Release 7.0.0

.vscode/settings.json

@@ -2,7 +2,10 @@
     "files.associations": {
         "chrono": "c",
         "cmath": "c",
-        "ranges": "c"
+        "ranges": "c",
+        "platform.h": "c",
+        "timer.h": "c",
+        "bus.h": "c"
     },
     "editor.tabSize": 4,
     "editor.insertSpaces": true,

docs/Settings.md

@@ -5058,7 +5058,7 @@ Selection of pitot hardware.
 
 | Default | Min | Max |
 | --- | --- | --- |
-| VIRTUAL |  |  |
+| NONE |  |  |
 
 ---
 

src/main/fc/fc_msp.c

@@ -462,9 +462,9 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
             sbufWriteU16(dst, packSensorStatus());
             sbufWriteU16(dst, averageSystemLoadPercent);
             sbufWriteU8(dst, (getConfigBatteryProfile() << 4) | getConfigProfile());
-            sbufWriteU8(dst, getConfigMixerProfile());
             sbufWriteU32(dst, armingFlags);
             sbufWriteData(dst, &mspBoxModeFlags, sizeof(mspBoxModeFlags));
+            sbufWriteU8(dst, getConfigMixerProfile());
         }
         break;
 
@@ -2581,6 +2581,29 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
                         if (sbufBytesRemaining(src) > 0) {
                             vtxSettingsConfigMutable()->lowPowerDisarm = sbufReadU8(src);
                         }
+
+                        // //////////////////////////////////////////////////////////
+                        // this code is taken from BF, it's hack for HDZERO VTX MSP frame
+                        // API version 1.42 - this parameter kept separate since clients may already be supplying
+                        if (sbufBytesRemaining(src) >= 2) {
+                            sbufReadU16(src); //skip pitModeFreq
+                        }
+
+                        // API version 1.42 - extensions for non-encoded versions of the band, channel or frequency
+                        if (sbufBytesRemaining(src) >= 4) {
+                            uint8_t newBand = sbufReadU8(src);
+                            const uint8_t newChannel = sbufReadU8(src);
+                            vtxSettingsConfigMutable()->band = newBand;
+                            vtxSettingsConfigMutable()->channel = newChannel;
+                        }
+
+                       /* if (sbufBytesRemaining(src) >= 4) {
+                            sbufRead8(src); // freq_l
+                            sbufRead8(src); // freq_h
+                            sbufRead8(src); // band count
+                            sbufRead8(src); // channel count
+                        }*/
+                        // //////////////////////////////////////////////////////////
                     }
                 }
             }

src/main/fc/rc_controls.c

@@ -119,8 +119,7 @@ throttleStatus_e FAST_CODE NOINLINE calculateThrottleStatus(throttleStatusType_e
         value = rcCommand[THROTTLE];
     }
 
-    const uint16_t mid_throttle_deadband = rcControlsConfig()->mid_throttle_deadband;
-    bool midThrottle = value > (PWM_RANGE_MIDDLE - mid_throttle_deadband) && value < (PWM_RANGE_MIDDLE + mid_throttle_deadband);
+    bool midThrottle = value > (reversibleMotorsConfig()->deadband_low) && value < (reversibleMotorsConfig()->deadband_high);
     if ((feature(FEATURE_REVERSIBLE_MOTORS) && midThrottle) || (!feature(FEATURE_REVERSIBLE_MOTORS) && (value < rxConfig()->mincheck))) {
         return THROTTLE_LOW;
     }

src/main/fc/settings.yaml

@@ -588,7 +588,7 @@ groups:
     members:
       - name: pitot_hardware
         description: "Selection of pitot hardware."
-        default_value: "VIRTUAL"
+        default_value: "NONE"
         table: pitot_hardware
       - name: pitot_lpf_milli_hz
         min: 0

