Merge commit '70cda73' into dev

serial_msp: fix the CJMCU build by conditionally including the servos serializer.
Signed-off-by: Michael Hope <mlhx@google.com>
2015-05-29 05:32:40 +02:00 · 2015-05-27 07:05:28 +02:00 · 2015-05-27 07:04:46 +02:00 · 2015-05-27 06:44:10 +02:00 · 2015-05-27 06:38:02 +02:00 · 2015-05-27 06:18:01 +02:00
61 changed files with 698 additions and 578 deletions
--- a/.travis.yml
+++ b/.travis.yml
@ -29,7 +29,11 @@ install:
  - sudo apt-get install build-essential git libc6-i386
  - tar -xf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
  - export PATH=$PATH:$PWD/gcc-arm-none-eabi-4_8-2014q3/bin
-   
+  - sudo apt-get install -qq python-pip
+  - sudo pip install -q empy catkin_pkg
+  - git clone https://github.com/ros/genmsg
+  - cd genmsg && sudo python setup.py install && cd ..
+
 before_script: arm-none-eabi-gcc --version
 script: ./.travis.sh

@ -38,4 +42,4 @@ cache: apt
 notifications:
  irc: "chat.freenode.net#cleanflight"
  use_notice: true
-  skip_join: true
+  skip_join: true
--- a/15
+++ b/15
@ -61,7 +61,9 @@ REVISION = $(shell git log -1 --format="%h")
 # Working directories
 ROOT		 := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
 SRC_DIR		 = $(ROOT)/src/main
+MSG_DIR		 = $(ROOT)/msg
 OBJECT_DIR	 = $(ROOT)/obj/main
+GEN_DIR	 = $(ROOT)/obj/gen
 BIN_DIR		 = $(ROOT)/obj
 CMSIS_DIR	 = $(ROOT)/lib/main/CMSIS
 INCLUDE_DIRS	 = $(SRC_DIR)
@ -207,7 +209,8 @@ TARGET_DIR = $(ROOT)/src/main/target/NAZE
 endif

 INCLUDE_DIRS := $(INCLUDE_DIRS) \
-		    $(TARGET_DIR)
+		$(TARGET_DIR) \
+		$(GEN_DIR)

 VPATH		:= $(VPATH):$(TARGET_DIR)

@ -532,6 +535,8 @@ SPRACINGF3_SRC	 = \
 		   $(HIGHEND_SRC) \
 		   $(COMMON_SRC)

+MSG_SRC 	 = $(wildcard $(MSG_DIR)/*.msg)
+
 # Search path and source files for the ST stdperiph library
 VPATH		:= $(VPATH):$(STDPERIPH_DIR)/src

@ -543,6 +548,7 @@ VPATH		:= $(VPATH):$(STDPERIPH_DIR)/src
 CC		 = arm-none-eabi-gcc
 OBJCOPY		 = arm-none-eabi-objcopy
 SIZE		 = arm-none-eabi-size
+GENMSP		 = python $(ROOT)/support/genmsp/genmsp.py

 #
 # Tool options.
@ -610,6 +616,7 @@ TARGET_ELF	 = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
 TARGET_OBJS	 = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 TARGET_DEPS	 = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC))))
 TARGET_MAP	 = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
+MSG_GEN		 = $(MSG_SRC:$(MSG_DIR)/%.msg=$(GEN_DIR)/msg/%.h)

 # List of buildable ELF files and their object dependencies.
 # It would be nice to compute these lists, but that seems to be just beyond make.
@ -641,6 +648,10 @@ $(OBJECT_DIR)/$(TARGET)/%.o: %.S
 	@echo %% $(notdir $<)
 	@$(CC) -c -o $@ $(ASFLAGS) $<

+$(GEN_DIR)/msg/%.h: $(MSG_DIR)/%.msg $(SRC_DIR)/io/msg.h.template
+	@echo %% genmsp $(notdir $<)
+	@$(GENMSP) -p clearflight -o $(@D) -e $(SRC_DIR)/io -I clearflight:$(ROOT)/msg $<
+
 clean:
 	rm -f $(TARGET_BIN) $(TARGET_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
 	rm -rf $(OBJECT_DIR)/$(TARGET)
@ -675,3 +686,5 @@ $(TARGET_OBJS) : Makefile

 # include auto-generated dependencies
 -include $(TARGET_DEPS)
+
+$(OBJECT_DIR)/$(TARGET)/io/serial_msp.o: $(MSG_GEN)
--- a/AlienWii32.md
+++ b/AlienWii32.md
@ -1,13 +1,13 @@
 # Board - AlienWii32 (ALIENWIIF1 and ALIENWIIF3 target)

-The AlienWii32 is actually in prototype stage and few samples exist. There are some different variants and field testing with some users is ongoing. The information below is preliminary and will be updated as needed.
+The AlienWii32 is actually in prototype stage and only a few samples exist. There are two different variants and some more field testing with some users is ongoing. The information below is preliminary and will be updated as needed.

 Here are the hardware specifications:

 - STM32F103CBT6 MCU (ALIENWIIF1)
 - STM32F303CCT6 MCU (ALIENWIIF3)
 - MPU6050 accelerometer/gyro sensor unit
- 4-8 x 4.2A brushed ESCs, integrated, to run the strongest micro motors
+- 8x 4.2A brushed ESCs, integrated, to run the strongest micro motors
 - extra-wide traces on the PCB, for maximum power throughput
 - USB port, integrated
 - (*) serial connection for external DSM2/DSMX sat receiver (e.g. Spektrum SAT, OrangeRx R100, Lemon RX or Deltang Rx31)
@ -16,16 +16,11 @@ Here are the hardware specifications:
 - motor connections are at the corners for a clean look with reduced wiring
 - dimensions: 29x33mm
 - direct operation from an single cell lipoly battery
- 3.3V LDO power regulator (older prototypes)
- 3.3V buck-boost power converter (newer prototypes and production versions)
- battery monitoring with an LED for buzzer functionality (actualy for an ALIENWIIF3 variant)
+- 3.3V LDO power regulator (ALIENWIIF1 only)
+- 3.3V buck-boost power converter (ALIENWIIF3 only)
+- battery monitoring with an white LED for buzzer functionality (ALIENWIIF3 only)

-(*) Spektrum Compatible DSM2 satellites are supported out of the box. DSMX sat will work with DSM2 protocol with default settings (DSM2, 11bit, 11ms is preset). This is chosen for maximum compatibility. For optimal connection it is recommended to adjust settings to match the capabilities of your transmitter and satellite receiver. If possible it is recommended to use the DSMX protocol since it is known as more reliable. Also to make use of additional channels you should adjust the following two parameters with the Cleanflight Configurator.
-
-    set serialrx_provider = 1   (0 for 1024bit, 1 for 2048bit) 
-    set spektrum_sat_bind = 5
-    
-For more detail of the different bind modes please refer the [Spektrum Bind](Spektrum bind.md) document
+(*) Spektrum Compatible DSM2 satellites are supported out of the box. DSMX sat will work with DSM2 protocol with default settings (DSM2, 11bit, 11ms is preset). 

 Deltang receivers in serial mode will work like any other Spektrum satellite receiver (10bit, 22ms) only the bind process will be different. 

@ -35,4 +30,4 @@ The pin layout for the ALIENWIIF1 is very similar to NAZE32 or the related clone

 The AlienWii32 F1 board can be flashed like the Naze board or the related clones. All the different methods will work in the same way.

-The AlienWii32 F3 board needs to be flashed via the USB port in DFU mode. Flashing via the Cleanflight GUI is not possible yet. The DFU mode can be activated via setting the BOOT0 jumper during power on of the board. The second method is to connect with an terminal program (i.e. Putty) to the board and enter the character "R" immediately after connecting. Details about the flashing process can be found in the related section of the [Sparky](Board - Sparky.md) documentation. The BOOT0 jumper should be removed and the board needs to be repowerd after firmware flashing. Please be aware, during reboot of the AlienWii F3 board, the GUI will disconnect and an manual reconnect is required.
+The AlienWii32 F3 board needs to be flashed via the USB port in DFU mode. Flashing via the Cleanflight GUI is not possible yet. The DFU mode can be activated via setting the BOOT0 jumper during power on of the board. The second method is to connect with an terminal program (i.e. Putty) to the board and enter the character "R" immediately after connecting. Details about the flashing process can be found in the related section of the Sparky documentation. The BOOT0 jumper should be removed and the board needs to be repowerd after firmware flashing. Please be aware, during reboot of the AlienWii F3 board, the GUI will disconnect and an manual reconnect is required.
--- a/docs/Serial.md
+++ b/docs/Serial.md
@ -31,7 +31,7 @@ Both SoftSerial and UART ports can be connected to your computer via USB to UART

 ## Serial Configuration

-Serial port configuration is best done via the configurator.
+Serial port configuration is best done via the configurator.  You can use the CLI too but the commands are reserved for developers and advanced users.

 Configure serial ports first, then enable/disable features that use the ports.  To configure SoftSerial ports the SOFTSERIAL feature must be also be enabled. 

@ -52,23 +52,9 @@ e.g. after configuring a port for GPS enable the GPS feature.
 * You can use as many different telemetry systems as you like at the same time.
 * You can only use each telemetry system once.  e.g.  FrSky telemetry cannot be used on two port, but MSP Telemetry + FrSky on different ports is fine.

-### Configuration via CLI
-
-You can use the CLI for configuration but the commands are reserved for developers and advanced users.
-
-The `serial` CLI command takes 6 arguments.
-
-1. Identifier
-1. Function bitmask (see serialPortFunction_e in the source) 
-1. MSP baud rate
-1. GPS baud rate
-1. Telemetry baud rate (auto baud allowed)
-1. Blackbox baud rate
-
-
 ### Baud Rates

-The allowable baud rates are as follows:
+Each baud rate is assigned an identifier, they are as follows:

 | Identifier | Baud rate |
 | ---------- | --------- |
@ -80,4 +66,3 @@ The allowable baud rates are as follows:
 | 5          | 115200    |
 | 6          | 230400    |
 | 7          | 250000    |
-
--- a/docs/Spektrum
+++ b/docs/Spektrum
@ -34,12 +34,12 @@ Please refer to the satellite receiver documentation for more details of the spe

 ## Table with spektrum_sat_bind parameter value

-| Value | Receiver mode     | Notes              |
-| ----- | ------------------| -------------------|
-| 3     | DSM2 1024bit/22ms |                    |
-| 5     | DSM2 2048bit/11ms | default AlienWii32 |
-| 7     | DSMX 1024bit/22ms |                    |
-| 9     | DSMX 2048bit/11ms |                    |
+| Value | Receiver mode  | Notes              |
+| ----- | ---------------| -------------------|
+| 3     | DSM2 1024/22ms |                    |
+| 5     | DSM2 2048/11ms | default AlienWii32 |
+| 7     | DSMX 22ms      |                    |
+| 9     | DSMX 11ms      |                    |

 More detailed information regarding the satellite binding process can be found here:
 http://wiki.openpilot.org/display/Doc/Spektrum+Satellite
@ -50,15 +50,15 @@ NAZE, NAZE32PRO, CJMCU, SPARKY, EUSTM32F103RC, CC3D targets and ALIENWIIF1, ALIE

 ### Connecting a Spektrum-compatible satellite to a Flip32+ flight controller

-The Flip32/Flip32+ is wired in a rather strange way, i.e. the dedicated connector for the satellite module uses the same UART pins as the USB adapter. This means that you can't use that connector as it maps to UART1 which you really shouldn't assign to SERIAL_RX as that will break USB functionality. (Looks this problem is fixed in later versions of the Flip32/Flip32+)
+The Flip32+ is wired in a rather strange way, i.e. the dedicated connector for the satellite module uses the same UART pins as the USB adapter. This means that you can't use that connector as it maps to UART1 which you really shouldn't assign to SERIAL_RX as that will break USB functionality.

 In order to connect the satellite to a Flip32+, you have to wire the serial data pin to RC_CH4. This is the fourth pin from the top in the left column of the 3x6 header on the right side of the board. GND and +3.3V may either be obtained from the dedicated SAT connector or from any ground pin and pin 1 of the BOOT connector which also provides 3.3V.

 #### Tested satellite transmitter combinations

-| Satellite            | Remote         | Remark                                                   |
-| -------------------- | -------------- | -------------------------------------------------------- |
-| Orange R100          | Spektrum DX6i  | Bind value 3                                             |
-| Lemon RX DSM2/DSMX   | Spektrum DX8   | Bind value 5                                             |
-| Lemon RX DSMX        | Walkera Devo10 | Bind value 9, Deviation firmware 4.01 up to 12 channels  |
-| Lemon RX DSM2        | Walkera Devo7  | Bind value 9, Deviation firmware                         |
+| Satellite            | Remote         | Remark                                     |
+| -------------------- | -------------- | ------------------------------------------ |
+| Orange R100          | Spektrum DX6i  | Bind value 3                               |
+| Lemon RX DSM2/DSMX   | Spektrum DX8   |                                            |
+| Lemon RX DSMX        | Walkera Devo10 | Deviation firmware 4.01 up to 12 channels  |
+| Lemon RX DSM2        | Walkera Devo7  | Deviation firmware                         |
--- a/docs/development/Development.md
+++ b/docs/development/Development.md
@ -61,8 +61,6 @@ You can also step-debug the tests in eclipse and you can use the GoogleTest test

 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.
-
 ## Using git and github

 Ensure you understand the github workflow: https://guides.github.com/introduction/flow/index.html
--- a/docs/development/PID
+++ b/docs/development/PID
@ -1,8 +1,8 @@
 ### IO variables

-`gyroADC/8192*2000 = deg/s`
+`gyroData/8192*2000 = deg/s`

-`gyroADC/4 ~ deg/s`
+`gyroData/4 ~ deg/s`

 `rcCommand` - `<-500 - 500>` nominal, but is scaled with `rcRate/100`, max +-1250

@ -23,7 +23,7 @@ Iacc = intergrate(error, limit +-10000) * I8[PIDLEVEL] / 4096
 #### Gyro term
 ```
 Pgyro = rcCommand[axis];
-error = rcCommand[axis] * 10 * 8 / pidProfile->P8[axis] - gyroADC[axis] / 4; (conversion so that error is in deg/s ?)
+error = rcCommand[axis] * 10 * 8 / pidProfile->P8[axis] - gyroData[axis] / 4; (conversion so that error is in deg/s ?)
 Igyro = integrate(error, limit +-16000) / 10 / 8  * I8[axis] / 100 (conversion back to mixer units ?)
 ```

@ -52,12 +52,12 @@ reset I term if
 #### Gyro stabilization

 ```
-P -=  gyroADC[axis] / 4 * dynP8 / 10 / 8
-D = -mean(diff(gyroADC[axis] / 4), over 3 samples) * 3 * dynD8 / 32
+P -=  gyroData[axis] / 4 * dynP8 / 10 / 8
+D = -mean(diff(gyroData[axis] / 4), over 3 samples) * 3 * dynD8 / 32
 [equivalent to :]
-D = - (gyroADC[axis]/4 - (<3 loops old>gyroADC[axis]/4)) * dynD8 / 32
+D = - (gyroData[axis]/4 - (<3 loops old>gyroData[axis]/4)) * dynD8 / 32
 ```

