Merge accidental master PRs into maintenance-9.x by sensei-hacker · Pull Request #11247 · iNavFlight/inav

sensei-hacker · 2026-01-14T08:25:55Z

PR Type

Enhancement, New Target

Description

Add new FrSky/Rotorflight VANTAC RF007 flight controller target
- Includes timer hardware configuration for 9 motor outputs
- Configures ICM42688P IMU, SPL06 barometer, and integrated FrSky FBUS receiver
- Sets up I2C2 and UART3 with resource conflict resolution
- Enables DSHOT_DMAR support with optimized timer setup
Add maintenance-9.x branch to nightly build workflow
- Enables automatic pre-release builds for RC releases
Add M25P16 flash support to RADIOLINKF722 target
- Provides alternative flash memory option alongside W25N01G

Diagram Walkthrough

flowchart LR
  A["New VANTAC_RF007<br/>Target"] --> B["Timer Hardware<br/>9 Motor Outputs"]
  A --> C["IMU & Sensors<br/>ICM42688P, SPL06"]
  A --> D["FrSky FBUS<br/>Receiver UART5"]
  A --> E["I2C2 & UART3<br/>Resource Config"]
  F["Nightly Build<br/>Workflow"] --> G["maintenance-9.x<br/>Branch Support"]
  H["RADIOLINKF722<br/>Target"] --> I["M25P16 Flash<br/>Support"]

File Walkthrough

Relevant files

New target

target.h `VANTAC RF007 board hardware configuration` src/main/target/VANTAC_RF007/target.h Defines STM32F722XE board configuration with identifier "F7B5" Configures ICM42605/ICM42688P IMU on SPI1 with CW90 degree alignment Sets up I2C1 for barometer (SPL06) and I2C2 for external sensors with UART3 sharing Defines 6 UART ports with FrSky FBUS receiver on UART5 Configures SPI2 for W25N01G blackbox flash storage Enables DSHOT and DSHOT_DMAR for ESC communication	+151/-0
target.c `Timer hardware and servo output mapping` src/main/target/VANTAC_RF007/target.c Defines 9 timer hardware outputs across TIM1, TIM2, TIM3, and TIM4 Maps servo outputs to pins labeled S1-S3, TAIL, ESC, RPM, TLM, AUX, SBUS Uses TIM_USE_OUTPUT_AUTO for flexible pin assignment Includes detailed comments on pin label conflicts with UART and I2C	+43/-0
config.c `Default motor timer configuration` src/main/target/VANTAC_RF007/config.c Implements targetConfiguration function for default motor setup Sets TIM1 as motor output by default for sane defaults Enables support for 1 or 4 motor configurations	+32/-0
CMakeLists.txt `CMake build configuration` src/main/target/VANTAC_RF007/CMakeLists.txt Adds CMake build configuration for VANTAC_RF007 target Specifies STM32F722XE microcontroller variant	+1/-0

Documentation

README.md `Target documentation and pin configuration guide` src/main/target/VANTAC_RF007/README.md Documents FrSky/Rotorflight VANTAC RF007 flight controller features Provides pin configuration table showing servo/UART/I2C pin assignments Includes hardware layout with STM32 pin mappings Notes port C data pin swap and receiver bind procedure References Rotorflight documentation and manufacturer manual	+73/-0

Configuration changes

nightly-build.yml `Add maintenance-9.x to nightly builds` .github/workflows/nightly-build.yml Adds maintenance-9.x branch to nightly build trigger Enables automatic pre-release builds for RC releases on maintenance branch Maintains existing master and maintenance-8.x.x branch triggers	+2/-1

Enhancement

target.h `Add M25P16 flash memory support` src/main/target/RADIOLINKF722/target.h Adds M25P16 flash memory support alongside existing W25N01G Defines M25P16_SPI_BUS and M25P16_CS_PIN on SPI3 Enables USE_FLASH_M25P16 configuration option Provides alternative flash storage option for the target	+4/-0

Quite similar to NEXUSX, but with FrSky built-in receiver

Apparently DSHOT_DMAR can only work with max 4 timers. With the previous timer setup this caused a limit of 7 motors. The new setup increases it 9. However, it costs some flexibility. The new default config sets up TIM1 as MOTOR by default, creating sane defaults for platforms with 1 or 4 motors.

This enables automatic pre-release builds when commits are pushed to the maintenance-9.x branch, providing complete firmware artifacts for RC releases.

