JHEF435PRO - change gyro / remove board alignment#979
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haslinghuis merged 1 commit intomasterfrom Dec 10, 2025
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WalkthroughConfiguration update for the JHEF435PRO board: gyro alignment macro ( Changes
Estimated code review effort🎯 1 (Trivial) | ⏱️ ~2 minutes Possibly related PRs
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✅ Passed checks (2 passed)
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🧹 Nitpick comments (1)
configs/JHEF435PRO/config.h (1)
93-95: Gyro alignment change & removal of DEFAULT_ALIGN_BOARD_YAW need hardware validation.Changing
GYRO_1_ALIGNfromCW180_DEGtoCW90_DEGand dropping theDEFAULT_ALIGN_BOARD_YAW(-45) default will alter the effective yaw alignment seen by Betaflight unless this combination was previously incorrect. Please confirm on real hardware (or manufacturer docs) that:
- The physical gyro orientation is indeed
CW90_DEG, and- No compile-time board yaw offset is required for typical installs.
A quick hover/flip test with default settings and blackbox (or attitude vs stick logs) would be a good regression check before merging.
Based on learnings about per-board gyro alignments.
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📒 Files selected for processing (1)
configs/JHEF435PRO/config.h(1 hunks)
🧰 Additional context used
🧠 Learnings (12)
📓 Common learnings
Learnt from: haslinghuis
Repo: betaflight/config PR: 814
File: configs/JHEF405PRO/config.h:109-109
Timestamp: 2025-06-08T22:02:28.961Z
Learning: The JHEF405PRO board does not actually use dual gyros despite having GYRO_2_SPI_INSTANCE defined in its configuration. It should not receive GYRO_COUNT or other dual-gyro related definitions since only the first gyro is supported.
Learnt from: haslinghuis
Repo: betaflight/config PR: 792
File: configs/FLYWOOF411/config.h:33-33
Timestamp: 2025-05-28T15:48:18.449Z
Learning: The FLYWOOF411 board does not actually use dual gyros despite having GYRO_2_SPI_INSTANCE defined in its configuration. It was incorrectly targeted for GYRO_COUNT and dual gyro support.
Learnt from: haslinghuis
Repo: betaflight/config PR: 0
File: :0-0
Timestamp: 2025-07-03T15:17:30.040Z
Learning: In Betaflight configurations, when a target name suggests dual IMUs (like JHEF7DUAL) but specific hardware variants only have one gyro available, the preferred solution is to use DEFAULT_GYRO_TO_USE macro to specify which gyro to use by default rather than pruning gyro defines or creating redundant configurations. This approach maintains compatibility when the same target is used by multiple hardware variants from the same manufacturer.
Learnt from: haslinghuis
Repo: betaflight/config PR: 835
File: configs/HDZERO_HALO_MPU6000/config.h:29-35
Timestamp: 2025-07-14T16:16:50.628Z
Learning: CW0_DEG is not a universal default gyro alignment setting in Betaflight configurations. Different boards use different gyro alignments (CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, etc.) based on their physical sensor mounting orientation.
Learnt from: haslinghuis
Repo: betaflight/config PR: 656
File: configs/IFLIGHT_F745_AIO/config.h:31-35
Timestamp: 2025-07-28T16:44:59.686Z
Learning: In Betaflight board configurations, when a board design uses the same physical gyro socket but different sensor variants across production batches (e.g., MPU6000 in older batches, ICM42688P in newer batches), the correct approach is to enable both sensor drivers (USE_GYRO_SPI_MPU6000 and USE_GYRO_SPI_ICM42688P) in the same configuration. This allows runtime auto-detection of which sensor is actually present without requiring separate board configurations for each hardware variant.
Learnt from: haslinghuis
Repo: betaflight/config PR: 757
File: configs/HAKRCH743/config.h:134-134
Timestamp: 2025-08-05T16:56:44.200Z
Learning: In Betaflight board configurations, when DEFAULT_GYRO_TO_USE is set to GYRO_CONFIG_USE_GYRO_BOTH, the firmware automatically establishes GYRO_COUNT during initialization for backwards compatibility. Therefore, explicit GYRO_COUNT definitions are not needed in board config files when using DEFAULT_GYRO_TO_USE.