 This can be seen as sum of
- - PI controller (handles rcCommand, HORIZON/ANGLE); `Igyro` is only output based on gyroADC
- - PD controller(parameters dynP8/dynD8) with zero setpoint acting on gyroADC
+ - PI controller (handles rcCommand, HORIZON/ANGLE); `Igyro` is only output based on gyroData
+ - PD controller(parameters dynP8/dynD8) with zero setpoint acting on gyroData
--- a/msg/ApiVersion.msg
+++ b/msg/ApiVersion.msg
@ -0,0 +1,3 @@
+uint8 protocol
+uint8 major
+uint8 minor
--- a/msg/BoardInfo.msg
+++ b/msg/BoardInfo.msg
@ -0,0 +1,2 @@
+char[4] identifier
+uint16 hardwareRevision
--- a/msg/BuildInfo.msg
+++ b/msg/BuildInfo.msg
@ -0,0 +1,3 @@
+char[11] date
+char[8] time
+char[7] shortGitRevision
--- a/msg/FcVariant.msg
+++ b/msg/FcVariant.msg
@ -0,0 +1 @@
+char[4] identifier
--- a/msg/FcVersion.msg
+++ b/msg/FcVersion.msg
@ -0,0 +1,3 @@
+uint8 major
+uint8 minor
+uint8 patchLevel
--- a/msg/ServoConf.msg
+++ b/msg/ServoConf.msg
@ -0,0 +1 @@
+ServoParam[10] servo
--- a/msg/ServoParam.msg
+++ b/msg/ServoParam.msg
@ -0,0 +1,6 @@
+string clearflight_type=auto
+
+int16 min
+int16 max
+int16 middle
+int8 rate
--- a/src/main/blackbox/blackbox.c
+++ b/src/main/blackbox/blackbox.c
@ -202,9 +202,9 @@ static const blackboxMainFieldDefinition_t blackboxMainFields[] = {
 #endif

    /* Gyros and accelerometers base their P-predictions on the average of the previous 2 frames to reduce noise impact */
-    {"gyroADC",   0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"gyroADC",   1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
-    {"gyroADC",   2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    {"gyroData",   0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    {"gyroData",   1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
+    {"gyroData",   2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
    {"accSmooth",  0, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
    {"accSmooth",  1, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
    {"accSmooth",  2, SIGNED,   .Ipredict = PREDICT(0),       .Iencode = ENCODING(SIGNED_VB),   .Ppredict = PREDICT(AVERAGE_2),     .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
@ -486,7 +486,7 @@ static void writeIntraframe(void)
 #endif

    for (x = 0; x < XYZ_AXIS_COUNT; x++) {
-        blackboxWriteSignedVB(blackboxCurrent->gyroADC[x]);
+        blackboxWriteSignedVB(blackboxCurrent->gyroData[x]);
    }

    for (x = 0; x < XYZ_AXIS_COUNT; x++) {
@ -602,7 +602,7 @@ static void writeInterframe(void)

    //Since gyros, accs and motors are noisy, base the prediction on the average of the history:
    for (x = 0; x < XYZ_AXIS_COUNT; x++) {
-        blackboxWriteSignedVB(blackboxHistory[0]->gyroADC[x] - (blackboxHistory[1]->gyroADC[x] + blackboxHistory[2]->gyroADC[x]) / 2);
+        blackboxWriteSignedVB(blackboxHistory[0]->gyroData[x] - (blackboxHistory[1]->gyroData[x] + blackboxHistory[2]->gyroData[x]) / 2);
    }

    for (x = 0; x < XYZ_AXIS_COUNT; x++) {
@ -781,7 +781,7 @@ static void loadBlackboxState(void)
    }

    for (i = 0; i < XYZ_AXIS_COUNT; i++) {
-        blackboxCurrent->gyroADC[i] = gyroADC[i];
+        blackboxCurrent->gyroData[i] = gyroData[i];
    }

    for (i = 0; i < XYZ_AXIS_COUNT; i++) {
--- a/src/main/blackbox/blackbox.h
+++ b/src/main/blackbox/blackbox.h
@ -29,7 +29,7 @@ typedef struct blackboxValues_t {
    int32_t axisPID_P[XYZ_AXIS_COUNT], axisPID_I[XYZ_AXIS_COUNT], axisPID_D[XYZ_AXIS_COUNT];

    int16_t rcCommand[4];
-    int16_t gyroADC[XYZ_AXIS_COUNT];
+    int16_t gyroData[XYZ_AXIS_COUNT];
    int16_t accSmooth[XYZ_AXIS_COUNT];
    int16_t motor[MAX_SUPPORTED_MOTORS];
    int16_t servo[MAX_SUPPORTED_SERVOS];
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@ -44,7 +44,7 @@
 #include "sensors/boardalignment.h"
 #include "sensors/battery.h"

-#include "io/beeper.h"
+#include "io/statusindicator.h"
 #include "io/serial.h"
 #include "io/gimbal.h"
 #include "io/escservo.h"
@ -73,6 +73,17 @@
 #define BRUSHED_MOTORS_PWM_RATE 16000
 #define BRUSHLESS_MOTORS_PWM_RATE 400

+void mixerUseConfigs(
+#ifdef USE_SERVOS
+        servoParam_t *servoConfToUse,
+        gimbalConfig_t *gimbalConfigToUse,
+#endif
+        flight3DConfig_t *flight3DConfigToUse,
+        escAndServoConfig_t *escAndServoConfigToUse,
+        mixerConfig_t *mixerConfigToUse,
+        airplaneConfig_t *airplaneConfigToUse,
+        rxConfig_t *rxConfig
+);
 void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse);

 #define FLASH_TO_RESERVE_FOR_CONFIG 0x800
@ -123,12 +134,11 @@ void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, es

 master_t masterConfig;                 // master config struct with data independent from profiles
 profile_t *currentProfile;
-static uint32_t activeFeaturesLatch = 0;

 static uint8_t currentControlRateProfileIndex = 0;
 controlRateConfig_t *currentControlRateProfile;

-static const uint8_t EEPROM_CONF_VERSION = 101;
+static const uint8_t EEPROM_CONF_VERSION = 100;

 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 {
@ -524,7 +534,6 @@ static void resetConf(void)
 #else
    masterConfig.serialConfig.portConfigs[1].functionMask = FUNCTION_RX_SERIAL;
 #endif
-    masterConfig.rxConfig.serialrx_provider = 1;
    masterConfig.rxConfig.spektrum_sat_bind = 5;
    masterConfig.escAndServoConfig.minthrottle = 1000;
    masterConfig.escAndServoConfig.maxthrottle = 2000;
@ -715,26 +724,26 @@ void activateConfig(void)

 void validateAndFixConfig(void)
 {
-    if (!(featureConfigured(FEATURE_RX_PARALLEL_PWM) || featureConfigured(FEATURE_RX_PPM) || featureConfigured(FEATURE_RX_SERIAL) || featureConfigured(FEATURE_RX_MSP))) {
+    if (!(feature(FEATURE_RX_PARALLEL_PWM) || feature(FEATURE_RX_PPM) || feature(FEATURE_RX_SERIAL) || feature(FEATURE_RX_MSP))) {
        featureSet(FEATURE_RX_PARALLEL_PWM); // Consider changing the default to PPM
    }

-    if (featureConfigured(FEATURE_RX_PPM)) {
+    if (feature(FEATURE_RX_PPM)) {
        featureClear(FEATURE_RX_PARALLEL_PWM);
    }

-    if (featureConfigured(FEATURE_RX_MSP)) {
+    if (feature(FEATURE_RX_MSP)) {
        featureClear(FEATURE_RX_SERIAL);
        featureClear(FEATURE_RX_PARALLEL_PWM);
        featureClear(FEATURE_RX_PPM);
    }

-    if (featureConfigured(FEATURE_RX_SERIAL)) {
+    if (feature(FEATURE_RX_SERIAL)) {
        featureClear(FEATURE_RX_PARALLEL_PWM);
        featureClear(FEATURE_RX_PPM);
    }

-    if (featureConfigured(FEATURE_RX_PARALLEL_PWM)) {
+    if (feature(FEATURE_RX_PARALLEL_PWM)) {
 #if defined(STM32F10X)
        // rssi adc needs the same ports
        featureClear(FEATURE_RSSI_ADC);
@ -755,7 +764,7 @@ void validateAndFixConfig(void)


 #if defined(LED_STRIP) && (defined(USE_SOFTSERIAL1) || defined(USE_SOFTSERIAL2))
-    if (featureConfigured(FEATURE_SOFTSERIAL) && (
+    if (feature(FEATURE_SOFTSERIAL) && (
            0
 #ifdef USE_SOFTSERIAL1
            || (LED_STRIP_TIMER == SOFTSERIAL_1_TIMER)
@ -770,7 +779,7 @@ void validateAndFixConfig(void)
 #endif

 #if defined(NAZE) && defined(SONAR)
-    if (featureConfigured(FEATURE_RX_PARALLEL_PWM) && featureConfigured(FEATURE_SONAR) && featureConfigured(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) {
+    if (feature(FEATURE_RX_PARALLEL_PWM) && feature(FEATURE_SONAR) && feature(FEATURE_CURRENT_METER) && masterConfig.batteryConfig.currentMeterType == CURRENT_SENSOR_ADC) {
        featureClear(FEATURE_CURRENT_METER);
    }
 #endif
@ -841,7 +850,7 @@ void readEEPROMAndNotify(void)
 {
    // re-read written data
    readEEPROM();
-    beeperConfirmationBeeps(1);
+    blinkLedAndSoundBeeper(15, 20, 1);
 }

 void writeEEPROM(void)
@ -922,7 +931,7 @@ void changeProfile(uint8_t profileIndex)
    masterConfig.current_profile_index = profileIndex;
    writeEEPROM();
    readEEPROM();
-    beeperConfirmationBeeps(profileIndex + 1);
+    blinkLedAndSoundBeeper(2, 40, profileIndex + 1);
 }

 void changeControlRateProfile(uint8_t profileIndex)
@ -934,30 +943,9 @@ void changeControlRateProfile(uint8_t profileIndex)
    activateControlRateConfig();
 }

-void handleOneshotFeatureChangeOnRestart(void)
-{
-    // Shutdown PWM on all motors prior to soft restart
-    StopPwmAllMotors();
-    delay(50);
-    // Apply additional delay when OneShot125 feature changed from on to off state
-    if (feature(FEATURE_ONESHOT125) && !featureConfigured(FEATURE_ONESHOT125)) {
-        delay(ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS);
-    }
-}
-
-void latchActiveFeatures()
-{
-    activeFeaturesLatch = masterConfig.enabledFeatures;
-}
-
-bool featureConfigured(uint32_t mask)
-{
-    return masterConfig.enabledFeatures & mask;
-}
-
 bool feature(uint32_t mask)
 {
-    return activeFeaturesLatch & mask;
+    return masterConfig.enabledFeatures & mask;
 }

 void featureSet(uint32_t mask)
--- a/src/main/config/config.h
+++ b/src/main/config/config.h
@ -19,7 +19,6 @@

 #define MAX_PROFILE_COUNT 3
 #define MAX_CONTROL_RATE_PROFILE_COUNT 3
-#define ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS 1500


 typedef enum {
@ -45,9 +44,6 @@ typedef enum {
    FEATURE_BLACKBOX = 1 << 19
 } features_e;

-void handleOneshotFeatureChangeOnRestart(void);
-void latchActiveFeatures(void);
-bool featureConfigured(uint32_t mask);
 bool feature(uint32_t mask);
 void featureSet(uint32_t mask);
 void featureClear(uint32_t mask);
--- a/src/main/drivers/accgyro_l3g4200d.c
+++ b/src/main/drivers/accgyro_l3g4200d.c
@ -57,7 +57,7 @@
 static uint8_t mpuLowPassFilter = L3G4200D_DLPF_32HZ;

 static void l3g4200dInit(void);
-static void l3g4200dRead(int16_t *gyroADC);
+static void l3g4200dRead(int16_t *gyroData);

 bool l3g4200dDetect(gyro_t *gyro, uint16_t lpf)
 {
@ -110,13 +110,13 @@ static void l3g4200dInit(void)
 }

 // Read 3 gyro values into user-provided buffer. No overrun checking is done.
-static void l3g4200dRead(int16_t *gyroADC)
+static void l3g4200dRead(int16_t *gyroData)
 {
    uint8_t buf[6];

    i2cRead(L3G4200D_ADDRESS, L3G4200D_AUTOINCR | L3G4200D_GYRO_OUT, 6, buf);

-    gyroADC[X] = (int16_t)((buf[0] << 8) | buf[1]);
-    gyroADC[Y] = (int16_t)((buf[2] << 8) | buf[3]);
-    gyroADC[Z] = (int16_t)((buf[4] << 8) | buf[5]);
+    gyroData[X] = (int16_t)((buf[0] << 8) | buf[1]);
+    gyroData[Y] = (int16_t)((buf[2] << 8) | buf[3]);
+    gyroData[Z] = (int16_t)((buf[4] << 8) | buf[5]);
 }
--- a/src/main/drivers/accgyro_l3gd20.c
+++ b/src/main/drivers/accgyro_l3gd20.c
@ -120,7 +120,7 @@ void l3gd20GyroInit(void)
    delay(100);
 }

-static void l3gd20GyroRead(int16_t *gyroADC)
+static void l3gd20GyroRead(int16_t *gyroData)
 {
    uint8_t buf[6];

@ -134,9 +134,9 @@ static void l3gd20GyroRead(int16_t *gyroADC)

    GPIO_SetBits(L3GD20_CS_GPIO, L3GD20_CS_PIN);

-    gyroADC[0] = (int16_t)((buf[0] << 8) | buf[1]);
-    gyroADC[1] = (int16_t)((buf[2] << 8) | buf[3]);
-    gyroADC[2] = (int16_t)((buf[4] << 8) | buf[5]);
+    gyroData[0] = (int16_t)((buf[0] << 8) | buf[1]);
+    gyroData[1] = (int16_t)((buf[2] << 8) | buf[3]);
+    gyroData[2] = (int16_t)((buf[4] << 8) | buf[5]);

 #if 0
    debug[0] = (int16_t)((buf[1] << 8) | buf[0]);
--- a/src/main/drivers/accgyro_lsm303dlhc.c
+++ b/src/main/drivers/accgyro_lsm303dlhc.c
@ -106,7 +106,7 @@ void lsm303dlhcAccInit(void)
 }

 // Read 3 gyro values into user-provided buffer. No overrun checking is done.
-static void lsm303dlhcAccRead(int16_t *gyroADC)
+static void lsm303dlhcAccRead(int16_t *gyroData)
 {
    uint8_t buf[6];

@ -116,9 +116,9 @@ static void lsm303dlhcAccRead(int16_t *gyroADC)
        return;

    // the values range from -8192 to +8191
-    gyroADC[X] = (int16_t)((buf[1] << 8) | buf[0]) / 2;
-    gyroADC[Y] = (int16_t)((buf[3] << 8) | buf[2]) / 2;
-    gyroADC[Z] = (int16_t)((buf[5] << 8) | buf[4]) / 2;
+    gyroData[X] = (int16_t)((buf[1] << 8) | buf[0]) / 2;
+    gyroData[Y] = (int16_t)((buf[3] << 8) | buf[2]) / 2;
+    gyroData[Z] = (int16_t)((buf[5] << 8) | buf[4]) / 2;

