From df7b7319d78339e5ffee6889474ab11ee8e36ebe Mon Sep 17 00:00:00 2001
From: Hugo Chiang <hugo@gyroflow.xyz>
Date: Sat, 16 Nov 2024 19:52:03 +0800
Subject: [PATCH] add SKYSTARSSF405AIO target

---
 src/main/target/SKYSTARSF405HD/CMakeLists.txt |  3 ++-
 src/main/target/SKYSTARSF405HD/config.c       |  6 ++++++
 src/main/target/SKYSTARSF405HD/target.c       |  2 +-
 src/main/target/SKYSTARSF405HD/target.h       | 15 +++++++++++----
 4 files changed, 20 insertions(+), 6 deletions(-)

diff --git a/src/main/target/SKYSTARSF405HD/CMakeLists.txt b/src/main/target/SKYSTARSF405HD/CMakeLists.txt
index b097558284c..daa0577d443 100644
--- a/src/main/target/SKYSTARSF405HD/CMakeLists.txt
+++ b/src/main/target/SKYSTARSF405HD/CMakeLists.txt
@@ -1,2 +1,3 @@
 target_stm32f405xg(SKYSTARSF405HD)
-target_stm32f405xg(SKYSTARSF405HD2)
\ No newline at end of file
+target_stm32f405xg(SKYSTARSF405HD2)
+target_stm32f405xg(SKYSTARSF405AIO)
\ No newline at end of file
diff --git a/src/main/target/SKYSTARSF405HD/config.c b/src/main/target/SKYSTARSF405HD/config.c
index b34785c5b7d..ff0dffc7428 100644
--- a/src/main/target/SKYSTARSF405HD/config.c
+++ b/src/main/target/SKYSTARSF405HD/config.c
@@ -23,6 +23,7 @@
 #include "io/serial.h"
 #include "rx/rx.h"
 #include "drivers/pwm_mapping.h"
+#include "sensors/boardalignment.h"
 
 void targetConfiguration(void)
 {
@@ -30,4 +31,9 @@ void targetConfiguration(void)
 
     // To improve backwards compatibility with INAV versions 6.x and older
     timerOverridesMutable(timer2id(TIM2))->outputMode = OUTPUT_MODE_MOTORS;
+
+#if defined(SKYSTARSF405AIO)
+    boardAlignmentMutable()->yawDeciDegrees = 450;
+#endif
+
 }
diff --git a/src/main/target/SKYSTARSF405HD/target.c b/src/main/target/SKYSTARSF405HD/target.c
index cc4ff1c5a88..8e5a4663b3c 100644
--- a/src/main/target/SKYSTARSF405HD/target.c
+++ b/src/main/target/SKYSTARSF405HD/target.c
@@ -28,7 +28,7 @@ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM4, CH1, PB6,  TIM_USE_OUTPUT_AUTO, 0, 0),
     DEF_TIM(TIM3, CH1, PB4,  TIM_USE_OUTPUT_AUTO, 0, 0),
     DEF_TIM(TIM2, CH2, PB3,  TIM_USE_OUTPUT_AUTO, 0, 0),
-#if defined(SKYSTARSF405HD2)
+#if defined(SKYSTARSF405HD2) || defined(SKYSTARSF405AIO)
     DEF_TIM(TIM3, CH3, PB0,  TIM_USE_OUTPUT_AUTO, 0, 0),
     DEF_TIM(TIM3, CH4, PB1,  TIM_USE_OUTPUT_AUTO, 0, 0),
 #endif
diff --git a/src/main/target/SKYSTARSF405HD/target.h b/src/main/target/SKYSTARSF405HD/target.h
index 9b9805084f2..c3711fcb4c2 100644
--- a/src/main/target/SKYSTARSF405HD/target.h
+++ b/src/main/target/SKYSTARSF405HD/target.h
@@ -36,17 +36,14 @@
 #define SPI1_MOSI_PIN	        PA7
 
 #define USE_IMU_MPU6000
-#define IMU_MPU6000_ALIGN       CW180_DEG_FLIP
 #define MPU6000_SPI_BUS         BUS_SPI1
 #define MPU6000_CS_PIN          PA4
 
 #define USE_IMU_BMI270
-#define IMU_BMI270_ALIGN        CW180_DEG_FLIP
 #define BMI270_SPI_BUS          BUS_SPI1
 #define BMI270_CS_PIN           PA4
 
 #define USE_IMU_ICM42605
-#define IMU_ICM42605_ALIGN      CW180_DEG_FLIP
 #define ICM42605_SPI_BUS        BUS_SPI1
 #define ICM42605_CS_PIN         PA4
 
@@ -156,8 +153,18 @@
 #define USE_DSHOT
 #define USE_ESC_SENSOR
 
-#if defined(SKYSTARSF405HD2)
+#if defined(SKYSTARSF405HD2) || defined(SKYSTARSF405AIO)
 #define MAX_PWM_OUTPUT_PORTS    6
 #else
 #define MAX_PWM_OUTPUT_PORTS    4
 #endif
+
+#if defined(SKYSTARSF405AIO)
+#define IMU_MPU6000_ALIGN       CW0_DEG
+#define IMU_BMI270_ALIGN        CW0_DEG
+#define IMU_ICM42605_ALIGN      CW0_DEG
+#else
+#define IMU_MPU6000_ALIGN       CW180_DEG_FLIP
+#define IMU_BMI270_ALIGN        CW180_DEG_FLIP
+#define IMU_ICM42605_ALIGN      CW180_DEG_FLIP
+#endif