_MODE)) {
+            resetMulticopterBrakingMode();
         }
     }
     else {

From dfcab78cfeca74edfc497de486c7ff20d74fe826 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Fri, 25 Feb 2022 23:27:32 +0000
Subject: [PATCH 04/37] Allow mAh Drawn to use longer numbers

Initial coding:
- Added parameter to set length of mAh Drawn
- Updated display code to use decimal places if the number is longer than the allowed length
---
 docs/Settings.md          | 10 ++++++++++
 src/main/fc/settings.yaml |  7 +++++++
 src/main/io/osd.c         |  7 ++++---
 src/main/io/osd.h         |  2 +-
 4 files changed, 22 insertions(+), 4 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index 09008d1d3..154809d90 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -4432,6 +4432,16 @@ LQ % indicator blinks below this value. For Crossfire use 70%, for Tracer use 50
 
 ---
 
+### osd_mah_used_precision
+
+_// TODO_
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 4 | 4 | 5 |
+
+---
+
 ### osd_main_voltage_decimals
 
 Number of decimals for the battery voltages displayed in the OSD [1-2].
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index eed67b85c..34f51529e 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -3504,6 +3504,13 @@ groups:
         max: 6
         default_value: 3
 
+      - name: osd_mah_used_precision
+        descripption: Number of digits used to display mAh used.
+        field: mAh_used_precision
+        min: 4
+        max: 5
+        default_value: 4
+
       - name: osd_system_msg_display_time
         description: System message display cycle time for multiple messages (milliseconds).
         field: system_msg_display_time
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index bd499bc43..1ba5ef16a 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -1539,9 +1539,9 @@ static bool osdDrawSingleElement(uint8_t item)
         break;
 
     case OSD_MAH_DRAWN:
-        tfp_sprintf(buff, "%4d", (int)getMAhDrawn());
-        buff[4] = SYM_MAH;
-        buff[5] = '\0';
+        osdFormatCentiNumber(buff, getMAhDrawn(), 0, (osdConfig()->mAh_used_precision - 3), 0, osdConfig()->mAh_used_precision);
+        buff[(osdConfig()->mAh_used_precision + 1)] = SYM_MAH;
+        buff[(osdConfig()->mAh_used_precision + 2)] = '\0';
         osdUpdateBatteryCapacityOrVoltageTextAttributes(&elemAttr);
         break;
 
@@ -3208,6 +3208,7 @@ PG_RESET_TEMPLATE(osdConfig_t, osdConfig,
     .pan_servo_index = SETTING_OSD_PAN_SERVO_INDEX_DEFAULT,
     .pan_servo_pwm2centideg = SETTING_OSD_PAN_SERVO_PWM2CENTIDEG_DEFAULT,
     .esc_rpm_precision = SETTING_OSD_ESC_RPM_PRECISION_DEFAULT,
+    .mAh_used_precision = SETTING_OSD_MAH_USED_PRECISION_DEFAULT,
     .system_msg_display_time = SETTING_OSD_SYSTEM_MSG_DISPLAY_TIME_DEFAULT,
     .units = SETTING_OSD_UNITS_DEFAULT,
     .main_voltage_decimals = SETTING_OSD_MAIN_VOLTAGE_DECIMALS_DEFAULT,
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index be32f8418..43fec092b 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -405,7 +405,7 @@ typedef struct osdConfig_s {
     uint8_t sidebar_height;             // sidebar height in rows, 0 turns off sidebars leaving only level indicator arrows
     uint8_t telemetry; 				    // use telemetry on displayed pixel line 0
     uint8_t esc_rpm_precision;          // Number of characters used for the RPM numbers.
-
+    uint8_t mAh_used_precision;         // Number of numbers used for mAh drawn. Plently of packs now are > 9999 mAh
 } osdConfig_t;
 
 PG_DECLARE(osdConfig_t, osdConfig);

From 1ba3b27044b89e4d9f4bddc996fc7854996e42bb Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Tue, 1 Mar 2022 16:37:15 +0000
Subject: [PATCH 05/37] Update settings.yaml

---
 src/main/fc/settings.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 34f51529e..0c74cbd23 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -3508,7 +3508,7 @@ groups:
         descripption: Number of digits used to display mAh used.
         field: mAh_used_precision
         min: 4
-        max: 5
+        max: 6
         default_value: 4
 
       - name: osd_system_msg_display_time

From 74d40259bb7288192085efe8f5c81365d9c28aef Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Tue, 1 Mar 2022 19:55:16 +0000
Subject: [PATCH 06/37] Update osd.c

Code working. Left placeholder in for alternate icon over 10,000 mAh.
---
 src/main/io/osd.c | 16 +++++++++++-----
 1 file changed, 11 insertions(+), 5 deletions(-)

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 1ba5ef16a..6711b46bd 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -1538,13 +1538,19 @@ static bool osdDrawSingleElement(uint8_t item)
         }
         break;
 
-    case OSD_MAH_DRAWN:
-        osdFormatCentiNumber(buff, getMAhDrawn(), 0, (osdConfig()->mAh_used_precision - 3), 0, osdConfig()->mAh_used_precision);
-        buff[(osdConfig()->mAh_used_precision + 1)] = SYM_MAH;
-        buff[(osdConfig()->mAh_used_precision + 2)] = '\0';
+    case OSD_MAH_DRAWN: {
+        osdFormatCentiNumber(buff, getMAhDrawn() * 100, 1000, 0, (osdConfig()->mAh_used_precision - 2), osdConfig()->mAh_used_precision);
+        /*if (osdFormatCentiNumber(buff, getMAhDrawn() * 100, 1000, 0, (osdConfig()->mAh_used_precision - 2), osdConfig()->mAh_used_precision)) {
+           // Scaled to ten thousand mAh
+           buff[osdConfig()->mAh_used_precision] = SYM_KMAH;
+        } else {
+          // Full mAh shown */
+            buff[osdConfig()->mAh_used_precision] = SYM_MAH;
+        //}
+        buff[(osdConfig()->mAh_used_precision + 1)] = '\0';
         osdUpdateBatteryCapacityOrVoltageTextAttributes(&elemAttr);
         break;
-
+    }
     case OSD_WH_DRAWN:
         osdFormatCentiNumber(buff, getMWhDrawn() / 10, 0, 2, 0, 3);
         osdUpdateBatteryCapacityOrVoltageTextAttributes(&elemAttr);

From 3a1c14e72e4710973bcbf838bb606ce5a5cf4de2 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Tue, 1 Mar 2022 19:57:47 +0000
Subject: [PATCH 07/37] Update Settings.md

---
 docs/Settings.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index 154809d90..a1e66a39d 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -4438,7 +4438,7 @@ _// TODO_
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 4 | 4 | 5 |
+| 4 | 4 | 6 |
 
 ---
 

From 4b24e2df837453a14591f6a0af8573eea1d1de41 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Wed, 2 Mar 2022 21:57:02 +0000
Subject: [PATCH 08/37] Added symbol for Ah

---
 src/main/drivers/osd_symbols.h |  2 +-
 src/main/io/osd.c              | 11 +++++------
 2 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/src/main/drivers/osd_symbols.h b/src/main/drivers/osd_symbols.h
index 229ba680a..119a5d728 100644
--- a/src/main/drivers/osd_symbols.h
+++ b/src/main/drivers/osd_symbols.h
@@ -161,7 +161,7 @@
 #define SYM_HEADING_LINE            0xCD  // 205 Heading Graphic
 #define SYM_MAX                     0xCE  // 206 MAX symbol
 #define SYM_PROFILE                 0xCF  // 207 Profile symbol
-
+#define SYM_AH                      0xD3  // 211 Amphours symbol
 
 #define SYM_LOGO_START              0x101 // 257 to 280, INAV logo
 #define SYM_LOGO_WIDTH              6
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index 6711b46bd..8ca634971 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -1539,14 +1539,13 @@ static bool osdDrawSingleElement(uint8_t item)
         break;
 
     case OSD_MAH_DRAWN: {
-        osdFormatCentiNumber(buff, getMAhDrawn() * 100, 1000, 0, (osdConfig()->mAh_used_precision - 2), osdConfig()->mAh_used_precision);
-        /*if (osdFormatCentiNumber(buff, getMAhDrawn() * 100, 1000, 0, (osdConfig()->mAh_used_precision - 2), osdConfig()->mAh_used_precision)) {
-           // Scaled to ten thousand mAh
-           buff[osdConfig()->mAh_used_precision] = SYM_KMAH;
+        if (osdFormatCentiNumber(buff, getMAhDrawn() * 100, 1000, 0, (osdConfig()->mAh_used_precision - 2), osdConfig()->mAh_used_precision)) {
+           // Shown in mAh
+           buff[osdConfig()->mAh_used_precision] = SYM_AH;
         } else {
-          // Full mAh shown */
+          // Shown in Ah
             buff[osdConfig()->mAh_used_precision] = SYM_MAH;
-        //}
+        }
         buff[(osdConfig()->mAh_used_precision + 1)] = '\0';
         osdUpdateBatteryCapacityOrVoltageTextAttributes(&elemAttr);
         break;

From 727639ffaa52187baf41a570bd68a3304ad453a6 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Wed, 2 Mar 2022 22:14:37 +0000
Subject: [PATCH 09/37] Fixed typo in settings.yaml

---
 docs/Settings.md          | 2 +-
 src/main/fc/settings.yaml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index a1e66a39d..23bf8f0e3 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -4434,7 +4434,7 @@ LQ % indicator blinks below this value. For Crossfire use 70%, for Tracer use 50
 
 ### osd_mah_used_precision
 
-_// TODO_
+Number of digits used to display mAh used.
 
 | Default | Min | Max |
 | --- | --- | --- |
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 0c74cbd23..71af0acd8 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -3505,7 +3505,7 @@ groups:
         default_value: 3
 
       - name: osd_mah_used_precision
-        descripption: Number of digits used to display mAh used.
+        description: Number of digits used to display mAh used.
         field: mAh_used_precision
         min: 4
         max: 6

From 20fbe1cf7e03d011e88630e0a4afc5ce6e60013e Mon Sep 17 00:00:00 2001
From: dawr68 <dawr68@gmail.com>
Date: Sat, 12 Mar 2022 00:04:22 +0100
Subject: [PATCH 10/37] Added target files

