ardupilot/libraries/AP_HAL_ChibiOS/hwdef/scripts/defaults_iofirmware.h

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// this file is inserted (by chibios_hwdef.py) into hwdef.h when
// configuring for iofirmware builds
#define HAL_DSHOT_ALARM_ENABLED 0
#define HAL_LOGGING_ENABLED 0
// IOMCUs *definitely* don't use the FFT library:
#ifndef HAL_GYROFFT_ENABLED
#define HAL_GYROFFT_ENABLED 0
#endif
// by default IOMCUs don't use INS:
#ifndef AP_INERTIALSENSOR_ENABLED
#define AP_INERTIALSENSOR_ENABLED 0
#endif
// no RC_Channels library:
#ifndef AP_RC_CHANNEL_ENABLED
#define AP_RC_CHANNEL_ENABLED 0
#endif
#ifndef AP_VIDEOTX_ENABLED
#define AP_VIDEOTX_ENABLED 0
#endif
// make diagnosing Faults (e.g. HardFault) harder, but save bytes:
#ifndef AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED
#define AP_FAULTHANDLER_DEBUG_VARIABLES_ENABLED 0
#endif
// disable some protocols on iomcu:
#define AP_RCPROTOCOL_FASTSBUS_ENABLED 0
// no crossfire telemetry from iomcu!
#define HAL_CRSF_TELEM_ENABLED 0
// allow the IOMCU to have its allowed protocols to be set:
#define AP_RCPROTOCOL_ENABLE_SET_RC_PROTOCOLS 1