Learnt from: ot0tot
Repo: betaflight/config PR: 0
File: :0-0
Timestamp: 2025-07-03T04:33:57.480Z
Learning: Always verify that the BOARD_NAME define in each config.h matches the directory name it resides in (e.g., configs/AXISFLYINGF7AIO/config.h must have #define BOARD_NAME AXISFLYINGF7AIO). This check is required for all Betaflight board configuration reviews.
Learnt from: haslinghuis
Repo: betaflight/config PR: 792
File: configs/BEEROTORF4/config.h:30-30
Timestamp: 2025-05-28T15:42:05.402Z
Learning: The DEFAULT_GYRO_ENABLED macro with both gyros enabled (GYRO_MASK(0) | GYRO_MASK(1)) should only be added to board configurations that have DEFAULT_GYRO_TO_USE set to GYRO_CONFIG_USE_GYRO_BOTH. Boards without this setting should only get the GYRO_COUNT definition to specify the number of available gyros.
Learnt from: haslinghuis
Repo: betaflight/config PR: 792
File: configs/BEEROTORF4/config.h:30-30
Timestamp: 2025-05-28T15:42:05.402Z
Learning: The DEFAULT_GYRO_ENABLED macro with both gyros enabled (GYRO_MASK(0) | GYRO_MASK(1)) should only be added to board configurations that have DEFAULT_GYRO_TO_USE set to GYRO_CONFIG_USE_GYRO_BOTH. Boards without this setting should only get the GYRO_COUNT definition.
Learnt from: haslinghuis
Repo: betaflight/config PR: 792
File: configs/MERAKRCF722/config.h:32-32
Timestamp: 2025-05-28T15:45:15.608Z
Learning: The presence of GYRO_2_SPI_INSTANCE definition in a board config does not necessarily mean the board uses dual gyros. Some boards have GYRO_2_SPI_INSTANCE defined but it's not actually used, so they should not receive GYRO_COUNT or other dual-gyro related definitions. Only boards that actually utilize dual gyros should get these definitions.
📚 Learning: 2025-07-14T16:16:50.628Z
Learnt from: haslinghuis
Repo: betaflight/config PR: 835
File: configs/HDZERO_HALO_MPU6000/config.h:29-35
Timestamp: 2025-07-14T16:16:50.628Z
Learning: CW0_DEG is not a universal default gyro alignment setting in Betaflight configurations. Different boards use different gyro alignments (CW0_DEG, CW90_DEG, CW180_DEG, CW270_DEG, CW0_DEG_FLIP, etc.) based on their physical sensor mounting orientation.
Applied to files:
configs/JHEF435PRO/config.h
📚 Learning: 2025-05-28T15:42:05.402Z
Learnt from: haslinghuis
Repo: betaflight/config PR: 792
File: configs/BEEROTORF4/config.h:30-30
Timestamp: 2025-05-28T15:42:05.402Z
Learning: The DEFAULT_GYRO_ENABLED macro with both gyros enabled (GYRO_MASK(0) | GYRO_MASK(1)) should only be added to board configurations that have DEFAULT_GYRO_TO_USE set to GYRO_CONFIG_USE_GYRO_BOTH. Boards without this setting should only get the GYRO_COUNT definition to specify the number of available gyros.
Applied to files:
configs/JHEF435PRO/config.h
📚 Learning: 2025-05-28T15:42:05.402Z
Learnt from: haslinghuis
Repo: betaflight/config PR: 792
File: configs/BEEROTORF4/config.h:30-30
Timestamp: 2025-05-28T15:42:05.402Z
Learning: The DEFAULT_GYRO_ENABLED macro with both gyros enabled (GYRO_MASK(0) | GYRO_MASK(1)) should only be added to board configurations that have DEFAULT_GYRO_TO_USE set to GYRO_CONFIG_USE_GYRO_BOTH. Boards without this setting should only get the GYRO_COUNT definition.
Applied to files:
configs/JHEF435PRO/config.h
📚 Learning: 2025-06-08T22:02:28.961Z
Learnt from: haslinghuis
Repo: betaflight/config PR: 814
File: configs/JHEF405PRO/config.h:109-109
Timestamp: 2025-06-08T22:02:28.961Z
Learning: The JHEF405PRO board does not actually use dual gyros despite having GYRO_2_SPI_INSTANCE defined in its configuration. It should not receive GYRO_COUNT or other dual-gyro related definitions since only the first gyro is supported.