---
 src/main/target/JHEH7AIO/CMakeLists.txt |   1 +
 src/main/target/JHEH7AIO/config.c       |  26 ++++
 src/main/target/JHEH7AIO/target.c       |  38 +++++
 src/main/target/JHEH7AIO/target.h       | 175 ++++++++++++++++++++++++
 4 files changed, 240 insertions(+)
 create mode 100644 src/main/target/JHEH7AIO/CMakeLists.txt
 create mode 100644 src/main/target/JHEH7AIO/config.c
 create mode 100644 src/main/target/JHEH7AIO/target.c
 create mode 100644 src/main/target/JHEH7AIO/target.h

diff --git a/src/main/target/JHEH7AIO/CMakeLists.txt b/src/main/target/JHEH7AIO/CMakeLists.txt
new file mode 100644
index 000000000..614823c53
--- /dev/null
+++ b/src/main/target/JHEH7AIO/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32h743xi(JHEH7AIO)
diff --git a/src/main/target/JHEH7AIO/config.c b/src/main/target/JHEH7AIO/config.c
new file mode 100644
index 000000000..8ec9f1384
--- /dev/null
+++ b/src/main/target/JHEH7AIO/config.c
@@ -0,0 +1,26 @@
+/*
+  * This file is part of INAV.
+  *
+  * INAV is free software: you can redistribute it and/or modify
+  * it under the terms of the GNU General Public License as published by
+  * the Free Software Foundation, either version 3 of the License, or
+  * (at your option) any later version.
+  *
+  * INAV is distributed in the hope that it will be useful,
+  * but WITHOUT ANY WARRANTY; without even the implied warranty of
+  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  * GNU General Public License for more details.
+  *
+  * You should have received a copy of the GNU General Public License
+  * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+  */
+
+#include <stdint.h>
+#include "platform.h"
+#include "fc/fc_msp_box.h"
+#include "fc/config.h"
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+}
diff --git a/src/main/target/JHEH7AIO/target.c b/src/main/target/JHEH7AIO/target.c
new file mode 100644
index 000000000..ba059cff1
--- /dev/null
+++ b/src/main/target/JHEH7AIO/target.c
@@ -0,0 +1,38 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+const timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,                       0, 0), // M1
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,                       0, 1), // M2
+    DEF_TIM(TIM1, CH1, PE9,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,                       0, 2), // M3
+    DEF_TIM(TIM1, CH2, PE11, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,                       0, 3), // M4
+
+    DEF_TIM( TIM4, CH1, PD12, TIM_USE_LED,             0, 4) // LED_2812
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
\ No newline at end of file
diff --git a/src/main/target/JHEH7AIO/target.h b/src/main/target/JHEH7AIO/target.h
new file mode 100644
index 000000000..fe16fa07c
--- /dev/null
+++ b/src/main/target/JHEH7AIO/target.h
@@ -0,0 +1,175 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define USE_TARGET_CONFIG
+
+#define TARGET_BOARD_IDENTIFIER "JH7A"
+#define USBD_PRODUCT_STRING     "JHEH743AIO"
+
+#define LED0                    PC13
+
+#define BEEPER_PIN              PD15
+#define BEEPER_INVERTED
+
+// *************** SPI1 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 SPI1_NSS_PIN            PA4
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW0_DEG
+#define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_SPI_BUS         BUS_SPI1
+#define MPU6000_EXTI_PIN        PD0
+
+#define USE_EXTI
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+
+// *************** I2C1 Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_DPS310
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C1
+#define USE_MAG_AK8975
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_IST8308
+#define USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C1
+#define BNO055_I2C_BUS          BUS_I2C1
+#define PITOT_I2C_BUS           BUS_I2C1
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
+
+// *************** SPI2 ***********************
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+#define SPI2_NSS_PIN            PB12
+
+// *************** SPI3 BLACKBOX *******************
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+#define SPI3_NSS_PIN            PA15
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_SPI_BUS          BUS_SPI3
+#define M25P16_CS_PIN           SPI3_NSS_PIN
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** SPI4 OSD *******************
+#define USE_SPI_DEVICE_4
+#define SPI4_SCK_PIN            PE2
+#define SPI4_MISO_PIN           PE5
+#define SPI4_MOSI_PIN           PE6
+#define SPI4_NSS_PIN            PE4
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI4
+#define MAX7456_CS_PIN          SPI4_NSS_PIN
+
+// *************** 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_UART3
+#define UART3_RX_PIN            PB11
+#define UART3_TX_PIN            PB10
+
+#define USE_UART4
+#define UART4_RX_PIN            PA1
+#define UART4_TX_PIN            PA0
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+#define USE_UART7
+#define UART7_RX_PIN            PE7
+#define UART7_TX_PIN            PE8
+
+#define USE_UART8
+#define UART8_RX_PIN            PE0
+#define UART8_TX_PIN            PE1
+
+#define SERIAL_PORT_COUNT       8
+
+#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                ADC3
+
+#define ADC_CHANNEL_1_PIN           PC3
+#define ADC_CHANNEL_2_PIN           PC2
+#define ADC_CHANNEL_3_PIN           PC5 
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN                  PD12
+
+#define DEFAULT_FEATURES            (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
+#define CURRENT_METER_SCALE         100
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS        4
+#define USE_DSHOT
+#define USE_ESC_SENSOR
\ No newline at end of file

From 497465ccc161af3591543c863c1ca7172c237530 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Mon, 4 Apr 2022 14:08:18 +0100
Subject: [PATCH 11/37] Update settings.yaml

Changed default band, as being outside the range will cause Tramp to not work. This will be covered in docs.
---
 src/main/fc/settings.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 533022adf..3a0835e4d 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -3656,7 +3656,7 @@ groups:
     members:
       - name: vtx_band
         description: "Configure the VTX band. Set to zero to use `vtx_freq`. Bands: 1: A, 2: B, 3: E, 4: F, 5: Race."
-        default_value: 4
+        default_value: 1
         field: band
         min: VTX_SETTINGS_NO_BAND
         max: VTX_SETTINGS_MAX_BAND

From 9bd95b0e9515a5acaea271ed3363c46f143884fd Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Mon, 4 Apr 2022 14:40:14 +0100
Subject: [PATCH 12/37] Update Settings.md

---
 docs/Settings.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docs/Settings.md b/docs/Settings.md
index 1aa12b705..60fb7068c 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -5748,7 +5748,7 @@ Configure the VTX band. Set to zero to use `vtx_freq`. Bands: 1: A, 2: B, 3: E,
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 4 | VTX_SETTINGS_NO_BAND | VTX_SETTINGS_MAX_BAND |
+| 1 | VTX_SETTINGS_NO_BAND | VTX_SETTINGS_MAX_BAND |
 
 ---
 

From 9ae38c577b1e515fa3dc78001c0fe4a35e94aaab Mon Sep 17 00:00:00 2001
From: ltwin8 <leon.osterhues@icloud.com>
Date: Tue, 12 Apr 2022 23:28:06 +0200
Subject: [PATCH 13/37] Create CMakeLists.txt

---
 src/main/target/IFLIGHT_H743_AIO_V2/CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)
 create mode 100644 src/main/target/IFLIGHT_H743_AIO_V2/CMakeLists.txt

diff --git a/src/main/target/IFLIGHT_H743_AIO_V2/CMakeLists.txt b/src/main/target/IFLIGHT_H743_AIO_V2/CMakeLists.txt
new file mode 100644
index 000000000..3f0e7fc61
--- /dev/null
+++ b/src/main/target/IFLIGHT_H743_AIO_V2/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32h743xi(IFLIGHT_H743_AIO_V2)

From 8d28c90724248ed39f3aec8710ccfcd59d35544d Mon Sep 17 00:00:00 2001
From: ltwin8 <leon.osterhues@icloud.com>
Date: Tue, 12 Apr 2022 23:28:37 +0200
Subject: [PATCH 14/37] Add files via upload

---
 src/main/target/IFLIGHT_H743_AIO_V2/config.c |  26 +++
 src/main/target/IFLIGHT_H743_AIO_V2/target.c |  38 ++++
 src/main/target/IFLIGHT_H743_AIO_V2/target.h | 177 +++++++++++++++++++
 3 files changed, 241 insertions(+)
 create mode 100644 src/main/target/IFLIGHT_H743_AIO_V2/config.c
 create mode 100644 src/main/target/IFLIGHT_H743_AIO_V2/target.c
 create mode 100644 src/main/target/IFLIGHT_H743_AIO_V2/target.h

diff --git a/src/main/target/IFLIGHT_H743_AIO_V2/config.c b/src/main/target/IFLIGHT_H743_AIO_V2/config.c
new file mode 100644
index 000000000..8ec9f1384
--- /dev/null
+++ b/src/main/target/IFLIGHT_H743_AIO_V2/config.c
@@ -0,0 +1,26 @@
+/*
+  * This file is part of INAV.
+  *
+  * INAV is free software: you can redistribute it and/or modify
+  * it under the terms of the GNU General Public License as published by
+  * the Free Software Foundation, either version 3 of the License, or
+  * (at your option) any later version.
+  *
+  * INAV is distributed in the hope that it will be useful,
+  * but WITHOUT ANY WARRANTY; without even the implied warranty of
+  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+  * GNU General Public License for more details.
+  *
+  * You should have received a copy of the GNU General Public License
+  * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+  */
+
+#include <stdint.h>
+#include "platform.h"
+#include "fc/fc_msp_box.h"
+#include "fc/config.h"
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+}
diff --git a/src/main/target/IFLIGHT_H743_AIO_V2/target.c b/src/main/target/IFLIGHT_H743_AIO_V2/target.c
new file mode 100644
index 000000000..4a2647c16
--- /dev/null
+++ b/src/main/target/IFLIGHT_H743_AIO_V2/target.c
@@ -0,0 +1,38 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+const timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,                       0, 0), // M1
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,                       0, 1), // M2
+    DEF_TIM(TIM3, CH1, PB4,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,                       0, 2), // M3
+    DEF_TIM(TIM3, CH2, PB5, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,                       0, 3), // M4
+
+    DEF_TIM( TIM1, CH1, PA8, TIM_USE_LED,             0, 4) // LED_2812
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/IFLIGHT_H743_AIO_V2/target.h b/src/main/target/IFLIGHT_H743_AIO_V2/target.h
new file mode 100644
index 000000000..c023f3fe3
--- /dev/null
+++ b/src/main/target/IFLIGHT_H743_AIO_V2/target.h
@@ -0,0 +1,177 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define USE_TARGET_CONFIG
+
+#define TARGET_BOARD_IDENTIFIER "IF7A"
+#define USBD_PRODUCT_STRING     "IFLIGHT_H743_AIO_V2"
+
+#define LED0                    PC13
+
+#define BEEPER_PIN              PD2
+#define BEEPER_INVERTED
+
+// *************** SPI1 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 SPI1_NSS_PIN            PA4
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW0_DEG
+#define MPU6000_CS_PIN          SPI1_NSS_PIN
+#define MPU6000_SPI_BUS         BUS_SPI1
+#define MPU6000_EXTI_PIN        PD0
+
+#define USE_EXTI
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+
+// *************** I2C1 Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+//UUART3
+#define USE_I2C_DEVICE_2
+#define I2C2_SCL                PB10
+#define I2C2_SDA                PB11
+//
+
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_DPS310
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C2
+#define USE_MAG_AK8975
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_IST8308
+#define USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C2
+#define BNO055_I2C_BUS          BUS_I2C2
+#define PITOT_I2C_BUS           BUS_I2C2
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     BUS_I2C2
+
+// *************** SPI2 ***********************
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+#define SPI2_NSS_PIN            PB12
+
+// *************** SPI3 BLACKBOX *******************
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PC10
+#define SPI3_MISO_PIN           PC11
+#define SPI3_MOSI_PIN           PC12
+#define SPI3_NSS_PIN            PA15
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_SPI_BUS          BUS_SPI3
+#define M25P16_CS_PIN           SPI3_NSS_PIN
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** SPI4 OSD *******************
+#define USE_SPI_DEVICE_4
+#define SPI4_SCK_PIN            PE2
+#define SPI4_MISO_PIN           PE5
+#define SPI4_MOSI_PIN           PE6
+#define SPI4_NSS_PIN            PE4
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI4
+#define MAX7456_CS_PIN          SPI4_NSS_PIN
+
+// *************** 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            PA1
+#define UART4_TX_PIN            PA0
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+#define USE_UART7
+#define UART7_RX_PIN            PE7
+#define UART7_TX_PIN            PE8
+
+#define USE_UART8
+#define UART8_RX_PIN            PE0
+#define UART8_TX_PIN            PE1
+
+#define SERIAL_PORT_COUNT       7
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_CRSF
+#define SERIALRX_UART           SERIAL_PORT_USART4
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC3
+
+#define ADC_CHANNEL_1_PIN           PC3
+#define ADC_CHANNEL_2_PIN           PC2
+#define ADC_CHANNEL_3_PIN           PC5 
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_2
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA8
+
+#define DEFAULT_FEATURES            (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
+#define CURRENT_METER_SCALE         100
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS        4
+#define USE_DSHOT
+#define USE_ESC_SENSOR

