diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
index a59cc8d78..96dedade7 100644
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@@ -72,6 +72,7 @@
#include "flight/altitudehold.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
+#include "flight/pid.h"
#include "flight/navigation.h"
#include "config/runtime_config.h"
diff --git a/src/main/blackbox/blackbox_io.c b/src/main/blackbox/blackbox_io.c
index cd4f05d98..88306767c 100644
--- a/src/main/blackbox/blackbox_io.c
+++ b/src/main/blackbox/blackbox_io.c
@@ -53,6 +53,7 @@
#include "flight/altitudehold.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
+#include "flight/pid.h"
#include "flight/navigation.h"
#include "config/runtime_config.h"
diff --git a/src/main/config/config.c b/src/main/config/config.c
index c1ddd2d28..48ad7fa56 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -23,6 +23,7 @@
#include "debug.h"
#include "build_config.h"
+#include "debug.h"
#include "blackbox/blackbox_io.h"
diff --git a/src/main/drivers/bus_i2c.h b/src/main/drivers/bus_i2c.h
index 86f7a6618..d31d80622 100644
--- a/src/main/drivers/bus_i2c.h
+++ b/src/main/drivers/bus_i2c.h
@@ -21,8 +21,8 @@
#define I2C_LONG_TIMEOUT ((uint32_t)(10 * I2C_SHORT_TIMEOUT))
#define I2C_DEFAULT_TIMEOUT I2C_SHORT_TIMEOUT
-#include "drivers/io.h"
-#include "drivers/rcc.h"
+#include "io.h"
+#include "rcc.h"
#ifndef I2C_DEVICE
#define I2C_DEVICE I2CINVALID
diff --git a/src/main/drivers/exti.h b/src/main/drivers/exti.h
index 8071c65e3..713ec50ae 100644
--- a/src/main/drivers/exti.h
+++ b/src/main/drivers/exti.h
@@ -18,7 +18,7 @@
#pragma once
-#include "drivers/io.h"
+#include "io.h"
// old EXTI interface, to be replaced
typedef struct extiConfig_s {
diff --git a/src/main/drivers/sound_beeper.h b/src/main/drivers/sound_beeper.h
index ab7a7c3df..4fad6422c 100644
--- a/src/main/drivers/sound_beeper.h
+++ b/src/main/drivers/sound_beeper.h
@@ -17,7 +17,7 @@
#pragma once
-#include "drivers/io.h"
+#include "io.h"
#ifdef BEEPER
#define BEEP_TOGGLE systemBeepToggle()
diff --git a/src/main/flight/altitudehold.h b/src/main/flight/altitudehold.h
index 3677fbb28..da1697881 100644
--- a/src/main/flight/altitudehold.h
+++ b/src/main/flight/altitudehold.h
@@ -15,19 +15,21 @@
* along with Cleanflight. If not, see .
*/
-#include "io/escservo.h"
-#include "io/rc_controls.h"
-#include "flight/pid.h"
-
-#include "sensors/barometer.h"
+#pragma once
extern int32_t AltHold;
extern int32_t vario;
void calculateEstimatedAltitude(uint32_t currentTime);
-void configureAltitudeHold(pidProfile_t *initialPidProfile, barometerConfig_t *intialBarometerConfig, rcControlsConfig_t *initialRcControlsConfig, escAndServoConfig_t *initialEscAndServoConfig);
-void applyAltHold(airplaneConfig_t *airplaneConfig);
+struct pidProfile_s;
+struct barometerConfig_s;
+struct rcControlsConfig_s;
+struct escAndServoConfig_s;
+void configureAltitudeHold(struct pidProfile_s *initialPidProfile, struct barometerConfig_s *intialBarometerConfig, struct rcControlsConfig_s *initialRcControlsConfig, struct escAndServoConfig_s *initialEscAndServoConfig);
+
+struct airplaneConfig_t;
+void applyAltHold(struct airplaneConfig_s *airplaneConfig);
void updateAltHoldState(void);
void updateSonarAltHoldState(void);
diff --git a/src/main/flight/imu.h b/src/main/flight/imu.h
index 94b361fcf..e5229a2ea 100644
--- a/src/main/flight/imu.h
+++ b/src/main/flight/imu.h
@@ -69,9 +69,10 @@ typedef struct accProcessor_s {
accProcessorState_e state;
} accProcessor_t;
+struct pidProfile_s;
void imuConfigure(
imuRuntimeConfig_t *initialImuRuntimeConfig,
- pidProfile_t *initialPidProfile,
+ struct pidProfile_s *initialPidProfile,
accDeadband_t *initialAccDeadband,
uint16_t throttle_correction_angle
);
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 4f3623c31..3adbe3167 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -14,7 +14,6 @@
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see .