 #if 0
    debug[0] = (int16_t)((buf[1] << 8) | buf[0]);
--- a/src/main/drivers/accgyro_mpu3050.c
+++ b/src/main/drivers/accgyro_mpu3050.c
@ -58,7 +58,7 @@
 static uint8_t mpuLowPassFilter = MPU3050_DLPF_42HZ;

 static void mpu3050Init(void);
-static void mpu3050Read(int16_t *gyroADC);
+static void mpu3050Read(int16_t *gyroData);
 static void mpu3050ReadTemp(int16_t *tempData);

 bool mpu3050Detect(gyro_t *gyro, uint16_t lpf)
@ -121,15 +121,15 @@ static void mpu3050Init(void)
 }

 // Read 3 gyro values into user-provided buffer. No overrun checking is done.
-static void mpu3050Read(int16_t *gyroADC)
+static void mpu3050Read(int16_t *gyroData)
 {
    uint8_t buf[6];

    i2cRead(MPU3050_ADDRESS, MPU3050_GYRO_OUT, 6, buf);

-    gyroADC[0] = (int16_t)((buf[0] << 8) | buf[1]);
-    gyroADC[1] = (int16_t)((buf[2] << 8) | buf[3]);
-    gyroADC[2] = (int16_t)((buf[4] << 8) | buf[5]);
+    gyroData[0] = (int16_t)((buf[0] << 8) | buf[1]);
+    gyroData[1] = (int16_t)((buf[2] << 8) | buf[3]);
+    gyroData[2] = (int16_t)((buf[4] << 8) | buf[5]);
 }

 static void mpu3050ReadTemp(int16_t *tempData)
--- a/src/main/drivers/accgyro_mpu6050.c
+++ b/src/main/drivers/accgyro_mpu6050.c
@ -175,7 +175,7 @@ static uint8_t mpuLowPassFilter = INV_FILTER_42HZ;
 static void mpu6050AccInit(void);
 static void mpu6050AccRead(int16_t *accData);
 static void mpu6050GyroInit(void);
-static void mpu6050GyroRead(int16_t *gyroADC);
+static void mpu6050GyroRead(int16_t *gyroData);

 typedef enum {
    MPU_6050_HALF_RESOLUTION,
@ -439,7 +439,7 @@ static void mpu6050GyroInit(void)
 #endif
 }

-static void mpu6050GyroRead(int16_t *gyroADC)
+static void mpu6050GyroRead(int16_t *gyroData)
 {
    uint8_t buf[6];

@ -447,7 +447,7 @@ static void mpu6050GyroRead(int16_t *gyroADC)
        return;
    }

-    gyroADC[0] = (int16_t)((buf[0] << 8) | buf[1]);
-    gyroADC[1] = (int16_t)((buf[2] << 8) | buf[3]);
-    gyroADC[2] = (int16_t)((buf[4] << 8) | buf[5]);
+    gyroData[0] = (int16_t)((buf[0] << 8) | buf[1]);
+    gyroData[1] = (int16_t)((buf[2] << 8) | buf[3]);
+    gyroData[2] = (int16_t)((buf[4] << 8) | buf[5]);
 }
--- a/src/main/drivers/accgyro_spi_mpu6000.c
+++ b/src/main/drivers/accgyro_spi_mpu6000.c
@ -125,8 +125,8 @@ static bool mpuSpi6000InitDone = false;
 #define DISABLE_MPU6000       GPIO_SetBits(MPU6000_CS_GPIO,   MPU6000_CS_PIN)
 #define ENABLE_MPU6000        GPIO_ResetBits(MPU6000_CS_GPIO, MPU6000_CS_PIN)

-void mpu6000SpiGyroRead(int16_t *gyroADC);
-void mpu6000SpiAccRead(int16_t *gyroADC);
+void mpu6000SpiGyroRead(int16_t *gyroData);
+void mpu6000SpiAccRead(int16_t *gyroData);

 static void mpu6000WriteRegister(uint8_t reg, uint8_t data)
 {
--- a/src/main/drivers/accgyro_spi_mpu6000.h
+++ b/src/main/drivers/accgyro_spi_mpu6000.h
@ -16,5 +16,5 @@
 bool mpu6000SpiAccDetect(acc_t *acc);
 bool mpu6000SpiGyroDetect(gyro_t *gyro, uint16_t lpf);

-void mpu6000SpiGyroRead(int16_t *gyroADC);
-void mpu6000SpiAccRead(int16_t *gyroADC);
+void mpu6000SpiGyroRead(int16_t *gyroData);
+void mpu6000SpiAccRead(int16_t *gyroData);
--- a/src/main/drivers/accgyro_spi_mpu6500.c
+++ b/src/main/drivers/accgyro_spi_mpu6500.c
@ -74,7 +74,7 @@ static uint8_t mpuLowPassFilter = INV_FILTER_42HZ;
 static void mpu6500AccInit(void);
 static void mpu6500AccRead(int16_t *accData);
 static void mpu6500GyroInit(void);
-static void mpu6500GyroRead(int16_t *gyroADC);
+static void mpu6500GyroRead(int16_t *gyroData);

 extern uint16_t acc_1G;

@ -188,13 +188,13 @@ static void mpu6500GyroInit(void)
    mpu6500WriteRegister(MPU6500_RA_RATE_DIV, 0); // 1kHz S/R
 }

-static void mpu6500GyroRead(int16_t *gyroADC)
+static void mpu6500GyroRead(int16_t *gyroData)
 {
    uint8_t buf[6];

    mpu6500ReadRegister(MPU6500_RA_GYRO_XOUT_H, buf, 6);

-    gyroADC[X] = (int16_t)((buf[0] << 8) | buf[1]);
-    gyroADC[Y] = (int16_t)((buf[2] << 8) | buf[3]);
-    gyroADC[Z] = (int16_t)((buf[4] << 8) | buf[5]);
+    gyroData[X] = (int16_t)((buf[0] << 8) | buf[1]);
+    gyroData[Y] = (int16_t)((buf[2] << 8) | buf[3]);
+    gyroData[Z] = (int16_t)((buf[4] << 8) | buf[5]);
 }
--- a/src/main/drivers/gpio.h
+++ b/src/main/drivers/gpio.h
@ -113,6 +113,6 @@ static inline void digitalToggle(GPIO_TypeDef *p, uint16_t i) { p->ODR ^= i; }
 static inline uint16_t digitalIn(GPIO_TypeDef *p, uint16_t i) {return p->IDR & i; }
 #endif

-void gpioInit(GPIO_TypeDef *gpio, gpio_config_t *config);
+void gpioInit(GPIO_TypeDef *gpio, const gpio_config_t *config);
 void gpioExtiLineConfig(uint8_t portsrc, uint8_t pinsrc);
 void gpioPinRemapConfig(uint32_t remap, bool enable);
--- a/src/main/drivers/gpio_stm32f10x.c
+++ b/src/main/drivers/gpio_stm32f10x.c
@ -22,7 +22,7 @@

 #include "gpio.h"

-void gpioInit(GPIO_TypeDef *gpio, gpio_config_t *config)
+void gpioInit(GPIO_TypeDef *gpio, const gpio_config_t *config)
 {
    uint32_t pinpos;
    for (pinpos = 0; pinpos < 16; pinpos++) {
--- a/src/main/drivers/gpio_stm32f30x.c
+++ b/src/main/drivers/gpio_stm32f30x.c
@ -36,7 +36,7 @@
 //#define GPIO_Speed_2MHz  GPIO_Speed_Level_2   Medium Speed:2MHz
 //#define GPIO_Speed_50MHz GPIO_Speed_Level_3   High Speed:50MHz

-void gpioInit(GPIO_TypeDef *gpio, gpio_config_t *config)
+void gpioInit(GPIO_TypeDef *gpio, const gpio_config_t *config)
 {
    GPIO_InitTypeDef GPIO_InitStructure;

--- a/src/main/drivers/light_led_stm32f10x.c
+++ b/src/main/drivers/light_led_stm32f10x.c
@ -21,6 +21,8 @@

 #include "platform.h"

+#include "common/utils.h"
+
 #include "system.h"
 #include "gpio.h"

@ -56,7 +58,7 @@ void ledInit(void)
 #endif
    };

-    uint8_t gpio_count = sizeof(gpio_setup) / sizeof(gpio_setup[0]);
+    uint8_t gpio_count = ARRAYLEN(gpio_setup);

 #ifdef LED0
    RCC_APB2PeriphClockCmd(LED0_PERIPHERAL, ENABLE);
--- a/src/main/drivers/light_led_stm32f30x.c
+++ b/src/main/drivers/light_led_stm32f30x.c
@ -21,6 +21,8 @@

 #include "platform.h"

+#include "common/utils.h"
+
 #include "gpio.h"

 #include "light_led.h"
@ -47,7 +49,7 @@ void ledInit(void)
 #endif
    };

-    uint8_t gpio_count = sizeof(gpio_setup) / sizeof(gpio_setup[0]);
+    uint8_t gpio_count = ARRAYLEN(gpio_setup);

 #ifdef LED0
    RCC_AHBPeriphClockCmd(LED0_PERIPHERAL, ENABLE);
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@ -31,7 +31,7 @@

 void pwmBrushedMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
 void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t motorPwmRate, uint16_t idlePulse);
-void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex);
+void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t idlePulse);
 void pwmServoConfig(const timerHardware_t *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);

 /*
@ -543,7 +543,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
            channelIndex++;
        } else if (type == MAP_TO_MOTOR_OUTPUT) {
            if (init->useOneshot) {
-                pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount);
+                pwmOneshotMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->idlePulse);
            } else if (init->motorPwmRate > 500) {
                pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse);
            } else {
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@ -142,16 +142,6 @@ void pwmWriteMotor(uint8_t index, uint16_t value)
        motors[index]->pwmWritePtr(index, value);
 }

-void pwmShutdownPulsesForAllMotors(uint8_t motorCount)
-{
-    uint8_t index;
-
-    for(index = 0; index < motorCount; index++){
-        // Set the compare register to 0, which stops the output pulsing if the timer overflows
-        *motors[index]->ccr = 0;
-    }
-}
-
 void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
 {
    uint8_t index;
@ -186,9 +176,9 @@ void pwmBrushlessMotorConfig(const timerHardware_t *timerHardware, uint8_t motor
    motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
 }

-void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex)
+void pwmOneshotMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint16_t idlePulse)
 {
-    motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT125_TIMER_MHZ, 0xFFFF, 0);
+    motors[motorIndex] = pwmOutConfig(timerHardware, ONESHOT125_TIMER_MHZ, 0xFFFF, idlePulse);
    motors[motorIndex]->pwmWritePtr = pwmWriteStandard;
 }

--- a/src/main/drivers/pwm_output.h
+++ b/src/main/drivers/pwm_output.h
@ -18,7 +18,6 @@
 #pragma once

 void pwmWriteMotor(uint8_t index, uint16_t value);
-void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
 void pwmCompleteOneshotMotorUpdate(uint8_t motorCount);

 void pwmWriteServo(uint8_t index, uint16_t value);
--- a/src/main/flight/imu.c
+++ b/src/main/flight/imu.c
@ -48,6 +48,7 @@

 int16_t accSmooth[XYZ_AXIS_COUNT];
 int32_t accSum[XYZ_AXIS_COUNT];
+int16_t gyroData[FLIGHT_DYNAMICS_INDEX_COUNT] = { 0, 0, 0 };

 uint32_t accTimeSum = 0;        // keep track for integration of acc
 int accSumCount = 0;
@ -297,10 +298,11 @@ static void imuCalculateEstimatedAttitude(void)
    imuCalculateAcceleration(deltaT); // rotate acc vector into earth frame
 }

-void imuUpdate(rollAndPitchTrims_t *accelerometerTrims)
+void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerMode)
 {
-    gyroUpdate();
+    static int16_t gyroYawSmooth = 0;

+    gyroUpdate();
    if (sensors(SENSOR_ACC)) {
        updateAccelerationReadings(accelerometerTrims); // TODO rename to accelerometerUpdate and rename many other 'Acceleration' references to be 'Accelerometer'
        imuCalculateEstimatedAttitude();
@ -309,6 +311,16 @@ void imuUpdate(rollAndPitchTrims_t *accelerometerTrims)
        accADC[Y] = 0;
        accADC[Z] = 0;
    }
+
+    gyroData[FD_ROLL] = gyroADC[FD_ROLL];
+    gyroData[FD_PITCH] = gyroADC[FD_PITCH];
+
+    if (mixerMode == MIXER_TRI) {
+        gyroData[FD_YAW] = (gyroYawSmooth * 2 + gyroADC[FD_YAW]) / 3;
+        gyroYawSmooth = gyroData[FD_YAW];
+    } else {
+        gyroData[FD_YAW] = gyroADC[FD_YAW];
+    }
 }

 int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value)
--- a/src/main/flight/imu.h
+++ b/src/main/flight/imu.h
@ -24,6 +24,7 @@ extern float accVelScale;
 extern t_fp_vector EstG;
 extern int16_t accSmooth[XYZ_AXIS_COUNT];
 extern int32_t accSum[XYZ_AXIS_COUNT];
+extern int16_t gyroData[FLIGHT_DYNAMICS_INDEX_COUNT];
 extern int16_t smallAngle;

 typedef struct rollAndPitchInclination_s {
@ -61,7 +62,7 @@ void imuConfigure(
 );

 void calculateEstimatedAltitude(uint32_t currentTime);
-void imuUpdate(rollAndPitchTrims_t *accelerometerTrims);
+void imuUpdate(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerMode);
 float calculateThrottleAngleScale(uint16_t throttle_correction_angle);
 int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value);
 float calculateAccZLowPassFilterRCTimeConstant(float accz_lpf_cutoff);
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@ -513,11 +513,6 @@ void stopMotors(void)
    delay(50); // give the timers and ESCs a chance to react.
 }

-void StopPwmAllMotors()
-{
-    pwmShutdownPulsesForAllMotors(motorCount);
-}
-
 #ifndef USE_QUAD_MIXER_ONLY
 static void airplaneMixer(void)
 {
--- a/src/main/flight/mixer.h
+++ b/src/main/flight/mixer.h
@ -100,10 +100,6 @@ typedef struct servoParam_t {
    int8_t forwardFromChannel;              // RX channel index, 0 based.  See CHANNEL_FORWARDING_DISABLED
 } servoParam_t;

-struct gimbalConfig_s;
-struct escAndServoConfig_s;
-struct rxConfig_s;
-
 extern int16_t servo[MAX_SUPPORTED_SERVOS];
 bool isMixerUsingServos(void);
 void writeServos(void);
@ -113,21 +109,9 @@ void filterServos(void);
 extern int16_t motor[MAX_SUPPORTED_MOTORS];
 extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];