From 1691878868adb74ccb3bd6a67ef256937c5057f8 Mon Sep 17 00:00:00 2001
From: ErNis <4658853+erstec@users.noreply.github.com>
Date: Sun, 10 Apr 2022 20:58:58 +0300
Subject: [PATCH 15/37] PB2 as MOSI on F7 and H7 is on AF7, not AF6

---
 src/main/drivers/bus_spi_hal_ll.c | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/main/drivers/bus_spi_hal_ll.c b/src/main/drivers/bus_spi_hal_ll.c
index 25662f2f2..0dcb55806 100644
--- a/src/main/drivers/bus_spi_hal_ll.c
+++ b/src/main/drivers/bus_spi_hal_ll.c
@@ -189,6 +189,11 @@ bool spiInitDevice(SPIDevice device, bool leadingEdge)
         IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG_HIGH, spi->af);
     }
     IOConfigGPIOAF(IOGetByTag(spi->miso), SPI_IO_AF_MISO_CFG, spi->af);
+
+    // If MOSI pin for SPI3 is PB2 -> AF7, not AF6
+    if (spiDeviceByInstance(spi->dev) == SPIDEV_3 && IO_TAG(SPI3_MOSI_PIN) == IO_TAG(PB2)) {
+        spi->af = GPIO_AF7_SPI3;
+    }
     IOConfigGPIOAF(IOGetByTag(spi->mosi), SPI_IO_AF_CFG, spi->af);
 
     if (spi->nss) {

From fc738d9ae1e0151a7ae548101e557dd837e833cf Mon Sep 17 00:00:00 2001
From: ErNis <4658853+erstec@users.noreply.github.com>
Date: Tue, 12 Apr 2022 20:12:06 +0300
Subject: [PATCH 16/37] Custom SPI AF's can be obtained from target.h (if
 provided), otherwise - defaults

---
 src/main/drivers/bus_spi.h          |  6 ++
 src/main/drivers/bus_spi_hal_ll.c   | 90 ++++++++++++++++++++++++-----
 src/main/target/TMOTORF7V2/target.h |  3 +
 3 files changed, 83 insertions(+), 16 deletions(-)

diff --git a/src/main/drivers/bus_spi.h b/src/main/drivers/bus_spi.h
index 2f5f8e0be..ad78f1ff5 100644
--- a/src/main/drivers/bus_spi.h
+++ b/src/main/drivers/bus_spi.h
@@ -69,7 +69,13 @@ typedef struct SPIDevice_s {
     ioTag_t mosi;
     ioTag_t miso;
     rccPeriphTag_t rcc;
+#if defined(STM32F7) || defined(STM32H7)
+    uint8_t sckAF;
+    uint8_t misoAF;
+    uint8_t mosiAF;
+#else
     uint8_t af;
+#endif
     const uint32_t * divisorMap;
     volatile uint16_t errorCount;
     bool initDone;
diff --git a/src/main/drivers/bus_spi_hal_ll.c b/src/main/drivers/bus_spi_hal_ll.c
index 0dcb55806..5a2a027ea 100644
--- a/src/main/drivers/bus_spi_hal_ll.c
+++ b/src/main/drivers/bus_spi_hal_ll.c
@@ -91,22 +91,53 @@ static const uint32_t spiDivisorMapSlow[] = {
 #if defined(STM32H7)
 static spiDevice_t spiHardwareMap[SPIDEV_COUNT] = {
 #ifdef USE_SPI_DEVICE_1
-    { .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .af = GPIO_AF5_SPI1, .divisorMap = spiDivisorMapFast },
+#if defined(SPI1_SCK_AF) || defined(SPI1_MISO_AF) || defined(SPI1_MOSI_AF)
+#if !defined(SPI1_SCK_AF) || !defined(SPI1_MISO_AF) || !defined(SPI1_MOSI_AF)
+#error SPI1: SCK, MISO and MOSI AFs should be defined together in target.h!
+#endif
+    { .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .sckAF = SPI1_SCK_AF, .misoAF = SPI1_MISO_AF, .mosiAF = SPI1_MOSI_AF, .divisorMap = spiDivisorMapFast },
+#else
+    { .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .sckAF = GPIO_AF5_SPI1, .misoAF = GPIO_AF5_SPI1, .mosiAF = GPIO_AF5_SPI1, .divisorMap = spiDivisorMapFast },
+#endif
 #else
     { .dev = NULL },    // No SPI1
 #endif
+
 #ifdef USE_SPI_DEVICE_2
-    { .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1L(SPI2), .af = GPIO_AF5_SPI2, .divisorMap = spiDivisorMapSlow },
+#if defined(SPI2_SCK_AF) || defined(SPI2_MISO_AF) || defined(SPI2_MOSI_AF)
+#if !defined(SPI2_SCK_AF) || !defined(SPI2_MISO_AF) || !defined(SPI2_MOSI_AF)
+#error SPI2: SCK, MISO and MOSI AFs should be defined together in target.h!
+#endif
+    { .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1L(SPI2), .sckAF = SPI2_SCK_AF, .misoAF = SPI2_MISO_AF, .mosiAF = SPI2_MOSI_AF, .divisorMap = spiDivisorMapSlow },
+#else
+    { .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1L(SPI2), .sckAF = GPIO_AF5_SPI2, .misoAF = GPIO_AF5_SPI2, .mosiAF = GPIO_AF5_SPI2, .divisorMap = spiDivisorMapSlow },
+#endif
 #else
     { .dev = NULL },    // No SPI2
 #endif
+
 #ifdef USE_SPI_DEVICE_3
-    { .dev = SPI3, .nss = IO_TAG(SPI3_NSS_PIN), .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1L(SPI3), .af = GPIO_AF6_SPI3, .divisorMap = spiDivisorMapSlow },
+#if defined(SPI3_SCK_AF) || defined(SPI3_MISO_AF) || defined(SPI3_MOSI_AF)
+#if !defined(SPI3_SCK_AF) || !defined(SPI3_MISO_AF) || !defined(SPI3_MOSI_AF)
+#error SPI3: SCK, MISO and MOSI AFs should be defined together in target.h!
+#endif
+    { .dev = SPI3, .nss = IO_TAG(SPI3_NSS_PIN), .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1L(SPI3), .sckAF = SPI3_SCK_AF, .misoAF = SPI3_MISO_AF, .mosiAF = SPI3_MOSI_AF, .divisorMap = spiDivisorMapSlow },
+#else
+    { .dev = SPI3, .nss = IO_TAG(SPI3_NSS_PIN), .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1L(SPI3), .sckAF = GPIO_AF6_SPI3, .misoAF = GPIO_AF6_SPI3, .mosiAF = GPIO_AF6_SPI3, .divisorMap = spiDivisorMapSlow },
+#endif
 #else
     { .dev = NULL },    // No SPI3
 #endif
+
 #ifdef USE_SPI_DEVICE_4
-    { .dev = SPI4, .nss = IO_TAG(SPI4_NSS_PIN), .sck = IO_TAG(SPI4_SCK_PIN), .miso = IO_TAG(SPI4_MISO_PIN), .mosi = IO_TAG(SPI4_MOSI_PIN), .rcc = RCC_APB2(SPI4), .af = GPIO_AF5_SPI4, .divisorMap = spiDivisorMapSlow }
+#if defined(SPI3_SCK_AF) || defined(SPI3_MISO_AF) || defined(SPI3_MOSI_AF)
+#if !defined(SPI3_SCK_AF) || !defined(SPI3_MISO_AF) || !defined(SPI3_MOSI_AF)
+#error SPI3: SCK, MISO and MOSI AFs should be defined together in target.h!
+#endif
+    { .dev = SPI4, .nss = IO_TAG(SPI4_NSS_PIN), .sck = IO_TAG(SPI4_SCK_PIN), .miso = IO_TAG(SPI4_MISO_PIN), .mosi = IO_TAG(SPI4_MOSI_PIN), .rcc = RCC_APB2(SPI4), .sckAF = SPI4_SCK_AF, .misoAF = SPI4_MISO_AF, .mosiAF = SPI4_MOSI_AF, .divisorMap = spiDivisorMapSlow }
+#else
+    { .dev = SPI4, .nss = IO_TAG(SPI4_NSS_PIN), .sck = IO_TAG(SPI4_SCK_PIN), .miso = IO_TAG(SPI4_MISO_PIN), .mosi = IO_TAG(SPI4_MOSI_PIN), .rcc = RCC_APB2(SPI4), .sckAF = GPIO_AF5_SPI4, .misoAF = GPIO_AF5_SPI4, .mosiAF = GPIO_AF5_SPI4, .divisorMap = spiDivisorMapSlow }
+#endif
 #else
     { .dev = NULL }     // No SPI4
 #endif
@@ -114,22 +145,53 @@ static spiDevice_t spiHardwareMap[SPIDEV_COUNT] = {
 #else
 static spiDevice_t spiHardwareMap[] = {
 #ifdef USE_SPI_DEVICE_1
-    { .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .af = GPIO_AF5_SPI1, .divisorMap = spiDivisorMapFast },
+#if defined(SPI1_SCK_AF) || defined(SPI1_MISO_AF) || defined(SPI1_MOSI_AF)
+#if !defined(SPI1_SCK_AF) || !defined(SPI1_MISO_AF) || !defined(SPI1_MOSI_AF)
+#error SPI1: SCK, MISO and MOSI AFs should be defined together in target.h!
+#endif
+    { .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .sckAF = SPI1_SCK_AF, .misoAF = SPI1_MISO_AF, .mosiAF = SPI1_MOSI_AF, .divisorMap = spiDivisorMapFast },
+#else
+    { .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .sckAF = GPIO_AF5_SPI1, .misoAF = GPIO_AF5_SPI1, .mosiAF = GPIO_AF5_SPI1, .divisorMap = spiDivisorMapFast },
+#endif
 #else
     { .dev = NULL },    // No SPI1
 #endif
+
 #ifdef USE_SPI_DEVICE_2
-    { .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1(SPI2), .af = GPIO_AF5_SPI2, .divisorMap = spiDivisorMapSlow },
+#if defined(SPI2_SCK_AF) || defined(SPI2_MISO_AF) || defined(SPI2_MOSI_AF)
+#if !defined(SPI2_SCK_AF) || !defined(SPI2_MISO_AF) || !defined(SPI2_MOSI_AF)
+#error SPI2: SCK, MISO and MOSI AFs should be defined together in target.h!
+#endif
+    { .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1(SPI2), .sckAF = SPI2_SCK_AF, .misoAF = SPI2_MISO_AF, .mosiAF = SPI2_MOSI_AF, .divisorMap = spiDivisorMapSlow },
+#else
+    { .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1(SPI2), .sckAF = GPIO_AF5_SPI2, .misoAF = GPIO_AF5_SPI2, .mosiAF = GPIO_AF5_SPI2, .divisorMap = spiDivisorMapSlow },
+#endif
 #else
     { .dev = NULL },    // No SPI2
 #endif
+
 #ifdef USE_SPI_DEVICE_3
-    { .dev = SPI3, .nss = IO_TAG(SPI3_NSS_PIN), .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1(SPI3), .af = GPIO_AF6_SPI3, .divisorMap = spiDivisorMapSlow },
+#if defined(SPI3_SCK_AF) || defined(SPI3_MISO_AF) || defined(SPI3_MOSI_AF)
+#if !defined(SPI3_SCK_AF) || !defined(SPI3_MISO_AF) || !defined(SPI3_MOSI_AF)
+#error SPI3: SCK, MISO and MOSI AFs should be defined together in target.h!
+#endif
+    { .dev = SPI3, .nss = IO_TAG(SPI3_NSS_PIN), .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1(SPI3), .sckAF = SPI3_SCK_AF, .misoAF = SPI3_MISO_AF, .mosiAF = SPI3_MOSI_AF, .divisorMap = spiDivisorMapSlow },
+#else
+    { .dev = SPI3, .nss = IO_TAG(SPI3_NSS_PIN), .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1(SPI3), .sckAF = GPIO_AF6_SPI3, .misoAF = GPIO_AF6_SPI3, .mosiAF = GPIO_AF6_SPI3, .divisorMap = spiDivisorMapSlow },
+#endif
 #else
     { .dev = NULL },    // No SPI3
 #endif
+
 #ifdef USE_SPI_DEVICE_4
-    { .dev = SPI4, .nss = IO_TAG(SPI4_NSS_PIN), .sck = IO_TAG(SPI4_SCK_PIN), .miso = IO_TAG(SPI4_MISO_PIN), .mosi = IO_TAG(SPI4_MOSI_PIN), .rcc = RCC_APB2(SPI4), .af = GPIO_AF5_SPI4, .divisorMap = spiDivisorMapSlow }
+#if defined(SPI4_SCK_AF) || defined(SPI4_MISO_AF) || defined(SPI4_MOSI_AF)
+#if !defined(SPI4_SCK_AF) || !defined(SPI4_MISO_AF) || !defined(SPI4_MOSI_AF)
+#error SPI3: SCK, MISO and MOSI AFs should be defined together in target.h!
+#endif
+    { .dev = SPI4, .nss = IO_TAG(SPI4_NSS_PIN), .sck = IO_TAG(SPI4_SCK_PIN), .miso = IO_TAG(SPI4_MISO_PIN), .mosi = IO_TAG(SPI4_MOSI_PIN), .rcc = RCC_APB2(SPI4), .sckAF = SPI4_SCK_AF, .misoAF = SPI4_MISO_AF, .mosiAF = SPI4_MOSI_AF, .divisorMap = spiDivisorMapSlow }
+#else
+    { .dev = SPI4, .nss = IO_TAG(SPI4_NSS_PIN), .sck = IO_TAG(SPI4_SCK_PIN), .miso = IO_TAG(SPI4_MISO_PIN), .mosi = IO_TAG(SPI4_MOSI_PIN), .rcc = RCC_APB2(SPI4), .sckAF = GPIO_AF5_SPI4, .misoAF = GPIO_AF5_SPI4, .mosiAF = GPIO_AF5_SPI4, .divisorMap = spiDivisorMapSlow }
+#endif
 #else
     { .dev = NULL }     // No SPI4
 #endif
@@ -184,17 +246,13 @@ bool spiInitDevice(SPIDevice device, bool leadingEdge)
     IOInit(IOGetByTag(spi->mosi), OWNER_SPI, RESOURCE_SPI_MOSI, device + 1);
 