RADIOLINKF722: add w25q128 flash

Add maintenance-9.x to nightly build workflow

New target: FrSky/Rotorflight Vantac RF007

qodo-code-review · 2026-01-14T08:27:20Z

PR Compliance Guide 🔍

All compliance sections have been disabled in the configurations.

qodo-code-review · 2026-01-14T08:28:50Z

src/main/target/RADIOLINKF722/target.h

 #define W25N01G_SPI_BUS BUS_SPI3
 #define W25N01G_CS_PIN  PD2

+#define M25P16_SPI_BUS BUS_SPI3
+#define M25P16_CS_PIN  PD2
+
 #define USE_BLACKBOX
 #define USE_FLASHFS
+#define USE_FLASH_M25P16
 #define USE_FLASH_W25N01G


Suggestion: Resolve a resource conflict by disabling one of the two flash chip drivers (USE_FLASH_M25P16 or USE_FLASH_W25N01G), as both are configured to use the same SPI bus and chip select pin. [possible issue, importance: 9]

Suggested change

#define W25N01G_SPI_BUS BUS_SPI3

#define W25N01G_CS_PIN PD2

#define M25P16_SPI_BUS BUS_SPI3

#define M25P16_CS_PIN PD2

#define USE_BLACKBOX

#define USE_FLASHFS

#define USE_FLASH_M25P16

#define USE_FLASH_W25N01G

#define W25N01G_SPI_BUS BUS_SPI3

#define W25N01G_CS_PIN PD2

#define M25P16_SPI_BUS BUS_SPI3

#define M25P16_CS_PIN PD2 // Or a different, unused pin

#define USE_BLACKBOX

#define USE_FLASHFS

// #define USE_FLASH_M25P16 // Disable one flash type to resolve conflict

#define USE_FLASH_W25N01G

qodo-code-review · 2026-01-14T08:28:50Z

src/main/target/VANTAC_RF007/target.h

+#define USE_UART1 // clashes with I2C1
+#define UART1_TX_PIN            PB6
+#define UART1_RX_PIN            PB7 // pin labelled "SBUS"


Suggestion: Resolve a pin conflict on PB6 and PB7 by disabling USE_UART1 by default, as these pins are also configured for timer outputs in target.c. [possible issue, importance: 7]

Suggested change

#define USE_UART1 // clashes with I2C1

#define UART1_TX_PIN PB6

#define UART1_RX_PIN PB7 // pin labelled "SBUS"

//#define USE_UART1 // clashes with I2C1 and PWM outputs on PB6/PB7

#define UART1_TX_PIN PB6

#define UART1_RX_PIN PB7 // pin labelled "SBUS"

qodo-code-review · 2026-01-14T08:28:50Z

src/main/target/VANTAC_RF007/config.c

+void targetConfiguration(void)
+{
+  // default "ESC" pin to be a motor
+  timerOverridesMutable(timer2id(TIM1))->outputMode = OUTPUT_MODE_MOTORS;
+}


Suggestion: timer2id() can return (uint8_t)-1 when TIM1 is not found; guard the returned id (and resulting pointer) before dereferencing to prevent out-of-bounds/NULL access and apply a safe fallback. [Learned best practice, importance: 6]

Suggested change

void targetConfiguration(void)

{

// default "ESC" pin to be a motor

timerOverridesMutable(timer2id(TIM1))->outputMode = OUTPUT_MODE_MOTORS;

}

void targetConfiguration(void)

{

// default "ESC" pin to be a motor

const uint8_t timId = timer2id(TIM1);

if (timId == (uint8_t)-1) {

return;

}

timerOverride_t *override = timerOverridesMutable(timId);

if (!override) {

return;

}

override->outputMode = OUTPUT_MODE_MOTORS;

}

functionpointer and others added 10 commits October 25, 2025 18:35

VANTAC_RF007: Add new target FrSky/Rotorflight Vantac RF007

e14ba5d

Quite similar to NEXUSX, but with FrSky built-in receiver

VANTAC_RF007: combine targets

0c6b4fd

VANTAC_RF007: Fix UART3/I2C2 resource conflict on port C

95a9795

VANTAC_RF007: Add MAG support

0fca2e4

Add maintenance-9.x to nightly build workflow

d890dd1

This enables automatic pre-release builds when commits are pushed to the maintenance-9.x branch, providing complete firmware artifacts for RC releases.

RADIOLINKF722: add w25q128 flash

65b9eb4

Merge pull request #11232 from radiolinkW/RADIOLINKF722

8ba8d27

RADIOLINKF722: add w25q128 flash

Merge pull request #11204 from iNavFlight/add-maintenance-9x-to-nightly

8892021

Add maintenance-9.x to nightly build workflow

Merge pull request #11082 from functionpointer/vantac_rf007

4001681

New target: FrSky/Rotorflight Vantac RF007

sensei-hacker changed the title ~~Merge accidnetal master PRs into maintenance-9.x~~ Merge accidental master PRs into maintenance-9.x Jan 14, 2026

sensei-hacker merged commit a7932b9 into maintenance-9.x Jan 14, 2026
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qodo-code-review bot added the Failed compliance check label Jan 14, 2026

qodo-code-review bot added the Review effort 3/5 label Jan 14, 2026

qodo-code-review bot reviewed Jan 14, 2026

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Merge accidental master PRs into maintenance-9.x#11247

Merge accidental master PRs into maintenance-9.x#11247
sensei-hacker merged 10 commits intomaintenance-9.xfrom
master

sensei-hacker commented Jan 14, 2026 •

edited by qodo-code-review bot

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qodo-code-review bot commented Jan 14, 2026

PR Compliance Guide 🔍

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sensei-hacker commented Jan 14, 2026 •

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