-void mixerUseConfigs(
-#ifdef USE_SERVOS
-        servoParam_t *servoConfToUse,
-        struct gimbalConfig_s *gimbalConfigToUse,
-#endif
-        flight3DConfig_t *flight3DConfigToUse,
-		struct escAndServoConfig_s *escAndServoConfigToUse,
-        mixerConfig_t *mixerConfigToUse,
-        airplaneConfig_t *airplaneConfigToUse,
-		struct rxConfig_s *rxConfigToUse);
-
 void writeAllMotors(int16_t mc);
 void mixerLoadMix(int index, motorMixer_t *customMixers);
 void mixerResetMotors(void);
 void mixTable(void);
 void writeMotors(void);
 void stopMotors(void);
-void StopPwmAllMotors(void);
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@ -174,7 +174,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
            }
        }

-        gyroRate = gyroADC[axis] * gyro.scale; // gyro output scaled to dps
+        gyroRate = gyroData[axis] * gyro.scale; // gyro output scaled to dps

        // --------low-level gyro-based PID. ----------
        // Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
@ -258,12 +258,12 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
        }
        if (!FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE) || axis == FD_YAW) { // MODE relying on GYRO or YAW axis
            error = (int32_t) rcCommand[axis] * 10 * 8 / pidProfile->P8[axis];
-            error -= gyroADC[axis] / 4;
+            error -= gyroData[axis] / 4;

            PTermGYRO = rcCommand[axis];

            errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
-            if ((ABS(gyroADC[axis]) > (640 * 4)) || (axis == FD_YAW && ABS(rcCommand[axis]) > 100))
+            if ((ABS(gyroData[axis]) > (640 * 4)) || (axis == FD_YAW && ABS(rcCommand[axis]) > 100))
                errorGyroI[axis] = 0;

            ITermGYRO = (errorGyroI[axis] / 125 * pidProfile->I8[axis]) / 64;
@ -281,9 +281,9 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
            }
        }

-        PTerm -= ((int32_t)gyroADC[axis] / 4) * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
-        delta = (gyroADC[axis] - lastGyro[axis]) / 4;
-        lastGyro[axis] = gyroADC[axis];
+        PTerm -= ((int32_t)gyroData[axis] / 4) * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
+        delta = (gyroData[axis] - lastGyro[axis]) / 4;
+        lastGyro[axis] = gyroData[axis];
        deltaSum = delta1[axis] + delta2[axis] + delta;
        delta2[axis] = delta1[axis];
        delta1[axis] = delta;
@ -319,10 +319,10 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control

        rc = rcCommand[axis] << 1;

-        error = rc - (gyroADC[axis] / 4);
+        error = rc - (gyroData[axis] / 4);
        errorGyroI[axis]  = constrain(errorGyroI[axis] + error, -16000, +16000);   // WindUp   16 bits is ok here

-        if (ABS(gyroADC[axis]) > (640 * 4)) {
+        if (ABS(gyroData[axis]) > (640 * 4)) {
            errorGyroI[axis] = 0;
        }

@ -359,10 +359,10 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
            PTerm = PTermACC + ((PTerm - PTermACC) * prop >> 9);
        }

-        PTerm -= ((int32_t)(gyroADC[axis] / 4) * dynP8[axis]) >> 6;   // 32 bits is needed for calculation
+        PTerm -= ((int32_t)(gyroData[axis] / 4) * dynP8[axis]) >> 6;   // 32 bits is needed for calculation

-        delta = (gyroADC[axis] - lastGyro[axis]) / 4;   // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
-        lastGyro[axis] = gyroADC[axis];
+        delta = (gyroData[axis] - lastGyro[axis]) / 4;   // 16 bits is ok here, the dif between 2 consecutive gyro reads is limited to 800
+        lastGyro[axis] = gyroData[axis];
        DTerm = delta1[axis] + delta2[axis] + delta;
        delta2[axis] = delta1[axis];
        delta1[axis] = delta;
@ -381,9 +381,9 @@ static void pidMultiWii23(pidProfile_t *pidProfile, controlRateConfig_t *control
    //YAW
    rc = (int32_t)rcCommand[FD_YAW] * (2 * controlRateConfig->rates[FD_YAW] + 30)  >> 5;
 #ifdef ALIENWII32
-    error = rc - gyroADC[FD_YAW];
+    error = rc - gyroData[FD_YAW];
 #else
-    error = rc - (gyroADC[FD_YAW] / 4);
+    error = rc - (gyroData[FD_YAW] / 4);
 #endif
    errorGyroI[FD_YAW]  += (int32_t)error * pidProfile->I8[FD_YAW];
    errorGyroI[FD_YAW]  = constrain(errorGyroI[FD_YAW], 2 - ((int32_t)1 << 28), -2 + ((int32_t)1 << 28));
@ -450,12 +450,12 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
        }
        if (!FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) { // MODE relying on GYRO
            error = (int32_t) rcCommand[axis] * 10 * 8 / pidProfile->P8[axis];
-            error -= gyroADC[axis] / 4;
+            error -= gyroData[axis] / 4;

            PTermGYRO = rcCommand[axis];

            errorGyroI[axis] = constrain(errorGyroI[axis] + error, -16000, +16000); // WindUp
-            if (ABS(gyroADC[axis]) > (640 * 4))
+            if (ABS(gyroData[axis]) > (640 * 4))
                errorGyroI[axis] = 0;

            ITermGYRO = (errorGyroI[axis] / 125 * pidProfile->I8[axis]) / 64;
@ -473,9 +473,9 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
            }
        }

-        PTerm -= ((int32_t)gyroADC[axis] / 4) * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
-        delta = (gyroADC[axis] - lastGyro[axis]) / 4;
-        lastGyro[axis] = gyroADC[axis];
+        PTerm -= ((int32_t)gyroData[axis] / 4) * dynP8[axis] / 10 / 8; // 32 bits is needed for calculation
+        delta = (gyroData[axis] - lastGyro[axis]) / 4;
+        lastGyro[axis] = gyroData[axis];
        deltaSum = delta1[axis] + delta2[axis] + delta;
        delta2[axis] = delta1[axis];
        delta1[axis] = delta;
@ -491,9 +491,9 @@ static void pidMultiWiiHybrid(pidProfile_t *pidProfile, controlRateConfig_t *con
    //YAW
    rc = (int32_t)rcCommand[FD_YAW] * (2 * controlRateConfig->rates[FD_YAW] + 30)  >> 5;
 #ifdef ALIENWII32
-    error = rc - gyroADC[FD_YAW];
+    error = rc - gyroData[FD_YAW];
 #else
-    error = rc - (gyroADC[FD_YAW] / 4);
+    error = rc - (gyroData[FD_YAW] / 4);
 #endif
    errorGyroI[FD_YAW]  += (int32_t)error * pidProfile->I8[FD_YAW];
    errorGyroI[FD_YAW]  = constrain(errorGyroI[FD_YAW], 2 - ((int32_t)1 << 28), -2 + ((int32_t)1 << 28));
@ -523,7 +523,7 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
 {
    UNUSED(rxConfig);

-    float delta, RCfactor, rcCommandAxis, MainDptCut, gyroADCQuant;
+    float delta, RCfactor, rcCommandAxis, MainDptCut, gyroDataQuant;
    float PTerm, ITerm, DTerm, PTermACC = 0.0f, ITermACC = 0.0f, ITermGYRO, error, prop = 0.0f;
    static float lastGyro[2] = { 0.0f, 0.0f }, lastDTerm[2] = { 0.0f, 0.0f };
    uint8_t axis;
@ -540,8 +540,8 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
    }

    for (axis = 0; axis < 2; axis++) {
-        int32_t tmp = (int32_t)((float)gyroADC[axis] * 0.3125f);              // Multiwii masks out the last 2 bits, this has the same idea
-        gyroADCQuant = (float)tmp * 3.2f;                                     // but delivers more accuracy and also reduces jittery flight
+        int32_t tmp = (int32_t)((float)gyroData[axis] * 0.3125f);              // Multiwii masks out the last 2 bits, this has the same idea
+        gyroDataQuant = (float)tmp * 3.2f;                                     // but delivers more accuracy and also reduces jittery flight
        rcCommandAxis = (float)rcCommand[axis];                                // Calculate common values for pid controllers
        if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
 #ifdef GPS
@ -563,10 +563,10 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
        }

        if (!FLIGHT_MODE(ANGLE_MODE)) {
-            if (ABS((int16_t)gyroADC[axis]) > 2560) {
+            if (ABS((int16_t)gyroData[axis]) > 2560) {
                errorGyroIf[axis] = 0.0f;
            } else {
-                error = (rcCommandAxis * 320.0f / (float)pidProfile->P8[axis]) - gyroADCQuant;
+                error = (rcCommandAxis * 320.0f / (float)pidProfile->P8[axis]) - gyroDataQuant;
                errorGyroIf[axis] = constrainf(errorGyroIf[axis] + error * ACCDeltaTimeINS, -192.0f, +192.0f);
            }

@ -584,10 +584,10 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
            ITerm = ITermACC;
        }

-        PTerm -= gyroADCQuant * dynP8[axis] * 0.003f;
-        delta = (gyroADCQuant - lastGyro[axis]) / ACCDeltaTimeINS;
+        PTerm -= gyroDataQuant * dynP8[axis] * 0.003f;
+        delta = (gyroDataQuant - lastGyro[axis]) / ACCDeltaTimeINS;

-        lastGyro[axis] = gyroADCQuant;
+        lastGyro[axis] = gyroDataQuant;
        lastDTerm[axis] += RCfactor * (delta - lastDTerm[axis]);
        DTerm = lastDTerm[axis] * dynD8[axis] * 0.00007f;

@ -605,7 +605,7 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)

    if (OLD_YAW) { // [0/1] 0 = multiwii 2.3 yaw, 1 = older yaw. hardcoded for now
        PTerm = ((int32_t)pidProfile->P8[FD_YAW] * (100 - (int32_t)controlRateConfig->rates[FD_YAW] * (int32_t)ABS(rcCommand[FD_YAW]) / 500)) / 100;
-        int32_t tmp = lrintf(gyroADC[FD_YAW] * 0.25f);
+        int32_t tmp = lrintf(gyroData[FD_YAW] * 0.25f);
        PTerm = rcCommand[FD_YAW] - tmp * PTerm / 80;
        if ((ABS(tmp) > 640) || (ABS(rcCommand[FD_YAW]) > 100)) {
            errorGyroI[FD_YAW] = 0;
@ -616,7 +616,7 @@ rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig)
        }
    } else {
        int32_t tmp = ((int32_t)rcCommand[FD_YAW] * (((int32_t)controlRateConfig->rates[FD_YAW] << 1) + 40)) >> 5;
-        error = tmp - lrintf(gyroADC[FD_YAW] * 0.25f);                       // Less Gyrojitter works actually better
+        error = tmp - lrintf(gyroData[FD_YAW] * 0.25f);                       // Less Gyrojitter works actually better

        if (ABS(tmp) > 50) {
            errorGyroI[FD_YAW] = 0;
@ -716,7 +716,7 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
        // Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
        // -----calculate scaled error.AngleRates
        // multiplication of rcCommand corresponds to changing the sticks scaling here
-        RateError = AngleRateTmp - (gyroADC[axis] / 4);
+        RateError = AngleRateTmp - (gyroData[axis] / 4);

        // -----calculate P component
        PTerm = (RateError * pidProfile->P8[axis] * PIDweight[axis] / 100) >> 7;
@ -756,26 +756,26 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
    }
 }

-void pidSetController(int type)
+void pidSetController(pidControllerType_e type)
 {
    switch (type) {
-        case 0:
+        case PID_CONTROLLER_MULTI_WII:
        default:
            pid_controller = pidMultiWii;
            break;
-        case 1:
+        case PID_CONTROLLER_REWRITE:
            pid_controller = pidRewrite;
            break;
-        case 2:
+        case PID_CONTROLLER_LUX_FLOAT:
            pid_controller = pidLuxFloat;
            break;
-        case 3:
+        case PID_CONTROLLER_MULTI_WII_23:
            pid_controller = pidMultiWii23;
            break;
-        case 4:
+        case PID_CONTROLLER_MULTI_WII_HYBRID:
            pid_controller = pidMultiWiiHybrid;
            break;
-        case 5:
+        case PID_CONTROLLER_HARAKIRI:
            pid_controller = pidHarakiri;
    }
 }
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@ -38,6 +38,15 @@ typedef enum {
    PID_ITEM_COUNT
 } pidIndex_e;

+typedef enum {
+    PID_CONTROLLER_MULTI_WII,
+    PID_CONTROLLER_REWRITE,
+    PID_CONTROLLER_LUX_FLOAT,
+    PID_CONTROLLER_MULTI_WII_23,
+    PID_CONTROLLER_MULTI_WII_HYBRID,
+    PID_CONTROLLER_HARAKIRI,
+} pidControllerType_e;
+
 #define IS_PID_CONTROLLER_FP_BASED(pidController) (pidController == 2)

 typedef struct pidProfile_s {
@ -63,7 +72,7 @@ typedef struct pidProfile_s {
 extern int16_t axisPID[XYZ_AXIS_COUNT];
 extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];

-void pidSetController(int type);
+void pidSetController(pidControllerType_e type);
 void pidResetErrorAngle(void);
 void pidResetErrorGyro(void);

--- a/src/main/io/beeper.c
+++ b/src/main/io/beeper.c
@ -30,7 +30,6 @@

 #include "rx/rx.h"
 #include "io/rc_controls.h"
-#include "io/statusindicator.h"

 #ifdef GPS
 #include "io/gps.h"
@ -39,7 +38,6 @@
 #include "config/runtime_config.h"
 #include "config/config.h"

-
 #include "io/beeper.h"

 #if FLASH_SIZE > 64
@ -77,7 +75,7 @@ static const uint8_t beep_disarmBeep[] = {
 };
 // beeps while stick held in disarm position (after pause)
 static const uint8_t beep_disarmRepeatBeep[] = {
-    0, 100, 10, BEEPER_COMMAND_STOP
+    0, 35, 40, 5, BEEPER_COMMAND_STOP
 };
 // Long beep and pause after that
 static const uint8_t beep_lowBatteryBeep[] = {
@ -112,11 +110,6 @@ static const uint8_t beep_2shortBeeps[] = {
 static const uint8_t beep_2longerBeeps[] = {
    20, 15, 35, 5, BEEPER_COMMAND_STOP
 };
-// 3 beeps
-static const uint8_t beep_gyroCalibrated[] = {
-    20, 10, 20, 10, 20, 10, BEEPER_COMMAND_STOP
-};
-
 // array used for variable # of beeps (reporting GPS sat count, etc)
 static uint8_t beep_multiBeeps[MAX_MULTI_BEEPS + 2];