*/
-#include "rx/rx.h"
#pragma once
diff --git a/src/main/io/display.c b/src/main/io/display.c
index 1e5eee974..a22ca8802 100644
--- a/src/main/io/display.c
+++ b/src/main/io/display.c
@@ -63,6 +63,8 @@
#include "io/display.h"
+#include "rx/rx.h"
+
#include "scheduler/scheduler.h"
extern profile_t *currentProfile;
diff --git a/src/main/io/rc_controls.h b/src/main/io/rc_controls.h
index aace839d9..a3622aaca 100644
--- a/src/main/io/rc_controls.h
+++ b/src/main/io/rc_controls.h
@@ -17,8 +17,6 @@
#pragma once
-#include "rx/rx.h"
-
typedef enum {
BOXARM = 0,
BOXANGLE,
@@ -167,8 +165,9 @@ typedef struct rcControlsConfig_s {
bool areUsingSticksToArm(void);
bool areSticksInApModePosition(uint16_t ap_mode);
-throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
-void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch);
+struct rxConfig_s;
+throttleStatus_e calculateThrottleStatus(struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
+void processRcStickPositions(struct rxConfig_s *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch);
bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range);
void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
@@ -257,7 +256,7 @@ bool isAirmodeActive(void);
bool isSuperExpoActive(void);
void resetAdjustmentStates(void);
void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
-void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig);
+void processRcAdjustments(controlRateConfig_t *controlRateConfig, struct rxConfig_s *rxConfig);
bool isUsingSticksForArming(void);
diff --git a/src/main/io/rc_curves.c b/src/main/io/rc_curves.c
index 89b46522f..4a2b20bdd 100644
--- a/src/main/io/rc_curves.c
+++ b/src/main/io/rc_curves.c
@@ -18,12 +18,13 @@
#include
#include
-#include "io/rc_controls.h"
-#include "io/escservo.h"
+#include "config/config.h"
+#include "io/escservo.h"
+#include "io/rc_controls.h"
#include "io/rc_curves.h"
-#include "config/config.h"
+#include "rx/rx.h"
#define THROTTLE_LOOKUP_LENGTH 12
static int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & mid THROTTLE
diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c
index a7a09a44b..f5c0c9a9d 100644
--- a/src/main/rx/rx.c
+++ b/src/main/rx/rx.c
@@ -41,6 +41,8 @@
#include "drivers/timer.h"
#include "drivers/pwm_rx.h"
#include "drivers/system.h"
+
+#include "rx/rx.h"
#include "rx/pwm.h"
#include "rx/sbus.h"
#include "rx/spektrum.h"
@@ -51,8 +53,6 @@
#include "rx/ibus.h"
#include "rx/jetiexbus.h"
-#include "rx/rx.h"
-
//#define DEBUG_RX_SIGNAL_LOSS
diff --git a/src/main/rx/xbus.h b/src/main/rx/xbus.h
index bc76f5678..19dc6d573 100644
--- a/src/main/rx/xbus.h
+++ b/src/main/rx/xbus.h
@@ -17,7 +17,5 @@
#pragma once
-#include "rx/rx.h"
-
bool xBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
uint8_t xBusFrameStatus(void);
diff --git a/src/main/sensors/battery.c b/src/main/sensors/battery.c
index 75aac6cf0..6d165cbc5 100644
--- a/src/main/sensors/battery.c
+++ b/src/main/sensors/battery.c
@@ -35,6 +35,8 @@
#include "io/rc_controls.h"
#include "io/beeper.h"
+#include "rx/rx.h"
+
#define VBATT_PRESENT_THRESHOLD_MV 10
#define VBATT_LPF_FREQ 0.4f
diff --git a/src/main/target/VRRACE/target.c b/src/main/target/VRRACE/target.c
new file mode 100644
index 000000000..094ade421
--- /dev/null
+++ b/src/main/target/VRRACE/target.c
@@ -0,0 +1,103 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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.
+ *
+ * Cleanflight 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 Cleanflight. If not, see .
