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Simplify ESP32-S3 module and pinout selection, allow GRB and RGB LEDs #17

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983cdba
Added BoardConfig.hpp and references, added LED RGB/GRB option
Cyberslug Feb 24, 2026
3d1ab63
Remove auxiliary IO pin allocation comments
Cyberslug Mar 1, 2026
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48 changes: 48 additions & 0 deletions PlainFlightController/BoardConfig.hpp
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Original file line number Diff line number Diff line change
@@ -0,0 +1,48 @@
#pragma once

#include <cstdint>
#include "Config.hpp"

// Create new board definitions here to match your use case.
// Note: Only one board type should be defined.
namespace BoardConfig {
#ifdef BOARD_XIAO_ESP32S3
// Seeed Studio XIAO ESP32-S3
// Output pins (servo/motor channels 1-6)
static constexpr uint8_t OUTPUT_PIN_1 = 1U; // GPIO1 = D0
static constexpr uint8_t OUTPUT_PIN_2 = 2U; // GPIO2 = D1
static constexpr uint8_t OUTPUT_PIN_3 = 3U; // GPIO3 = D2
static constexpr uint8_t OUTPUT_PIN_4 = 4U; // GPIO4 = D3
static constexpr uint8_t OUTPUT_PIN_5 = 7U; // GPIO7 = D8
static constexpr uint8_t OUTPUT_PIN_6 = 8U; // GPIO8 = D9

//Auxillary IO pin allocation - only change if you know what you are doing
static constexpr uint8_t LED_ONBOARD = 21U; // GPIO21 = LED_BUILTIN
static constexpr uint8_t I2C_SDA = 12U; // GPIO12 not defined by arduino
static constexpr uint8_t I2C_SCL = 13U; // GPIO13 not defined by arduino
static constexpr uint8_t RECEIVER_RX = 44U; // GPIO44 = D7
static constexpr uint8_t RECEIVER_TX = 43U; // GPIO43
static constexpr uint8_t EXT_LED_PIN = 43U; // GPIO43 = D6
static constexpr uint8_t BATT_ADC_PIN = 9U; // GPIO9 = D10
#elif defined(BOARD_WAVESHARE_ZERO)
// Waveshare ESP32-S3 Zero
// Output pins (servo/motor channels 1-6)
static constexpr uint8_t OUTPUT_PIN_1 = 1U; // GPIO1 = D6
static constexpr uint8_t OUTPUT_PIN_2 = 2U; // GPIO2 = D5
static constexpr uint8_t OUTPUT_PIN_3 = 3U; // GPIO3 = D4
static constexpr uint8_t OUTPUT_PIN_4 = 4U; // GPIO4 = D3
static constexpr uint8_t OUTPUT_PIN_5 = 7U; // GPIO7 = D2
static constexpr uint8_t OUTPUT_PIN_6 = 8U; // GPIO8 = D1

//Auxillary IO pin allocation - only change if you know what you are doing
static constexpr uint8_t LED_ONBOARD = 21U; // GPIO21
static constexpr uint8_t I2C_SDA = 12U; // GPIO12 = OUTPUT_IO12
static constexpr uint8_t I2C_SCL = 13U; // GPIO13 = OUTPUT_IO13
static constexpr uint8_t EXT_LED_PIN = 11U; // GPIO11 = OUTPUT_IO11
static constexpr uint8_t RECEIVER_RX = 44U; // GPIO44 = RX
static constexpr uint8_t RECEIVER_TX = 43U; // GPIO43 = Tx
static constexpr uint8_t BATT_ADC_PIN = 9U; // GPIO9 = OUTPUT_IO09
#else
#error "No board defined. Please define a BOARD_xxx in Config.hpp"
#endif
}
18 changes: 8 additions & 10 deletions PlainFlightController/Config.hpp
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Expand Up @@ -29,6 +29,13 @@
#include "LedcServo.hpp"
#include "RxBase.hpp"

// Select board type here
#define BOARD_XIAO_ESP32S3
//#define BOARD_WAVESHARE_ZERO

// Select board type here
#define BOARD_XIAO_ESP32S3
//#define BOARD_WAVESHARE_ZERO