@ -152,22 +145,21 @@ typedef struct beeperTableEntry_s {
 #endif

 static const beeperTableEntry_t const beeperTable[] = {
-    { BEEPER_ENTRY(BEEPER_GYRO_CALIBRATED,       0, beep_gyroCalibrated,   "GYRO_CALIBRATED") },
-    { BEEPER_ENTRY(BEEPER_RX_LOST_LANDING,       1, beep_sos,              "RX_LOST_LANDING") },
-    { BEEPER_ENTRY(BEEPER_RX_LOST,               2, beep_txLostBeep,       "RX_LOST") },
-    { BEEPER_ENTRY(BEEPER_DISARMING,             3, beep_disarmBeep,       "DISARMING") },
-    { BEEPER_ENTRY(BEEPER_ARMING,                4, beep_armingBeep,       "ARMING")  },
-    { BEEPER_ENTRY(BEEPER_ARMING_GPS_FIX,        5, beep_armedGpsFix,      "ARMING_GPS_FIX") },
-    { BEEPER_ENTRY(BEEPER_BAT_CRIT_LOW,          6, beep_critBatteryBeep,  "BAT_CRIT_LOW") },
-    { BEEPER_ENTRY(BEEPER_BAT_LOW,               7, beep_lowBatteryBeep,   "BAT_LOW") },
-    { BEEPER_ENTRY(BEEPER_GPS_STATUS,            8, beep_multiBeeps,       NULL) },
-    { BEEPER_ENTRY(BEEPER_RX_SET,                9, beep_shortBeep,        "RX_SET") },
+    { BEEPER_ENTRY(BEEPER_RX_LOST_LANDING,       0, beep_sos,              "RX_LOST_LANDING") },
+    { BEEPER_ENTRY(BEEPER_RX_LOST,               1, beep_txLostBeep,       "RX_LOST") },
+    { BEEPER_ENTRY(BEEPER_DISARMING,             2, beep_disarmBeep,       "DISARMING") },
+    { BEEPER_ENTRY(BEEPER_ARMING,                3, beep_armingBeep,       "ARMING")  },
+    { BEEPER_ENTRY(BEEPER_ARMING_GPS_FIX,        4, beep_armedGpsFix,      "ARMING_GPS_FIX") },
+    { BEEPER_ENTRY(BEEPER_BAT_CRIT_LOW,          5, beep_critBatteryBeep,  "BAT_CRIT_LOW") },
+    { BEEPER_ENTRY(BEEPER_BAT_LOW,               6, beep_lowBatteryBeep,   "BAT_LOW") },
+    { BEEPER_ENTRY(BEEPER_GPS_STATUS,            7, beep_multiBeeps,       NULL) },
+    { BEEPER_ENTRY(BEEPER_RX_SET,                8, beep_shortBeep,        "RX_SET") },
+    { BEEPER_ENTRY(BEEPER_DISARM_REPEAT,         9, beep_disarmRepeatBeep, "DISARM_REPEAT") },
    { BEEPER_ENTRY(BEEPER_ACC_CALIBRATION,       10, beep_2shortBeeps,     "ACC_CALIBRATION") },
    { BEEPER_ENTRY(BEEPER_ACC_CALIBRATION_FAIL,  11, beep_2longerBeeps,    "ACC_CALIBRATION_FAIL") },
    { BEEPER_ENTRY(BEEPER_READY_BEEP,            12, beep_readyBeep,       "READY_BEEP") },
    { BEEPER_ENTRY(BEEPER_MULTI_BEEPS,           13, beep_multiBeeps,      NULL) }, // FIXME having this listed makes no sense since the beep array will not be initialised.
-    { BEEPER_ENTRY(BEEPER_DISARM_REPEAT,         14, beep_disarmRepeatBeep, "DISARM_REPEAT") },
-    { BEEPER_ENTRY(BEEPER_ARMED,                 15, beep_armedBeep,       "ARMED") },
+    { BEEPER_ENTRY(BEEPER_ARMED,                 14, beep_armedBeep,       "ARMED") },
 };

 static const beeperTableEntry_t *currentBeeperEntry = NULL;
@ -217,10 +209,6 @@ void beeper(beeperMode_e mode)
 void beeperSilence(void)
 {
    BEEP_OFF;
-    warningLedDisable();
-    warningLedRefresh();
-
-
    beeperIsOn = 0;

    beeperNextToggleTime = 0;
@ -303,9 +291,7 @@ void beeperUpdate(void)
        beeperIsOn = 1;
        if (currentBeeperEntry->sequence[beeperPos] != 0) {
            BEEP_ON;
-            warningLedEnable();
-            warningLedRefresh();
-            // if this was arming beep then mark time (for blackbox)
+                   //if this was arming beep then mark time (for blackbox)
            if (
                beeperPos == 0
                && (currentBeeperEntry->mode == BEEPER_ARMING || currentBeeperEntry->mode == BEEPER_ARMING_GPS_FIX)
@ -317,8 +303,6 @@ void beeperUpdate(void)
        beeperIsOn = 0;
        if (currentBeeperEntry->sequence[beeperPos] != 0) {
            BEEP_OFF;
-            warningLedDisable();
-            warningLedRefresh();
        }
    }

@ -364,7 +348,7 @@ beeperMode_e beeperModeForTableIndex(int idx)
 */
 const char *beeperNameForTableIndex(int idx)
 {
-#ifndef BEEPER_NAMES
+#ifndef BEEPER_NAME
    UNUSED(idx);
    return NULL;
 #else
--- a/src/main/io/beeper.h
+++ b/src/main/io/beeper.h
@ -21,7 +21,6 @@ typedef enum {
    // IMPORTANT: these are in priority order, 0 = Highest
    BEEPER_SILENCE = 0,             // Silence, see beeperSilence()

-    BEEPER_GYRO_CALIBRATED,
    BEEPER_RX_LOST_LANDING,         // Beeps SOS when armed and TX is turned off or signal lost (autolanding/autodisarm)
    BEEPER_RX_LOST,                 // Beeps when TX is turned off or signal lost (repeat until TX is okay)
    BEEPER_DISARMING,               // Beep when disarming the board
--- a/src/main/io/gps.c
+++ b/src/main/io/gps.c
@ -28,6 +28,7 @@

 #include "common/maths.h"
 #include "common/axis.h"
+#include "common/utils.h"

 #include "drivers/system.h"
 #include "drivers/serial.h"
@ -169,14 +170,14 @@ static const ubloxSbas_t ubloxSbas[] = {
 };


-enum {
+typedef enum {
    GPS_UNKNOWN,
    GPS_INITIALIZING,
    GPS_CHANGE_BAUD,
    GPS_CONFIGURE,
    GPS_RECEIVING_DATA,
    GPS_LOST_COMMUNICATION,
-};
+} gpsState_e;

 gpsData_t gpsData;

@ -185,7 +186,7 @@ static void shiftPacketLog(void)
 {
    uint32_t i;

-    for (i = sizeof(gpsPacketLog) - 1; i > 0 ; i--) {
+    for (i = ARRAYLEN(gpsPacketLog) - 1; i > 0 ; i--) {
        gpsPacketLog[i] = gpsPacketLog[i-1];
    }
 }
@ -194,7 +195,7 @@ static void gpsNewData(uint16_t c);
 static bool gpsNewFrameNMEA(char c);
 static bool gpsNewFrameUBLOX(uint8_t data);

-static void gpsSetState(uint8_t state)
+static void gpsSetState(gpsState_e state)
 {
    gpsData.state = state;
    gpsData.state_position = 0;
--- a/src/main/io/msg.h.template
+++ b/src/main/io/msg.h.template
@ -0,0 +1,40 @@
+@# MSP encoder generator for Clearflight.
+@# EmPy format.  See http://www.alcyone.com/software/empy/ for more.
+@#
+// Generated by gencpp from file @(spec.package)/@(spec.short_name).msg
+// DO NOT EDIT!
+
+@{
+import genmsp
+env = genmsp.make_env(spec, msg_context, search_path)
+}@
+
+@# Generate the serializer for a message.
+@[def serialize(spec, prefix='', indent='')]@
+@[for field in spec.parsed_fields()]@
+@{ctype = genmsp.get_type(field.type)}@
+@[if ctype is None]@
+@{child = genmsp.load_spec(field.base_type, spec, env)}@
+@[if field.is_array]@
+    for (int i = 0; i < @genmsp.get_count(field); i++) {
+@serialize(child, '{}[i].'.format(field.name), ' '*4)@
+    }
+@[else]@
+@serialize(child, '{}->'.format(field.name))@
+@[end if]@
+@[else]@
+@[if field.is_array]@
+    @(indent)serialize@(ctype.encoder)s((const uint@(ctype.encoder)_t *)@prefix@field.name, @genmsp.get_count(field));
+@[else]@
+    @(indent)serialize@(ctype.encoder)(@prefix@field.name);
+@[end if]@
+@[end if]@
+@[end for]@
+@[end def]@
+
+// Respond to a @spec.short_name / MSP_@genmsp.to_caps(spec.short_name) command.
+static void send@(spec.short_name)(@(', '.join(genmsp.generate_encoder_args(spec, env)))) {
+    uint8_t len = @(' + '.join(str(genmsp.get_length(x, spec, env)) for x in spec.parsed_fields()));
+    headSerialReply(len);
+@serialize(spec)
+}
--- a/src/main/io/rc_controls.c
+++ b/src/main/io/rc_controls.c
@ -140,23 +140,23 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
        return;
    }

-    if (isUsingSticksToArm) {
-        // Disarm on throttle down + yaw
+        if (isUsingSticksToArm) {
+            // Disarm on throttle down + yaw
        if (rcSticks == THR_LO + YAW_LO + PIT_CE + ROL_CE) {
-            if (ARMING_FLAG(ARMED))
+            if (ARMING_FLAG(ARMED))         //board was armed
                mwDisarm();
-            else {
-                beeper(BEEPER_DISARM_REPEAT);    // sound tone while stick held
-                rcDelayCommand = 0;              // reset so disarm tone will repeat
+            else {  //board was not armed
+                beeper(BEEPER_DISARM_REPEAT);    //sound tone while stick held
+                rcDelayCommand = 0;         //reset so disarm tone will repeat
            }
        }
            // Disarm on roll (only when retarded_arm is enabled)
        if (retarded_arm && (rcSticks == THR_LO + YAW_CE + PIT_CE + ROL_LO)) {
-            if (ARMING_FLAG(ARMED))
+            if (ARMING_FLAG(ARMED))         //board was armed
                mwDisarm();
-            else {
-                beeper(BEEPER_DISARM_REPEAT);    // sound tone while stick held
-                rcDelayCommand = 0;              // reset so disarm tone will repeat
+            else {  //board was not armed
+                beeper(BEEPER_DISARM_REPEAT);    //sound tone while stick held
+                rcDelayCommand = 0;         //reset so disarm tone will repeat
            }
        }
    }
--- a/src/main/io/rc_controls.h
+++ b/src/main/io/rc_controls.h
@ -84,7 +84,12 @@ typedef enum {
 #define THR_CE (3 << (2 * THROTTLE))
 #define THR_HI (2 << (2 * THROTTLE))

-#define MAX_MODE_ACTIVATION_CONDITION_COUNT 20
+#define MAX_MODE_ACTIVATION_CONDITION_COUNT 40
+// 40 is enough for 1 mode for each position of 11 * 3 position switches and a 6 pos switch.
+// however, that is unlikely because you don't define the 'off' positions, so for a 3 position
+// switch it's normal that only 2 values would be configured.
+// this leaves plenty of 'slots' free for cases where you enable multiple modes for a switch
+// position (like gps rth + horizon + baro + beeper)

 #define CHANNEL_RANGE_MIN 900
 #define CHANNEL_RANGE_MAX 2100
--- a/src/main/io/serial.c
+++ b/src/main/io/serial.c
@ -53,7 +53,7 @@
 static serialConfig_t *serialConfig;
 static serialPortUsage_t serialPortUsageList[SERIAL_PORT_COUNT];

-const serialPortIdentifier_e serialPortIdentifiers[SERIAL_PORT_COUNT] = {
+const serialPortIdentifier_e const serialPortIdentifiers[SERIAL_PORT_COUNT] = {
 #ifdef USE_VCP
    SERIAL_PORT_USB_VCP,
 #endif
@ -76,7 +76,7 @@ const serialPortIdentifier_e serialPortIdentifiers[SERIAL_PORT_COUNT] = {

 static uint8_t serialPortCount;

-const uint32_t baudRates[] = {0, 9600, 19200, 38400, 57600, 115200, 230400, 250000}; // see baudRate_e
+const uint32_t const baudRates[] = {0, 9600, 19200, 38400, 57600, 115200, 230400, 250000}; // see baudRate_e

 #define BAUD_RATE_COUNT (sizeof(baudRates) / sizeof(baudRates[0]))

@ -89,7 +89,7 @@ baudRate_e lookupBaudRateIndex(uint32_t baudRate)
            return index;
        }
    }
-    return BAUD_AUTO;
+    return 0;
 }

 static serialPortUsage_t *findSerialPortUsageByIdentifier(serialPortIdentifier_e identifier)
@ -254,13 +254,6 @@ serialPort_t *openSerialPort(
    portMode_t mode,
    portOptions_t options)
 {
-#if (!defined(USE_VCP) && !defined(USE_USART1) && !defined(USE_USART2) && !defined(USE_USART3) && !defined(USE_SOFTSERIAL1) && !defined(USE_SOFTSERIAL1))
-    UNUSED(callback);
-    UNUSED(baudRate);
-    UNUSED(mode);
-    UNUSED(options);
-#endif
-
    serialPortUsage_t *serialPortUsage = findSerialPortUsageByIdentifier(identifier);
    if (!serialPortUsage || serialPortUsage->function != FUNCTION_NONE) {
        // not available / already in use
--- a/src/main/io/serial.h
+++ b/src/main/io/serial.h
@ -46,7 +46,7 @@ typedef enum {
    BAUD_250000,
 } baudRate_e;

-extern const uint32_t baudRates[];
+extern const uint32_t const baudRates[];

 // serial port identifiers are now fixed, these values are used by MSP commands.
 typedef enum {
@ -61,7 +61,7 @@ typedef enum {
    SERIAL_PORT_IDENTIFIER_MAX = SERIAL_PORT_SOFTSERIAL2
 } serialPortIdentifier_e;

-extern const serialPortIdentifier_e serialPortIdentifiers[SERIAL_PORT_COUNT];
+extern const serialPortIdentifier_e const serialPortIdentifiers[SERIAL_PORT_COUNT];

 //
 // runtime
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@ -109,7 +109,6 @@ static void cliProfile(char *cmdline);
 static void cliRateProfile(char *cmdline);
 static void cliReboot(void);
 static void cliSave(char *cmdline);
-static void cliSerial(char *cmdline);
 static void cliServo(char *cmdline);
 static void cliSet(char *cmdline);
 static void cliGet(char *cmdline);
@ -221,7 +220,6 @@ const clicmd_t cmdTable[] = {
    { "profile", "index (0 to 2)", cliProfile },
    { "rateprofile", "index (0 to 2)", cliRateProfile },
    { "save", "save and reboot", cliSave },
-    { "serial", "show/set serial settings", cliSerial },
 #ifdef USE_SERVOS
    { "servo", "servo config", cliServo },
 #endif
@ -289,6 +287,40 @@ const clivalue_t valueTable[] = {

    { "fixedwing_althold_dir",      VAR_INT8   | MASTER_VALUE,  &masterConfig.airplaneConfig.fixedwing_althold_dir, -1, 1 },

