Merge pull request #7928 from iNavFlight/dzikuvx-configurable-outputs…

…-mode Configurable outputs mode
iNavFlight · Mar 30, 2022 · 362f5c5 · 362f5c5
2 parents 9c3d413 + 665af0f
commit 362f5c5
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Showing 103 changed files with 159 additions and 101 deletions.
diff --git a/docs/Settings.md b/docs/Settings.md
@@ -4712,6 +4712,16 @@ Video system used. Possible values are `AUTO`, `PAL`, `NTSC`, and `HD`
 
 ---
 
+### output_mode
+
+Output function assignment mode. AUTO assigns outputs according to the default mapping, SERVOS assigns all outputs to servos, MOTORS assigns all outputs to motors
+
+| Default | Min | Max |
+| --- | --- | --- |
+| AUTO |  |  |
+
+---
+
 ### pid_type
 
 Allows to set type of PID controller used in control loop. Possible values: `NONE`, `PID`, `PIFF`, `AUTO`. Change only in case of experimental platforms like VTOL, tailsitters, rovers, boats, etc. Airplanes should always use `PIFF` and multirotors `PID`

diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
@@ -198,13 +198,44 @@ static bool checkPwmTimerConflicts(const timerHardware_t *timHw)
     return false;
 }
 
+static void timerHardwareOverride(timerHardware_t * timer) {
+    if (mixerConfig()->outputMode == OUTPUT_MODE_SERVOS) {
+
+        //Motors are rewritten as servos
+        if (timer->usageFlags & TIM_USE_MC_MOTOR) {
+            timer->usageFlags = timer->usageFlags & ~TIM_USE_MC_MOTOR;
+            timer->usageFlags = timer->usageFlags | TIM_USE_MC_SERVO;
+        }
+        if (timer->usageFlags & TIM_USE_FW_MOTOR) {
+            timer->usageFlags = timer->usageFlags & ~TIM_USE_FW_MOTOR;
+            timer->usageFlags = timer->usageFlags | TIM_USE_FW_SERVO;
+        }
+
+    } else if (mixerConfig()->outputMode == OUTPUT_MODE_MOTORS) {
+
+        // Servos are rewritten as motors
+        if (timer->usageFlags & TIM_USE_MC_SERVO) {
+            timer->usageFlags = timer->usageFlags & ~TIM_USE_MC_SERVO;
+            timer->usageFlags = timer->usageFlags | TIM_USE_MC_MOTOR;
+        }
+        if (timer->usageFlags & TIM_USE_FW_SERVO) {
+            timer->usageFlags = timer->usageFlags & ~TIM_USE_FW_SERVO;
+            timer->usageFlags = timer->usageFlags | TIM_USE_FW_MOTOR;
+        }
+    }
+}
+
 void pwmBuildTimerOutputList(timMotorServoHardware_t * timOutputs, bool isMixerUsingServos)
 {
     timOutputs->maxTimMotorCount = 0;
     timOutputs->maxTimServoCount = 0;
 
     for (int idx = 0; idx < timerHardwareCount; idx++) {
-        const timerHardware_t *timHw = &timerHardware[idx];
+
+        timerHardware_t *timHw = &timerHardware[idx];
+
+        timerHardwareOverride(timHw);
+
         int type = MAP_TO_NONE;
 
         // Check for known conflicts (i.e. UART, LEDSTRIP, Rangefinder and ADC)

diff --git a/src/main/drivers/timer.h b/src/main/drivers/timer.h
@@ -136,7 +136,7 @@ extern timHardwareContext_t * timerCtx[HARDWARE_TIMER_DEFINITION_COUNT];
 extern const timerDef_t timerDefinitions[HARDWARE_TIMER_DEFINITION_COUNT];
 
 // Per target timer output definitions
-extern const timerHardware_t timerHardware[];
+extern timerHardware_t timerHardware[];
 extern const int timerHardwareCount;
 
 typedef enum {

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
@@ -1484,8 +1484,9 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
 
     case MSP2_INAV_OUTPUT_MAPPING:
         for (uint8_t i = 0; i < timerHardwareCount; ++i)
-            if (!(timerHardware[i].usageFlags & (TIM_USE_PPM | TIM_USE_PWM)))
+            if (!(timerHardware[i].usageFlags & (TIM_USE_PPM | TIM_USE_PWM))) {
                 sbufWriteU8(dst, timerHardware[i].usageFlags);
+            }
         break;
 
     case MSP2_INAV_MC_BRAKING:

