From f1d1924f835cefcd8d527a216509f91b1ac936bb Mon Sep 17 00:00:00 2001
From: nengbinglv <94346536+nengbinglv@users.noreply.github.com>
Date: Thu, 6 Nov 2025 16:25:28 +0800
Subject: [PATCH 01/11] Create HDZERO_GAMMA
---
configs/HDZERO_GAMMA/config.h | 104 ++++++++++++++++++++++++++++++++++
1 file changed, 104 insertions(+)
create mode 100644 configs/HDZERO_GAMMA/config.h
diff --git a/configs/HDZERO_GAMMA/config.h b/configs/HDZERO_GAMMA/config.h
new file mode 100644
index 000000000..478874e59
--- /dev/null
+++ b/configs/HDZERO_GAMMA/config.h
@@ -0,0 +1,104 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ *
+ * See the GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public
+ * License along with this software.
+ *
+ * If not, see .
+ */
+
+#pragma once
+
+#define FC_TARGET_MCU STM32G47X
+
+#define BOARD_NAME HDZERO_Gamma
+#define MANUFACTURER_ID HDZO
+
+#define USE_GYRO
+#define USE_GYRO_SPI_ICM42688P
+#define USE_ACC
+#define USE_ACC_SPI_ICM42688P
+
+#define USE_BARO
+#define USE_BARO_DPS310
+
+#define USE_GYRO_CLKIN
+#define GYRO_1_CLKIN_PIN PB5
+
+#define BEEPER_PIN PA9
+
+#define MOTOR1_PIN PA3
+#define MOTOR2_PIN PA2
+#define MOTOR3_PIN PA1
+#define MOTOR4_PIN PA0
+
+#define LED_STRIP_PIN PA8
+
+#define UART1_TX_PIN PB6
+#define UART1_RX_PIN PB7
+
+#define UART2_TX_PIN PB3
+#define UART2_RX_PIN PB4
+
+#define UART3_TX_PIN PB10
+#define UART3_RX_PIN PB11
+
+#define UART4_TX_PIN PC10
+#define UART4_RX_PIN PC11
+
+#define I2C1_SCL_PIN PA15
+#define I2C1_SDA_PIN PB9
+
+#define LED0_PIN PA4
+
+#define SPI2_SCK_PIN PB13
+#define SPI2_SDI_PIN PB14
+#define SPI2_SDO_PIN PB15
+
+#define ADC_VBAT_PIN PB1
+#define ADC_CURR_PIN PB0
+
+#define GYRO_1_EXTI_PIN PB12
+#define GYRO_1_CS_PIN PC6
+#define GYRO_1_SPI_INSTANCE SPI2
+
+#define TIMER_PIN_MAPPING \
+ TIMER_PIN_MAP( 0, MOTOR1_PIN, 2, 0 ) \
+ TIMER_PIN_MAP( 1, MOTOR2_PIN, 2, 1 ) \
+ TIMER_PIN_MAP( 2, MOTOR3_PIN, 2, 2 ) \
+ TIMER_PIN_MAP( 3, MOTOR4_PIN, 2, 3 ) \
+ TIMER_PIN_MAP( 4, LED_STRIP_PIN, 1, 4 ) \
+ TIMER_PIN_MAP( 6, BEEPER_PIN, 2, -1 )\
+ TIMER_PIN_MAP( 5, GYRO_1_CLKIN_PIN, 1, -1 )
+
+#define ADC1_DMA_OPT 5
+#define ADC2_DMA_OPT 6
+#define TIMUP5_DMA_OPT 7
+
+#define BARO_I2C_INSTANCE I2CDEV_1
+
+#define DEFAULT_DSHOT_BITBANG DSHOT_BITBANG_ON
+#define DEFAULT_CURRENT_METER_SCALE 107
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define SYSTEM_HSE_MHZ 8
+#define GYRO_1_ALIGN CW90_DEG_FLIP
+#define DEFAULT_ALIGN_BOARD_YAW -135
+
+#define MSP_DISPLAYPORT_UART SERIAL_PORT_USART1
+#define SERIALRX_UART SERIAL_PORT_USART2
+#define BEEPER_INVERTED