     if (leadingEdge) {
-        IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG_LOW, spi->af);
+        IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG_LOW, spi->sckAF);
     } else {
-        IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG_HIGH, spi->af);
+        IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG_HIGH, spi->sckAF);
     }
-    IOConfigGPIOAF(IOGetByTag(spi->miso), SPI_IO_AF_MISO_CFG, spi->af);
+    IOConfigGPIOAF(IOGetByTag(spi->miso), SPI_IO_AF_MISO_CFG, spi->misoAF);
 
-    // If MOSI pin for SPI3 is PB2 -> AF7, not AF6
-    if (spiDeviceByInstance(spi->dev) == SPIDEV_3 && IO_TAG(SPI3_MOSI_PIN) == IO_TAG(PB2)) {
-        spi->af = GPIO_AF7_SPI3;
-    }
-    IOConfigGPIOAF(IOGetByTag(spi->mosi), SPI_IO_AF_CFG, spi->af);
+    IOConfigGPIOAF(IOGetByTag(spi->mosi), SPI_IO_AF_CFG, spi->mosiAF);
 
     if (spi->nss) {
         IOInit(IOGetByTag(spi->nss),  OWNER_SPI, RESOURCE_SPI_CS,  device + 1);
diff --git a/src/main/target/TMOTORF7V2/target.h b/src/main/target/TMOTORF7V2/target.h
index 6e9fc6dd3..d94412179 100644
--- a/src/main/target/TMOTORF7V2/target.h
+++ b/src/main/target/TMOTORF7V2/target.h
@@ -86,6 +86,9 @@
 #define SPI3_SCK_PIN            PC10
 #define SPI3_MISO_PIN           PC11
 #define SPI3_MOSI_PIN           PB2
+#define SPI3_SCK_AF             GPIO_AF6_SPI3
+#define SPI3_MISO_AF            GPIO_AF6_SPI3
+#define SPI3_MOSI_AF            GPIO_AF7_SPI3
 
 #define USE_FLASHFS
 #define USE_FLASH_M25P16

From 006a19efe48ae8abc4d3885d7659c7b63bbf4f86 Mon Sep 17 00:00:00 2001
From: ErNis <4658853+erstec@users.noreply.github.com>
Date: Tue, 12 Apr 2022 20:18:23 +0300
Subject: [PATCH 17/37] defines fix

---
 src/main/drivers/bus_spi_hal_ll.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main/drivers/bus_spi_hal_ll.c b/src/main/drivers/bus_spi_hal_ll.c
index 5a2a027ea..fac8a8276 100644
--- a/src/main/drivers/bus_spi_hal_ll.c
+++ b/src/main/drivers/bus_spi_hal_ll.c
@@ -130,9 +130,9 @@ static spiDevice_t spiHardwareMap[SPIDEV_COUNT] = {
 #endif
 
 #ifdef USE_SPI_DEVICE_4
-#if defined(SPI3_SCK_AF) || defined(SPI3_MISO_AF) || defined(SPI3_MOSI_AF)
-#if !defined(SPI3_SCK_AF) || !defined(SPI3_MISO_AF) || !defined(SPI3_MOSI_AF)
-#error SPI3: SCK, MISO and MOSI AFs should be defined together in target.h!
+#if defined(SPI4_SCK_AF) || defined(SPI4_MISO_AF) || defined(SPI4_MOSI_AF)
+#if !defined(SPI4_SCK_AF) || !defined(SPI4_MISO_AF) || !defined(SPI4_MOSI_AF)
+#error SPI4: SCK, MISO and MOSI AFs should be defined together in target.h!
 #endif
     { .dev = SPI4, .nss = IO_TAG(SPI4_NSS_PIN), .sck = IO_TAG(SPI4_SCK_PIN), .miso = IO_TAG(SPI4_MISO_PIN), .mosi = IO_TAG(SPI4_MOSI_PIN), .rcc = RCC_APB2(SPI4), .sckAF = SPI4_SCK_AF, .misoAF = SPI4_MISO_AF, .mosiAF = SPI4_MOSI_AF, .divisorMap = spiDivisorMapSlow }
 #else

From bfddd5e7cb09a9cab0c440428c9b4649e5d3cc38 Mon Sep 17 00:00:00 2001
From: ErNis <4658853+erstec@users.noreply.github.com>
Date: Sun, 3 Apr 2022 21:12:55 +0300
Subject: [PATCH 18/37] stop bit should be 1 bit length, not 3x (as on hardware
 UART)

---
 src/main/drivers/serial_softserial.c | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/src/main/drivers/serial_softserial.c b/src/main/drivers/serial_softserial.c
index 255087f00..d606b08ba 100644
--- a/src/main/drivers/serial_softserial.c
+++ b/src/main/drivers/serial_softserial.c
@@ -381,7 +381,9 @@ void processTxState(softSerial_t *softSerial)
             serialOutputPortActivate(softSerial);
         }
 
-        return;
+        if ((softSerial->port.options & SERIAL_BIDIR) == 0) {
+            return;
+        }
     }
 
     if (softSerial->bitsLeftToTransmit) {
@@ -390,7 +392,10 @@ void processTxState(softSerial_t *softSerial)
 
         setTxSignal(softSerial, mask);
         softSerial->bitsLeftToTransmit--;
-        return;
+
+        if (softSerial->bitsLeftToTransmit) {
+            return;
+        }
     }
 
     softSerial->isTransmittingData = false;

From 89e0d6faddb0be39ab48cc52632523eb20886552 Mon Sep 17 00:00:00 2001
From: ErNis <4658853+erstec@users.noreply.github.com>
Date: Mon, 4 Apr 2022 12:31:38 +0300
Subject: [PATCH 19/37] new parameter added: 'vtx_softserial_shortstop",
 default "OFF"

---
 src/main/drivers/serial.h            | 2 ++
 src/main/drivers/serial_softserial.c | 4 ++--
 src/main/fc/settings.yaml            | 5 +++++
 src/main/io/vtx_control.c            | 1 +
 src/main/io/vtx_control.h            | 1 +
 src/main/io/vtx_tramp.c              | 1 +
 6 files changed, 12 insertions(+), 2 deletions(-)

diff --git a/src/main/drivers/serial.h b/src/main/drivers/serial.h
index f9a5b263f..05d31fb02 100644
--- a/src/main/drivers/serial.h
+++ b/src/main/drivers/serial.h
@@ -38,6 +38,8 @@ typedef enum portOptions_t {
     SERIAL_PARITY_EVEN   = 1 << 2,
     SERIAL_UNIDIR        = 0 << 3,
     SERIAL_BIDIR         = 1 << 3,
+    SERIAL_LONGSTOP      = 0 << 4,
+    SERIAL_SHORTSTOP     = 1 << 4,
 