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
@@ -122,7 +122,9 @@ tables:
     enum: smartportFuelUnit_e
   - name: platform_type
     values: ["MULTIROTOR", "AIRPLANE", "HELICOPTER", "TRICOPTER", "ROVER", "BOAT"]
-    enum: flyingPlatformType_e
+  - name: output_mode
+    values: ["AUTO", "MOTORS", "SERVOS"]
+    enum: outputMode_e
   - name: tz_automatic_dst
     values: ["OFF", "EU", "USA"]
     enum: tz_automatic_dst_e
@@ -1262,6 +1264,11 @@ groups:
         field: appliedMixerPreset
         min: -1
         max: INT16_MAX
+      - name: output_mode
+        description: "Output function assignment mode. AUTO assigns outputs according to the default mapping, SERVOS assigns all outputs to servos, MOTORS assigns all outputs to motors"
+        default_value: "AUTO"
+        field: outputMode
+        table: output_mode
 
   - name: PG_REVERSIBLE_MOTORS_CONFIG
     type: reversibleMotorsConfig_t

diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
@@ -83,13 +83,14 @@ PG_RESET_TEMPLATE(reversibleMotorsConfig_t, reversibleMotorsConfig,
     .neutral = SETTING_3D_NEUTRAL_DEFAULT
 );
 
-PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 4);
+PG_REGISTER_WITH_RESET_TEMPLATE(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 5);
 
 PG_RESET_TEMPLATE(mixerConfig_t, mixerConfig,
     .motorDirectionInverted = SETTING_MOTOR_DIRECTION_INVERTED_DEFAULT,
     .platformType = SETTING_PLATFORM_TYPE_DEFAULT,
     .hasFlaps = SETTING_HAS_FLAPS_DEFAULT,
     .appliedMixerPreset = SETTING_MODEL_PREVIEW_TYPE_DEFAULT, //This flag is not available in CLI and used by Configurator only
+    .outputMode = SETTING_OUTPUT_MODE_DEFAULT,
 );
 
 #ifdef BRUSHED_MOTORS

diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
@@ -42,6 +42,13 @@ typedef enum {
     PLATFORM_OTHER          = 6
 } flyingPlatformType_e;
 
+
+typedef enum {
+    OUTPUT_MODE_AUTO     = 0,
+    OUTPUT_MODE_MOTORS,
+    OUTPUT_MODE_SERVOS
+} outputMode_e;
+
 typedef struct motorAxisCorrectionLimits_s {
     int16_t min;
     int16_t max;
@@ -62,6 +69,7 @@ typedef struct mixerConfig_s {
     uint8_t platformType;
     bool hasFlaps;
     int16_t appliedMixerPreset;
+    uint8_t outputMode;
 } mixerConfig_t;
 
 PG_DECLARE(mixerConfig_t, mixerConfig);

diff --git a/src/main/target/AIKONF4/target.c b/src/main/target/AIKONF4/target.c
@@ -27,7 +27,7 @@
 #include "drivers/timer.h"
 #include "drivers/timer_def.h"
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     // DEF_TIM(TIM2,  CH2,  PB3,  TIM_USE_CAMERA_CONTROL,      0, 0), // There is not camera control in INAV
     DEF_TIM(TIM8,  CH1,  PC6,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO,                     0, 0), // S1
     DEF_TIM(TIM8,  CH2,  PC7,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO,                     0, 0), // S2

diff --git a/src/main/target/AIRBOTF4/target.c b/src/main/target/AIRBOTF4/target.c
@@ -23,7 +23,7 @@
 #include "drivers/timer.h"
 #include "drivers/bus.h"
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,                                  0, 0), // S1_OUT D1_ST7
     DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,                                  0, 0), // S2_OUT D1_ST2
     DEF_TIM(TIM2,  CH4, PA3,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO,                                  0, 1), // S3_OUT D1_ST6