src/main/io/gps_ublox.c

@@ -1042,12 +1042,15 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
 
     gpsState.autoConfigStep = 0;
     ubx_capabilities.supported = ubx_capabilities.enabledGnss = ubx_capabilities.defaultGnss = 0;
-    do {
-        pollGnssCapabilities();
-        gpsState.autoConfigStep++;
-        ptWaitTimeout((ubx_capabilities.capMaxGnss != 0), GPS_CFG_CMD_TIMEOUT_MS);
-    } while (gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && ubx_capabilities.capMaxGnss == 0);
-
+    // M7 and earlier will never get pass this step, so skip it (#9440).
+    // UBLOX documents that this is M8N and later
+    if (gpsState.hwVersion > UBX_HW_VERSION_UBLOX7) {
+	do {
+	    pollGnssCapabilities();
+	    gpsState.autoConfigStep++;
+	    ptWaitTimeout((ubx_capabilities.capMaxGnss != 0), GPS_CFG_CMD_TIMEOUT_MS);
+	} while (gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && ubx_capabilities.capMaxGnss == 0);
+    }
     // Configure GPS module if enabled
     if (gpsState.gpsConfig->autoConfig) {
         // Configure GPS

src/main/io/osd.c

@@ -154,8 +154,9 @@
 
 #define OSD_MIN_FONT_VERSION 3
 
-static timeMs_t notify_settings_saved = 0;
-static bool     savingSettings = false;
+static timeMs_t linearDescentMessageMs  = 0;
+static timeMs_t notify_settings_saved   = 0;
+static bool     savingSettings          = false;
 
 static unsigned currentLayout = 0;
 static int layoutOverride = -1;
@@ -1000,6 +1001,9 @@ static const char * divertingToSafehomeMessage(void)
 
 static const char * navigationStateMessage(void)
 {
+    if (!posControl.rthState.rthLinearDescentActive && linearDescentMessageMs != 0)
+        linearDescentMessageMs = 0;
+
     switch (NAV_Status.state) {
         case MW_NAV_STATE_NONE:
             break;
@@ -1011,7 +1015,13 @@ static const char * navigationStateMessage(void)
             if (posControl.flags.rthTrackbackActive) {
                 return OSD_MESSAGE_STR(OSD_MSG_RTH_TRACKBACK);
             } else {
-                return OSD_MESSAGE_STR(OSD_MSG_HEADING_HOME);
+                if (posControl.rthState.rthLinearDescentActive && (linearDescentMessageMs == 0 || linearDescentMessageMs > millis())) {
+                    if (linearDescentMessageMs == 0)
+                        linearDescentMessageMs = millis() + 5000; // Show message for 5 seconds.
+
+                    return OSD_MESSAGE_STR(OSD_MSG_RTH_LINEAR_DESCENT);
+                } else 
+                    return OSD_MESSAGE_STR(OSD_MSG_HEADING_HOME);
             }
         case MW_NAV_STATE_HOLD_INFINIT:
             // Used by HOLD flight modes. No information to add.
@@ -1052,6 +1062,7 @@ static const char * navigationStateMessage(void)
             // Not used
             break;
     }
+
     return NULL;
 }
 

src/main/io/osd.h

@@ -93,6 +93,7 @@
 #define OSD_MSG_RTH_CLIMB           "ADJUSTING RTH ALTITUDE"
 #define OSD_MSG_RTH_TRACKBACK       "RTH BACK TRACKING"
 #define OSD_MSG_HEADING_HOME        "EN ROUTE TO HOME"
+#define OSD_MSG_RTH_LINEAR_DESCENT  "BEGIN LINEAR DESCENT"
 #define OSD_MSG_WP_FINISHED         "WP END>HOLDING POSITION"
 #define OSD_MSG_WP_LANDED           "WP END>LANDED"
 #define OSD_MSG_PREPARE_NEXT_WP     "PREPARING FOR NEXT WAYPOINT"

src/main/navigation/navigation.c

@@ -1227,6 +1227,9 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_INITIALIZE(navigati
 {
     UNUSED(previousState);
 
+    if (navConfig()->general.flags.rth_use_linear_descent && posControl.rthState.rthLinearDescentActive)
+                posControl.rthState.rthLinearDescentActive = false;
+
     if ((posControl.flags.estHeadingStatus == EST_NONE) || (posControl.flags.estAltStatus == EST_NONE) || !STATE(GPS_FIX_HOME)) {
         // Heading sensor, altitude sensor and HOME fix are mandatory for RTH. If not satisfied - switch to emergency landing
         // Relevant to failsafe forced RTH only. Switched RTH blocked in selectNavEventFromBoxModeInput if sensors unavailable.
@@ -1432,6 +1435,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigatio
 
         if (homeDistance <= METERS_TO_CENTIMETERS(navConfig()->general.rth_linear_descent_start_distance)) {
             posControl.rthState.rthFinalAltitude = posControl.rthState.homePosition.pos.z + navConfig()->general.rth_home_altitude;
+            posControl.rthState.rthLinearDescentActive = true;
         }
     }
 
