Merge branch 'development' of https://github.com/borisbstyle/betaflight into development

src/main/config/config.c

@@ -89,6 +89,7 @@
 #endif
 
 void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);
+void targetConfiguration(void);
 
 #if !defined(FLASH_SIZE)
 #error "Flash size not defined for target. (specify in KB)"
@@ -652,41 +653,8 @@ static void resetConf(void)
     }
 #endif
 
-    // alternative defaults settings for COLIBRI RACE targets
-#if defined(COLIBRI_RACE)
-    masterConfig.escAndServoConfig.minthrottle = 1025;
-    masterConfig.escAndServoConfig.maxthrottle = 1980;
-    masterConfig.batteryConfig.vbatmaxcellvoltage = 45;
-    masterConfig.batteryConfig.vbatmincellvoltage = 30;
-#endif
-
 #if defined(TARGET_CONFIG)
-    targetConfiguration(&masterConfig);
-#endif
-
-#if defined(ALIENFLIGHT) 
-    featureClear(FEATURE_ONESHOT125);
-#ifdef ALIENFLIGHTF3
-    masterConfig.mag_hardware = MAG_NONE;            // disabled by default
-#endif
-    masterConfig.rxConfig.spektrum_sat_bind = 5;
-    masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
-    masterConfig.motor_pwm_rate = 32000;
-    masterConfig.failsafeConfig.failsafe_delay = 2;
-    masterConfig.failsafeConfig.failsafe_off_delay = 0;
-    currentControlRateProfile->rates[FD_PITCH] = 40;
-    currentControlRateProfile->rates[FD_ROLL] = 40;
-    currentControlRateProfile->rates[FD_YAW] = 40;
-    parseRcChannels("TAER1234", &masterConfig.rxConfig);
-
-    masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
-    masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
-    masterConfig.customMotorMixer[2] = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
-    masterConfig.customMotorMixer[3] = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
-    masterConfig.customMotorMixer[4] = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
-    masterConfig.customMotorMixer[5] = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
-    masterConfig.customMotorMixer[6] = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
-    masterConfig.customMotorMixer[7] = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L#endif
+    targetConfiguration();
 #endif
 
     // copy first profile into remaining profile

src/main/drivers/adc_stm32f30x.c

@@ -117,13 +117,13 @@ void adcInit(drv_adc_config_t *init)
     }
 #endif
 
-#ifdef CURRENT_METER_ADC_GPIO
+#ifdef CURRENT_METER_ADC_PIN
     if (init->enableCurrentMeter) {
         adcConfig[ADC_CURRENT].tag = IO_TAG(CURRENT_METER_ADC_PIN);
     }
 #endif
 
-#ifdef EXTERNAL1_ADC_GPIO
+#ifdef EXTERNAL1_ADC_PIN
     if (init->enableExternal1) {
         adcConfig[ADC_EXTERNAL1].tag = IO_TAG(EXTERNAL1_ADC_PIN);
     }

src/main/target/ALIENFLIGHTF3/config.c

@@ -0,0 +1,100 @@
+/*
+ * 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"
+
+// alternative defaults settings for AlienFlight targets
+void targetConfiguration(void) {
+    featureClear(FEATURE_ONESHOT125);
+    masterConfig.mag_hardware = MAG_NONE;            // disabled by default
+    masterConfig.rxConfig.spektrum_sat_bind = 5;
+    masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
+    masterConfig.motor_pwm_rate = 32000;
+    masterConfig.failsafeConfig.failsafe_delay = 2;
+    masterConfig.failsafeConfig.failsafe_off_delay = 0;
+    currentControlRateProfile->rates[FD_PITCH] = 40;
+    currentControlRateProfile->rates[FD_ROLL] = 40;
+    currentControlRateProfile->rates[FD_YAW] = 40;
+    parseRcChannels("TAER1234", &masterConfig.rxConfig);
+
+    masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
+    masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
+    masterConfig.customMotorMixer[2] = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
+    masterConfig.customMotorMixer[3] = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
+    masterConfig.customMotorMixer[4] = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
+    masterConfig.customMotorMixer[5] = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
+    masterConfig.customMotorMixer[6] = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
+    masterConfig.customMotorMixer[7] = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L#endif
+}