/**
* @class Config
Expand Down Expand Up @@ -71,6 +78,7 @@ class Config
static constexpr bool USE_EXTERNAL_LED = false;
static constexpr bool USE_ACRO_TRAINER = false; //When pitch & roll sticks centred levelled mode, else rate mode.
static constexpr bool USE_ONBOARD_NEOPIXEL = false; //When using Waveshare ESP32-S3 Zero/Tiny set to true, make sure LED pin is set correctly.
static constexpr bool SWAP_NEOPIXEL_RED_GREEN = false; //Some NeoPixel devices use GRB instead of RGB set this if the colours are incorrect
static constexpr bool REVERSE_PITCH_CORRECTIONS = false; //Set REVERSE_x_CORRECTIONS to true to reverse gyro/levelling corrections
static constexpr bool REVERSE_ROLL_CORRECTIONS = false;
static constexpr bool REVERSE_YAW_CORRECTIONS = false;
Expand Down Expand Up @@ -114,16 +122,6 @@ class Config
static constexpr bool DEBUG_MOTOR_OUTPUT = false;
static constexpr bool DEBUG_SERVO_OUTPUT = false;

//Auxillary IO pin allocation - only change if you know what you are doing
//Note: As default pins D0, D1, D2, D3, D8, D9 are used for motors/servos.
static constexpr uint8_t LED_ONBOARD = 21U; //Pin 21 on XIAO or use LED_BUILTIN. Waveshare boards do not recognise LED_BUILTIN... Tiny is pin 38, Zero in pin 21.
static constexpr uint8_t I2C_SDA = D4;
static constexpr uint8_t I2C_SCL = D5;
static constexpr uint8_t EXT_LED_PIN = D6;
static constexpr uint8_t RECEIVER_RX = 44U;
static constexpr uint8_t RECEIVER_TX = 43U; //Pin function not used but reserved
static constexpr uint8_t BATT_ADC_PIN = D10;

//USB serial
static constexpr uint32_t USB_BAUD = 500000U;
static constexpr HardwareSerial* const RECEIVER_UART = &Serial0;
Expand Down
4 changes: 2 additions & 2 deletions PlainFlightController/DemandProcessor.cpp
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Expand Up @@ -32,10 +32,10 @@ DemandProcessor::DemandProcessor()
// Add instantiation code here for new receiver protocols
if constexpr (Config::RECEIVER_TYPE == RxBase::ReceiverType::SBUS)
{
radioCtrl = new SBus(Config::RECEIVER_UART, Config::RECEIVER_RX, Config::RECEIVER_TX);
radioCtrl = new SBus(Config::RECEIVER_UART, BoardConfig::RECEIVER_RX, BoardConfig::RECEIVER_TX);
} else if constexpr (Config::RECEIVER_TYPE == RxBase::ReceiverType::CRSF)
{
radioCtrl = new Crsf(Config::RECEIVER_UART, Config::RECEIVER_RX, Config::RECEIVER_TX);
radioCtrl = new Crsf(Config::RECEIVER_UART, BoardConfig::RECEIVER_RX, BoardConfig::RECEIVER_TX);
}


Expand Down
1 change: 1 addition & 0 deletions PlainFlightController/DemandProcessor.hpp
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Expand Up @@ -29,6 +29,7 @@
#include "SBus.hpp"
#include "Crsf.hpp"
#include "Config.hpp"
#include "BoardConfig.hpp"
#include "Configurator.hpp"


Expand Down
9 changes: 5 additions & 4 deletions PlainFlightController/FlightControl.hpp
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Expand Up @@ -31,6 +31,7 @@
#include "PIDF.hpp"
#include "IMU.hpp"
#include "Config.hpp"
#include "BoardConfig.hpp"
#include "RxBase.hpp"
#include "Configurator.hpp"
#include "FileSystem.hpp"
Expand Down Expand Up @@ -74,13 +75,13 @@ class FlightControl : public Utilities
void processPIDF(DemandProcessor::Demands * const demands);

//Objects
Led statusLed = Led(Config::LED_ONBOARD);
LedNeopixel statusLedNeopixel = LedNeopixel(Config::LED_ONBOARD);
Led externLed = Led(Config::EXT_LED_PIN);
Led statusLed = Led(BoardConfig::LED_ONBOARD);
LedNeopixel statusLedNeopixel = LedNeopixel(BoardConfig::LED_ONBOARD);
Led externLed = Led(BoardConfig::EXT_LED_PIN);