@@ -1442,6 +1446,10 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_RTH_HEAD_HOME(navigatio
         if (isWaypointReached(tmpHomePos, 0)) {
             // Successfully reached position target - update XYZ-position
             setDesiredPosition(tmpHomePos, posControl.rthState.homePosition.heading, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
+
+            if (navConfig()->general.flags.rth_use_linear_descent && posControl.rthState.rthLinearDescentActive)
+                posControl.rthState.rthLinearDescentActive = false;
+
             return NAV_FSM_EVENT_SUCCESS;       // NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING
         } else {
             setDesiredPosition(tmpHomePos, 0, NAV_POS_UPDATE_Z | NAV_POS_UPDATE_XY);
@@ -4055,7 +4063,8 @@ bool navigationPositionEstimateIsHealthy(void)
 
 navArmingBlocker_e navigationIsBlockingArming(bool *usedBypass)
 {
-    const bool navBoxModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD) || (STATE(FIXED_WING_LEGACY) && IS_RC_MODE_ACTIVE(BOXNAVALTHOLD)) || (STATE(FIXED_WING_LEGACY) && (IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD) || IS_RC_MODE_ACTIVE(BOXNAVCRUISE)));
+    const bool navBoxModesEnabled = IS_RC_MODE_ACTIVE(BOXNAVRTH) || IS_RC_MODE_ACTIVE(BOXNAVWP) || IS_RC_MODE_ACTIVE(BOXNAVCOURSEHOLD) ||
+    IS_RC_MODE_ACTIVE(BOXNAVCRUISE) || IS_RC_MODE_ACTIVE(BOXNAVPOSHOLD) || (STATE(FIXED_WING_LEGACY) && IS_RC_MODE_ACTIVE(BOXNAVALTHOLD));
 
     if (usedBypass) {
         *usedBypass = false;

src/main/navigation/navigation_fixedwing.c

@@ -518,8 +518,8 @@ void applyFixedWingPositionController(timeUs_t currentTimeUs)
                 // POSITION_TARGET_UPDATE_RATE_HZ should be chosen keeping in mind that position target shouldn't be reached until next pos update occurs
                 // FIXME: verify the above
                 calculateVirtualPositionTarget_FW(HZ2S(MIN_POSITION_UPDATE_RATE_HZ) * 2);
-
                 updatePositionHeadingController_FW(currentTimeUs, deltaMicrosPositionUpdate);
+                needToCalculateCircularLoiter = false;
             }
             else {
                 // Position update has not occurred in time (first iteration or glitch), reset altitude controller

src/main/navigation/navigation_private.h

@@ -350,6 +350,7 @@ typedef struct {
     float                   rthInitialDistance;     // Distance when starting flight home
     fpVector3_t             homeTmpWaypoint;        // Temporary storage for home target
     fpVector3_t             originalHomePosition;   // the original rth home - save it, since it could be replaced by safehome or HOME_RESET
+    bool                    rthLinearDescentActive; // Activation status of Linear Descent
 } rthState_t;
 
 typedef enum {

src/main/target/AIRBOTF4/target.c

@@ -32,12 +32,13 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_OUTPUT_AUTO,               0, 0), // S6_OUT
     DEF_TIM(TIM4,  CH1, PB6,  TIM_USE_LED | TIM_USE_ANY,                   0, 0), // LED D1_ST0, n/a on older AIRBOTF4
 
-    DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM,                   0, 0), // PPM (5th pin on FlexiIO port)
-    DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM,                                 0, 0), // S2_IN
-    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0), // S3_IN
-    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0), // S4_IN
-    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0), // S5_IN
-    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0), // S6_IN
+    //Airbot F4 don't have those outputs, they exist only in the original Revo
+    // DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM,                   0, 0), // PPM (5th pin on FlexiIO port)
+    // DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM,                                 0, 0), // S2_IN
+    // DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0), // S3_IN
+    // DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0), // S4_IN
+    // DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0), // S5_IN
+    // DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0), // S6_IN
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/ALIENFLIGHTF4/target.c