src/main/target/ALIENFLIGHTF3/target.h

@@ -18,7 +18,7 @@
 #pragma once
 
 #define TARGET_BOARD_IDENTIFIER "AFF3" // AlienFlight F3.
-#define ALIENFLIGHT
+#define TARGET_CONFIG
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
 

src/main/target/ALIENFLIGHTF4/config.c

@@ -0,0 +1,100 @@
+/*
+ * 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"
+
+// alternative defaults settings for AlienFlight targets
+void targetConfiguration(void) {
+    featureClear(FEATURE_ONESHOT125);
+    masterConfig.mag_hardware = MAG_NONE;            // disabled by default
+    masterConfig.rxConfig.spektrum_sat_bind = 5;
+    masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
+    masterConfig.motor_pwm_rate = 32000;
+    masterConfig.failsafeConfig.failsafe_delay = 2;
+    masterConfig.failsafeConfig.failsafe_off_delay = 0;
+    currentControlRateProfile->rates[FD_PITCH] = 40;
+    currentControlRateProfile->rates[FD_ROLL] = 40;
+    currentControlRateProfile->rates[FD_YAW] = 40;
+    parseRcChannels("TAER1234", &masterConfig.rxConfig);
+
+    masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
+    masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
+    masterConfig.customMotorMixer[2] = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
+    masterConfig.customMotorMixer[3] = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
+    masterConfig.customMotorMixer[4] = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
+    masterConfig.customMotorMixer[5] = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
+    masterConfig.customMotorMixer[6] = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
+    masterConfig.customMotorMixer[7] = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L#endif
+}

src/main/target/ALIENFLIGHTF4/target.h

@@ -17,6 +17,7 @@
 
 #pragma once
 #define TARGET_BOARD_IDENTIFIER "AFF4"
+#define TARGET_CONFIG
 
 #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
 
@@ -153,9 +154,6 @@
 //#define WS2811_DMA_CHANNEL            DMA1_Channel3
 //#define WS2811_IRQ                    DMA1_Channel3_IRQn
 
-// alternative defaults for AlienFlight F4 target
-#define ALIENFLIGHT
-
 #define SPEKTRUM_BIND
 // USART2, PA3
 #define BIND_PIN             PA3

src/main/target/COLIBRI_RACE/config.c

@@ -0,0 +1,84 @@
+/*
+ * 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"
+
+// alternative defaults settings for COLIBRI RACE targets
+void targetConfiguration(void) {
+    masterConfig.escAndServoConfig.minthrottle = 1025;
+    masterConfig.escAndServoConfig.maxthrottle = 1980;
+    masterConfig.batteryConfig.vbatmaxcellvoltage = 45;
+    masterConfig.batteryConfig.vbatmincellvoltage = 30;
+}

src/main/target/COLIBRI_RACE/target.h

@@ -20,6 +20,7 @@
 #define TARGET_BOARD_IDENTIFIER "CLBR"
 #define BST_DEVICE_NAME "COLIBRI RACE"
 #define BST_DEVICE_NAME_LENGTH 12
+#define TARGET_CONFIG
 
 #define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
  

src/main/target/FURYF4/target.h

@@ -17,13 +17,10 @@
 
 #pragma once
 
-#define TARGET_BOARD_IDENTIFIER "FYF4" //Call it a revo for now so it connects to RFC for testing.
+#define TARGET_BOARD_IDENTIFIER "FYF4"
 #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
-#define CONFIG_BLACKBOX_DEVICE BLACKBOX_DEVICE_FLASH
-#define CONFIG_MSP_PORT 2
-#define CONFIG_RX_SERIAL_PORT 1
 
