Merge pull request #561 from AlienWiiBF/AlienFlight_fix

AlienFlight fixes

src/main/config/config.c

@@ -23,6 +23,8 @@
 
 #include "build_config.h"
 
+#include "blackbox/blackbox_io.h"
+
 #include "common/color.h"
 #include "common/axis.h"
 #include "common/maths.h"
@@ -615,8 +617,6 @@ static void resetConf(void)
     masterConfig.vtx_mhz = 5740;  //F0
 #endif
 
-#ifdef SPRACINGF3
-    masterConfig.blackbox_device = 1;
 #ifdef TRANSPONDER
     static const uint8_t defaultTransponderData[6] = { 0x12, 0x34, 0x56, 0x78, 0x9A, 0xBC }; // Note, this is NOT a valid transponder code, it's just for testing production hardware
 
@@ -630,12 +630,11 @@ static void resetConf(void)
     featureSet(FEATURE_BLACKBOX);
     masterConfig.blackbox_device = BLACKBOX_DEVICE_SDCARD;
 #else
-    masterConfig.blackbox_device = 0;
+    masterConfig.blackbox_device = BLACKBOX_DEVICE_SERIAL;
 #endif
 
     masterConfig.blackbox_rate_num = 1;
     masterConfig.blackbox_rate_denom = 1;
-#endif
 
     // alternative defaults settings for COLIBRI RACE targets
 #if defined(COLIBRI_RACE)
@@ -651,20 +650,21 @@ static void resetConf(void)
     
 #if defined(ALIENFLIGHT) 
     featureClear(FEATURE_ONESHOT125);
-#ifdef ALIENFLIGHTF3
+#ifdef ALIENFLIGHTF1
+    masterConfig.serialConfig.portConfigs[1].functionMask = FUNCTION_RX_SERIAL;
+#else
     masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;
+#endif
+#ifdef ALIENFLIGHTF3
     masterConfig.batteryConfig.vbatscale = 20;
     masterConfig.mag_hardware = MAG_NONE;            // disabled by default
-#else
-    masterConfig.serialConfig.portConfigs[1].functionMask = FUNCTION_RX_SERIAL;
 #endif
-    masterConfig.rxConfig.serialrx_provider = 1;
+    masterConfig.rxConfig.serialrx_provider = SERIALRX_SPEKTRUM2048;
     masterConfig.rxConfig.spektrum_sat_bind = 5;
     masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
     masterConfig.escAndServoConfig.minthrottle = 1000;
     masterConfig.escAndServoConfig.maxthrottle = 2000;
     masterConfig.motor_pwm_rate = 32000;
-    currentProfile->pidProfile.pidController = 2;
     masterConfig.failsafeConfig.failsafe_delay = 2;
     masterConfig.failsafeConfig.failsafe_off_delay = 0;
     currentControlRateProfile->rates[FD_PITCH] = 40;
@@ -684,10 +684,6 @@ static void resetConf(void)
 
 #if defined(SINGULARITY)
     // alternative defaults settings for SINGULARITY target
-    masterConfig.blackbox_device = 1;
-    masterConfig.blackbox_rate_num = 1;
-    masterConfig.blackbox_rate_denom = 1;
-    
     masterConfig.batteryConfig.vbatscale = 77;
 
     masterConfig.serialConfig.portConfigs[2].functionMask = FUNCTION_RX_SERIAL;

src/main/drivers/compass_ak8963.c

@@ -33,6 +33,7 @@
 #include "gpio.h"
 #include "exti.h"
 #include "bus_i2c.h"
+#include "bus_spi.h"
 
 #include "sensors/boardalignment.h"
 #include "sensors/sensors.h"
@@ -42,7 +43,9 @@
 
 #include "accgyro.h"
 #include "accgyro_mpu.h"
+#include "accgyro_mpu6500.h"
 #include "accgyro_spi_mpu6500.h"
+#include "accgyro_spi_mpu9250.h"
 #include "compass_ak8963.h"
 
 // This sensor is available in MPU-9250.
@@ -83,18 +86,10 @@
 #define CNTL_MODE_SELF_TEST             0x08
 #define CNTL_MODE_FUSE_ROM              0x0F
 