DemandProcessor rc = DemandProcessor();
BatteryMonitor batteryMonitor = BatteryMonitor(Config::BATT_ADC_PIN);
BatteryMonitor batteryMonitor = BatteryMonitor(BoardConfig::BATT_ADC_PIN);
PIDF pitchPIDF = PIDF();
PIDF yawPIDF = PIDF();
PIDF rollPIDF = PIDF();
Expand Down
15 changes: 11 additions & 4 deletions PlainFlightController/LED.hpp
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Expand Up @@ -193,9 +193,16 @@ class LedNeopixel : public Led

virtual void setLed() override
{
rgbLedWrite(m_ledPin,
sequences[m_playSequence].led[m_idx].colour.red,
sequences[m_playSequence].led[m_idx].colour.green,
sequences[m_playSequence].led[m_idx].colour.blue);
if constexpr(Config::SWAP_NEOPIXEL_RED_GREEN){
rgbLedWrite(m_ledPin,
sequences[m_playSequence].led[m_idx].colour.green,
sequences[m_playSequence].led[m_idx].colour.red,
sequences[m_playSequence].led[m_idx].colour.blue);
} else {
rgbLedWrite(m_ledPin,
sequences[m_playSequence].led[m_idx].colour.red,
sequences[m_playSequence].led[m_idx].colour.green,
sequences[m_playSequence].led[m_idx].colour.blue);
}
}
};
125 changes: 63 additions & 62 deletions PlainFlightController/ModelTypes.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@
#include "Utilities.hpp"
#include "PIDF.hpp"
#include "Config.hpp"
#include "BoardConfig.hpp"
#include "DemandProcessor.hpp"


Expand Down Expand Up @@ -547,12 +548,12 @@ class PlaneFullHouse : public ModelBase
public:
static constexpr uint8_t NUMBER_MOTORS = 2U;
static constexpr uint8_t NUMBER_SERVOS = 4U;
static constexpr uint8_t SERVO_1_PIN = D0;
static constexpr uint8_t SERVO_2_PIN = D1;
static constexpr uint8_t SERVO_3_PIN = D2;
static constexpr uint8_t SERVO_4_PIN = D3;
static constexpr uint8_t MOTOR_1_PIN = D8;
static constexpr uint8_t MOTOR_2_PIN = D9;
static constexpr uint8_t SERVO_1_PIN = BoardConfig::OUTPUT_PIN_1;
static constexpr uint8_t SERVO_2_PIN = BoardConfig::OUTPUT_PIN_2;
static constexpr uint8_t SERVO_3_PIN = BoardConfig::OUTPUT_PIN_3;
static constexpr uint8_t SERVO_4_PIN = BoardConfig::OUTPUT_PIN_4;
static constexpr uint8_t MOTOR_1_PIN = BoardConfig::OUTPUT_PIN_5;
static constexpr uint8_t MOTOR_2_PIN = BoardConfig::OUTPUT_PIN_6;

//Configure this model as a quadcopter...
static constexpr ModelBase::ModelConfig m_modelConfig =
Expand Down Expand Up @@ -676,12 +677,12 @@ class PlaneFullHouseVTail : public ModelBase
public:
static constexpr uint8_t NUMBER_MOTORS = 2U;
static constexpr uint8_t NUMBER_SERVOS = 4U;
static constexpr uint8_t SERVO_1_PIN = D0;
static constexpr uint8_t SERVO_2_PIN = D1;
static constexpr uint8_t SERVO_3_PIN = D2;
static constexpr uint8_t SERVO_4_PIN = D3;
static constexpr uint8_t MOTOR_1_PIN = D8;
static constexpr uint8_t MOTOR_2_PIN = D9;
static constexpr uint8_t SERVO_1_PIN = BoardConfig::OUTPUT_PIN_1;
static constexpr uint8_t SERVO_2_PIN = BoardConfig::OUTPUT_PIN_2;
static constexpr uint8_t SERVO_3_PIN = BoardConfig::OUTPUT_PIN_3;
static constexpr uint8_t SERVO_4_PIN = BoardConfig::OUTPUT_PIN_4;
static constexpr uint8_t MOTOR_1_PIN = BoardConfig::OUTPUT_PIN_5;
static constexpr uint8_t MOTOR_2_PIN = BoardConfig::OUTPUT_PIN_6;

//Configure this model...
static constexpr ModelBase::ModelConfig m_modelConfig =
Expand Down Expand Up @@ -806,10 +807,10 @@ class PlaneAdvancedRudderElevator : public ModelBase
public:
static constexpr uint8_t NUMBER_MOTORS = 2U;
static constexpr uint8_t NUMBER_SERVOS = 2U;
static constexpr uint8_t SERVO_1_PIN = D0;
static constexpr uint8_t SERVO_2_PIN = D1;
static constexpr uint8_t MOTOR_1_PIN = D2;
static constexpr uint8_t MOTOR_2_PIN = D3;
static constexpr uint8_t SERVO_1_PIN = BoardConfig::OUTPUT_PIN_1;
static constexpr uint8_t SERVO_2_PIN = BoardConfig::OUTPUT_PIN_2;
static constexpr uint8_t MOTOR_1_PIN = BoardConfig::OUTPUT_PIN_3;
static constexpr uint8_t MOTOR_2_PIN = BoardConfig::OUTPUT_PIN_4;