+#define USE_BLACKBOX
+#define ENABLE_BLACKBOX_LOGGING_ON_SERIAL
\ No newline at end of file
From d6819d3d7a595382729a09de62ed4525138f58c4 Mon Sep 17 00:00:00 2001
From: nengbinglv <94346536+nengbinglv@users.noreply.github.com>
Date: Thu, 6 Nov 2025 18:57:37 +0800
Subject: [PATCH 02/11] Delete serial blackbox
---
configs/HDZERO_GAMMA/config.h | 6 ++----
1 file changed, 2 insertions(+), 4 deletions(-)
diff --git a/configs/HDZERO_GAMMA/config.h b/configs/HDZERO_GAMMA/config.h
index 478874e59..d8da0ab18 100644
--- a/configs/HDZERO_GAMMA/config.h
+++ b/configs/HDZERO_GAMMA/config.h
@@ -96,9 +96,7 @@
#define SYSTEM_HSE_MHZ 8
#define GYRO_1_ALIGN CW90_DEG_FLIP
#define DEFAULT_ALIGN_BOARD_YAW -135
-
+#define USE_LED_STRIP
#define MSP_DISPLAYPORT_UART SERIAL_PORT_USART1
#define SERIALRX_UART SERIAL_PORT_USART2
-#define BEEPER_INVERTED
-#define USE_BLACKBOX
-#define ENABLE_BLACKBOX_LOGGING_ON_SERIAL
\ No newline at end of file
+#define BEEPER_INVERTED
\ No newline at end of file
From 9e077a3252741d4a1a7217f2864427a8357d9cb8 Mon Sep 17 00:00:00 2001
From: Mark Haslinghuis
Date: Thu, 6 Nov 2025 23:26:43 +0100
Subject: [PATCH 03/11] Update configs/HDZERO_GAMMA/config.h
---
configs/HDZERO_GAMMA/config.h | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/configs/HDZERO_GAMMA/config.h b/configs/HDZERO_GAMMA/config.h
index d8da0ab18..7e043ac64 100644
--- a/configs/HDZERO_GAMMA/config.h
+++ b/configs/HDZERO_GAMMA/config.h
@@ -23,7 +23,7 @@
#define FC_TARGET_MCU STM32G47X
-#define BOARD_NAME HDZERO_Gamma
+#define BOARD_NAME HDZERO_GAMMA
#define MANUFACTURER_ID HDZO
#define USE_GYRO
From 9e21133a566e1319b135c0c9919eb724cab6ad05 Mon Sep 17 00:00:00 2001
From: Mark Haslinghuis
Date: Thu, 6 Nov 2025 23:27:02 +0100
Subject: [PATCH 04/11] Update configs/HDZERO_GAMMA/config.h
---
configs/HDZERO_GAMMA/config.h | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/configs/HDZERO_GAMMA/config.h b/configs/HDZERO_GAMMA/config.h
index 7e043ac64..808c76214 100644
--- a/configs/HDZERO_GAMMA/config.h
+++ b/configs/HDZERO_GAMMA/config.h
@@ -31,8 +31,8 @@
#define USE_ACC
#define USE_ACC_SPI_ICM42688P
-#define USE_BARO
-#define USE_BARO_DPS310
+#define USE_BARO
+#define USE_BARO_DPS310
#define USE_GYRO_CLKIN
#define GYRO_1_CLKIN_PIN PB5
From 4f2f0066fe5a475f238fc9bbe0ea5bda3d98b369 Mon Sep 17 00:00:00 2001
From: Mark Haslinghuis
Date: Thu, 6 Nov 2025 23:27:14 +0100
Subject: [PATCH 05/11] Update configs/HDZERO_GAMMA/config.h
---
configs/HDZERO_GAMMA/config.h | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/configs/HDZERO_GAMMA/config.h b/configs/HDZERO_GAMMA/config.h