-typedef bool (*ak8963ReadRegisterFunc)(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *buf);
-typedef bool (*ak8963WriteRegisterFunc)(uint8_t addr_, uint8_t reg_, uint8_t data);
-
-typedef struct ak8963Configuration_s {
-    ak8963ReadRegisterFunc read;
-    ak8963WriteRegisterFunc write;
-} ak8963Configuration_t;
-
-ak8963Configuration_t ak8963config;
 static float magGain[3] = { 1.0f, 1.0f, 1.0f };
 
 // FIXME pretend we have real MPU9250 support
+// Is an separate MPU9250 driver really needed? The GYRO/ACC part between MPU6500 and MPU9250 is exactly the same.
 #if defined(MPU6500_SPI_INSTANCE) && !defined(MPU9250_SPI_INSTANCE)
 #define MPU9250_SPI_INSTANCE
 #define verifympu9250WriteRegister mpu6500WriteRegister
@@ -102,30 +97,7 @@ static float magGain[3] = { 1.0f, 1.0f, 1.0f };
 #define mpu9250ReadRegister mpu6500ReadRegister
 #endif
 
-#ifdef USE_SPI
+#if defined(USE_SPI) && defined(MPU9250_SPI_INSTANCE)
-bool ak8963SPIRead(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *buf)
-{
-    mpu6500WriteRegister(MPU_RA_I2C_SLV0_ADDR, addr_ | READ_FLAG);   // set I2C slave address for read
-    mpu6500WriteRegister(MPU_RA_I2C_SLV0_REG, reg_);                 // set I2C slave register
-    mpu6500WriteRegister(MPU_RA_I2C_SLV0_CTRL, len_ | 0x80);         // read number of bytes
-    delay(8);
-    __disable_irq();
-    mpu6500ReadRegister(MPU_RA_EXT_SENS_DATA_00, len_, buf);         // read I2C
-    __enable_irq();
-    return true;
-}
-
-bool ak8963SPIWrite(uint8_t addr_, uint8_t reg_, uint8_t data)
-{
-    mpu6500WriteRegister(MPU_RA_I2C_SLV0_ADDR, addr_);               // set I2C slave address for write
-    mpu6500WriteRegister(MPU_RA_I2C_SLV0_REG, reg_);                 // set I2C slave register
-    mpu6500WriteRegister(MPU_RA_I2C_SLV0_DO, data);                  // set I2C salve value
-    mpu6500WriteRegister(MPU_RA_I2C_SLV0_CTRL, 0x81);                // write 1 byte
-    return true;
-}
-#endif
-
-#ifdef SPRACINGF3EVO
 
 typedef struct queuedReadState_s {
     bool waiting;
@@ -133,9 +105,36 @@ typedef struct queuedReadState_s {
     uint32_t readStartedAt; // time read was queued in micros.
 } queuedReadState_t;
 
+typedef enum {
+    CHECK_STATUS = 0,
+    WAITING_FOR_STATUS,
+    WAITING_FOR_DATA
+} ak8963ReadState_e;
+
 static queuedReadState_t queuedRead = { false, 0, 0};
 
-bool ak8963SPIStartRead(uint8_t addr_, uint8_t reg_, uint8_t len_)
+bool ak8963SensorRead(uint8_t addr_, uint8_t reg_, uint8_t len_, uint8_t *buf)
+{
+    verifympu9250WriteRegister(MPU_RA_I2C_SLV0_ADDR, addr_ | READ_FLAG);   // set I2C slave address for read
+    verifympu9250WriteRegister(MPU_RA_I2C_SLV0_REG, reg_);                 // set I2C slave register
+    verifympu9250WriteRegister(MPU_RA_I2C_SLV0_CTRL, len_ | 0x80);         // read number of bytes
+    delay(10);
+    __disable_irq();
+    mpu9250ReadRegister(MPU_RA_EXT_SENS_DATA_00, len_, buf);               // read I2C
+    __enable_irq();
+    return true;
+}
+
+bool ak8963SensorWrite(uint8_t addr_, uint8_t reg_, uint8_t data)
+{
+    verifympu9250WriteRegister(MPU_RA_I2C_SLV0_ADDR, addr_);               // set I2C slave address for write
+    verifympu9250WriteRegister(MPU_RA_I2C_SLV0_REG, reg_);                 // set I2C slave register
+    verifympu9250WriteRegister(MPU_RA_I2C_SLV0_DO, data);                  // set I2C salve value
+    verifympu9250WriteRegister(MPU_RA_I2C_SLV0_CTRL, 0x81);                // write 1 byte
+    return true;
+}
+
+bool ak8963SensorStartRead(uint8_t addr_, uint8_t reg_, uint8_t len_)
 {
     if (queuedRead.waiting) {
         return false;
@@ -153,7 +152,7 @@ bool ak8963SPIStartRead(uint8_t addr_, uint8_t reg_, uint8_t len_)
     return true;
 }
 