//Configure this model...
static constexpr ModelBase::ModelConfig m_modelConfig =
Expand Down Expand Up @@ -911,10 +912,10 @@ class PlaneRudderElevator : public ModelBase
public:
static constexpr uint8_t NUMBER_MOTORS = 2U;
static constexpr uint8_t NUMBER_SERVOS = 2U;
static constexpr uint8_t SERVO_1_PIN = D0;
static constexpr uint8_t SERVO_2_PIN = D1;
static constexpr uint8_t MOTOR_1_PIN = D2;
static constexpr uint8_t MOTOR_2_PIN = D3;
static constexpr uint8_t SERVO_1_PIN = BoardConfig::OUTPUT_PIN_1;
static constexpr uint8_t SERVO_2_PIN = BoardConfig::OUTPUT_PIN_2;
static constexpr uint8_t MOTOR_1_PIN = BoardConfig::OUTPUT_PIN_3;
static constexpr uint8_t MOTOR_2_PIN = BoardConfig::OUTPUT_PIN_4;

//Configure this model...
static constexpr ModelBase::ModelConfig m_modelConfig =
Expand Down Expand Up @@ -1011,10 +1012,10 @@ class PlaneVTail : public ModelBase
public:
static constexpr uint8_t NUMBER_MOTORS = 2U;
static constexpr uint8_t NUMBER_SERVOS = 2U;
static constexpr uint8_t SERVO_1_PIN = D0;
static constexpr uint8_t SERVO_2_PIN = D1;
static constexpr uint8_t MOTOR_1_PIN = D2;
static constexpr uint8_t MOTOR_2_PIN = D3;
static constexpr uint8_t SERVO_1_PIN = BoardConfig::OUTPUT_PIN_1;
static constexpr uint8_t SERVO_2_PIN = BoardConfig::OUTPUT_PIN_2;
static constexpr uint8_t MOTOR_1_PIN = BoardConfig::OUTPUT_PIN_3;
static constexpr uint8_t MOTOR_2_PIN = BoardConfig::OUTPUT_PIN_4;

//Configure this model...
static constexpr ModelBase::ModelConfig m_modelConfig =
Expand Down Expand Up @@ -1117,12 +1118,12 @@ class PlaneFlyingWing : public ModelBase
public:
static constexpr uint8_t NUMBER_MOTORS = 2U;
static constexpr uint8_t NUMBER_SERVOS = 4U;
static constexpr uint8_t SERVO_1_PIN = D0;
static constexpr uint8_t SERVO_2_PIN = D1;
static constexpr uint8_t SERVO_3_PIN = D2;
static constexpr uint8_t SERVO_4_PIN = D3;
static constexpr uint8_t MOTOR_1_PIN = D8;
static constexpr uint8_t MOTOR_2_PIN = D9;
static constexpr uint8_t SERVO_1_PIN = BoardConfig::OUTPUT_PIN_1;
static constexpr uint8_t SERVO_2_PIN = BoardConfig::OUTPUT_PIN_2;
static constexpr uint8_t SERVO_3_PIN = BoardConfig::OUTPUT_PIN_3;
static constexpr uint8_t SERVO_4_PIN = BoardConfig::OUTPUT_PIN_4;
static constexpr uint8_t MOTOR_1_PIN = BoardConfig::OUTPUT_PIN_5;
static constexpr uint8_t MOTOR_2_PIN = BoardConfig::OUTPUT_PIN_6;

//Configure this model as a quadcopter...
static constexpr ModelBase::ModelConfig m_modelConfig =
Expand Down Expand Up @@ -1235,10 +1236,10 @@ class QuadXCopter : public ModelBase
public:
static constexpr uint8_t NUMBER_MOTORS = 4U;
static constexpr uint8_t NUMBER_SERVOS = 0U;
static constexpr uint8_t MOTOR_1_PIN = D0;
static constexpr uint8_t MOTOR_2_PIN = D1;
static constexpr uint8_t MOTOR_3_PIN = D2;
static constexpr uint8_t MOTOR_4_PIN = D3;
static constexpr uint8_t MOTOR_1_PIN = BoardConfig::OUTPUT_PIN_1;
static constexpr uint8_t MOTOR_2_PIN = BoardConfig::OUTPUT_PIN_2;
static constexpr uint8_t MOTOR_3_PIN = BoardConfig::OUTPUT_PIN_3;
static constexpr uint8_t MOTOR_4_PIN = BoardConfig::OUTPUT_PIN_4;