+    { "serial_port_1_functions",    VAR_UINT16 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[0].functionMask, 0, 0xFFFF },
+    { "serial_port_1_msp_baudrate",         VAR_UINT8 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[0].msp_baudrateIndex,         BAUD_9600, BAUD_115200 },
+    { "serial_port_1_telemetry_baudrate",   VAR_UINT8 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[0].telemetry_baudrateIndex,   BAUD_AUTO, BAUD_115200 },
+    { "serial_port_1_blackbox_baudrate",    VAR_UINT8 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[0].blackbox_baudrateIndex,    BAUD_9600, BAUD_250000 },
+    { "serial_port_1_gps_baudrate",         VAR_UINT8 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[0].gps_baudrateIndex,         BAUD_9600, BAUD_115200 },
+#if (SERIAL_PORT_COUNT >= 2)
+    { "serial_port_2_functions",    VAR_UINT16 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[1].functionMask, 0, 0xFFFF },
+    { "serial_port_2_msp_baudrate",         VAR_UINT8 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[1].msp_baudrateIndex,         BAUD_9600, BAUD_115200 },
+    { "serial_port_2_telemetry_baudrate",   VAR_UINT8 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[1].telemetry_baudrateIndex,   BAUD_AUTO, BAUD_115200 },
+    { "serial_port_2_blackbox_baudrate",    VAR_UINT8 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[1].blackbox_baudrateIndex,    BAUD_9600, BAUD_250000 },
+    { "serial_port_2_gps_baudrate",         VAR_UINT8 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[1].gps_baudrateIndex,         BAUD_9600, BAUD_115200 },
+#if (SERIAL_PORT_COUNT >= 3)
+    { "serial_port_3_functions",    VAR_UINT16 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[2].functionMask, 0, 0xFFFF},
+    { "serial_port_3_msp_baudrate",         VAR_UINT8 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[2].msp_baudrateIndex,         BAUD_9600, BAUD_115200 },
+    { "serial_port_3_telemetry_baudrate",   VAR_UINT8 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[2].telemetry_baudrateIndex,   BAUD_AUTO, BAUD_115200 },
+    { "serial_port_3_blackbox_baudrate",    VAR_UINT8 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[2].blackbox_baudrateIndex,    BAUD_9600, BAUD_250000 },
+    { "serial_port_3_gps_baudrate",         VAR_UINT8 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[2].gps_baudrateIndex,         BAUD_9600, BAUD_115200 },
+#if (SERIAL_PORT_COUNT >= 4)
+    { "serial_port_4_functions",    VAR_UINT16 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[3].functionMask, 0, 0xFFFF },
+    { "serial_port_4_msp_baudrate",         VAR_UINT8 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[3].msp_baudrateIndex,         BAUD_9600, BAUD_115200 },
+    { "serial_port_4_telemetry_baudrate",   VAR_UINT8 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[3].telemetry_baudrateIndex,   BAUD_AUTO, BAUD_115200 },
+    { "serial_port_4_blackbox_baudrate",    VAR_UINT8 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[3].blackbox_baudrateIndex,    BAUD_9600, BAUD_250000 },
+    { "serial_port_4_gps_baudrate",         VAR_UINT8 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[3].gps_baudrateIndex,         BAUD_9600, BAUD_115200 },
+#if (SERIAL_PORT_COUNT >= 5)
+    { "serial_port_5_functions",    VAR_UINT16 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[4].functionMask, 0, 0xFFFF },
+    { "serial_port_5_msp_baudrate",         VAR_UINT8 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[4].msp_baudrateIndex,         BAUD_9600, BAUD_115200 },
+    { "serial_port_5_telemetry_baudrate",   VAR_UINT8 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[4].telemetry_baudrateIndex,   BAUD_AUTO, BAUD_115200 },
+    { "serial_port_5_blackbox_baudrate",    VAR_UINT8 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[4].blackbox_baudrateIndex,    BAUD_9600, BAUD_250000 },
+    { "serial_port_5_gps_baudrate",         VAR_UINT8 | MASTER_VALUE,  &masterConfig.serialConfig.portConfigs[4].gps_baudrateIndex,         BAUD_9600, BAUD_115200 },
+#endif
+#endif
+#endif
+#endif
+
    { "reboot_character",           VAR_UINT8  | MASTER_VALUE,  &masterConfig.serialConfig.reboot_character, 48, 126 },

 #ifdef GPS
@ -559,102 +591,6 @@ static void cliAux(char *cmdline)
    }
 }

-static void cliSerial(char *cmdline)
-{
-    int i, val;
-    char *ptr;
-
-    if (isEmpty(cmdline)) {
-        for (i = 0; i < SERIAL_PORT_COUNT; i++) {
-            if (!serialIsPortAvailable(masterConfig.serialConfig.portConfigs[i].identifier)) {
-                continue;
-            };
-            printf("serial %d %d %ld %ld %ld %ld\r\n" ,
-                masterConfig.serialConfig.portConfigs[i].identifier,
-                masterConfig.serialConfig.portConfigs[i].functionMask,
-                baudRates[masterConfig.serialConfig.portConfigs[i].msp_baudrateIndex],
-                baudRates[masterConfig.serialConfig.portConfigs[i].gps_baudrateIndex],
-                baudRates[masterConfig.serialConfig.portConfigs[i].telemetry_baudrateIndex],
-                baudRates[masterConfig.serialConfig.portConfigs[i].blackbox_baudrateIndex]
-            );
-        }
-        return;
-    }
-
-    serialPortConfig_t portConfig;
-    memset(&portConfig, 0 , sizeof(portConfig));
-
-    serialPortConfig_t *currentConfig;
-
-    uint8_t validArgumentCount = 0;
-
-    ptr = cmdline;
-
-    val = atoi(ptr++);
-    currentConfig = serialFindPortConfiguration(val);
-    if (currentConfig) {
-        portConfig.identifier = val;
-        validArgumentCount++;
-    }
-
-    ptr = strchr(ptr, ' ');
-    if (ptr) {
-        val = atoi(++ptr);
-        portConfig.functionMask = val & 0xFFFF;
-        validArgumentCount++;
-    }
-
-    for (i = 0; i < 4; i ++) {
-        ptr = strchr(ptr, ' ');
-        if (!ptr) {
-            break;
-        }
-
-        val = atoi(++ptr);
-
-        uint8_t baudRateIndex = lookupBaudRateIndex(val);
-        if (baudRates[baudRateIndex] != (uint32_t) val) {
-            break;
-        }
-
-        switch(i) {
-            case 0:
-                if (baudRateIndex < BAUD_9600 || baudRateIndex > BAUD_115200) {
-                    continue;
-                }
-                portConfig.msp_baudrateIndex = baudRateIndex;
-                break;
-            case 1:
-                if (baudRateIndex < BAUD_9600 || baudRateIndex > BAUD_115200) {
-                    continue;
-                }
-                portConfig.gps_baudrateIndex = baudRateIndex;
-                break;
-            case 2:
-                if (baudRateIndex != BAUD_AUTO && baudRateIndex > BAUD_115200) {
-                    continue;
-                }
-                portConfig.telemetry_baudrateIndex = baudRateIndex;
-                break;
-            case 3:
-                if (baudRateIndex < BAUD_19200 || baudRateIndex > BAUD_250000) {
-                    continue;
-                }
-                portConfig.blackbox_baudrateIndex = baudRateIndex;
-                break;
-        }
-
-        validArgumentCount++;
-    }
-
-    if (validArgumentCount < 6) {
-        cliPrint("Parse error\r\n");
-        return;
-    }
-
-    memcpy(currentConfig, &portConfig, sizeof(portConfig));
-
-}

 static void cliAdjustmentRange(char *cmdline)
 {
@ -1130,9 +1066,6 @@ static void cliDump(char *cmdline)
        buf[i] = '\0';
        printf("map %s\r\n", buf);

-        cliPrint("\r\n\r\n# serial\r\n");
-        cliSerial("");
-
 #ifdef LED_STRIP
        cliPrint("\r\n\r\n# led\r\n");
        cliLed("");
@ -1477,7 +1410,6 @@ static void cliReboot(void) {
    cliPrint("\r\nRebooting");
    waitForSerialPortToFinishTransmitting(cliPort);
    stopMotors();
-    handleOneshotFeatureChangeOnRestart();
    systemReset();
 }

--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@ -402,6 +402,13 @@ static void serialize8(uint8_t a)
    currentPort->checksum ^= a;
 }

+static void serialize8s(const uint8_t *p, int n)
+{
+    for (const uint8_t *pend = p + n; p != pend; p++) {
+        serialize8(*p);
+    }
+}
+
 static void serialize16(uint16_t a)
 {
    serialize8((uint8_t)(a >> 0));
@ -666,7 +673,7 @@ void mspInit(serialConfig_t *serialConfig)

    activeBoxIds[activeBoxIdCount++] = BOXOSD;

-    if (feature(FEATURE_TELEMETRY) && masterConfig.telemetryConfig.telemetry_switch)
+    if (feature(FEATURE_TELEMETRY && masterConfig.telemetryConfig.telemetry_switch))
        activeBoxIds[activeBoxIdCount++] = BOXTELEMETRY;

 #ifdef AUTOTUNE
@ -683,6 +690,15 @@ void mspInit(serialConfig_t *serialConfig)

 #define IS_ENABLED(mask) (mask == 0 ? 0 : 1)

+#include "msg/ApiVersion.h"
+#include "msg/FcVariant.h"
+#include "msg/FcVersion.h"
+#include "msg/BoardInfo.h"
+#include "msg/BuildInfo.h"
+#ifdef USE_SERVOS
+#include "msg/ServoConf.h"
+#endif
+
 static bool processOutCommand(uint8_t cmdMSP)
 {
    uint32_t i, tmp, junk;
@ -694,64 +710,33 @@ static bool processOutCommand(uint8_t cmdMSP)

    switch (cmdMSP) {
    case MSP_API_VERSION:
-        headSerialReply(
-            1 + // protocol version length
-            API_VERSION_LENGTH
-        );
-        serialize8(MSP_PROTOCOL_VERSION);
-
-        serialize8(API_VERSION_MAJOR);
-        serialize8(API_VERSION_MINOR);
+        sendApiVersion(MSP_PROTOCOL_VERSION,
+                       API_VERSION_MAJOR,
+                       API_VERSION_MINOR);
        break;

    case MSP_FC_VARIANT:
-        headSerialReply(FLIGHT_CONTROLLER_IDENTIFIER_LENGTH);
-
-        for (i = 0; i < FLIGHT_CONTROLLER_IDENTIFIER_LENGTH; i++) {
-            serialize8(flightControllerIdentifier[i]);
-        }
+        sendFcVariant(flightControllerIdentifier);
        break;

    case MSP_FC_VERSION:
-        headSerialReply(FLIGHT_CONTROLLER_VERSION_LENGTH);
-
-        serialize8(FC_VERSION_MAJOR);
-        serialize8(FC_VERSION_MINOR);
-        serialize8(FC_VERSION_PATCH_LEVEL);
+        sendFcVersion(FC_VERSION_MAJOR,
+                      FC_VERSION_MINOR,
+                      FC_VERSION_PATCH_LEVEL);
        break;

    case MSP_BOARD_INFO:
-        headSerialReply(
-            BOARD_IDENTIFIER_LENGTH +
-            BOARD_HARDWARE_REVISION_LENGTH
-        );
-        for (i = 0; i < BOARD_IDENTIFIER_LENGTH; i++) {
-            serialize8(boardIdentifier[i]);
-        }
+        sendBoardInfo(boardIdentifier,
 #ifdef NAZE
-        serialize16(hardwareRevision);
+                      hardwareRevision
 #else
-        serialize16(0); // No other build targets currently have hardware revision detection.
+                      0 // No other build targets currently have hardware revision detection.
 #endif
+            );
        break;

    case MSP_BUILD_INFO:
-        headSerialReply(
-                BUILD_DATE_LENGTH +
-                BUILD_TIME_LENGTH +
-                GIT_SHORT_REVISION_LENGTH
-        );
-
-        for (i = 0; i < BUILD_DATE_LENGTH; i++) {
-            serialize8(buildDate[i]);
-        }
-        for (i = 0; i < BUILD_TIME_LENGTH; i++) {
-            serialize8(buildTime[i]);
-        }
-
-        for (i = 0; i < GIT_SHORT_REVISION_LENGTH; i++) {
-            serialize8(shortGitRevision[i]);
-        }
+        sendBuildInfo(buildDate, buildTime, shortGitRevision);
        break;

    // DEPRECATED - Use MSP_API_VERSION
@ -817,7 +802,7 @@ static bool processOutCommand(uint8_t cmdMSP)
                serialize16(accSmooth[i]);
        }
        for (i = 0; i < 3; i++)
-            serialize16(gyroADC[i]);
+            serialize16(gyroData[i]);
        for (i = 0; i < 3; i++)
            serialize16(magADC[i]);
        break;
@ -826,13 +811,7 @@ static bool processOutCommand(uint8_t cmdMSP)
        s_struct((uint8_t *)&servo, 16);
        break;
    case MSP_SERVO_CONF:
-        headSerialReply(MAX_SUPPORTED_SERVOS * 7);
-        for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
-            serialize16(currentProfile->servoConf[i].min);
-            serialize16(currentProfile->servoConf[i].max);
-            serialize16(currentProfile->servoConf[i].middle);
-            serialize8(currentProfile->servoConf[i].rate);
-        }
+        sendServoConf(currentProfile->servoConf);
        break;
    case MSP_CHANNEL_FORWARDING:
        headSerialReply(MAX_SUPPORTED_SERVOS);
@ -1748,7 +1727,6 @@ void mspProcess(void)
                delay(50);
            }
            stopMotors();
-            handleOneshotFeatureChangeOnRestart();
            systemReset();
        }
    }
--- a/src/main/io/statusindicator.c
+++ b/src/main/io/statusindicator.c
@ -27,63 +27,44 @@

 #include "statusindicator.h"

+void blinkLedAndSoundBeeper(uint8_t num, uint8_t wait, uint8_t repeat)
+{
+    uint8_t i, r;
+
+    for (r = 0; r < repeat; r++) {
+        for (i = 0; i < num; i++) {
+            LED0_TOGGLE;            // switch LEDPIN state
+            BEEP_ON;
+            delay(wait);
+            BEEP_OFF;
+        }
+        delay(60);
+    }
+}
+
+
 static uint32_t warningLedTimer = 0;

-typedef enum {
-    WARNING_LED_OFF = 0,
-    WARNING_LED_ON,
-    WARNING_LED_FLASH
-} warningLedState_e;
-
-static warningLedState_e warningLedState = WARNING_LED_OFF;
-
-void warningLedResetTimer(void) {
-    uint32_t now = millis();
-    warningLedTimer = now + 500000;
-}
-
-void warningLedEnable(void)
+void enableWarningLed(uint32_t currentTime)
 {
-    warningLedState = WARNING_LED_ON;
-}
-
-void warningLedDisable(void)
-{
-    warningLedState = WARNING_LED_OFF;
-}
-
-void warningLedFlash(void)
-{
-    warningLedState = WARNING_LED_FLASH;
-}
-
-void warningLedRefresh(void)
-{
-    switch (warningLedState) {
-        case WARNING_LED_OFF:
-            LED0_OFF;
-            break;
-        case WARNING_LED_ON:
-            LED0_ON;
-            break;
-        case WARNING_LED_FLASH:
-            LED0_TOGGLE;
-            break;
+    if (warningLedTimer != 0) {
+        return; // already enabled
    }
-
-    uint32_t now = micros();
-    warningLedTimer = now + 500000;
+    warningLedTimer = currentTime + 500000;
+    LED0_ON;
 }