-#define USBD_PRODUCT_STRING "FURYF4"
+#define USBD_PRODUCT_STRING "FuryF4"
 
 #define LED0 PB5
 #define LED1 PB4
@@ -67,8 +64,8 @@
 #define SDCARD_DETECT_INVERTED
 
 #define SDCARD_DETECT_PIN                   PD2
-#define SDCARD_SPI_INSTANCE                 SPI3
-#define SDCARD_SPI_CS_PIN                   PB3
+#define SDCARD_SPI_INSTANCE                 SPI2
+#define SDCARD_SPI_CS_PIN                   PB12
 
 /*
 #define SDCARD_DETECT_PIN                   PD2
@@ -86,11 +83,18 @@
 // Divide to under 25MHz for normal operation:
 #define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER     4 // 21MHz
 
-#define SDCARD_DMA_CHANNEL_TX               DMA1_Stream5
-#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF5
+
+//#define SDCARD_DMA_CHANNEL_TX               DMA1_Stream5
+//#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF5
+//#define SDCARD_DMA_CLK                      RCC_AHB1Periph_DMA1
+//#define SDCARD_DMA_CHANNEL                  DMA_Channel_0
+
+#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
@@ -149,10 +153,18 @@
 #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_PORTD (BIT(2))
 
 #define USED_TIMERS  ( TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(9))
 

src/main/target/NAZE/config.c

@@ -0,0 +1,99 @@
+/*
+ * 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"
+
+// alternative defaults settings for AlienFlight targets
+void targetConfiguration(void) {
+    featureClear(FEATURE_ONESHOT125);
+    masterConfig.rxConfig.spektrum_sat_bind = 5;
+    masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;
+    masterConfig.motor_pwm_rate = 32000;
+    masterConfig.failsafeConfig.failsafe_delay = 2;
+    masterConfig.failsafeConfig.failsafe_off_delay = 0;
+    currentControlRateProfile->rates[FD_PITCH] = 40;
+    currentControlRateProfile->rates[FD_ROLL] = 40;
+    currentControlRateProfile->rates[FD_YAW] = 40;
+    parseRcChannels("TAER1234", &masterConfig.rxConfig);
+
+    masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f,  1.0f, -1.0f };    // REAR_R
+    masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f,  1.0f };    // FRONT_R
+    masterConfig.customMotorMixer[2] = (motorMixer_t){ 1.0f,  0.414178f,  1.0f,  1.0f };    // REAR_L
+    masterConfig.customMotorMixer[3] = (motorMixer_t){ 1.0f,  0.414178f, -1.0f, -1.0f };    // FRONT_L
+    masterConfig.customMotorMixer[4] = (motorMixer_t){ 1.0f, -1.0f, -0.414178f, -1.0f };    // MIDFRONT_R
+    masterConfig.customMotorMixer[5] = (motorMixer_t){ 1.0f,  1.0f, -0.414178f,  1.0f };    // MIDFRONT_L
+    masterConfig.customMotorMixer[6] = (motorMixer_t){ 1.0f, -1.0f,  0.414178f,  1.0f };    // MIDREAR_R
+    masterConfig.customMotorMixer[7] = (motorMixer_t){ 1.0f,  1.0f,  0.414178f, -1.0f };    // MIDREAR_L#endif
+}

src/main/target/NAZE/target.h

@@ -172,7 +172,7 @@
 // alternative defaults for AlienFlight F1 target
 #undef TARGET_BOARD_IDENTIFIER
 #define TARGET_BOARD_IDENTIFIER "AFF1" // AlienFlight F1.
-#define ALIENFLIGHT
+#define TARGET_CONFIG
 
 #undef BOARD_HAS_VOLTAGE_DIVIDER
 #undef USE_SERIAL_4WAY_BLHELI_INTERFACE