@@ -23,11 +23,10 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_PWM | TIM_USE_PPM,               0, 1), // PWM1  - PA8  RC1  - DMA2_ST1
-    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_PWM,                             0, 0), // PWM2  - PB0  RC2  - DMA1_ST5
-    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_PWM,                             0, 0), // PWM3  - PB1  RC3  - DMA1_ST7
-    DEF_TIM(TIM1, CH2, PB14, TIM_USE_PWM,                             0, 1), // PWM4  - PA14 RC4  - DMA2_ST2
-    DEF_TIM(TIM1, CH3, PB15, TIM_USE_PWM | TIM_USE_LED,               0, 0), // PWM5  - PA15 RC5  - DMA2_ST6
+    // DEF_TIM(TIM1, CH1, PA8,  TIM_USE_PWM | TIM_USE_PPM,               0, 1), // PWM1  - PA8  RC1  - DMA2_ST1
+    // DEF_TIM(TIM3, CH3, PB0,  TIM_USE_PWM,                             0, 0), // PWM2  - PB0  RC2  - DMA1_ST5
+    // DEF_TIM(TIM3, CH4, PB1,  TIM_USE_PWM,                             0, 0), // PWM3  - PB1  RC3  - DMA1_ST7
+    // DEF_TIM(TIM1, CH2, PB14, TIM_USE_PWM,                             0, 1), // PWM4  - PA14 RC4  - DMA2_ST2
     DEF_TIM(TIM4, CH3, PB8,  TIM_USE_OUTPUT_AUTO,           0, 0), // PWM6  - PB8  OUT1 - DMA1_ST7
     DEF_TIM(TIM4, CH4, PB9,  TIM_USE_OUTPUT_AUTO,           0, 0), // PWM7  - PB9  OUT2 - DMA_NONE
     DEF_TIM(TIM5, CH1, PA0,  TIM_USE_OUTPUT_AUTO,           0, 0), // PWM8  - PA0  OUT3 - DMA1_ST2
@@ -36,6 +35,7 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM8, CH2, PC7,  TIM_USE_OUTPUT_AUTO,           0, 0), // PWM11 - PC7  OUT6 - DMA2_ST3
     DEF_TIM(TIM8, CH3, PC8,  TIM_USE_OUTPUT_AUTO,           0, 1), // PWM13 - PC8  OUT7 - DMA2_ST4
     DEF_TIM(TIM8, CH4, PC9,  TIM_USE_OUTPUT_AUTO,           0, 0), // PWM13 - PC9  OUT8 - DMA2_ST7
+    DEF_TIM(TIM1, CH3, PB15, TIM_USE_LED,                   0, 0), // PWM5  - PA15 RC5  - DMA2_ST6
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/ALIENFLIGHTNGF7/target.c

@@ -23,7 +23,6 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM1, CH1,  PA8,  TIM_USE_PPM | TIM_USE_LED,      0, 1), // PPM   - DMA2_ST1
     DEF_TIM(TIM8, CH1,  PC6,  TIM_USE_OUTPUT_AUTO,  0, 0), // PWM1  - DMA2_ST2
     DEF_TIM(TIM3, CH2,  PC7,  TIM_USE_OUTPUT_AUTO,  0, 0), // PWM2  - DMA1_ST5
     DEF_TIM(TIM8, CH2N, PB14, TIM_USE_OUTPUT_AUTO,  0, 0), // PWM3  - DMA2_ST3
@@ -36,6 +35,7 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM1, CH3N, PB15, TIM_USE_OUTPUT_AUTO,  0, 0), // PWM10 - DMA2_ST6
     DEF_TIM(TIM4, CH3,  PB8,  TIM_USE_OUTPUT_AUTO,  0, 0), // PWM11 - DMA1_ST7
     DEF_TIM(TIM4, CH4,  PB9,  TIM_USE_OUTPUT_AUTO,  0, 0), // PWM12 - DMA_NONE
+    DEF_TIM(TIM1, CH1,  PA8,  TIM_USE_LED,      0, 1),     // PPM   - DMA2_ST1
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/ANYFC/target.c