index 808c76214..381c25342 100644
--- a/configs/HDZERO_GAMMA/config.h
+++ b/configs/HDZERO_GAMMA/config.h
@@ -80,7 +80,7 @@
TIMER_PIN_MAP( 2, MOTOR3_PIN, 2, 2 ) \
TIMER_PIN_MAP( 3, MOTOR4_PIN, 2, 3 ) \
TIMER_PIN_MAP( 4, LED_STRIP_PIN, 1, 4 ) \
- TIMER_PIN_MAP( 6, BEEPER_PIN, 2, -1 )\
+ TIMER_PIN_MAP( 6, BEEPER_PIN, 2, -1 ) \
TIMER_PIN_MAP( 5, GYRO_1_CLKIN_PIN, 1, -1 )
#define ADC1_DMA_OPT 5
From c9ed96fe3fb202cd0f9dbf6126ce0c9c8be93312 Mon Sep 17 00:00:00 2001
From: Mark Haslinghuis
Date: Thu, 6 Nov 2025 23:27:22 +0100
Subject: [PATCH 06/11] Update configs/HDZERO_GAMMA/config.h
---
configs/HDZERO_GAMMA/config.h | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/configs/HDZERO_GAMMA/config.h b/configs/HDZERO_GAMMA/config.h
index 381c25342..c83811b1e 100644
--- a/configs/HDZERO_GAMMA/config.h
+++ b/configs/HDZERO_GAMMA/config.h
@@ -87,7 +87,7 @@
#define ADC2_DMA_OPT 6
#define TIMUP5_DMA_OPT 7
-#define BARO_I2C_INSTANCE I2CDEV_1
+#define BARO_I2C_INSTANCE I2CDEV_1
#define DEFAULT_DSHOT_BITBANG DSHOT_BITBANG_ON
#define DEFAULT_CURRENT_METER_SCALE 107
From ba3ed57f45ae2d50e2c7ea381050a1fca5524ab5 Mon Sep 17 00:00:00 2001
From: Mark Haslinghuis
Date: Thu, 6 Nov 2025 23:27:36 +0100
Subject: [PATCH 07/11] Update configs/HDZERO_GAMMA/config.h
---
configs/HDZERO_GAMMA/config.h | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/configs/HDZERO_GAMMA/config.h b/configs/HDZERO_GAMMA/config.h
index c83811b1e..2c9af902c 100644
--- a/configs/HDZERO_GAMMA/config.h
+++ b/configs/HDZERO_GAMMA/config.h
@@ -99,4 +99,4 @@
#define USE_LED_STRIP
#define MSP_DISPLAYPORT_UART SERIAL_PORT_USART1
#define SERIALRX_UART SERIAL_PORT_USART2
-#define BEEPER_INVERTED
\ No newline at end of file
+#define BEEPER_INVERTED
From 20b92fb8a8a7863c4070f8c89cbe55b7eaa59e90 Mon Sep 17 00:00:00 2001
From: Mark Haslinghuis
Date: Thu, 6 Nov 2025 23:27:55 +0100
Subject: [PATCH 08/11] Update configs/HDZERO_GAMMA/config.h
---
configs/HDZERO_GAMMA/config.h | 1 -
1 file changed, 1 deletion(-)
diff --git a/configs/HDZERO_GAMMA/config.h b/configs/HDZERO_GAMMA/config.h
index 2c9af902c..707b785c1 100644
--- a/configs/HDZERO_GAMMA/config.h
+++ b/configs/HDZERO_GAMMA/config.h
@@ -96,7 +96,6 @@
#define SYSTEM_HSE_MHZ 8
#define GYRO_1_ALIGN CW90_DEG_FLIP
#define DEFAULT_ALIGN_BOARD_YAW -135
-#define USE_LED_STRIP
#define MSP_DISPLAYPORT_UART SERIAL_PORT_USART1
#define SERIALRX_UART SERIAL_PORT_USART2
#define BEEPER_INVERTED
From 363f08e7b04267542f4801d5a443fed574227d19 Mon Sep 17 00:00:00 2001
From: Mark Haslinghuis