+ */
+
+#include
+
+#include
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+
+const uint16_t multiPPM[] = {
+ PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
+ PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+ PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+ PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+ PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+ PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+ PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+ PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+ 0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+ PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
+ PWM2 | (MAP_TO_PWM_INPUT << 8),
+ PWM3 | (MAP_TO_PWM_INPUT << 8),
+ PWM4 | (MAP_TO_PWM_INPUT << 8),
+ PWM5 | (MAP_TO_PWM_INPUT << 8),
+ PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
+ PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
+ PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
+ PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3
+ PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6
+ 0xFFFF
+};
+
+const uint16_t airPPM[] = {
+ PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
+ PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM9 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM10 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM2 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM3 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM4 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
+ 0xFFFF
+};
+
+const uint16_t airPWM[] = {
+ PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
+ PWM2 | (MAP_TO_PWM_INPUT << 8),
+ PWM3 | (MAP_TO_PWM_INPUT << 8),
+ PWM4 | (MAP_TO_PWM_INPUT << 8),
+ PWM5 | (MAP_TO_PWM_INPUT << 8),
+ PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
+ PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
+ PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
+ PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
+ PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2
+ PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3
+ PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
+ 0xFFFF
+};
+
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+ { TIM1, IO_TAG(PE9), TIM_Channel_1, TIM1_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM1 }, // PPM
+ { TIM1, IO_TAG(PE11), TIM_Channel_2, TIM1_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM1 }, // S2_IN
+ { TIM1, IO_TAG(PE13), TIM_Channel_3, TIM1_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM1 }, // S3_IN
+ { TIM1, IO_TAG(PE14), TIM_Channel_4, TIM1_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM1 }, // S4_IN
+ { TIM9, IO_TAG(PE6), TIM_Channel_1, TIM1_BRK_TIM9_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM9 }, // S5_IN
+ { TIM9, IO_TAG(PE7), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM9 }, // S6_IN
+
+ { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S1_OUT
+ { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S2_OUT
+ { TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S3_OUT
+ { TIM3, IO_TAG(PB5), TIM_Channel_2, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S4_OUT
+ { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S5_OUT
+ { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S6_OUT
+};
diff --git a/src/main/target/VRRACE/target.h b/src/main/target/VRRACE/target.h
new file mode 100644
index 000000000..da1581e9f
--- /dev/null
+++ b/src/main/target/VRRACE/target.h
@@ -0,0 +1,180 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight 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.
+ *
+ * Cleanflight 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 Cleanflight. If not, see .
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "VRRA"
+#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
+
+#define USBD_PRODUCT_STRING "VRRACE"
+
+#define LED0 PD14
+#define LED1 PD15
+#define BEEPER PA0
+#define BEEPER_INVERTED
+
+#define INVERTER PD7
+#define INVERTER_USART USART6
+
+#define MPU6500_CS_PIN PE10
+#define MPU6500_SPI_INSTANCE SPI2
+
+#define ACC
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6500_ALIGN CW270_DEG
+
+#define GYRO
+#define USE_GYRO_SPI_MPU6500
+#define GYRO_MPU6500_ALIGN CW270_DEG
+
+// MPU6500 interrupts
+#define USE_MPU_DATA_READY_SIGNAL
+#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready (mag disabled)
+#define MPU_INT_EXTI PD10
+#define USE_EXTI
+
+/*
+#define BARO
+#define USE_BARO_MS5611
+#define MS5611_I2C_INSTANCE I2CDEV_1
+
+#define USE_SDCARD
+
+#define SDCARD_DETECT_INVERTED
+
+#define SDCARD_DETECT_PIN PD2
+#define SDCARD_SPI_INSTANCE SPI2
+#define SDCARD_SPI_CS_PIN PB12
+*/
+
+/*
+#define SDCARD_DETECT_PIN PD2
+#define SDCARD_DETECT_EXTI_LINE EXTI_Line2
+#define SDCARD_DETECT_EXTI_PIN_SOURCE EXTI_PinSource2