     /*
      * Note on SERIAL_BIDIR_PP
diff --git a/src/main/drivers/serial_softserial.c b/src/main/drivers/serial_softserial.c
index d606b08ba..92d89c4c1 100644
--- a/src/main/drivers/serial_softserial.c
+++ b/src/main/drivers/serial_softserial.c
@@ -381,7 +381,7 @@ void processTxState(softSerial_t *softSerial)
             serialOutputPortActivate(softSerial);
         }
 
-        if ((softSerial->port.options & SERIAL_BIDIR) == 0) {
+        if ((softSerial->port.options & SERIAL_SHORTSTOP) == 0) {
             return;
         }
     }
@@ -393,7 +393,7 @@ void processTxState(softSerial_t *softSerial)
         setTxSignal(softSerial, mask);
         softSerial->bitsLeftToTransmit--;
 
-        if (softSerial->bitsLeftToTransmit) {
+        if (((softSerial->port.options & SERIAL_SHORTSTOP) == 0) || softSerial->bitsLeftToTransmit) {
             return;
         }
     }
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index 40dab4e1d..d4910a327 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -3651,6 +3651,11 @@ groups:
         default_value: ON
         field: smartAudioAltSoftSerialMethod
         type: bool
+      - name: vtx_softserial_shortstop
+        description: "Enable the 3x shorter stopbit on softserial. Need for some IRC Tramp VTXes."
+        default_value: OFF
+        field: softSerialShortStop
+        type: bool
 
   - name: PG_VTX_SETTINGS_CONFIG
     type: vtxSettingsConfig_t
diff --git a/src/main/io/vtx_control.c b/src/main/io/vtx_control.c
index 516b78ab0..54c550cdc 100644
--- a/src/main/io/vtx_control.c
+++ b/src/main/io/vtx_control.c
@@ -46,6 +46,7 @@ PG_RESET_TEMPLATE(vtxConfig_t, vtxConfig,
       .halfDuplex = SETTING_VTX_HALFDUPLEX_DEFAULT,
       .smartAudioEarlyAkkWorkaroundEnable = SETTING_VTX_SMARTAUDIO_EARLY_AKK_WORKAROUND_DEFAULT,
       .smartAudioAltSoftSerialMethod = SETTING_VTX_SMARTAUDIO_ALTERNATE_SOFTSERIAL_METHOD_DEFAULT,
+      .softSerialShortStop = SETTING_VTX_SOFTSERIAL_SHORTSTOP_DEFAULT,
 );
 
 static uint8_t locked = 0;
diff --git a/src/main/io/vtx_control.h b/src/main/io/vtx_control.h
index b474a4bc0..639764e4f 100644
--- a/src/main/io/vtx_control.h
+++ b/src/main/io/vtx_control.h
@@ -33,6 +33,7 @@ typedef struct vtxConfig_s {
     uint8_t halfDuplex;
     uint8_t smartAudioEarlyAkkWorkaroundEnable;
     bool    smartAudioAltSoftSerialMethod;
+    bool    softSerialShortStop;
 } vtxConfig_t;
 
 PG_DECLARE(vtxConfig_t, vtxConfig);
diff --git a/src/main/io/vtx_tramp.c b/src/main/io/vtx_tramp.c
index 7e5012211..72b037709 100644
--- a/src/main/io/vtx_tramp.c
+++ b/src/main/io/vtx_tramp.c
@@ -609,6 +609,7 @@ bool vtxTrampInit(void)
     if (portConfig) {
         portOptions_t portOptions = 0;
         portOptions = portOptions | (vtxConfig()->halfDuplex ? SERIAL_BIDIR : SERIAL_UNIDIR);
+        portOptions = portOptions | (vtxConfig()->softSerialShortStop ? SERIAL_SHORTSTOP : SERIAL_LONGSTOP);
         vtxState.port = openSerialPort(portConfig->identifier, FUNCTION_VTX_TRAMP, NULL, NULL, 9600, MODE_RXTX, portOptions);
     }
 

From a6d4c05364b3492ca1cd94288fc498138c422832 Mon Sep 17 00:00:00 2001
From: ErNis <4658853+erstec@users.noreply.github.com>
Date: Sat, 16 Apr 2022 17:42:16 +0300
Subject: [PATCH 20/37] Settings.md updated

---
 docs/Settings.md | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/docs/Settings.md b/docs/Settings.md
index 33aee7cac..a460339e8 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -5842,6 +5842,16 @@ Enable workaround for early AKK SAudio-enabled VTX bug.
 
 ---
 
+### vtx_softserial_shortstop
+
+Enable the 3x shorter stopbit on softserial. Need for some IRC Tramp VTXes.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
 ### yaw_deadband
 
 These are values (in us) by how much RC input can be different before it's considered valid. For transmitters with jitter on outputs, this value can be increased. Defaults are zero, but can be increased up to 10 or so if rc inputs twitch while idle.

From bc7f6cea5f9ab90cb8e0b0a57fb56bb400fd4246 Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Mon, 18 Apr 2022 09:29:43 +0100
Subject: [PATCH 21/37] Added support for missing OSD unit types

- Added support for missing OSD unit types
- Increased altitude display time from 1 to 2 seconds. 1 second was a case of blink and miss it.
---
 src/main/io/osd_hud.c | 47 ++++++++++++++++++++++++++++++++++---------
 1 file changed, 38 insertions(+), 9 deletions(-)

diff --git a/src/main/io/osd_hud.c b/src/main/io/osd_hud.c
index c2dce6194..4e986f260 100644
--- a/src/main/io/osd_hud.c
+++ b/src/main/io/osd_hud.c
@@ -202,17 +202,46 @@ void osdHudDrawPoi(uint32_t poiDistance, int16_t poiDirection, int32_t poiAltitu
 
     // Distance
 
-    if (((millis() / 1000) % 6 == 0) && poiType > 0) { // For Radar and WPs, display the difference in altitude
-        altc = ((osd_unit_e)osdConfig()->units == OSD_UNIT_IMPERIAL) ? constrain(CENTIMETERS_TO_FEET(poiAltitude * 100), -99, 99) : constrain(poiAltitude, -99 , 99);
+    if (((millis() / 1000) % 7 == 0 || (millis() / 1000) % 7 == 1) && poiType > 0) { // For Radar and WPs, display the difference in altitude for 2 seconds, then distance for 5 seconds
+        altc = constrain(poiAltitude, -99 , 99);
+
+        switch ((osd_unit_e)osdConfig()->units) {
+            case OSD_UNIT_UK:
+                FALLTHROUGH;
+            case OSD_UNIT_GA:
+                FALLTHROUGH;
+            case OSD_UNIT_IMPERIAL:
+                // Convert to feet
+                altc = constrain(CENTIMETERS_TO_FEET(poiAltitude * 100), -99, 99);
+                break;
+            default:
+                FALLTHROUGH;
+            case OSD_UNIT_METRIC_MPH:
+                FALLTHROUGH;
+            case OSD_UNIT_METRIC:
+                // Already in metres
+                break;
+        }
+
         tfp_sprintf(buff, "%3d", altc);
         buff[0] = (poiAltitude >= 0) ? SYM_DIRECTION : SYM_DIRECTION+4;
-    }
-    else { // Display the distance by default 
-        if ((osd_unit_e)osdConfig()->units == OSD_UNIT_IMPERIAL) {
-            osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), FEET_PER_MILE, 0, 3, 3);
-        }
-        else {
-            osdFormatCentiNumber(buff, poiDistance * 100, METERS_PER_KILOMETER, 0, 3, 3);
+    } else { // Display the distance by default 
+        switch ((osd_unit_e)osdConfig()->units) {
+            case OSD_UNIT_UK:
+                FALLTHROUGH;
+            case OSD_UNIT_IMPERIAL:
+                osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), FEET_PER_MILE, 0, 3, 3);
+                break;
+            case OSD_UNIT_GA:
+                osdFormatCentiNumber(buff, CENTIMETERS_TO_CENTIFEET(poiDistance * 100), FEET_PER_NAUTICALMILE, 0, 3, 3);
+                break;
+            default:
+                FALLTHROUGH;
+            case OSD_UNIT_METRIC_MPH:
+                FALLTHROUGH;
+            case OSD_UNIT_METRIC:
+                osdFormatCentiNumber(buff, poiDistance * 100, METERS_PER_KILOMETER, 0, 3, 3);
+                break;
         }
     }
 

From a690cca2502f4e4f552f9cafeb106c55db53bacc Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Wed, 20 Apr 2022 13:34:23 +0100
Subject: [PATCH 22/37] Added doc for VTx setup information

---
 docs/VTx.md | 8 ++++++++
 1 file changed, 8 insertions(+)
 create mode 100644 docs/VTx.md

diff --git a/docs/VTx.md b/docs/VTx.md
new file mode 100644
index 000000000..bd82753f2
--- /dev/null
+++ b/docs/VTx.md
@@ -0,0 +1,8 @@
+## VTx Setup
+
+### IRC Tramp
+
+#### Matek 1G3SE Setup
+To use the Matek 1G3SE with IRC Tramp. You will need to enter the CLI command `set vtx_frequency_group = FREQUENCYGROUP_1G3`. You must also make sure that the initial VTx settings in the configuration tab are in a valid range. They are: 
+- `vtx_band` 1 or 2
+- `vtx_channel` between 1 and 9

From c40cfdd143b780c752dcebae20af71af33113c96 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Thu, 21 Apr 2022 12:51:17 +0200
Subject: [PATCH 23/37] Change fallback ESC protocol to Multishort when DSHOT
 is not available

---
 src/main/fc/config.c    |  2 +-
 src/main/flight/mixer.c | 10 ----------
 2 files changed, 1 insertion(+), 11 deletions(-)

diff --git a/src/main/fc/config.c b/src/main/fc/config.c
index efd1a3129..c916434d0 100755
--- a/src/main/fc/config.c
+++ b/src/main/fc/config.c
@@ -239,7 +239,7 @@ void validateAndFixConfig(void)
     // Limitations of different protocols
 #if !defined(USE_DSHOT)
     if (motorConfig()->motorPwmProtocol > PWM_TYPE_BRUSHED) {
-        motorConfigMutable()->motorPwmProtocol = PWM_TYPE_STANDARD;
+        motorConfigMutable()->motorPwmProtocol = PWM_TYPE_MULTISHOT;
     }
 #endif
 
diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index 3e99afa46..ee4cf4ef5 100644
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -93,16 +93,6 @@ PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
     .outputMode = SETTING_OUTPUT_MODE_DEFAULT,
 );
 