//Configure this model as a quadcopter...
static constexpr ModelBase::ModelConfig m_modelConfig =
Expand Down Expand Up @@ -1303,10 +1304,10 @@ class QuadPlusCopter : public ModelBase
public:
static constexpr uint8_t NUMBER_MOTORS = 4U;
static constexpr uint8_t NUMBER_SERVOS = 0U;
static constexpr uint8_t MOTOR_1_PIN = D0;
static constexpr uint8_t MOTOR_2_PIN = D1;
static constexpr uint8_t MOTOR_3_PIN = D2;
static constexpr uint8_t MOTOR_4_PIN = D3;
static constexpr uint8_t MOTOR_1_PIN = BoardConfig::OUTPUT_PIN_1;
static constexpr uint8_t MOTOR_2_PIN = BoardConfig::OUTPUT_PIN_2;
static constexpr uint8_t MOTOR_3_PIN = BoardConfig::OUTPUT_PIN_3;
static constexpr uint8_t MOTOR_4_PIN = BoardConfig::OUTPUT_PIN_4;

//Configure this model as a quadcopter...
static constexpr ModelBase::ModelConfig m_modelConfig =
Expand Down Expand Up @@ -1367,10 +1368,10 @@ class ChinookCopter : public ModelBase
public:
static constexpr uint8_t NUMBER_MOTORS = 2U;
static constexpr uint8_t NUMBER_SERVOS = 2U;
static constexpr uint8_t MOTOR_1_PIN = D0;
static constexpr uint8_t MOTOR_2_PIN = D1;
static constexpr uint8_t SERVO_1_PIN = D2;
static constexpr uint8_t SERVO_2_PIN = D3;
static constexpr uint8_t MOTOR_1_PIN = BoardConfig::OUTPUT_PIN_1;
static constexpr uint8_t MOTOR_2_PIN = BoardConfig::OUTPUT_PIN_2;
static constexpr uint8_t SERVO_1_PIN = BoardConfig::OUTPUT_PIN_3;
static constexpr uint8_t SERVO_2_PIN = BoardConfig::OUTPUT_PIN_4;

//Configure this model as a quadcopter...
static constexpr ModelBase::ModelConfig m_modelConfig =
Expand Down Expand Up @@ -1447,10 +1448,10 @@ class BiCopter : public ModelBase
public:
static constexpr uint8_t NUMBER_MOTORS = 2U;
static constexpr uint8_t NUMBER_SERVOS = 2U;
static constexpr uint8_t MOTOR_1_PIN = D0;
static constexpr uint8_t MOTOR_2_PIN = D1;
static constexpr uint8_t SERVO_1_PIN = D2;
static constexpr uint8_t SERVO_2_PIN = D3;
static constexpr uint8_t MOTOR_1_PIN = BoardConfig::OUTPUT_PIN_1;
static constexpr uint8_t MOTOR_2_PIN = BoardConfig::OUTPUT_PIN_2;
static constexpr uint8_t SERVO_1_PIN = BoardConfig::OUTPUT_PIN_3;
static constexpr uint8_t SERVO_2_PIN = BoardConfig::OUTPUT_PIN_4;

//Configure this model as a bicopter...
static constexpr ModelBase::ModelConfig m_modelConfig =
Expand Down Expand Up @@ -1526,12 +1527,12 @@ class TriCopter : public ModelBase
public:
static constexpr uint8_t NUMBER_MOTORS = 4U; //Puposely defining 4 as LEDc channels are pairs. We need 2 motor pairs then a lower refresh rate servo.
static constexpr uint8_t NUMBER_SERVOS = 2U; //Purposely defining 2 as LEDc channles are pairs.
static constexpr uint8_t MOTOR_1_PIN = D0;
static constexpr uint8_t MOTOR_2_PIN = D1;
static constexpr uint8_t MOTOR_3_PIN = D2;
static constexpr uint8_t MOTOR_4_PIN = D3; //Puposely defining 4 as LEDc channels are pairs. We need 2 motor pairs then a lower refresh rate servo.
static constexpr uint8_t SERVO_1_PIN = D8;
static constexpr uint8_t SERVO_2_PIN = D9;
static constexpr uint8_t MOTOR_1_PIN = BoardConfig::OUTPUT_PIN_1;
static constexpr uint8_t MOTOR_2_PIN = BoardConfig::OUTPUT_PIN_2;
static constexpr uint8_t MOTOR_3_PIN = BoardConfig::OUTPUT_PIN_3;
static constexpr uint8_t MOTOR_4_PIN = BoardConfig::OUTPUT_PIN_4; //Puposely defining 4 as LEDc channels are pairs. We need 2 motor pairs then a lower refresh rate servo.
static constexpr uint8_t SERVO_1_PIN = BoardConfig::OUTPUT_PIN_5;
static constexpr uint8_t SERVO_2_PIN = BoardConfig::OUTPUT_PIN_6;