-static uint32_t ak8963SPIQueuedReadTimeRemaining(void)
+static uint32_t ak8963SensorQueuedReadTimeRemaining(void)
 {
     if (!queuedRead.waiting) {
         return 0;
@@ -170,9 +169,9 @@ static uint32_t ak8963SPIQueuedReadTimeRemaining(void)
     return timeRemaining;
 }
 
-bool ak8963SPICompleteRead(uint8_t *buf)
+bool ak8963SensorCompleteRead(uint8_t *buf)
 {
-    uint32_t timeRemaining = ak8963SPIQueuedReadTimeRemaining();
+    uint32_t timeRemaining = ak8963SensorQueuedReadTimeRemaining();
 
     if (timeRemaining > 0) {
         delayMicroseconds(timeRemaining);
@@ -183,19 +182,16 @@ bool ak8963SPICompleteRead(uint8_t *buf)
     mpu9250ReadRegister(MPU_RA_EXT_SENS_DATA_00, queuedRead.len, buf);               // read I2C buffer
     return true;
 }
-
+#else
-#endif
+bool ak8963SensorRead(uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t* buf)
-
-#ifdef USE_I2C
-bool c_i2cWrite(uint8_t addr_, uint8_t reg_, uint8_t data) 
-{
-    return i2cWrite(MAG_I2C_INSTANCE, addr_, reg_, data);
-}
-
-bool c_i2cRead(uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t* buf) 
 {
     return i2cRead(MAG_I2C_INSTANCE, addr_, reg_, len, buf);
 }
+
+bool ak8963SensorWrite(uint8_t addr_, uint8_t reg_, uint8_t data)
+{
+    return i2cWrite(MAG_I2C_INSTANCE, addr_, reg_, data);
+}
 #endif
 
 bool ak8963Detect(mag_t *mag)
@@ -203,43 +199,28 @@ bool ak8963Detect(mag_t *mag)
     bool ack = false;
     uint8_t sig = 0;
 
-#ifdef USE_I2C
+#if defined(USE_SPI) && defined(MPU9250_SPI_INSTANCE)
-    // check for AK8963 on I2C bus
+    // initialze I2C master via SPI bus (MPU9250)
-    ack = i2cRead(MAG_I2C_INSTANCE, AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_WHO_AM_I, 1, &sig);
+
+    ack = verifympu9250WriteRegister(MPU_RA_INT_PIN_CFG, 0x10);               // INT_ANYRD_2CLEAR
+    delay(10);
+
+    ack = verifympu9250WriteRegister(MPU_RA_I2C_MST_CTRL, 0x0D);              // I2C multi-master / 400kHz
+    delay(10);
+
+    ack = verifympu9250WriteRegister(MPU_RA_USER_CTRL, 0x30);                 // I2C master mode, SPI mode only
+    delay(10);
+#endif
+
+    // check for AK8963
+    ack = ak8963SensorRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_WHO_AM_I, 1, &sig);
     if (ack && sig == AK8963_Device_ID) // 0x48 / 01001000 / 'H'
     {
-        ak8963config.read = c_i2cRead;
-        ak8963config.write = c_i2cWrite;
         mag->init = ak8963Init;
         mag->read = ak8963Read;
 
         return true;
     }
-#endif
-
-#ifdef USE_SPI
-    // check for AK8963 on I2C master via SPI bus (as part of MPU9250)
-
-    ack = mpu6500WriteRegister(MPU_RA_INT_PIN_CFG, 0x10);            // INT_ANYRD_2CLEAR
-    delay(10);
-
-    ack = mpu6500WriteRegister(MPU_RA_I2C_MST_CTRL, 0x0D);           // I2C multi-master / 400kHz
-    delay(10);
-
-    ack = mpu6500WriteRegister(MPU_RA_USER_CTRL, 0x30);              // I2C master mode, SPI mode only
-    delay(10);
-
-    ack = ak8963SPIRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_WHO_AM_I, 1, &sig);
-    if (ack && sig == AK8963_Device_ID) // 0x48 / 01001000 / 'H'
-    {
-        ak8963config.read = ak8963SPIRead;
-        ak8963config.write = ak8963SPIWrite;
-        mag->init = ak8963Init;
-        mag->read = ak8963Read;
-
-        return true;
-    }
-#endif
     return false;
 }
 