-void warningLedUpdate(void)
+void disableWarningLed(void)
 {
-    uint32_t now = micros();
-
-    if ((int32_t)(now - warningLedTimer) < 0) {
-        return;
-    }
-
-    warningLedRefresh();
+    warningLedTimer = 0;
+    LED0_OFF;
 }

+void updateWarningLed(uint32_t currentTime)
+{
+    if (warningLedTimer && (int32_t)(currentTime - warningLedTimer) >= 0) {
+        LED0_TOGGLE;
+        warningLedTimer = warningLedTimer + 500000;
+    }
+}

--- a/src/main/io/statusindicator.h
+++ b/src/main/io/statusindicator.h
@ -17,8 +17,8 @@

 #pragma once

-void warningLedEnable(void);
-void warningLedDisable(void);
-void warningLedRefresh(void);
-void warningLedUpdate(void);
-void warningLedFlash(void);
+void blinkLedAndSoundBeeper(uint8_t num, uint8_t wait, uint8_t repeat);
+
+void enableWarningLed(uint32_t currentTime);
+void disableWarningLed(void);
+void updateWarningLed(uint32_t currentTime);
--- a/src/main/main.c
+++ b/src/main/main.c
@ -91,7 +91,6 @@
 #include "debug.h"

 extern uint32_t previousTime;
-extern uint8_t motorControlEnable;

 #ifdef SOFTSERIAL_LOOPBACK
 serialPort_t *loopbackPort;
@ -172,9 +171,6 @@ void init(void)

    systemInit();

-    // Latch active features to be used for feature() in the remainder of init().
-    latchActiveFeatures();
-
    ledInit();

 #ifdef SPEKTRUM_BIND
@ -260,9 +256,6 @@ void init(void)

    mixerUsePWMOutputConfiguration(pwmOutputConfiguration);

-    if (!feature(FEATURE_ONESHOT125))
-        motorControlEnable = true;
-
    systemState |= SYSTEM_STATE_MOTORS_READY;

 #ifdef BEEPER
@ -488,10 +481,6 @@ void init(void)
    LED2_ON;
 #endif

-    // Latch active features AGAIN since some may be modified by init().
-    latchActiveFeatures();
-    motorControlEnable = true;
-
    systemState |= SYSTEM_STATE_READY;
 }

--- a/src/main/mw.c
+++ b/src/main/mw.c
@ -97,8 +97,6 @@ uint16_t cycleTime = 0;         // this is the number in micro second to achieve
 int16_t magHold;
 int16_t headFreeModeHold;

-uint8_t motorControlEnable = false;
-
 int16_t telemTemperature1;      // gyro sensor temperature
 static uint32_t disarmAt;     // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero

@ -276,6 +274,11 @@ void annexCode(void)
            ENABLE_ARMING_FLAG(OK_TO_ARM);
        }

+        if (isCalibrating()) {
+            LED0_TOGGLE;
+            DISABLE_ARMING_FLAG(OK_TO_ARM);
+        }
+
        if (!STATE(SMALL_ANGLE)) {
            DISABLE_ARMING_FLAG(OK_TO_ARM);
        }
@ -284,18 +287,13 @@ void annexCode(void)
            DISABLE_ARMING_FLAG(OK_TO_ARM);
        }

-        if (isCalibrating()) {
-            warningLedFlash();
-            DISABLE_ARMING_FLAG(OK_TO_ARM);
+        if (ARMING_FLAG(OK_TO_ARM)) {
+            disableWarningLed();
        } else {
-            if (ARMING_FLAG(OK_TO_ARM)) {
-                warningLedDisable();
-            } else {
-                warningLedFlash();
-            }
+            enableWarningLed(currentTime);
        }

-        warningLedUpdate();
+        updateWarningLed(currentTime);
    }

 #ifdef TELEMETRY
@ -388,7 +386,7 @@ void mwArm(void)
    }

    if (!ARMING_FLAG(ARMED)) {
-        beeperConfirmationBeeps(1);
+        blinkLedAndSoundBeeper(2, 255, 1);
    }
 }

@ -730,7 +728,7 @@ void loop(void)
    if (masterConfig.looptime == 0 || (int32_t)(currentTime - loopTime) >= 0) {
        loopTime = currentTime + masterConfig.looptime;

-        imuUpdate(&currentProfile->accelerometerTrims);
+        imuUpdate(&currentProfile->accelerometerTrims, masterConfig.mixerMode);

        // Measure loop rate just after reading the sensors
        currentTime = micros();
@ -803,9 +801,7 @@ void loop(void)
        writeServos();
 #endif

-        if (motorControlEnable) {
-            writeMotors();
-        }
+        writeMotors();

 #ifdef BLACKBOX
        if (!cliMode && feature(FEATURE_BLACKBOX)) {
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@ -26,7 +26,6 @@
 #include "drivers/sensor.h"
 #include "drivers/accgyro.h"
 #include "sensors/sensors.h"
-#include "io/beeper.h"
 #include "io/statusindicator.h"
 #include "sensors/boardalignment.h"

@ -96,14 +95,10 @@ static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThresho
                return;
            }
            gyroZero[axis] = (g[axis] + (CALIBRATING_GYRO_CYCLES / 2)) / CALIBRATING_GYRO_CYCLES;
+            blinkLedAndSoundBeeper(10, 15, 1);
        }
    }
-
-    if (isOnFinalGyroCalibrationCycle()) {
-        beeper(BEEPER_GYRO_CALIBRATED);
-    }
    calibratingG--;
-
 }

 static void applyGyroZero(void)
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@ -122,8 +122,8 @@ const mpu6050Config_t *selectMPU6050Config(void)

 #ifdef USE_FAKE_GYRO
 static void fakeGyroInit(void) {}
-static void fakeGyroRead(int16_t *gyroADC) {
-    memset(gyroADC, 0, sizeof(int16_t[XYZ_AXIS_COUNT]));
+static void fakeGyroRead(int16_t *gyroData) {
+    memset(gyroData, 0, sizeof(int16_t[XYZ_AXIS_COUNT]));
 }
 static void fakeGyroReadTemp(int16_t *tempData) {
    UNUSED(tempData);
--- a/src/test/Makefile
+++ b/src/test/Makefile
@ -26,8 +26,8 @@ OBJECT_DIR = ../../obj/test
 COMMON_FLAGS = \
 	-g \
 	-Wall \
-	-pthread \
 	-Wextra \
+	-pthread \
 	-ggdb3 \
 	-O0 \
 	-DUNIT_TEST \
@ -39,7 +39,7 @@ C_FLAGS = $(COMMON_FLAGS) \

 # Flags passed to the C++ compiler.
 CXX_FLAGS = $(COMMON_FLAGS) \
-	-std=gnu++11
+	-std=gnu++98

 # All tests produced by this Makefile.  Remember to add new tests you
 # created to the list.
@ -83,7 +83,7 @@ GTEST_SRCS_ = $(GTEST_DIR)/src/*.cc $(GTEST_DIR)/inc/gtest/*.h $(GTEST_HEADERS)
 # compiles fast and for ordinary users its source rarely changes.
 $(OBJECT_DIR)/gtest-all.o : $(GTEST_SRCS_)
 	@mkdir -p $(dir $@)
-	$(CXX) $(CXX_FLAGS) -I$(GTEST_DIR) -Wno-missing-field-initializers -Wno-unused-const-variable -c \
+	$(CXX) $(CXX_FLAGS) -I$(GTEST_DIR) -c \
            $(GTEST_DIR)/src/gtest-all.cc -o $@

 $(OBJECT_DIR)/gtest_main.o : $(GTEST_SRCS_)
@ -134,7 +134,7 @@ battery_unittest : \
 	$(OBJECT_DIR)/battery_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a

-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@
 	
 $(OBJECT_DIR)/common/encoding.o : $(USER_DIR)/common/encoding.c $(USER_DIR)/common/encoding.h $(GTEST_HEADERS)
 	@mkdir -p $(dir $@)
@ -153,7 +153,7 @@ encoding_unittest : \
 	$(OBJECT_DIR)/encoding_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a

-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@

 $(OBJECT_DIR)/flight/imu.o : \
 	$(USER_DIR)/flight/imu.c \
@ -178,7 +178,7 @@ flight_imu_unittest : \
 	$(OBJECT_DIR)/common/maths.o \
 	$(OBJECT_DIR)/gtest_main.a

-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@

 $(OBJECT_DIR)/maths_unittest.o : \
 	$(TEST_DIR)/maths_unittest.cc \
@ -192,7 +192,7 @@ maths_unittest : \
 	$(OBJECT_DIR)/common/maths.o \
 	$(OBJECT_DIR)/gtest_main.a

-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@



@ -217,7 +217,7 @@ altitude_hold_unittest : \
 	$(OBJECT_DIR)/altitude_hold_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a

-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@


 $(OBJECT_DIR)/flight/gps_conversion.o : \
@ -241,7 +241,7 @@ gps_conversion_unittest : \
 	$(OBJECT_DIR)/gps_conversion_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a

-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@



@ -267,7 +267,7 @@ telemetry_hott_unittest : \
 	$(OBJECT_DIR)/flight/gps_conversion.o \
 	$(OBJECT_DIR)/gtest_main.a

-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@



@ -293,7 +293,7 @@ rc_controls_unittest : \
 	$(OBJECT_DIR)/rc_controls_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a

-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@


 $(OBJECT_DIR)/io/ledstrip.o : \
@ -317,7 +317,7 @@ ledstrip_unittest : \
 	$(OBJECT_DIR)/ledstrip_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a

-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@



@ -342,7 +342,7 @@ ws2811_unittest : \
 	$(OBJECT_DIR)/ws2811_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a

-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@


 $(OBJECT_DIR)/flight/lowpass.o : \
@ -366,7 +366,7 @@ lowpass_unittest : \
 	$(OBJECT_DIR)/lowpass_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a

-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@

 $(OBJECT_DIR)/flight/mixer.o : \
 	$(USER_DIR)/flight/mixer.c \
@ -390,7 +390,7 @@ flight_mixer_unittest : \
 	$(OBJECT_DIR)/common/maths.o \
 	$(OBJECT_DIR)/gtest_main.a

-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@

 $(OBJECT_DIR)/flight/failsafe.o : \
 	$(USER_DIR)/flight/failsafe.c \
@ -414,7 +414,7 @@ flight_failsafe_unittest : \
 	$(OBJECT_DIR)/common/maths.o \
 	$(OBJECT_DIR)/gtest_main.a

-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@

 $(OBJECT_DIR)/io/serial.o : \
 	$(USER_DIR)/io/serial.c \
@ -437,7 +437,7 @@ io_serial_unittest : \
 	$(OBJECT_DIR)/io_serial_unittest.o \
 	$(OBJECT_DIR)/gtest_main.a

-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@

 $(OBJECT_DIR)/rx/rx.o : \
 	$(USER_DIR)/rx/rx.c \
@ -461,7 +461,7 @@ rx_rx_unittest : \
 	$(OBJECT_DIR)/common/maths.o \
 	$(OBJECT_DIR)/gtest_main.a

-	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+	$(CXX) $(CXX_FLAGS) -lpthread $^ -o $(OBJECT_DIR)/$@

 test: $(TESTS)
 	set -e && for test in $(TESTS) ; do \
--- a/src/test/unit/flight_mixer_unittest.cc
+++ b/src/test/unit/flight_mixer_unittest.cc
@ -48,6 +48,18 @@ extern "C" {
    extern uint8_t servoCount;
    void forwardAuxChannelsToServos(void);

+    void mixerUseConfigs(
+#ifdef USE_SERVOS
+            servoParam_t *servoConfToUse,
+            gimbalConfig_t *gimbalConfigToUse,
+#endif
+            flight3DConfig_t *flight3DConfigToUse,
+            escAndServoConfig_t *escAndServoConfigToUse,
+            mixerConfig_t *mixerConfigToUse,
+            airplaneConfig_t *airplaneConfigToUse,
+            rxConfig_t *rxConfigToUse
+    );
+
    void mixerInit(mixerMode_e mixerMode, motorMixer_t *initialCustomMixers);
    void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration);
 }
@ -303,15 +315,6 @@ void pwmWriteMotor(uint8_t index, uint16_t value) {
    motors[index].value = value;
 }

-void pwmShutdownPulsesForAllMotors(uint8_t motorCount)
-{
-    uint8_t index;
-
-    for(index = 0; index < motorCount; index++){
-        motors[index].value = 0;
-    }
-}
-
 void pwmCompleteOneshotMotorUpdate(uint8_t motorCount) {
    lastOneShotUpdateMotorCount = motorCount;
 }
--- a/src/test/unit/rc_controls_unittest.cc
+++ b/src/test/unit/rc_controls_unittest.cc
@ -48,18 +48,13 @@ extern "C" {
 extern void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfig, pidProfile_t *pidProfile);
 }

-class RcControlsModesTest : public ::testing::Test {
-protected:
-    modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
-
-    virtual void SetUp() {
-        memset(&modeActivationConditions, 0, sizeof(modeActivationConditions));
-    }
-};
-
-TEST_F(RcControlsModesTest, updateActivatedModesWithAllInputsAtMidde)
+TEST(RcControlsTest, updateActivatedModesWithAllInputsAtMidde)
 {
    // given
+    modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
+    memset(&modeActivationConditions, 0, sizeof(modeActivationConditions));
+
+    // and
    rcModeActivationMask = 0;

    // and
@ -84,9 +79,12 @@ TEST_F(RcControlsModesTest, updateActivatedModesWithAllInputsAtMidde)
    }
 }

-TEST_F(RcControlsModesTest, updateActivatedModesUsingValidAuxConfigurationAndRXValues)
+TEST(RcControlsTest, updateActivatedModesUsingValidAuxConfigurationAndRXValues)
 {
    // given
+    modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
+    memset(&modeActivationConditions, 0, sizeof(modeActivationConditions));
+
    modeActivationConditions[0].modeId = (boxId_e)0;
    modeActivationConditions[0].auxChannelIndex = AUX1 - NON_AUX_CHANNEL_COUNT;
    modeActivationConditions[0].range.startStep = CHANNEL_VALUE_TO_STEP(1700);
@ -234,33 +232,27 @@ static const adjustmentConfig_t rateAdjustmentConfig = {
    .data = { { 1 } }
 };

-class RcControlsAdjustmentsTest : public ::testing::Test {
-protected:
+TEST(RcControlsTest, processRcAdjustmentsSticksInMiddle)
+{
+    // given
    controlRateConfig_t controlRateConfig = {
            .rcRate8 = 90,
            .rcExpo8 = 0,
            .thrMid8 = 0,
            .thrExpo8 = 0,
-            .rates = {0, 0, 0},
+            .rates = {0,0,0},
            .dynThrPID = 0,
-            .rcYawExpo8 = 0,
            .tpa_breakpoint = 0
    };

-    virtual void SetUp() {
-        adjustmentStateMask = 0;
-        memset(&adjustmentStates, 0, sizeof(adjustmentStates));
+    // and
+    memset(&rxConfig, 0, sizeof (rxConfig));
+    rxConfig.mincheck = DEFAULT_MIN_CHECK;
+    rxConfig.maxcheck = DEFAULT_MAX_CHECK;
+    rxConfig.midrc = 1500;

