AP_HAL_ChibiOS: BlitzF745AIO update to ICM-42688

enable OSD
use minimal FPV config
enable compass probing
pull uart pins high in bootloader for ELRS

libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/README.md

@@ -7,7 +7,7 @@ The Blitz F7 AIO is a flight controller produced by [iFlight](https://shop.iflig
 ## Features
 
  - MCU: BGA-STM32F745, 216MHz
- - Gyro: DPS310
+ - Gyro: BMI270 or ICM42688
  - 16Mb Onboard Flash
  - BEC output: 5V 2.5A
  - Barometer: DPS310 or None

libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/hwdef-bl.dat

@@ -38,5 +38,12 @@ PA15 FLASH1_CS CS
 PE4 OSD1_CS CS
 PA4 GYRO1_CS CS
 
+# Keep UART RX pins high to prevent ELRS going into bootloader mode
+PA10 USART1_RX USART1 OUTPUT HIGH
+PA3 USART2_RX USART2 OUTPUT HIGH
+PB11 USART3_RX USART3 OUTPUT HIGH
+PA1 UART4_RX UART4 OUTPUT HIGH
+PE7 UART7_RX UART7 OUTPUT HIGH
+
 PD15 LED0 OUTPUT LOW GPIO(90) # Blue LED
 define HAL_LED_ON 0

libraries/AP_HAL_ChibiOS/hwdef/BlitzF745AIO/hwdef.dat

@@ -3,6 +3,8 @@
 # for IFLIGHT_BLITZ_F7_AIO hardware.
 # thanks to betaflight for pin information
 
+DEFAULTGPIO OUTPUT LOW PULLDOWN
+
 # MCU class and specific type
 MCU STM32F7xx STM32F745xx
 
@@ -130,11 +132,12 @@ define STM32_I2C_USE_DMA FALSE
 # Dataflash setup
 SPIDEV dataflash SPI3 DEVID1 FLASH1_CS     MODE3 104*MHZ 104*MHZ
 SPIDEV bmi270    SPI1 DEVID1 GYRO1_CS      MODE3 2*MHZ 10*MHZ
+SPIDEV icm42688  SPI1 DEVID1 GYRO1_CS      MODE3 1*MHZ 16*MHZ
 
 define HAL_LOGGING_DATAFLASH_ENABLED 1
 
 # OSD setup
-# SPIDEV osd SPI4 DEVID1 OSD1_CS   MODE0  10*MHZ  10*MHZ
+SPIDEV osd SPI4 DEVID1 OSD1_CS   MODE0  10*MHZ  10*MHZ
 define OSD_ENABLED 1
 define HAL_OSD_TYPE_DEFAULT 1
 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
@@ -144,15 +147,17 @@ BARO DPS310 I2C:1:0x76
         
 # no built-in compass
 define ALLOW_ARM_NO_COMPASS
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 define HAL_I2C_INTERNAL_MASK 0
 
 define STM32_PWM_USE_ADVANCED TRUE
 
 # save some flash
-include ../include/save_some_flash.inc
+include ../include/minimize_fpv_osd.inc
 
 # one IMU: bmi270
 IMU BMI270 SPI:bmi270 ROTATION_ROLL_180_YAW_135
+IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_315
 define HAL_DEFAULT_INS_FAST_SAMPLE 1
 
 # Motor order implies Betaflight/X for standard ESCs
@@ -160,5 +165,3 @@ define HAL_FRAME_TYPE_DEFAULT 12
 
 # This is a whoop AIO board, not really suitable for anything other than copter
 AUTOBUILD_TARGETS Copter
-
-include ../include/no_bootloader_DFU.inc