//Configure this model as a tricopter...
static constexpr ModelBase::ModelConfig m_modelConfig =
Expand Down Expand Up @@ -1608,10 +1609,10 @@ class DualCopter : public ModelBase
public:
static constexpr uint8_t NUMBER_MOTORS = 2U;
static constexpr uint8_t NUMBER_SERVOS = 2U;
static constexpr uint8_t MOTOR_1_PIN = D0;
static constexpr uint8_t MOTOR_2_PIN = D1;
static constexpr uint8_t SERVO_1_PIN = D2;
static constexpr uint8_t SERVO_2_PIN = D3;
static constexpr uint8_t MOTOR_1_PIN = BoardConfig::OUTPUT_PIN_1;
static constexpr uint8_t MOTOR_2_PIN = BoardConfig::OUTPUT_PIN_2;
static constexpr uint8_t SERVO_1_PIN = BoardConfig::OUTPUT_PIN_3;
static constexpr uint8_t SERVO_2_PIN = BoardConfig::OUTPUT_PIN_4;

//Configure this model as a dualcopter...
static constexpr ModelBase::ModelConfig m_modelConfig =
Expand Down Expand Up @@ -1684,12 +1685,12 @@ class SingleCopter : public ModelBase
public:
static constexpr uint8_t NUMBER_MOTORS = 2U; //Puposely defining 2 as LEDc channels are pairs. We need 2 motor pairs then lower refresh rate servos.
static constexpr uint8_t NUMBER_SERVOS = 4U;
static constexpr uint8_t MOTOR_1_PIN = D0;
static constexpr uint8_t MOTOR_2_PIN = D1; //Puposely defining 2 as LEDc channels are pairs. We need 2 motor pairs then lower refresh rate servos.
static constexpr uint8_t SERVO_1_PIN = D2;
static constexpr uint8_t SERVO_2_PIN = D3;
static constexpr uint8_t SERVO_3_PIN = D8;
static constexpr uint8_t SERVO_4_PIN = D9;
static constexpr uint8_t MOTOR_1_PIN = BoardConfig::OUTPUT_PIN_1;
static constexpr uint8_t MOTOR_2_PIN = BoardConfig::OUTPUT_PIN_2; //Puposely defining 4 as LEDc channels are pairs. We need 2 motor pairs then a lower refresh rate servo.
static constexpr uint8_t SERVO_1_PIN = BoardConfig::OUTPUT_PIN_3;
static constexpr uint8_t SERVO_2_PIN = BoardConfig::OUTPUT_PIN_4;
static constexpr uint8_t SERVO_3_PIN = BoardConfig::OUTPUT_PIN_5;
static constexpr uint8_t SERVO_4_PIN = BoardConfig::OUTPUT_PIN_6;

//Configure this model as a singlecopter...
static constexpr ModelBase::ModelConfig m_modelConfig =
Expand Down
2 changes: 1 addition & 1 deletion PlainFlightController/Mpu6050.cpp
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Expand Up @@ -72,7 +72,7 @@ Mpu6050::initialise()
void
Mpu6050::begin()
{
i2c.begin(Config::I2C_SDA,Config::I2C_SCL,I2C_CLK_1MHZ);
i2c.begin(BoardConfig::I2C_SDA,BoardConfig::I2C_SCL,I2C_CLK_1MHZ);
i2c.begin();
}

Expand Down
2 changes: 1 addition & 1 deletion PlainFlightController/Mpu6050.hpp
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Expand Up @@ -25,7 +25,7 @@
#include <Arduino.h>
#include "ESP32_SoftWire.h"
#include "Config.hpp"

#include "BoardConfig.hpp"

class Mpu6050
{
Expand Down