@@ -250,49 +231,43 @@ void ak8963Init()
     uint8_t calibration[3];
     uint8_t status;
 
-    ack = ak8963config.write(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_CNTL, CNTL_MODE_POWER_DOWN); // power down before entering fuse mode
+    ack = ak8963SensorWrite(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_CNTL, CNTL_MODE_POWER_DOWN); // power down before entering fuse mode
     delay(20);
 
-    ack = ak8963config.write(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_CNTL, CNTL_MODE_FUSE_ROM); // Enter Fuse ROM access mode
+    ack = ak8963SensorWrite(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_CNTL, CNTL_MODE_FUSE_ROM); // Enter Fuse ROM access mode
     delay(10);
 
-    ack = ak8963config.read(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_ASAX, sizeof(calibration), calibration); // Read the x-, y-, and z-axis calibration values
+    ack = ak8963SensorRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_ASAX, sizeof(calibration), calibration); // Read the x-, y-, and z-axis calibration values
     delay(10);
 
     magGain[X] = (((((float)(int8_t)calibration[X] - 128) / 256) + 1) * 30);
     magGain[Y] = (((((float)(int8_t)calibration[Y] - 128) / 256) + 1) * 30);
     magGain[Z] = (((((float)(int8_t)calibration[Z] - 128) / 256) + 1) * 30);
 
-    ack = ak8963config.write(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_CNTL, CNTL_MODE_POWER_DOWN); // power down after reading.
+    ack = ak8963SensorWrite(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_CNTL, CNTL_MODE_POWER_DOWN); // power down after reading.
     delay(10);
 
     // Clear status registers
-    ack = ak8963config.read(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_STATUS1, 1, &status);
+    ack = ak8963SensorRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_STATUS1, 1, &status);
-    ack = ak8963config.read(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_STATUS2, 1, &status);
+    ack = ak8963SensorRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_STATUS2, 1, &status);
 
     // Trigger first measurement
-#ifdef SPRACINGF3EVO
+#if defined(USE_SPI) && defined(MPU9250_SPI_INSTANCE)
-    ack = ak8963config.write(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_CNTL, CNTL_MODE_CONT1);
+    ack = ak8963SensorWrite(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_CNTL, CNTL_MODE_CONT1);
 #else
-    ack = ak8963config.write(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_CNTL, CNTL_MODE_ONCE);
+    ack = ak8963SensorWrite(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_CNTL, CNTL_MODE_ONCE);
 #endif
 }
 
-typedef enum {
-    CHECK_STATUS = 0,
-    WAITING_FOR_STATUS,
-    WAITING_FOR_DATA
-} ak8963ReadState_e;
-
 bool ak8963Read(int16_t *magData)
 {
-    bool ack;
+    bool ack = false;
     uint8_t buf[7];
 
-#ifdef SPRACINGF3EVO
+#if defined(USE_SPI) && defined(MPU9250_SPI_INSTANCE)
 
-    // we currently need a different approach on the SPRacingF3EVO which has an MPU9250 connected via SPI.
+    // we currently need a different approach for the MPU9250 connected via SPI.
-    // we cannot use the ak8963SPIRead() method, it is to slow and blocks for far too long.
+    // we cannot use the ak8963SensorRead() method for SPI, it is to slow and blocks for far too long.
 
     static ak8963ReadState_e state = CHECK_STATUS;
 
@@ -301,17 +276,17 @@ bool ak8963Read(int16_t *magData)
 restart:
     switch (state) {
         case CHECK_STATUS:
-            ak8963SPIStartRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_STATUS1, 1);
+            ak8963SensorStartRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_STATUS1, 1);
             state++;
             return false;
 
         case WAITING_FOR_STATUS: {
-            uint32_t timeRemaining = ak8963SPIQueuedReadTimeRemaining();
+            uint32_t timeRemaining = ak8963SensorQueuedReadTimeRemaining();
             if (timeRemaining) {
                 return false;
             }
 