+#define SDCARD_DETECT_EXTI_PORT_SOURCE EXTI_PortSourceGPIOD
+#define SDCARD_DETECT_EXTI_IRQn EXTI2_IRQn
+
+#define SDCARD_SPI_INSTANCE SPI3
+#define SDCARD_SPI_CS_PIN PB3
+*/
+
+// SPI2 is on the APB1 bus whose clock runs at 84MHz. Divide to under 400kHz for init:
+/*
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
+*/
+// Divide to under 25MHz for normal operation:
+/*
+#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 4 // 21MHz
+*/
+
+/*
+#define SDCARD_DMA_CHANNEL_TX DMA1_Stream4
+#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF4
+#define SDCARD_DMA_CLK RCC_AHB1Periph_DMA1
+#define SDCARD_DMA_CHANNEL DMA_Channel_0
+*/
+
+
+/*
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_CS_PIN PB3
+#define M25P16_SPI_INSTANCE SPI3
+*/
+
+#define USE_VCP
+#define VBUS_SENSING_PIN PA9
+//#define VBUS_SENSING_ENABLED
+
+#define USE_UART1
+#define UART1_RX_PIN PB7
+#define UART1_TX_PIN PB6
+
+#define USE_UART2
+#define UART2_RX_PIN PD6
+#define UART2_TX_PIN PD5
+
+#define USE_UART3
+#define UART3_RX_PIN PD9
+#define UART3_TX_PIN PD8
+
+#define USE_UART6
+#define UART6_RX_PIN PC7
+#define UART6_TX_PIN PC6
+
+#define USE_SOFTSERIAL1
+
+#define SOFTSERIAL_1_TIMER TIM1
+#define SOFTSERIAL_1_TIMER_RX_HARDWARE 2 // PWM 3
+#define SOFTSERIAL_1_TIMER_TX_HARDWARE 1 // PWM 2
+
+
+#define SERIAL_PORT_COUNT 6 //VCP, USART1, USART2, USART3, USART6, SOFTSERIAL1
+
+
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+
+#define USE_SPI_DEVICE_2
+#define SPI2_NSS_PIN PE10
+#define SPI2_SCK_PIN PB13
+#define SPI2_MISO_PIN PB14
+#define SPI2_MOSI_PIN PB15
+
+/*
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN PB3
+#define SPI3_SCK_PIN PC10
+#define SPI3_MISO_PIN PC11
+#define SPI3_MOSI_PIN PC12
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_1) // PB8-SCL, PB8-SDA
+#define USE_I2C_PULLUP
+#define I2C1_SCL PB8
+#define I2C1_SDA PB9
+*/
+
+#define USE_ADC
+#define BOARD_HAS_VOLTAGE_DIVIDER
+#define VBAT_ADC_PIN PC0
+#define RSSI_ADC_GPIO_PIN PB1
+#define CURRENT_METER_ADC_PIN PA5
+
+#define DEFAULT_FEATURES (FEATURE_VBAT | FEATURE_ONESHOT125 | FEATURE_SOFTSERIAL | FEATURE_TELEMETRY)
+#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER SERIALRX_SBUS
+
+//#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
+/*
+#define SPEKTRUM_BIND
+// USART3 Rx, PB11
+#define BIND_PIN PB11
+*/
+
+#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 USABLE_TIMER_CHANNEL_COUNT 12
+#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9) )
diff --git a/src/main/target/VRRACE/target.mk b/src/main/target/VRRACE/target.mk
new file mode 100644
index 000000000..ed853fd62
--- /dev/null
+++ b/src/main/target/VRRACE/target.mk
@@ -0,0 +1,7 @@
+F405_TARGETS += $(TARGET)
+FEATURES += VCP
+
+TARGET_SRC = \
+ drivers/accgyro_spi_mpu6000.c \
+ drivers/accgyro_spi_mpu6500.c \
+ drivers/accgyro_mpu6500.c
diff --git a/src/main/telemetry/frsky.h b/src/main/telemetry/frsky.h
index 555eb43e8..c057f2237 100644
--- a/src/main/telemetry/frsky.h
+++ b/src/main/telemetry/frsky.h
@@ -17,14 +17,13 @@
#pragma once
-#include "rx/rx.h"
-
typedef enum {
FRSKY_VFAS_PRECISION_LOW = 0,
FRSKY_VFAS_PRECISION_HIGH
} frskyVFasPrecision_e;
-void handleFrSkyTelemetry(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
+struct rxConfig_s;
+void handleFrSkyTelemetry(struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
void checkFrSkyTelemetryState(void);
void initFrSkyTelemetry(telemetryConfig_t *telemetryConfig);
diff --git a/src/main/telemetry/hott.h b/src/main/telemetry/hott.h
index 64a43bd50..19d4c5369 100644
--- a/src/main/telemetry/hott.h
+++ b/src/main/telemetry/hott.h
@@ -488,7 +488,8 @@ typedef struct HOTT_AIRESC_MSG_s {
void handleHoTTTelemetry(void);
void checkHoTTTelemetryState(void);
-void initHoTTTelemetry(telemetryConfig_t *telemetryConfig);
+struct telemetryConfig_s;
+void initHoTTTelemetry(struct telemetryConfig_s *telemetryConfig);
void configureHoTTTelemetryPort(void);
void freeHoTTTelemetryPort(void);
diff --git a/src/main/telemetry/ltm.h b/src/main/telemetry/ltm.h
index 6e4b80cbf..e5b4790c5 100644
--- a/src/main/telemetry/ltm.h
+++ b/src/main/telemetry/ltm.h
@@ -19,7 +19,8 @@
#pragma once
-void initLtmTelemetry(telemetryConfig_t *initialTelemetryConfig);
+struct telemetryConfig_s;
+void initLtmTelemetry(struct telemetryConfig_s *initialTelemetryConfig);
void handleLtmTelemetry(void);
void checkLtmTelemetryState(void);
diff --git a/src/main/telemetry/smartport.h b/src/main/telemetry/smartport.h
index b24be9070..932ba1a92 100644
--- a/src/main/telemetry/smartport.h
+++ b/src/main/telemetry/smartport.h
@@ -7,7 +7,8 @@
#pragma once
-void initSmartPortTelemetry(telemetryConfig_t *);
+struct telemetryConfig_s;
+void initSmartPortTelemetry(struct telemetryConfig_s *);
void handleSmartPortTelemetry(void);
void checkSmartPortTelemetryState(void);