-#ifdef BRUSHED_MOTORS
-#define DEFAULT_PWM_PROTOCOL    PWM_TYPE_BRUSHED
-#define DEFAULT_PWM_RATE        16000
-#else
-#define DEFAULT_PWM_PROTOCOL    PWM_TYPE_ONESHOT125
-#define DEFAULT_PWM_RATE        400
-#endif
-
-#define DEFAULT_MAX_THROTTLE    1850
-
 PG_REGISTER_WITH_RESET_TEMPLATE(motorConfig_t, motorConfig, PG_MOTOR_CONFIG, 9);
 
 PG_RESET_TEMPLATE(motorConfig_t, motorConfig,

From 1e2aaecd07903845688c0bbdedb6bbbaed985192 Mon Sep 17 00:00:00 2001
From: Jullibach <69680881+Jullibach@users.noreply.github.com>
Date: Fri, 22 Apr 2022 13:00:00 +0200
Subject: [PATCH 24/37] Update Programming Framework.md

Just some spelling correction.
---
 docs/Programming Framework.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/Programming Framework.md b/docs/Programming Framework.md
index 8105fa4bd..989f4e12f 100644
--- a/docs/Programming Framework.md	
+++ b/docs/Programming Framework.md	
@@ -222,13 +222,13 @@ Inverts ROLL and PITCH input when Logic Condition `0` evaluates as `true`. Movin
 
 `logic 0 1 0 29 0 1000 0 0 0`
 
-Sets Thhrottle output to `0%` when Logic Condition `0` evaluates as `true`
+Sets throttle output to `0%` when Logic Condition `0` evaluates as `true`
 
 ### Set throttle to 50% and keep other throttle bindings active
 
 `logic 0 1 0 29 0 1500 0 0 0`
 
-Sets Thhrottle output to about `50%` when Logic Condition `0` evaluates as `true`
+Sets throttle output to about `50%` when Logic Condition `0` evaluates as `true`
 
 ### Set throttle control to different RC channel
 

From 080a2d25ad06a25947db9a3cdcf1473a3ef62c9c Mon Sep 17 00:00:00 2001
From: Darren Lines <darren@darrenlines.uk>
Date: Fri, 22 Apr 2022 17:34:47 +0100
Subject: [PATCH 25/37] Update VTx.md

Added info for TBS SA.
---
 docs/VTx.md | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/docs/VTx.md b/docs/VTx.md
index bd82753f2..84bbc9f5f 100644
--- a/docs/VTx.md
+++ b/docs/VTx.md
@@ -3,6 +3,15 @@
 ### IRC Tramp
 
 #### Matek 1G3SE Setup
+
 To use the Matek 1G3SE with IRC Tramp. You will need to enter the CLI command `set vtx_frequency_group = FREQUENCYGROUP_1G3`. You must also make sure that the initial VTx settings in the configuration tab are in a valid range. They are: 
 - `vtx_band` 1 or 2
 - `vtx_channel` between 1 and 9
+
+### Team BlackSheep SmartAudio
+
+If you have problems getting SmartAudio working. There are a couple of CLI parameters you can try changing to see if they help.
+
+There is a workaround for early AKK VTx modules. This is enabled by default. You could try disabling this setting [`vtx_smartaudio_early_akk_workaround`](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#vtx_smartaudio_early_akk_workaround) to OFF.
+
+If you are using softserial, you can try using the alternate method by setting [`vtx_smartaudio_alternate_softserial_method`](https://github.com/iNavFlight/inav/blob/master/docs/Settings.md#vtx_smartaudio_alternate_softserial_method) to OFF.

From 0395362e825acc3c22812d7aca05f939e3235558 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Tue, 26 Apr 2022 09:46:03 +0200
Subject: [PATCH 26/37] Fix for MambaH743 DMA assignment

---
 src/main/target/MAMBAH743/target.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/target/MAMBAH743/target.c b/src/main/target/MAMBAH743/target.c
index b7524da8e..f2fcaccfa 100644
--- a/src/main/target/MAMBAH743/target.c
+++ b/src/main/target/MAMBAH743/target.c
@@ -41,7 +41,7 @@ const timerHardware_t timerHardware[] = {
     DEF_TIM(TIM8, CH3, PC8, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 6),   // S7
     DEF_TIM(TIM8, CH4, PC9, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 7),   // S8
 
-    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_LED, 0, 8),    // LED_2812
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_LED, 0, 9),    // LED_2812
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

From 22816d75ff7effabff5b38584e65fc6ce3bbaad9 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Tue, 26 Apr 2022 11:08:07 +0200
Subject: [PATCH 27/37] Fix KakuteH7 DMA ADC/LED Conflict

---
 src/main/target/KAKUTEH7/target.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/target/KAKUTEH7/target.c b/src/main/target/KAKUTEH7/target.c
index be6402a63..463537d0e 100644
--- a/src/main/target/KAKUTEH7/target.c
+++ b/src/main/target/KAKUTEH7/target.c
@@ -38,7 +38,7 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM8, CH3, PC8,     TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 6),   // S3
     DEF_TIM(TIM8, CH4, PC9,     TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 7),   // S4
    
-    DEF_TIM(TIM4,  CH1, PD12,   TIM_USE_LED, 0, 8),    // LED_2812
+    DEF_TIM(TIM4,  CH1, PD12,   TIM_USE_LED, 0, 9),    // LED_2812
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

From 8159bceeddd69784594fff034be736db18d7edcb Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Wed, 27 Apr 2022 10:24:15 +0200
Subject: [PATCH 28/37] Docs update

---
 docs/Boards.md                | 24 ++++--------------------
 docs/ESC and servo outputs.md | 13 +++++++++++--
 2 files changed, 15 insertions(+), 22 deletions(-)

diff --git a/docs/Boards.md b/docs/Boards.md
index 28e54bbdb..944005875 100644
--- a/docs/Boards.md
+++ b/docs/Boards.md
@@ -1,31 +1,15 @@
 # Flight controller hardware
 
-### Sponsored and recommended boards
-
-These boards come from companies that support INAV development. Buying one of these boards you make your small contribution for improving INAV as well. 
-
-Also these boards are tested by INAV development team and usually flown on daily basis.
-
-| Board name                | CPU Family | Target name(s)            | GPS  | Compass | Barometer      | Telemetry | RX                             | Blackbox             |
-|---------------------------|:----------:|:-------------------------:|:----:|:-------:|:--------------:|:---------:|:------------------------------:|:--------------------:|
-| [Airbot OMNIBUS F4 PRO](https://inavflight.com/shop/p/OMNIBUSF4PRO)| F4         | OMNIBUSF4PRO   | All  | All     | All            | All       | All                            | SERIAL, SD |
-| [Airbot OMNIBUS F4](https://inavflight.com/shop/s/bg/1319176)| F4         | OMNIBUSF4  | All  | All     | All            | All       | All                            | SERIAL, SD |
-
-Note: In the above and following tables, the sensor columns indicates firmware support for the sensor category; it does not necessarily mean there is an on-board sensor.
-
 ### Recommended boards
 
 These boards are well tested with INAV and are known to be of good quality and reliability.
 
 | Board name                | CPU Family | Target name(s)            | GPS  | Compass | Barometer      | Telemetry | RX                             | Blackbox             |
 |---------------------------|:----------:|:-------------------------:|:----:|:-------:|:--------------:|:---------:|:------------------------------:|:--------------------:|
-| [Matek F405-CTR](https://inavflight.com/shop/p/MATEKF405CTR)       | F4         | MATEKF405                | All  | All     | All            | All       | All                            | SERIAL, SD     |
-| [Matek F405-STD](https://inavflight.com/shop/p/MATEKF405STD)       | F4         | MATEKF405                | All  | All     | All            | All       | All                            | SERIAL, SD     |
-| [Matek F405-WING](https://inavflight.com/shop/p/MATEKF405WING)       | F4         | MATEKF405SE                | All  | All     | All            | All       | All                            | SERIAL, SD     |
-| [Matek F722 WING](https://inavflight.com/shop/p/MATEKF722WING)       | F7         | MATEKF722SE                | All  | All     | All            | All       | All                            | SERIAL, SD     |
-| [Matek F722-SE](https://inavflight.com/shop/p/MATEKF722SE)       | F7         | MATEKF722SE               | All  | All     | All            | All       | All                            | SERIAL, SD     |
-| [Matek F722-STD](https://inavflight.com/shop/p/MATEKF722STD)       | F7         | MATEKF722               | All  | All     | All            | All       | All                            | SERIAL, SD     |
-| [Matek F722-MINI](https://inavflight.com/shop/p/MATEKF722MINI)       | F7         | MATEKF722SE               | All  | All     | All            | All       | All                            | SPIFLASH    |
+| [Diatone Mamba H743](https://inavflight.com/shop/s/bg/1929033)       | H7         | MAMBAH743                | All  | All     | All            | All       | All   | SERIAL, SD     |
+| [Matek F765-WSE](https://inavflight.com/shop/s/bg/1890404)       | F7         | MATEKF765SE                | All  | All     | All            | All       | All     | SERIAL, SD     |
+| [Matek F722-SE](https://inavflight.com/shop/p/MATEKF722SE)       | F7         | MATEKF722SE               | All  | All     | All            | All       | All      | SERIAL, SD     |
+| [Holybro Kakute H7](https://inavflight.com/shop/s/bg/1914066)       | H7         | KAKUTEH7               | All  | All     | All            | All       | All      | SERIAL, SD     |
 
 It's possible to find more supported and tested boards [here](https://github.com/iNavFlight/inav/wiki/Welcome-to-INAV,-useful-links-and-products)
 ### Boards documentation
diff --git a/docs/ESC and servo outputs.md b/docs/ESC and servo outputs.md
index 09f9f835b..78a505659 100644
--- a/docs/ESC and servo outputs.md	
+++ b/docs/ESC and servo outputs.md	
@@ -2,13 +2,14 @@
 
 ## ESC protocols
 
-INAV support following ESC protocols:
+INAV support the following ESC protocols:
 
 * "standard" PWM with 50-400Hz update rate
 * OneShot125
 * OneShot42
 * Multishot
 * Brushed motors
+* DSHOT150, DSHOT300, DSHOT600
 
 ESC protocol can be selected in Configurator. No special configuration is required.
 
@@ -23,4 +24,12 @@ higher update rates. Only high end digital servos are capable of handling 200Hz
 
 Not all outputs on a flight controller can be used for servo outputs. It is a hardware thing. Always check flight controller documentation. 
 
