Gyro on Rev3 and Rev3a Bluejay are 0 aligned

src/main/config/config.c

@@ -530,11 +530,7 @@ static void resetConf(void)
     masterConfig.rxConfig.rcSmoothing = RC_SMOOTHING_OFF;
     masterConfig.rxConfig.rcSmoothInterval = 9;
     masterConfig.rxConfig.fpvCamAngleDegrees = 0;
-#ifdef STM32F4
+    masterConfig.rxConfig.max_aux_channel = MAX_AUX_CHANNELS;
-    masterConfig.rxConfig.max_aux_channel = 99;
-#else
-    masterConfig.rxConfig.max_aux_channel = 6;
-#endif
     masterConfig.rxConfig.airModeActivateThreshold = 1350;
 
     resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);

src/main/drivers/flash_m25p16.c

@@ -213,7 +213,8 @@ bool m25p16_init(ioTag_t csTag)
     } else {
 #ifdef M25P16_CS_PIN
         m25p16CsPin = IOGetByTag(IO_TAG(M25P16_CS_PIN));
-#else
        return false;
+#else
+        return false;
 #endif
     }
     IOInit(m25p16CsPin, OWNER_FLASH, RESOURCE_SPI_CS, 0);

src/main/target/BLUEJAYF4/config.c

@@ -0,0 +1,87 @@
+/*
+ * 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 <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include <platform.h>
+
+#include "build_config.h"
+
+#include "blackbox/blackbox_io.h"
+
+#include "common/color.h"
+#include "common/axis.h"
+#include "common/filter.h"
+
+#include "drivers/sensor.h"
+#include "drivers/accgyro.h"
+#include "drivers/compass.h"
+#include "drivers/system.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_rx.h"
+#include "drivers/serial.h"
+#include "drivers/pwm_output.h"
+#include "drivers/max7456.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+
+#include "sensors/sensors.h"
+#include "sensors/gyro.h"
+#include "sensors/compass.h"
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/boardalignment.h"
+#include "sensors/battery.h"
+
+#include "io/beeper.h"
+#include "io/serial.h"
+#include "io/gimbal.h"
+#include "io/escservo.h"
+#include "io/rc_controls.h"
+#include "io/rc_curves.h"
+#include "io/ledstrip.h"
+#include "io/gps.h"
+#include "io/osd.h"
+#include "io/vtx.h"
+
+#include "rx/rx.h"
+
+#include "telemetry/telemetry.h"
+
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/imu.h"
+#include "flight/failsafe.h"
+#include "flight/altitudehold.h"
+#include "flight/navigation.h"
+
+#include "config/runtime_config.h"
+#include "config/config.h"
+
+#include "config/config_profile.h"
+#include "config/config_master.h"
+
+#include "hardware_revision.h"
+
+// alternative defaults settings for BlueJayF4 targets
+void targetConfiguration(void) 
+{
+    if (hardwareRevision == BJF4_REV1 || hardwareRevision == BJF4_REV2) {
+        masterConfig.sensorAlignmentConfig.gyro_align = CW180_DEG;
+        masterConfig.sensorAlignmentConfig.acc_align  = CW180_DEG;
+    }
+}

src/main/target/BLUEJAYF4/target.h

@@ -17,6 +17,7 @@
 
 #pragma once
 #define TARGET_BOARD_IDENTIFIER "BJF4"
+#define TARGET_CONFIG
 
 #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
 
@@ -44,12 +45,12 @@
 #define ACC
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
-#define ACC_MPU6500_ALIGN       CW180_DEG
+#define ACC_MPU6500_ALIGN       CW0_DEG
 
 #define GYRO
 #define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
-#define GYRO_MPU6500_ALIGN      CW180_DEG
+#define GYRO_MPU6500_ALIGN      CW0_DEG
 
 //#define MAG
 //#define USE_MAG_AK8963

src/main/target/common.h

@@ -24,6 +24,7 @@
 /* STM32F4 specific settings that apply to all F4 targets */
 #ifdef STM32F4
 
+#define MAX_AUX_CHANNELS 99
 #define TASK_GYROPID_DESIRED_PERIOD 125
 #define SCHEDULER_DELAY_LIMIT 10
 #define USE_SLOW_SERIAL_CLI
@@ -31,6 +32,7 @@
 
 #else /* when not an F4 */
 
+#define MAX_AUX_CHANNELS 6
 #define TASK_GYROPID_DESIRED_PERIOD 1000
 #define SCHEDULER_DELAY_LIMIT 100