diff --git a/src/main/target/AIRBOTF7/target.c b/src/main/target/AIRBOTF7/target.c
@@ -41,7 +41,7 @@ BUSDEV_REGISTER_SPI_TAG(busdev_imu1_mpu6000,    DEVHW_MPU6000,  GYRO_1_SPI_BUS,
 BUSDEV_REGISTER_SPI_TAG(busdev_imu1_mpu6500,    DEVHW_MPU6500,  GYRO_1_SPI_BUS,  GYRO_1_CS_PIN,   GYRO_1_EXTI_PIN,     1,  DEVFLAGS_NONE,   GYRO_1_ALIGN);
 #endif
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     DEF_TIM(TIM2,  CH1, PA15, TIM_USE_LED,              0, 0), // LED
     DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_ANY,              0, 0), // Cam control, SS, UNUSED
 

diff --git a/src/main/target/AIRHEROF3/target.c b/src/main/target/AIRHEROF3/target.c
@@ -24,7 +24,7 @@
 #include "drivers/timer.h"
 #include "drivers/bus.h"
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     DEF_TIM(TIM2,   CH1, PA0,  TIM_USE_PPM | TIM_USE_PWM, 0),
     DEF_TIM(TIM2,   CH2, PA1,  TIM_USE_PWM,               0),
     DEF_TIM(TIM2,   CH3, PA2,  TIM_USE_PWM,               0),

diff --git a/src/main/target/ALIENFLIGHTF3/target.c b/src/main/target/ALIENFLIGHTF3/target.c
@@ -22,7 +22,7 @@
 #include "drivers/pwm_mapping.h"
 #include "drivers/timer.h"
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     // up to 10 Motor Outputs
     DEF_TIM(TIM1,  CH3N, PB15, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,               0), // PWM1  - PB15 - NONE
     DEF_TIM(TIM15, CH1,  PB14, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,               0), // PWM2  - PB14 - DMA1_CH5

diff --git a/src/main/target/ALIENFLIGHTF4/target.c b/src/main/target/ALIENFLIGHTF4/target.c
@@ -22,7 +22,7 @@
 #include "drivers/pwm_mapping.h"
 #include "drivers/timer.h"
 
-const timerHardware_t timerHardware[] = {
+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

diff --git a/src/main/target/ALIENFLIGHTNGF7/target.c b/src/main/target/ALIENFLIGHTNGF7/target.c
@@ -22,7 +22,7 @@
 #include "drivers/pwm_mapping.h"
 #include "drivers/timer.h"
 
-const timerHardware_t timerHardware[] = {
+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_MC_SERVO,                     0, 0), // PWM1  - DMA2_ST2
     DEF_TIM(TIM3, CH2,  PC7,  TIM_USE_MC_SERVO,                     0, 0), // PWM2  - DMA1_ST5

diff --git a/src/main/target/ANYFC/target.c b/src/main/target/ANYFC/target.c
@@ -22,7 +22,7 @@
 #include "drivers/pwm_mapping.h"
 #include "drivers/timer.h"
 
-const timerHardware_t timerHardware[] = {
+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

diff --git a/src/main/target/ANYFCF7/target.c b/src/main/target/ANYFCF7/target.c
@@ -22,7 +22,7 @@
 #include "drivers/pwm_mapping.h"
 #include "drivers/timer.h"
 
-const timerHardware_t timerHardware[] = {
+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_MC_SERVO,                    0, 0 ), // S3_IN DMA2_ST2 DMA2_ST2

diff --git a/src/main/target/ANYFCM7/target.c b/src/main/target/ANYFCM7/target.c
@@ -25,7 +25,7 @@
 #define TIM_EN      TIMER_OUTPUT_ENABLED
 #define TIM_EN_N    TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_N_CHANNEL
 
-const timerHardware_t timerHardware[] = {
+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 DMA2_ST2 DMA2_ST2

diff --git a/src/main/target/ASGARD32F4/target.c b/src/main/target/ASGARD32F4/target.c
@@ -30,7 +30,7 @@
 #include "drivers/timer.h"
 #include "drivers/bus.h"
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     // DEF_TIM(TIM1,  CH1, PA8, TIM_USE_PPM,        0, 0), // PPM  - timer clash with SS1_TX
 
     DEF_TIM(TIM8,  CH3, PC8, TIM_USE_MC_MOTOR,   1, 1), // M1 - D(2, 4, 7)

diff --git a/src/main/target/ASGARD32F7/target.c b/src/main/target/ASGARD32F7/target.c
@@ -30,7 +30,7 @@
 #include "drivers/timer.h"
 #include "drivers/bus.h"
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     // DEF_TIM(TIM1,  CH1, PA8, TIM_USE_PPM,        0, 0), // PPM  - timer clash with SS1_TX
 