-            ack = ak8963SPICompleteRead(&buf[0]);
+            ack = ak8963SensorCompleteRead(&buf[0]);
 
             uint8_t status = buf[0];
 
@@ -327,7 +302,7 @@ restart:
 
 
             // read the 6 bytes of data and the status2 register
-            ak8963SPIStartRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_HXL, 7);
+            ak8963SensorStartRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_HXL, 7);
 
             state++;
 
@@ -335,31 +310,16 @@ restart:
         }
 
         case WAITING_FOR_DATA: {
-            uint32_t timeRemaining = ak8963SPIQueuedReadTimeRemaining();
+            uint32_t timeRemaining = ak8963SensorQueuedReadTimeRemaining();
             if (timeRemaining) {
                 return false;
             }
 
-            ack = ak8963SPICompleteRead(&buf[0]);
+            ack = ak8963SensorCompleteRead(&buf[0]);
-
-            uint8_t status2 = buf[6];
-            if (!ack || (status2 & STATUS2_DATA_ERROR) || (status2 & STATUS2_MAG_SENSOR_OVERFLOW)) {
-                return false;
-            }
-
-            magData[X] = -(int16_t)(buf[1] << 8 | buf[0]) * magGain[X];
-            magData[Y] = -(int16_t)(buf[3] << 8 | buf[2]) * magGain[Y];
-            magData[Z] = -(int16_t)(buf[5] << 8 | buf[4]) * magGain[Z];
-
-            state = CHECK_STATUS;
-
-            return true;
         }
     }
-
-    return false;
 #else
-    ack = ak8963config.read(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_STATUS1, 1, &buf[0]);
+    ack = ak8963SensorRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_STATUS1, 1, &buf[0]);
 
     uint8_t status = buf[0];
 
@@ -367,8 +327,8 @@ restart:
         return false;
     }
 
-    ack = ak8963config.read(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_HXL, 7, &buf[0]);
+    ack = ak8963SensorRead(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_HXL, 7, &buf[0]);
-
+#endif
     uint8_t status2 = buf[6];
     if (!ack || (status2 & STATUS2_DATA_ERROR) || (status2 & STATUS2_MAG_SENSOR_OVERFLOW)) {
         return false;
@@ -378,6 +338,10 @@ restart:
     magData[Y] = -(int16_t)(buf[3] << 8 | buf[2]) * magGain[Y];
     magData[Z] = -(int16_t)(buf[5] << 8 | buf[4]) * magGain[Z];
 
-    return ak8963config.write(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_CNTL, CNTL_MODE_ONCE); // start reading again
+#if defined(USE_SPI) && defined(MPU9250_SPI_INSTANCE)
+    state = CHECK_STATUS;
+    return true;
+#else
+    return ak8963SensorWrite(AK8963_MAG_I2C_ADDRESS, AK8963_MAG_REG_CNTL, CNTL_MODE_ONCE); // start reading again
 #endif
 }

src/main/drivers/pwm_mapping.h

@@ -37,7 +37,7 @@
 
 #define PWM_TIMER_MHZ 1
 
-#define PWM_BRUSHED_TIMER_MHZ 8
+#define PWM_BRUSHED_TIMER_MHZ 24
 #define MULTISHOT_TIMER_MHZ 72
 #define ONESHOT42_TIMER_MHZ 24
 #define ONESHOT125_TIMER_MHZ 8

src/main/main.c

@@ -724,7 +724,7 @@ void main_init(void)
 #endif
 #ifdef MAG
     setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
-#ifdef SPRACINGF3EVO
+#if defined(USE_SPI) && defined(USE_MAG_AK8963)
     // fixme temporary solution for AK6983 via slave I2C on MPU9250
     rescheduleTask(TASK_COMPASS, 1000000 / 40);
 #endif

src/main/sensors/compass.c

@@ -43,6 +43,7 @@ mag_t mag;                   // mag access functions
 
 extern uint32_t currentTime; // FIXME dependency on global variable, pass it in instead.
 