@@ -23,12 +23,12 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM,                      0, 0), // S1_IN
-    DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM,                                    0, 0), // S2_IN
-    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PWM,                                    0, 0), // S3_IN
-    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PWM,                                    0, 0), // S4_IN
-    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_PWM,                                    0, 0), // S6_IN
-    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM,                                    0, 0), // S5_IN
+    // DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM,                      0, 0), // S1_IN
+    // DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM,                                    0, 0), // S2_IN
+    // DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PWM,                                    0, 0), // S3_IN
+    // DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PWM,                                    0, 0), // S4_IN
+    // DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_PWM,                                    0, 0), // S6_IN
+    // DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM,                                    0, 0), // S5_IN
 
     DEF_TIM(TIM2,  CH2, PB3,  TIM_USE_OUTPUT_AUTO,                  0, 0), // S10_OUT 16
     DEF_TIM(TIM5,  CH1, PA0,  TIM_USE_OUTPUT_AUTO,                  0, 0), // S6_OUT 12

src/main/target/ANYFCF7/target.c

@@ -23,23 +23,26 @@
 #include "drivers/timer.h"
 
 timerHardware_t timerHardware[] = {
-    DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM,                   0, 0 ), // S1_IN
-    DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM,                                 0, 0 ), // S2_IN
-    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0 ), // S3_IN DMA2_ST2 DMA2_ST2
-    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0 ), // S4_IN DMA2_ST3 DMA2_ST2
-    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0 ), // S5_IN DMA2_ST4 DMA2_ST2
-    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_PWM | TIM_USE_OUTPUT_AUTO, 0, 0 ), // S6_IN DMA2_ST7
+    // DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM,                   0, 0 ), // S1_IN
+    // DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM,                                 0, 0 ), // S2_IN
+
+    DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S3_IN DMA2_ST2 DMA2_ST2
+    DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S4_IN DMA2_ST3 DMA2_ST2
+    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S5_IN DMA2_ST4 DMA2_ST2
+    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S6_IN DMA2_ST7
+
+    DEF_TIM(TIM4,  CH3, PB8,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S10_OUT 1 DMA1_ST7
+    DEF_TIM(TIM5,  CH3, PA2,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S6_OUT  2 DMA1_ST0
+    DEF_TIM(TIM4,  CH4, PB9,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S5_OUT
+    DEF_TIM(TIM5,  CH4, PA3,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S1_OUT  4 DMA1_ST1 DMA1_ST3
+    DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S2_OUT  3 DMA1_ST4
+    DEF_TIM(TIM9,  CH2, PE6,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S3_OUT
+    DEF_TIM(TIM3,  CH2, PB5,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S4_OUT DMA1_ST5
+    DEF_TIM(TIM5,  CH1, PA0,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S7_OUT DMA1_ST2
+    DEF_TIM(TIM2,  CH2, PB3,  TIM_USE_OUTPUT_AUTO | TIM_USE_LED,    0, 0 ), // S8_OUT DMA1_ST6
+    DEF_TIM(TIM3,  CH1, PB4,  TIM_USE_OUTPUT_AUTO,                  0, 0 ), // S9_OUT DMA1_ST4
+
 
-    DEF_TIM(TIM4,  CH3, PB8,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S10_OUT 1 DMA1_ST7
-    DEF_TIM(TIM5,  CH3, PA2,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S6_OUT  2 DMA1_ST0
-    DEF_TIM(TIM4,  CH4, PB9,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S5_OUT
-    DEF_TIM(TIM5,  CH4, PA3,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S1_OUT  4 DMA1_ST1 DMA1_ST3
-    DEF_TIM(TIM5,  CH2, PA1,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S2_OUT  3 DMA1_ST4
-    DEF_TIM(TIM9,  CH2, PE6,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S3_OUT
-    DEF_TIM(TIM3,  CH2, PB5,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S4_OUT DMA1_ST5
-    DEF_TIM(TIM5,  CH1, PA0,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S7_OUT DMA1_ST2
-    DEF_TIM(TIM2,  CH2, PB3,  TIM_USE_OUTPUT_AUTO | TIM_USE_LED, 0, 0 ), // S8_OUT DMA1_ST6
-    DEF_TIM(TIM3,  CH1, PB4,  TIM_USE_OUTPUT_AUTO,               0, 0 ), // S9_OUT DMA1_ST4
 };
 
 const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);