     DEF_TIM(TIM8,  CH3, PC8, TIM_USE_MC_MOTOR,   1, 0), // M1 - D(2, 4, 7)

diff --git a/src/main/target/BEEROTORF4/target.c b/src/main/target/BEEROTORF4/target.c
@@ -23,7 +23,7 @@
 #include "drivers/pwm_mapping.h"
 #include "drivers/timer.h"
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     DEF_TIM(TIM9, CH2,  PA3, TIM_USE_PPM,                                               0, 0), // PPM IN
 
     DEF_TIM(TIM1, CH2N, PB0, TIM_USE_MC_MOTOR |                    TIM_USE_FW_MOTOR,    0, 0), // M1 - DMAR: DMA2_ST5

diff --git a/src/main/target/BETAFLIGHTF3/target.c b/src/main/target/BETAFLIGHTF3/target.c
@@ -24,7 +24,7 @@
 #include "drivers/timer.h"
 #include "drivers/pwm_mapping.h"
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     DEF_TIM(TIM4,  CH2,  PB7, TIM_USE_PPM,                          0), // PPM  DMA(1,4)
 
     // Motors 1-4

diff --git a/src/main/target/BETAFLIGHTF4/target.c b/src/main/target/BETAFLIGHTF4/target.c
@@ -23,7 +23,7 @@
 /*#include "drivers/dma.h"*/
 #include "drivers/timer.h"
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     DEF_TIM(TIM4, CH3, PB8,  TIM_USE_PPM,                               0, 0), // PPM
 
     // Motors

diff --git a/src/main/target/BETAFPVF722/target.c b/src/main/target/BETAFPVF722/target.c
@@ -24,7 +24,7 @@
 #include "drivers/pwm_mapping.h"
 #include "drivers/timer.h"
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     DEF_TIM(TIM1, CH3, PA10, TIM_USE_PPM,     0, 0),                     // PPM
 
     DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR, 0, 0),                     // S1 D(1, 4, 5)

diff --git a/src/main/target/BLUEJAYF4/target.c b/src/main/target/BLUEJAYF4/target.c
@@ -22,7 +22,7 @@
 #include "drivers/pwm_mapping.h"
 #include "drivers/timer.h"
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     DEF_TIM(TIM8, CH2,  PC7, TIM_USE_PPM,                 0, 0 ), // PPM IN
 
     DEF_TIM(TIM5, CH1,  PA0, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,               0, 0 ), // S1_OUT - DMA1_ST2

diff --git a/src/main/target/CLRACINGF4AIR/target.c b/src/main/target/CLRACINGF4AIR/target.c
@@ -20,7 +20,7 @@
  #include "drivers/pwm_mapping.h"
  #include "drivers/timer.h"
 
- const timerHardware_t timerHardware[] = {
+ timerHardware_t timerHardware[] = {
     DEF_TIM(TIM11, CH1,  PB9, TIM_USE_PPM,  0, 0),
     DEF_TIM(TIM4,  CH3,  PB8, TIM_USE_LED,  0, 0),
 

diff --git a/src/main/target/COLIBRI/target.c b/src/main/target/COLIBRI/target.c
@@ -23,7 +23,7 @@
 #include "drivers/pwm_mapping.h"
 #include "drivers/timer.h"
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     DEF_TIM(TIM1,  CH3, PA10, TIM_USE_PWM | TIM_USE_PPM, 0, 0), // S1_IN
     DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_PWM,               0, 0), // S2_IN
     DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_PWM,               0, 0), // S3_IN

diff --git a/src/main/target/COLIBRI_RACE/target.c b/src/main/target/COLIBRI_RACE/target.c
@@ -22,7 +22,7 @@
 #include "drivers/pwm_mapping.h"
 #include "drivers/timer.h"
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_PPM,                          0), // PWM1 - PA8
     DEF_TIM(TIM3,  CH1, PC6,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,  0), // PWM2 - PC6
     DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO,  0), // PWM3 - PC7

diff --git a/src/main/target/DALRCF405/target.c b/src/main/target/DALRCF405/target.c
@@ -21,7 +21,7 @@
 #include "drivers/pwm_mapping.h"
 #include "drivers/timer.h"
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     DEF_TIM(TIM12, CH2, PB15,  TIM_USE_PPM,                                          0, 0), // PPM
 