+int16_t magADCRaw[XYZ_AXIS_COUNT];
 int32_t magADC[XYZ_AXIS_COUNT];
 sensor_align_e magAlign = 0;
 #ifdef MAG
@@ -57,27 +58,19 @@ void compassInit(void)
     magInit = 1;
 }
 
-#define COMPASS_UPDATE_FREQUENCY_10HZ (1000 * 100)
-
 void updateCompass(flightDynamicsTrims_t *magZero)
 {
-    static uint32_t nextUpdateAt, tCal = 0;
+    static uint32_t tCal = 0;
     static flightDynamicsTrims_t magZeroTempMin;
     static flightDynamicsTrims_t magZeroTempMax;
-    int16_t magADCRaw[XYZ_AXIS_COUNT];
     uint32_t axis;
 
-    if ((int32_t)(currentTime - nextUpdateAt) < 0)
-        return;
-
-    nextUpdateAt = currentTime + COMPASS_UPDATE_FREQUENCY_10HZ;
-
     mag.read(magADCRaw);
-    for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) magADC[axis] = magADCRaw[axis];
+    for (axis = 0; axis < XYZ_AXIS_COUNT; axis++) magADC[axis] = magADCRaw[axis];  // int32_t copy to work with
     alignSensors(magADC, magADC, magAlign);
 
     if (STATE(CALIBRATE_MAG)) {
-        tCal = nextUpdateAt;
+        tCal = currentTime;
         for (axis = 0; axis < 3; axis++) {
             magZero->raw[axis] = 0;
             magZeroTempMin.raw[axis] = magADC[axis];
@@ -93,7 +86,7 @@ void updateCompass(flightDynamicsTrims_t *magZero)
     }
 
     if (tCal != 0) {
-        if ((nextUpdateAt - tCal) < 30000000) {    // 30s: you have 30s to turn the multi in all directions
+        if ((currentTime - tCal) < 30000000) {    // 30s: you have 30s to turn the multi in all directions
             LED0_TOGGLE;
             for (axis = 0; axis < 3; axis++) {
                 if (magADC[axis] < magZeroTempMin.raw[axis])

src/main/sensors/initialisation.c

@@ -216,7 +216,7 @@ bool detectGyro(void)
             ; // fallthrough
 
         case GYRO_MPU6500:
-#ifdef USE_GYRO_MPU6500
+#if defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500)
 #ifdef USE_GYRO_SPI_MPU6500
             if (mpu6500GyroDetect(&gyro) || mpu6500SpiGyroDetect(&gyro))
 #else
@@ -361,7 +361,7 @@ retry:
 #endif
             ; // fallthrough
         case ACC_MPU6500:
-#ifdef USE_ACC_MPU6500
+#if defined(USE_ACC_MPU6500) || defined(USE_ACC_SPI_MPU6500)
 #ifdef USE_ACC_SPI_MPU6500
             if (mpu6500AccDetect(&acc) || mpu6500SpiAccDetect(&acc))
 #else

src/main/target/ALIENFLIGHTF3/target.h

@@ -45,7 +45,6 @@
 // Using MPU6050 for the moment.
 #define GYRO
 #define USE_GYRO_MPU6050
-#define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
 
 #define GYRO_MPU6050_ALIGN CW270_DEG
@@ -53,7 +52,6 @@
 
 #define ACC
 #define USE_ACC_MPU6050
-#define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
 
 #define ACC_MPU6050_ALIGN CW270_DEG
@@ -100,8 +98,8 @@
 #define USE_I2C
 #define I2C_DEVICE (I2CDEV_2) // SDA (PA10/AF4), SCL (PA9/AF4)
 
-#define I2C2_SCL_PIN         PA9
+#define I2C2_SCL            PA9
-#define I2C2_SDA_PIN         PA10
+#define I2C2_SDA            PA10
 
 // SPI3
 // PA15 38 SPI3_NSS
@@ -139,8 +137,8 @@
 #define BINDPLUG_PIN   PB12
 
 #define BRUSHED_MOTORS
-#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
-#define DEFAULT_FEATURES (FEATURE_RX_SERIAL | FEATURE_MOTOR_STOP)
+#define DEFAULT_FEATURES FEATURE_MOTOR_STOP
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 

src/main/target/ALIENFLIGHTF4/target.h

@@ -45,22 +45,16 @@
 
 #define MPU6500_CS_PIN       PA4
 #define MPU6500_SPI_INSTANCE SPI1
-#define MPU9250_CS_PIN       PA4
-#define MPU9250_SPI_INSTANCE SPI1
 