-While motors are usually ordered sequentially, here is no standard output layout for servos! Some boards might not be supporting servos in _Multirotor_ configuration at all!
\ No newline at end of file
+While motors are usually ordered sequentially, here is no standard output layout for servos! Some boards might not be supporting servos in _Multirotor_ configuration at all!
+
+## Modifying output mapping
+
+INAV 5 allows the limited output type mapping by allowing to change the function of *ALL* outputs at the same time. It can be done with the `output_mode` CLI setting. Allowed values:
+
+* `AUTO` assigns outputs according to the default mapping
+* `SERVOS` assigns all outputs to servos
+* `MOTORS` assigns all outputs to motors
\ No newline at end of file

From a9fff18b95f918be228ffaff50aac52b3559e2de Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Wed, 27 Apr 2022 10:50:17 +0200
Subject: [PATCH 29/37] Output mapping update

---
 src/main/target/KAKUTEH7/target.c        | 8 ++++----
 src/main/target/MAMBAF722_2022A/target.c | 8 ++++----
 src/main/target/MAMBAH743/target.c       | 8 ++++----
 3 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/src/main/target/KAKUTEH7/target.c b/src/main/target/KAKUTEH7/target.c
index 463537d0e..5106fb146 100644
--- a/src/main/target/KAKUTEH7/target.c
+++ b/src/main/target/KAKUTEH7/target.c
@@ -33,10 +33,10 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM2, CH2, PB3,     TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 2),   // S3
     DEF_TIM(TIM2, CH3, PB10,    TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 3),   // S4
 
-    DEF_TIM(TIM5, CH1, PA0,     TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 4),   // S1  
-    DEF_TIM(TIM5, CH3, PA2,     TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 5),   // S2
-    DEF_TIM(TIM8, CH3, PC8,     TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 6),   // S3
-    DEF_TIM(TIM8, CH4, PC9,     TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 7),   // S4
+    DEF_TIM(TIM5, CH1, PA0,     TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 4),   // S1  
+    DEF_TIM(TIM5, CH3, PA2,     TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 5),   // S2
+    DEF_TIM(TIM8, CH3, PC8,     TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 6),   // S3
+    DEF_TIM(TIM8, CH4, PC9,     TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 7),   // S4
    
     DEF_TIM(TIM4,  CH1, PD12,   TIM_USE_LED, 0, 9),    // LED_2812
 };
diff --git a/src/main/target/MAMBAF722_2022A/target.c b/src/main/target/MAMBAF722_2022A/target.c
index afe6e3635..56f5483cb 100644
--- a/src/main/target/MAMBAF722_2022A/target.c
+++ b/src/main/target/MAMBAF722_2022A/target.c
@@ -32,10 +32,10 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM1,   CH1,  PA8,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO,  0, 1 ),     // S3
     DEF_TIM(TIM1,   CH2,  PA9,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO,  0, 1 ),     // S4
 
-    DEF_TIM(TIM3,   CH3,  PB0,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO,  0, 0 ),     // S5
-    DEF_TIM(TIM3,   CH4,  PB1,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO,  0, 0 ),     // S6
-    DEF_TIM(TIM1,   CH3,  PA10,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO,  0, 0 ),     // S7
-    DEF_TIM(TIM3,   CH1,  PB4,   TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO,  0, 0 ),     // S8
+    DEF_TIM(TIM3,   CH3,  PB0,   TIM_USE_MC_SERVO | TIM_USE_FW_SERVO,  0, 0 ),     // S5
+    DEF_TIM(TIM3,   CH4,  PB1,   TIM_USE_MC_SERVO | TIM_USE_FW_SERVO,  0, 0 ),     // S6
+    DEF_TIM(TIM1,   CH3,  PA10,  TIM_USE_MC_SERVO | TIM_USE_FW_SERVO,  0, 0 ),     // S7
+    DEF_TIM(TIM3,   CH1,  PB4,   TIM_USE_MC_SERVO | TIM_USE_FW_SERVO,  0, 0 ),     // S8
 
     DEF_TIM(TIM2,   CH2,  PB3,   TIM_USE_LED,       0, 0 ),     // LED_STRIP – D(1, 6, 3)
 };
diff --git a/src/main/target/MAMBAH743/target.c b/src/main/target/MAMBAH743/target.c
index 5eb4b8e3a..909df49a0 100644
--- a/src/main/target/MAMBAH743/target.c
+++ b/src/main/target/MAMBAH743/target.c
@@ -36,10 +36,10 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM5, CH3, PA2, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 2),   // S3
     DEF_TIM(TIM5, CH4, PA3, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 3),   // S4
 
-    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 4),   // S5
-    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 5),   // S6
-    DEF_TIM(TIM8, CH3, PC8, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 6),   // S7
-    DEF_TIM(TIM8, CH4, PC9, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 7),   // S8
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 4),   // S5
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 5),   // S6
+    DEF_TIM(TIM8, CH3, PC8, TIM_USE_MC_SERVO | TIM_USE_FW_MOTOR, 0, 6),   // S7
+    DEF_TIM(TIM8, CH4, PC9, TIM_USE_MC_SERVO | TIM_USE_FW_MOTOR, 0, 7),   // S8
 
     DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_LED, 0, 9),    // LED_2812
 };

From 971140e8f444b0c6a011de1f81a4724d770ad003 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Wed, 27 Apr 2022 10:51:02 +0200
Subject: [PATCH 30/37] Comment update

---
 src/main/target/KAKUTEH7/target.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/target/KAKUTEH7/target.c b/src/main/target/KAKUTEH7/target.c
index 5106fb146..086d941f1 100644
--- a/src/main/target/KAKUTEH7/target.c
+++ b/src/main/target/KAKUTEH7/target.c
@@ -33,10 +33,10 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM2, CH2, PB3,     TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 2),   // S3
     DEF_TIM(TIM2, CH3, PB10,    TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 3),   // S4
 
-    DEF_TIM(TIM5, CH1, PA0,     TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 4),   // S1  
-    DEF_TIM(TIM5, CH3, PA2,     TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 5),   // S2
-    DEF_TIM(TIM8, CH3, PC8,     TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 6),   // S3
-    DEF_TIM(TIM8, CH4, PC9,     TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 7),   // S4
+    DEF_TIM(TIM5, CH1, PA0,     TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 4),   // S5  
+    DEF_TIM(TIM5, CH3, PA2,     TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 5),   // S6
+    DEF_TIM(TIM8, CH3, PC8,     TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 6),   // S7
+    DEF_TIM(TIM8, CH4, PC9,     TIM_USE_MC_SERVO | TIM_USE_FW_SERVO, 0, 7),   // S8
    
     DEF_TIM(TIM4,  CH1, PD12,   TIM_USE_LED, 0, 9),    // LED_2812
 };

From 7781531b3c1dde6926b9db04dc024a40d6e53a9b Mon Sep 17 00:00:00 2001
From: MarkTan <tdl0088@163.com>
Date: Wed, 27 Apr 2022 17:06:18 +0800
Subject: [PATCH 31/37] Create target.c

---
 src/main/target/AOCODARCF7DUAL/target.c | 50 +++++++++++++++++++++++++
 1 file changed, 50 insertions(+)
 create mode 100644 src/main/target/AOCODARCF7DUAL/target.c

diff --git a/src/main/target/AOCODARCF7DUAL/target.c b/src/main/target/AOCODARCF7DUAL/target.c
new file mode 100644
index 000000000..2a7a8e980
--- /dev/null
+++ b/src/main/target/AOCODARCF7DUAL/target.c
@@ -0,0 +1,50 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000,     DEVHW_MPU6000,      MPU6000_SPI_BUS,    MPU6000_CS_PIN,     MPU6000_EXTI_PIN, 0,   DEVFLAGS_NONE,  IMU_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,     DEVHW_MPU6500,      MPU6000_SPI_BUS,    MPU6500_CS_PIN,     MPU6500_EXTI_PIN, 0,   DEVFLAGS_NONE,  IMU_MPU6500_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,      DEVHW_BMI270,       BMI270_SPI_BUS,     BMI270_CS_PIN,      BMI270_EXTI_PIN,  1,   DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
+
+
+const timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM1, CH3, PA10, TIM_USE_PPM, 0, 0),    //PPM
+
+    DEF_TIM(TIM8, CH1, PC6, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1),        // S1   D(2, 2, 7) 
+    DEF_TIM(TIM8, CH2, PC7, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1),        // S2   D(2, 3, 7) 
+    DEF_TIM(TIM8, CH3, PC8, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1),        // S3   D(2, 4, 7) 
+    DEF_TIM(TIM8, CH4, PC9, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 0),        // S4   D(2, 7, 7) 
+    
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR  |TIM_USE_FW_SERVO, 0, 0),        // S5   D(1, 7, 5)
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR  |TIM_USE_FW_SERVO, 0, 0),        // S6   D(1, 2, 5)  
+    DEF_TIM(TIM4, CH1, PB6, TIM_USE_MC_MOTOR  |TIM_USE_FW_SERVO, 0, 0),        // S7   D(1, 0, 2)  
+    DEF_TIM(TIM4, CH2, PB7, TIM_USE_MC_MOTOR  |TIM_USE_FW_SERVO, 0, 0),        // S8   D(1, 3, 2)
+
+    DEF_TIM(TIM2, CH1, PA0, TIM_USE_LED, 0, 0),    // LED_TRIP                   
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

From 39615289a6b407f99ed08eb13e58eaa8ac9c09f9 Mon Sep 17 00:00:00 2001
From: MarkTan <tdl0088@163.com>
Date: Wed, 27 Apr 2022 17:08:13 +0800
Subject: [PATCH 32/37] Create target.h

---
 src/main/target/AOCODARCF7DUAL/target.h | 182 ++++++++++++++++++++++++
 1 file changed, 182 insertions(+)
 create mode 100644 src/main/target/AOCODARCF7DUAL/target.h