     DEF_TIM(TIM3, CH3, PB0,  TIM_USE_MC_MOTOR | TIM_USE_MC_SERVO | TIM_USE_FW_MOTOR, 0, 0),   // S1 (1,7)

diff --git a/src/main/target/DALRCF722DUAL/target.c b/src/main/target/DALRCF722DUAL/target.c
@@ -27,7 +27,7 @@
 #define TIM_EN      TIMER_OUTPUT_ENABLED
 #define TIM_EN_N    TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_N_CHANNEL
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     DEF_TIM(TIM4, CH2, PB7, TIM_USE_PPM ,0, 0),
 
     DEF_TIM(TIM8, CH1, PC6, TIM_USE_MC_MOTOR |  TIM_USE_FW_MOTOR,0,0), //S1 DMA2_ST2  T8CH1

diff --git a/src/main/target/F4BY/target.c b/src/main/target/F4BY/target.c
@@ -5,7 +5,7 @@
 #include "drivers/pwm_mapping.h"
 #include "drivers/timer.h"
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3, CH4, PC9,  TIM_USE_PPM | TIM_USE_PWM,   0, 0), // S1_IN
     DEF_TIM(TIM3, CH3, PC8,  TIM_USE_PWM,   0, 0), // S2_IN
     DEF_TIM(TIM3, CH1, PC6,  TIM_USE_PWM,   0, 0), // S3_IN

diff --git a/src/main/target/FALCORE/target.c b/src/main/target/FALCORE/target.c
@@ -22,7 +22,7 @@
 #include "drivers/pwm_mapping.h"
 #include "drivers/timer.h"
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     // MOTOR outputs
     DEF_TIM(TIM8,  CH1, PC6,  TIM_USE_MC_MOTOR, 1),
     DEF_TIM(TIM8,  CH2, PC7,  TIM_USE_MC_MOTOR, 1),

diff --git a/src/main/target/FF_F35_LIGHTNING/target.c b/src/main/target/FF_F35_LIGHTNING/target.c
@@ -21,7 +21,7 @@
 #include "drivers/pwm_mapping.h"
 #include "drivers/timer.h"
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
 
     DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 1, 0),
     DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 1, 0),

diff --git a/src/main/target/FF_FORTINIF4/target.c b/src/main/target/FF_FORTINIF4/target.c
@@ -22,7 +22,7 @@
 #include "drivers/pwm_mapping.h"
 #include "drivers/timer.h"
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 1, 0 ), // S1_OUT - DMA1_ST7
     DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 1, 0 ), // S2_OUT - DMA1_ST2
     DEF_TIM(TIM2, CH4, PA3, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 1, 1 ), // S3_OUT - DMA1_ST6

diff --git a/src/main/target/FF_PIKOF4/target.c b/src/main/target/FF_PIKOF4/target.c
@@ -24,7 +24,7 @@
 
 #define TIM_EN      TIMER_OUTPUT_ENABLED
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
 #if defined(FF_PIKOF4OSD)
     DEF_TIM(TIM2,  CH4, PA3,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,  0, 0 ),
     DEF_TIM(TIM3,  CH3, PB1,  TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR,  0, 0 ),

diff --git a/src/main/target/FIREWORKSV2/target.c b/src/main/target/FIREWORKSV2/target.c
@@ -43,7 +43,7 @@ BUSDEV_REGISTER_SPI_TAG(busdev_1_mpu6500,   DEVHW_MPU6500,  IMU_1_SPI_BUS,  IMU_
 BUSDEV_REGISTER_SPI_TAG(busdev_2_mpu6000,   DEVHW_MPU6000,  IMU_2_SPI_BUS,  IMU_2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU_2_ALIGN);
 BUSDEV_REGISTER_SPI_TAG(busdev_2_mpu6500,   DEVHW_MPU6500,  IMU_2_SPI_BUS,  IMU_2_CS_PIN,   NONE,   1,  DEVFLAGS_NONE,  IMU_2_ALIGN);
 
-const timerHardware_t timerHardware[] = {
+timerHardware_t timerHardware[] = {
     DEF_TIM(TIM10, CH1, PB8, TIM_USE_PPM,                           0, 0), // PPM
 
     // Motor output 1: use different set of timers for MC and FW