Date: Thu, 6 Nov 2025 23:38:49 +0100
Subject: [PATCH 09/11] Apply suggestion from @haslinghuis
---
configs/HDZERO_GAMMA/config.h | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/configs/HDZERO_GAMMA/config.h b/configs/HDZERO_GAMMA/config.h
index 707b785c1..ec0640d27 100644
--- a/configs/HDZERO_GAMMA/config.h
+++ b/configs/HDZERO_GAMMA/config.h
@@ -80,8 +80,8 @@
TIMER_PIN_MAP( 2, MOTOR3_PIN, 2, 2 ) \
TIMER_PIN_MAP( 3, MOTOR4_PIN, 2, 3 ) \
TIMER_PIN_MAP( 4, LED_STRIP_PIN, 1, 4 ) \
- TIMER_PIN_MAP( 6, BEEPER_PIN, 2, -1 ) \
- TIMER_PIN_MAP( 5, GYRO_1_CLKIN_PIN, 1, -1 )
+ TIMER_PIN_MAP( 5, BEEPER_PIN, 2, -1 ) \
+ TIMER_PIN_MAP( 6, GYRO_1_CLKIN_PIN, 1, -1 )
#define ADC1_DMA_OPT 5
#define ADC2_DMA_OPT 6
From 82a468de4ed28175c8246ae039b193d6d2cdfa8d Mon Sep 17 00:00:00 2001
From: Brady LV <94346536+nengbinglv@users.noreply.github.com>
Date: Fri, 7 Nov 2025 09:19:01 +0800
Subject: [PATCH 10/11] Update configs/HDZERO_GAMMA/config.h
Co-authored-by: Mark Haslinghuis
---
configs/HDZERO_GAMMA/config.h | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/configs/HDZERO_GAMMA/config.h b/configs/HDZERO_GAMMA/config.h
index ec0640d27..1ca5cf199 100644
--- a/configs/HDZERO_GAMMA/config.h
+++ b/configs/HDZERO_GAMMA/config.h
@@ -94,8 +94,8 @@
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define SYSTEM_HSE_MHZ 8
-#define GYRO_1_ALIGN CW90_DEG_FLIP
-#define DEFAULT_ALIGN_BOARD_YAW -135
+#define GYRO_1_ALIGN CW0_DEG_FLIP
+#define DEFAULT_ALIGN_BOARD_YAW -45
#define MSP_DISPLAYPORT_UART SERIAL_PORT_USART1
#define SERIALRX_UART SERIAL_PORT_USART2
#define BEEPER_INVERTED
From 7a7020748851f354d365cdfc10805f35d91741eb Mon Sep 17 00:00:00 2001
From: Mark Haslinghuis
Date: Fri, 7 Nov 2025 02:26:33 +0100
Subject: [PATCH 11/11] Fix trailing spaces
---
configs/HDZERO_GAMMA/config.h | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/configs/HDZERO_GAMMA/config.h b/configs/HDZERO_GAMMA/config.h
index 1ca5cf199..30ce88806 100644
--- a/configs/HDZERO_GAMMA/config.h
+++ b/configs/HDZERO_GAMMA/config.h
@@ -58,8 +58,8 @@
#define UART4_TX_PIN PC10
#define UART4_RX_PIN PC11
-#define I2C1_SCL_PIN PA15
-#define I2C1_SDA_PIN PB9
+#define I2C1_SCL_PIN PA15
+#define I2C1_SDA_PIN PB9
#define LED0_PIN PA4
@@ -87,10 +87,10 @@
#define ADC2_DMA_OPT 6
#define TIMUP5_DMA_OPT 7
-#define BARO_I2C_INSTANCE I2CDEV_1
+#define BARO_I2C_INSTANCE I2CDEV_1
#define DEFAULT_DSHOT_BITBANG DSHOT_BITBANG_ON
-#define DEFAULT_CURRENT_METER_SCALE 107
+#define DEFAULT_CURRENT_METER_SCALE 107
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define SYSTEM_HSE_MHZ 8