-        memset(&rxConfig, 0, sizeof (rxConfig));
-        rxConfig.mincheck = DEFAULT_MIN_CHECK;
-        rxConfig.maxcheck = DEFAULT_MAX_CHECK;
-        rxConfig.midrc = 1500;
-    }
-};
-
-TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsSticksInMiddle)
-{
-    // given
+    adjustmentStateMask = 0;
+    memset(&adjustmentStates, 0, sizeof(adjustmentStates));
    configureAdjustment(0, AUX3 - NON_AUX_CHANNEL_COUNT, &rateAdjustmentConfig);

    // and
@ -283,9 +275,28 @@ TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsSticksInMiddle)
    EXPECT_EQ(adjustmentStateMask, 0);
 }

-TEST_F(RcControlsAdjustmentsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp)
+TEST(RcControlsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp)
 {
    // given
+    controlRateConfig_t controlRateConfig = {
+            .rcRate8 = 90,
+            .rcExpo8 = 0,
+            .thrMid8 = 0,
+            .thrExpo8 = 0,
+            .rates = {0,0,0},
+            .dynThrPID = 0,
+            .tpa_breakpoint = 0
+    };
+
+    // and
+    memset(&rxConfig, 0, sizeof (rxConfig));
+    rxConfig.mincheck = DEFAULT_MIN_CHECK;
+    rxConfig.maxcheck = DEFAULT_MAX_CHECK;
+    rxConfig.midrc = 1500;
+
+    // and
+    adjustmentStateMask = 0;
+    memset(&adjustmentStates, 0, sizeof(adjustmentStates));
    configureAdjustment(0, AUX3 - NON_AUX_CHANNEL_COUNT, &rateAdjustmentConfig);

    // and
@ -430,9 +441,28 @@ static const adjustmentConfig_t rateProfileAdjustmentConfig = {
    .data = { { 3 } }
 };

-TEST_F(RcControlsAdjustmentsTest, processRcRateProfileAdjustments)
+TEST(RcControlsTest, processRcRateProfileAdjustments)
 {
    // given
+    controlRateConfig_t controlRateConfig = {
+            .rcRate8 = 90,
+            .rcExpo8 = 0,
+            .thrMid8 = 0,
+            .thrExpo8 = 0,
+            .rates = {0,0,0},
+            .dynThrPID = 0,
+            .tpa_breakpoint = 0
+    };
+
+    // and
+    memset(&rxConfig, 0, sizeof (rxConfig));
+    rxConfig.mincheck = DEFAULT_MIN_CHECK;
+    rxConfig.maxcheck = DEFAULT_MAX_CHECK;
+    rxConfig.midrc = 1500;
+
+    adjustmentStateMask = 0;
+    memset(&adjustmentStates, 0, sizeof(adjustmentStates));
+
    int adjustmentIndex = 3;
    configureAdjustment(adjustmentIndex, AUX4 - NON_AUX_CHANNEL_COUNT, &rateProfileAdjustmentConfig);

@ -498,7 +528,7 @@ static const adjustmentConfig_t pidYawDAdjustmentConfig = {
    .data = { { 1 } }
 };

-TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController0)
+TEST(RcControlsTest, processPIDIncreasePidController0)
 {
    // given
    modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
@ -524,6 +554,15 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController0)
    controlRateConfig_t controlRateConfig;
    memset(&controlRateConfig, 0, sizeof (controlRateConfig));

+    // and
+    memset(&rxConfig, 0, sizeof (rxConfig));
+    rxConfig.mincheck = DEFAULT_MIN_CHECK;
+    rxConfig.maxcheck = DEFAULT_MAX_CHECK;
+    rxConfig.midrc = 1500;
+
+    adjustmentStateMask = 0;
+    memset(&adjustmentStates, 0, sizeof(adjustmentStates));
+
    configureAdjustment(0, AUX1 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollPAdjustmentConfig);
    configureAdjustment(1, AUX2 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollIAdjustmentConfig);
    configureAdjustment(2, AUX3 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollDAdjustmentConfig);
@ -575,7 +614,7 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController0)
    EXPECT_EQ(28, pidProfile.D8[YAW]);
 }

-TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController2)
+TEST(RcControlsTest, processPIDIncreasePidController2)
 {
    // given
    modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
@ -601,6 +640,15 @@ TEST_F(RcControlsAdjustmentsTest, processPIDIncreasePidController2)
    controlRateConfig_t controlRateConfig;
    memset(&controlRateConfig, 0, sizeof (controlRateConfig));

+    // and
+    memset(&rxConfig, 0, sizeof (rxConfig));
+    rxConfig.mincheck = DEFAULT_MIN_CHECK;
+    rxConfig.maxcheck = DEFAULT_MAX_CHECK;
+    rxConfig.midrc = 1500;
+
+    adjustmentStateMask = 0;
+    memset(&adjustmentStates, 0, sizeof(adjustmentStates));
+
    configureAdjustment(0, AUX1 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollPAdjustmentConfig);
    configureAdjustment(1, AUX2 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollIAdjustmentConfig);
    configureAdjustment(2, AUX3 - NON_AUX_CHANNEL_COUNT, &pidPitchAndRollDAdjustmentConfig);
--- a/support/genmsp/README.md
+++ b/support/genmsp/README.md
@ -0,0 +1,30 @@
+genmsp
+======
+Converts ROS messages into the Cleanflight native encoders and
+decoders.
+
+See:
+
+* msg/ for the messages.
+* http://wiki.ros.org/msg for the message format.
+
+genmsp depends on the [genmsg](https://github.com/ros/genmsg).
+See http://www.ros.org/install/ for pre-built Ubuntu packages
+including `ros-jade-genmsg` which installs under
+`/opt/ros/jade/lib/python2.7/dist-packages`.
+
+Implementation
+--------------
+The conversion is designed to be backwards compatible and to minimise
+the size of the flight software.  To do this, it has certain features
+and limitations:
+
+* Fixed length arrays show as `const Foo *field`.
+* Variable length arrays show as `const Foo *field` and `int nfield`
+  pair.
+* Values are passed as arguments.  As such, messages can't be nested
+  past one level deep.
+* To reduce copying or duplication, inner messages can be aliased to
+  the existing native form using `string clearflight_type=fooBar_t'.
+
+-- Michael Hope <mlhx@google.com> <michaelh@juju.net.nz>
--- a/support/genmsp/genmsp.py
+++ b/support/genmsp/genmsp.py
@ -0,0 +1,154 @@
+"""Convert ROS format messages to Clearflight format encoders."""
+
+import collections
+import re
+import sys
+
+import genmsg.msgs
+import genmsg.template_tools
+
+Env = collections.namedtuple('Env', 'spec msg_context search_path')
+
+# Details on the native version of a ROS type.
+Type = collections.namedtuple('Type', 'name size encoder')
+
+# All base types.
+MSG_TYPES = {
+    'char': Type('char', 1, '8'),
+    'bool': Type('bool', 1, '8'),
+    'uint8': Type('uint8_t', 1, '8'),
+    'int8': Type('int8_t', 1, '8'),
+    'uint16': Type('uint16_t', 2, '16'),
+    'int16': Type('int16_t', 2, '16'),
+    'uint32': Type('uint32_t', 4, '32'),
+    'int32': Type('int32_t', 4, '32'),
+    'uint64': Type('uint64_t', 8, '64'),
+    'int64': Type('int64_t', 8, '64'),
+    'float32': Type('float', 4, 'Float'),
+    'float64': Type('double', 8, 'Double'),
+    'string': Type('const char *', None, 'String'),
+    'time': Type('ros::Time', 4, '32'),
+    'duration': Type('ros::Duration', 4, '32'),
+}
+
+
+def make_env(spec, msg_context, search_path):
+    """Wrap commonly used arguments up into an environment."""
+    return Env(spec, msg_context, search_path)
+
+
+def load_spec(typename, spec, env):
+    """Find and load the spec of the given message type."""
+    t = genmsg.msgs.resolve_type(typename, spec.package)
+    assert isinstance(env.search_path, dict)
+    return genmsg.msg_loader.load_msg_by_type(
+        env.msg_context, t, env.search_path)
+
+
+def get_type(typename):
+    """Gets the type of a basic type.
+
+    Returns None for other types.
+
+    """
+    base_type, _, _ = genmsg.msgs.parse_type(typename)
+    return MSG_TYPES.get(base_type, None)
+
+
+def to_caps(name):
+    """Convers a CamelCase string to CAPS_CASE."""
+    return re.sub(r'([a-z])([A-Z])', r'\1_\2', name).upper()
+
+
+def _multiply(left, right):
+    """Returns a pretty string version of multiplying the arguments."""
+    if left == 1:
+        return right
+    else:
+        return '{}*{}'.format(left, right)
+
+
+def _lcfirst(name):
+    """Converts the first letter of the string to lower case."""
+    return name[0].lower() + name[1:]
+
+
+def get_length(field, spec, env):
+    """Returns the byte length of a field as a string."""
+    ctype = get_type(field.type)
+    if ctype is not None:
+        # A base type.
+        if field.base_type == 'string':
+            if get_count(field) != 1:
+                raise RuntimeError(
+                    ('{}: support for arrays of strings is not '
+                     'implemented'.format(field.name)))
+            return 'strlen({})'.format(field.name)
+        else:
+            return _multiply(get_count(field), ctype.size)
+    else:
+        # Load the message and return the size of it.
+        child = load_spec(field.base_type, spec, env)
+        sizes = (str(get_length(x, child, env)) for x in child.parsed_fields())
+        joined = '({})'.format(' + '.join(sizes))
+        return _multiply(get_count(field), joined)
+
+
+def get_count(field):
+    """Returns the number of items in a field."""
+    if not field.is_array:
+        return 1
+    if field.array_len is not None:
+        return field.array_len
+    # Return the name of the parameter that holds the length.
+    return 'n{}'.format(field.name)
+
+
+def _msg_type_to_cpp(name, spec, env):
+    base_type, is_array, _ = genmsg.msgs.parse_type(name)
+    ctype = get_type(base_type)
+    if ctype:
+        if is_array:
+            return 'const {} *'.format(ctype.name)
+        else:
+            return ctype.name
+    else:
+        if '/' in base_type:
+            # Use the short type.
+            base_type = base_type.split('/')[-1]
+        # Check if the message overrides the native type name.
+        child = load_spec(base_type, spec, env)
+        constants = {x.name: x.val for x in child.constants}
+        ctype = constants.get('clearflight_type', base_type)
+        if ctype == 'auto':
+            # Remap messages named FooBar to fooBar_t
+            ctype = _lcfirst(base_type) + '_t'
+        return 'const {} *'.format(ctype)
+
+
+def generate_encoder_args(spec, env):
+    """Generates the function arguments for each field."""
+    for field in spec.parsed_fields():
+        ctype = get_type(field.base_type)
+        cname = _msg_type_to_cpp(field.base_type, spec, env)
+        if ctype is None:
+            yield '{}{}'.format(cname, field.name)
+            if field.is_array and field.array_len is None:
+                yield 'int n{}'.format(field.name)
+        else:
+            if field.is_array:
+                yield 'const {} *{}'.format(cname, field.name)
+                if field.array_len is None:
+                    yield 'int n{}'.format(field.name)
+            else:
+                yield '{} {}'.format(cname, field.name)
+
+
+def main():
+    msg_template_map = {'msg.h.template': '@NAME@.h'}
+
+    genmsg.template_tools.generate_from_command_line_options(
+        sys.argv, msg_template_map, None)
+
+if __name__ == '__main__':
+    main()
Author	SHA1	Message	Date
Michael Hope	ef4e9b86a2	Merge commit '70cda73' into dev	2015-05-29 05:32:40 +02:00
Michael Hope	df4cf69576	serial_msp: fix the CJMCU build by conditionally including the servos serializer. Signed-off-by: Michael Hope <mlhx@google.com>	2015-05-27 07:05:28 +02:00
Michael Hope	0152f2d644	leds: include the missing utils.h to pull in ARRAYLEN. Signed-off-by: Michael Hope <mlhx@google.com>	2015-05-27 07:04:46 +02:00
Michael Hope	466081105e	travis: switch to pip for fetching the genmsg dependencies. Ubuntu Precise doesn't have a pre-packaged version of catkin. Signed-off-by: Michael Hope <mlhx@google.com>	2015-05-27 06:44:10 +02:00
Michael Hope	9c3322221f	travis: install genmsg which is required by genmsp. Signed-off-by: Michael Hope <mlhx@google.com>	2015-05-27 06:38:02 +02:00
Michael Hope	6d276d49cb	Merge branch 'master' into dev	2015-05-27 06:18:01 +02:00
Michael Hope	b0aa2ee77d	serial_msp: use the generated serializers. Switch the manual code to call the generated serializers. Signed-off-by: Michael Hope <mlhx@google.com>	2015-05-27 05:30:30 +02:00
Michael Hope	5e68c0739f	build: generate message serializers as part of the build. Builds all messages under msg/ into the MSP form under obj/main/gen/msg/. Add a dependency for serial_msp.c to ensure they're built before use. Signed-off-by: Michael Hope <mlhx@google.com>	2015-05-27 05:28:54 +02:00
Michael Hope	e3612f0cf1	msg: add message defintions for a sampling of MSP messages. Signed-off-by: Michael Hope <mlhx@google.com>	2015-05-27 05:26:10 +02:00
Michael Hope	26740e253b	genmsg: add a template for generating flight side serializers. Signed-off-by: Michael Hope <mlhx@google.com>	2015-05-27 05:25:17 +02:00
Michael Hope	c7161788e6	genmsp: created a ROS message to MSP serializer generator. ROS messages are a simple text based format that can be converted to various native formats using text based templates. This patch adds the generator itself. Signed-off-by: Michael Hope <mlhx@google.com>	2015-05-27 05:23:35 +02:00
Michael Hope	9e7e2e7eb3	msp: rework the different size encoders. Tidy the encoders up. Reduce the code size stacking the encoders for different sizes. Signed-off-by: Michael Hope <mlhx@google.com>	2015-05-24 05:37:29 +02:00
Michael Hope	848d996d35	various: mark more constant data so it goes into flash instead of RAM. Signed-off-by: Michael Hope <mlhx@google.com>	2015-05-23 06:08:14 +02:00
Michael Hope	4658ff5b3c	Merge branch 'master' into dev	2015-05-23 05:25:41 +02:00
Michael Hope	34262c17cf	various: use enums to make the code easier to read. Signed-off-by: Michael Hope <mlhx@google.com>	2015-05-22 05:29:14 +02:00
Michael Hope	f0152a19ab	various: use ARRAYLEN() in more places. Signed-off-by: Michael Hope <mlhx@google.com>	2015-05-22 05:28:06 +02:00
Michael Hope	01276ca47b	gpio: change to argument struct to const. I had hoped this would also shrink the memory usage by letting the compiler put the incoming struct into flash, but it's already doing that. Signed-off-by: Michael Hope <mlhx@google.com>	2015-05-22 05:25:53 +02:00