diff --git a/src/main/target/AOCODARCF7DUAL/target.h b/src/main/target/AOCODARCF7DUAL/target.h
new file mode 100644
index 000000000..25d618c5a
--- /dev/null
+++ b/src/main/target/AOCODARCF7DUAL/target.h
@@ -0,0 +1,182 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * INAV is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "AO7D"
+#define USBD_PRODUCT_STRING  "AocodaRCF7Dual"
+
+
+#define LED0                    PC14  //Blue
+
+#define BEEPER                  PC13
+#define BEEPER_INVERTED
+
+// *************** SPI1 Gyro & ACC *******************
+#define USE_SPI
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_EXTI
+#define USE_DUAL_GYRO
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
+
+#define USE_IMU_MPU6000
+#define IMU_MPU6000_ALIGN       CW270_DEG
+#define MPU6000_CS_PIN          PB12
+#define MPU6000_SPI_BUS         BUS_SPI2
+#define MPU6000_EXTI_PIN        PC4
+
+#define USE_IMU_MPU6500
+#define IMU_MPU6500_ALIGN       CW270_DEG
+#define MPU6500_CS_PIN          PB12
+#define MPU6500_SPI_BUS         BUS_SPI2
+#define MPU6500_EXTI_PIN        PC4
+
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN        CW180_DEG
+#define BMI270_CS_PIN           PA13
+#define BMI270_SPI_BUS          BUS_SPI2
+#define BMI270_EXTI_PIN         PA8
+
+// *************** I2C /Baro/Mag *********************
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+#define USE_BARO
+#define BARO_I2C_BUS            BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_MS5607
+#define USE_BARO_DPS310
+
+#define USE_I2C_DEVICE_2
+#define I2C2_SCL                PB10
+#define I2C2_SDA                PB11
+
+#define USE_MAG
+#define MAG_I2C_BUS             BUS_I2C2
+#define USE_MAG_AK8975
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_IST8310
+#define USE_MAG_IST8308
+#define USE_MAG_MAG3110
+#define USE_MAG_LIS3MDL
+
+#define TEMPERATURE_I2C_BUS     BUS_I2C2
+
+#define PITOT_I2C_BUS           BUS_I2C2
+
+#define USE_RANGEFINDER
+#define RANGEFINDER_I2C_BUS     BUS_I2C2
+
+// *************** SPI2 OSD ***********************
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+#define USE_OSD
+#define USE_MAX7456
+#define MAX7456_SPI_BUS         BUS_SPI1
+#define MAX7456_CS_PIN          PA4
+
+// *************** SPI3 FLASH BLACKBOX*******************
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN           PB4
+#define SPI3_MOSI_PIN           PB5
+
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_SPI_BUS          BUS_SPI3
+#define M25P16_CS_PIN           PC0
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+
+// *************** UART *****************************
+#define USE_VCP
+#define USB_DETECT_PIN          PC15
+#define USE_USB_DETECT
+
+#define USE_UART1
+#define UART1_TX_PIN            PA9
+#define UART1_RX_PIN            PA10
+
+#define USE_UART2
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define USE_UART3
+#define UART3_TX_PIN            PC10
+#define UART3_RX_PIN            PC11
+
+#define USE_UART4
+#define UART4_TX_PIN            NONE
+#define UART4_RX_PIN            PA1
+
+#define USE_UART5
+#define UART5_TX_PIN            PC12
+#define UART5_RX_PIN            PD2
+     
+#define SERIAL_PORT_COUNT       6
+
+#define DEFAULT_RX_TYPE         RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART1
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC_INSTANCE                ADC1
+#define ADC1_DMA_STREAM             DMA2_Stream0
+
+#define ADC_CHANNEL_1_PIN           PC1
+#define ADC_CHANNEL_2_PIN           PC2
+#define ADC_CHANNEL_3_PIN           PC3
+
+
+#define VBAT_ADC_CHANNEL            ADC_CHN_2
+#define CURRENT_METER_ADC_CHANNEL   ADC_CHN_1
+#define RSSI_ADC_CHANNEL            ADC_CHN_3
+
+// *************** LEDSTRIP ************************
+#define USE_LED_STRIP
+#define WS2811_PIN                  PA0
+
+#define DEFAULT_FEATURES                (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
+#define CURRENT_METER_SCALE     650
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+
+#define MAX_PWM_OUTPUT_PORTS        10
+#define USE_DSHOT
+#define USE_SERIALSHOT
+#define USE_ESC_SENSOR

From 9fc10d72740316c907d94b219826cfb0ab49af4a Mon Sep 17 00:00:00 2001
From: MarkTan <tdl0088@163.com>
Date: Wed, 27 Apr 2022 17:09:00 +0800
Subject: [PATCH 33/37] Create CMakeLists.txt

---
 src/main/target/AOCODARCF7DUAL/CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)
 create mode 100644 src/main/target/AOCODARCF7DUAL/CMakeLists.txt

diff --git a/src/main/target/AOCODARCF7DUAL/CMakeLists.txt b/src/main/target/AOCODARCF7DUAL/CMakeLists.txt
new file mode 100644
index 000000000..ca0b580d5
--- /dev/null
+++ b/src/main/target/AOCODARCF7DUAL/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f722xe(AOCODARCF7DUAL)

From 2f8f6f18c7a976ca0b48f2b3fe4750b875205c51 Mon Sep 17 00:00:00 2001
From: MarkTan <tdl0088@163.com>
Date: Thu, 28 Apr 2022 08:41:04 +0800
Subject: [PATCH 34/37] Update target.c

---
 src/main/target/AOCODARCF7DUAL/target.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/main/target/AOCODARCF7DUAL/target.c b/src/main/target/AOCODARCF7DUAL/target.c
index 2a7a8e980..d4c4143be 100644
--- a/src/main/target/AOCODARCF7DUAL/target.c
+++ b/src/main/target/AOCODARCF7DUAL/target.c
@@ -31,7 +31,7 @@ BUSDEV_REGISTER_SPI_TAG(busdev_mpu6500,     DEVHW_MPU6500,      MPU6000_SPI_BUS,
 BUSDEV_REGISTER_SPI_TAG(busdev_bmi270,      DEVHW_BMI270,       BMI270_SPI_BUS,     BMI270_CS_PIN,      BMI270_EXTI_PIN,  1,   DEVFLAGS_NONE,  IMU_BMI270_ALIGN);
 
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     DEF_TIM(TIM1, CH3, PA10, TIM_USE_PPM, 0, 0),    //PPM
 
     DEF_TIM(TIM8, CH1, PC6, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 1),        // S1   D(2, 2, 7) 

From 0772d4b894234bd7a83a0aaf1833147d8be42a32 Mon Sep 17 00:00:00 2001
From: Jonathan Hudson <jh+github@daria.co.uk>
Date: Fri, 29 Apr 2022 12:54:18 +0100
Subject: [PATCH 35/37] update Development.md building / running unit tests
 (#7997)

---
 docs/development/Development.md | 36 +++++++++++++++++++++++++++------
 1 file changed, 30 insertions(+), 6 deletions(-)

diff --git a/docs/development/Development.md b/docs/development/Development.md
index 9be10a3da..03dbc5b09 100755
--- a/docs/development/Development.md
+++ b/docs/development/Development.md
@@ -46,21 +46,45 @@ Note: Tests are written in C++ and linked with with firmware's C code.
 
 ### Running the tests.
 
-The tests and test build system is very simple and based off the googletest example files, it will be improved in due course. From the root folder of the project simply do:
+The tests and test build system is very simple and based off the googletest example files, it may be improved in due course. From the root folder of the project simply do:
+
+Test are configured from the top level directory. It is recommended to use a separate test directory, here named `testing`.
 
 ```
-make test
+mkdir testing
+cd testing
+# define NULL toolchain ...
+cmake -DTOOLCHAIN= ..
+# Run the tests
+make check
 ```
 
-This will build a set of executable files in the `obj/test` folder, one for each `*_unittest.cc` file.
+This will build a set of executable files in the `src/test/unit` folder (below `testing`), one for each `*_unittest.cc` file.
+
+After they have been executed by the make invocation, you can still run them on the command line to execute the tests and to see the test report, for example:
 
-After they have been executed by the make invocation, you can still run them on the command line to execute the tests and to see the test report.
+```
+src/test/unit/time_unittest
+Running main() from /home/jrh/Projects/fc/inav/testing/src/test/googletest-src/googletest/src/gtest_main.cc
+[==========] Running 2 tests from 1 test suite.
+[----------] Global test environment set-up.
+[----------] 2 tests from TimeUnittest
+[ RUN      ] TimeUnittest.TestMillis
+[       OK ] TimeUnittest.TestMillis (0 ms)
+[ RUN      ] TimeUnittest.TestMicros
+[       OK ] TimeUnittest.TestMicros (0 ms)
+[----------] 2 tests from TimeUnittest (0 ms total)
+
+[----------] Global test environment tear-down
+[==========] 2 tests from 1 test suite ran. (0 ms total)
+[  PASSED  ] 2 tests.
+```
 
-You can also step-debug the tests in eclipse and you can use the GoogleTest test runner to make building and re-running the tests simple.
+You can also step-debug the tests in `gdb` (or IDE debugger).
 
 The tests are currently always compiled with debugging information enabled, there may be additional warnings, if you see any warnings please attempt to fix them and submit pull requests with the fixes.
 
-Tests are verified and working with GCC 4.9.2.
+Tests are verified and working with (native) GCC 11.20.
 
 ## Using git and github
 

From 92d59e88a4dabc7fc9c971c3a503f9c2665beb58 Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sat, 7 May 2022 19:13:21 +0200
Subject: [PATCH 36/37] Mark JHEH7AIO as unofficial release

---
 src/main/target/JHEH7AIO/CMakeLists.txt | 2 +-
 src/main/target/JHEH7AIO/target.c       | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/target/JHEH7AIO/CMakeLists.txt b/src/main/target/JHEH7AIO/CMakeLists.txt
index 614823c53..b5fc68d4f 100644
--- a/src/main/target/JHEH7AIO/CMakeLists.txt
+++ b/src/main/target/JHEH7AIO/CMakeLists.txt
@@ -1 +1 @@
-target_stm32h743xi(JHEH7AIO)
+target_stm32h743xi(JHEH7AIO SKIP_RELEASES)
diff --git a/src/main/target/JHEH7AIO/target.c b/src/main/target/JHEH7AIO/target.c
index ba059cff1..479816acd 100644
--- a/src/main/target/JHEH7AIO/target.c
+++ b/src/main/target/JHEH7AIO/target.c
@@ -26,7 +26,7 @@
 #include "drivers/pinio.h"
 #include "drivers/sensor.h"
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3, CH3, PB0,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,                       0, 0), // M1
     DEF_TIM(TIM3, CH4, PB1,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,                       0, 1), // M2
     DEF_TIM(TIM1, CH1, PE9,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,                       0, 2), // M3

From b4a2f789dd173943798a8b8d0a3bfcff341c5d2e Mon Sep 17 00:00:00 2001
From: "Pawel Spychalski (DzikuVx)" <pspychalski@gmail.com>
Date: Sat, 7 May 2022 19:23:59 +0200
Subject: [PATCH 37/37] Add IFLIGHT_H743_AIO_V2 to unoficial releases

---
 src/main/target/IFLIGHT_H743_AIO_V2/CMakeLists.txt | 2 +-
 src/main/target/IFLIGHT_H743_AIO_V2/target.c       | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/main/target/IFLIGHT_H743_AIO_V2/CMakeLists.txt b/src/main/target/IFLIGHT_H743_AIO_V2/CMakeLists.txt
index 3f0e7fc61..66f1731aa 100644
--- a/src/main/target/IFLIGHT_H743_AIO_V2/CMakeLists.txt
+++ b/src/main/target/IFLIGHT_H743_AIO_V2/CMakeLists.txt
@@ -1 +1 @@
-target_stm32h743xi(IFLIGHT_H743_AIO_V2)
+target_stm32h743xi(IFLIGHT_H743_AIO_V2 SKIP_RELEASES)
diff --git a/src/main/target/IFLIGHT_H743_AIO_V2/target.c b/src/main/target/IFLIGHT_H743_AIO_V2/target.c
index 4a2647c16..3e02bff3e 100644
--- a/src/main/target/IFLIGHT_H743_AIO_V2/target.c
+++ b/src/main/target/IFLIGHT_H743_AIO_V2/target.c
@@ -26,7 +26,7 @@
 #include "drivers/pinio.h"
 #include "drivers/sensor.h"
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3, CH3, PB0,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,                       0, 0), // M1
     DEF_TIM(TIM3, CH4, PB1,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,                       0, 1), // M2
     DEF_TIM(TIM3, CH1, PB4,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,                       0, 2), // M3