 #define ACC
 #define USE_ACC_SPI_MPU6500
-#define USE_ACC_SPI_MPU9250
 
 #define ACC_MPU6500_ALIGN    CW270_DEG
-#define ACC_MPU9250_ALIGN    CW270_DEG
 
 #define GYRO
 #define USE_GYRO_SPI_MPU6500
-#define USE_GYRO_SPI_MPU9250
 
 #define GYRO_MPU6500_ALIGN   CW270_DEG
-#define GYRO_MPU9250_ALIGN   CW270_DEG
 
 #define MAG
 #define USE_MAG_HMC5883
@@ -191,9 +185,11 @@
 // Hardware bind plug at PB2 (Pin 28)
 #define BINDPLUG_PIN         PB2
 
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
 #define BRUSHED_MOTORS
-#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
-#define DEFAULT_FEATURES (FEATURE_RX_SERIAL | FEATURE_MOTOR_STOP)
+#define DEFAULT_FEATURES (FEATURE_MOTOR_STOP | FEATURE_BLACKBOX)
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 

src/main/target/ALIENFLIGHTF4/target.mk

@@ -4,7 +4,6 @@ FEATURES        += SDCARD VCP
 TARGET_SRC = \
             drivers/accgyro_mpu6500.c \
             drivers/accgyro_spi_mpu6500.c \
-            drivers/accgyro_spi_mpu9250.c \
             drivers/barometer_bmp280.c \
             drivers/barometer_ms5611.c \
             drivers/compass_ak8963.c \

src/main/target/BLUEJAYF4/target.h

@@ -140,7 +140,11 @@
 #define VBAT_ADC_PIN           PC3
 #define VBAT_ADC_CHANNEL       ADC_Channel_13
 
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
 #define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+#define DEFAULT_FEATURES FEATURE_BLACKBOX
+
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA 0xffff

src/main/target/OMNIBUS/target.h

@@ -210,6 +210,7 @@
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 #define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+#define DEFAULT_FEATURES FEATURE_BLACKBOX
 
 #define BUTTONS
 #define BUTTON_A_PORT  GPIOB

src/main/target/SINGULARITY/target.h

@@ -117,8 +117,10 @@
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC2
 #define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH2_HANDLER
 
-#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
-#define DEFAULT_FEATURES (FEATURE_BLACKBOX | FEATURE_RX_SERIAL)
+
+#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
+#define DEFAULT_FEATURES FEATURE_BLACKBOX
 
 #define SPEKTRUM_BIND
 // USART2, PA15

src/main/target/SIRINFPV/target.h

@@ -155,6 +155,7 @@
 
 #define USE_SERVOS
 #define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+#define DEFAULT_FEATURES FEATURE_BLACKBOX
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE
 

src/main/target/SPRACINGF3/target.h

@@ -148,6 +148,8 @@
 #define WS2811_DMA_TC_FLAG              DMA1_FLAG_TC2
 #define WS2811_DMA_HANDLER_IDENTIFER    DMA1_CH2_HANDLER
 
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
 #define DEFAULT_RX_FEATURE FEATURE_RX_PPM
 #define DEFAULT_FEATURES FEATURE_BLACKBOX
 

src/main/target/SPRACINGF3EVO/target.h

@@ -185,7 +185,7 @@
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 
 #define DEFAULT_RX_FEATURE FEATURE_RX_PPM
-#define DEFAULT_FEATURES (FEATURE_TRANSPONDER | FEATURE_RSSI_ADC | FEATURE_CURRENT_METER | FEATURE_TELEMETRY)
+#define DEFAULT_FEATURES (FEATURE_TRANSPONDER | FEATURE_BLACKBOX | FEATURE_RSSI_ADC | FEATURE_CURRENT_METER | FEATURE_TELEMETRY)
 
 #define SPEKTRUM_BIND
 // USART3,

src/main/target/SPRACINGF3MINI/target.h

@@ -193,6 +193,7 @@
 
 #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
 #define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+#define DEFAULT_FEATURES FEATURE_BLACKBOX
 
 #define BUTTONS
 #define BUTTON_A_PORT  GPIOB