Applied to files:
configs/JHEF435PRO/config.h
📚 Learning: 2025-07-03T15:17:30.040Z
Learnt from: haslinghuis
Repo: betaflight/config PR: 0
File: :0-0
Timestamp: 2025-07-03T15:17:30.040Z
Learning: In Betaflight configurations, when a target name suggests dual IMUs (like JHEF7DUAL) but specific hardware variants only have one gyro available, the preferred solution is to use DEFAULT_GYRO_TO_USE macro to specify which gyro to use by default rather than pruning gyro defines or creating redundant configurations. This approach maintains compatibility when the same target is used by multiple hardware variants from the same manufacturer.
Applied to files:
configs/JHEF435PRO/config.h
📚 Learning: 2025-08-05T16:56:44.200Z
Learnt from: haslinghuis
Repo: betaflight/config PR: 757
File: configs/HAKRCH743/config.h:134-134
Timestamp: 2025-08-05T16:56:44.200Z
Learning: In Betaflight board configurations, when DEFAULT_GYRO_TO_USE is set to GYRO_CONFIG_USE_GYRO_BOTH, the firmware automatically establishes GYRO_COUNT during initialization for backwards compatibility. Therefore, explicit GYRO_COUNT definitions are not needed in board config files when using DEFAULT_GYRO_TO_USE.
Applied to files:
configs/JHEF435PRO/config.h
📚 Learning: 2025-05-28T15:48:18.449Z
Learnt from: haslinghuis
Repo: betaflight/config PR: 792
File: configs/FLYWOOF411/config.h:33-33
Timestamp: 2025-05-28T15:48:18.449Z
Learning: The FLYWOOF411 board does not actually use dual gyros despite having GYRO_2_SPI_INSTANCE defined in its configuration. It was incorrectly targeted for GYRO_COUNT and dual gyro support.
Applied to files:
configs/JHEF435PRO/config.h
📚 Learning: 2025-05-28T15:45:15.608Z
Learnt from: haslinghuis
Repo: betaflight/config PR: 792
File: configs/MERAKRCF722/config.h:32-32
Timestamp: 2025-05-28T15:45:15.608Z
Learning: The presence of GYRO_2_SPI_INSTANCE definition in a board config does not necessarily mean the board uses dual gyros. Some boards have GYRO_2_SPI_INSTANCE defined but it's not actually used, so they should not receive GYRO_COUNT or other dual-gyro related definitions. Only boards that actually utilize dual gyros should get these definitions.
Applied to files:
configs/JHEF435PRO/config.h
📚 Learning: 2025-07-03T04:33:57.480Z
Learnt from: ot0tot
Repo: betaflight/config PR: 0
File: :0-0
Timestamp: 2025-07-03T04:33:57.480Z
Learning: Always verify that the BOARD_NAME define in each config.h matches the directory name it resides in (e.g., configs/AXISFLYINGF7AIO/config.h must have #define BOARD_NAME AXISFLYINGF7AIO). This check is required for all Betaflight board configuration reviews.
Applied to files:
configs/JHEF435PRO/config.h
📚 Learning: 2025-07-14T16:16:50.628Z
Learnt from: haslinghuis
Repo: betaflight/config PR: 835
File: configs/HDZERO_HALO_MPU6000/config.h:29-35
Timestamp: 2025-07-14T16:16:50.628Z
Learning: GYRO_1_SPI_CLOCK_DIVIDER is not used in any Betaflight target configuration files. SPI clock frequency settings are not commonly configured at the target level.
Applied to files:
configs/JHEF435PRO/config.h
📚 Learning: 2025-08-28T20:45:36.652Z
Learnt from: haslinghuis
Repo: betaflight/config PR: 888
File: configs/ZEX_ATHENA_MINI/config.h:0-0
Timestamp: 2025-08-28T20:45:36.652Z
Learning: In STM32H743 Betaflight configurations, PA15 maps to TIM2_CH1 (timer index 2) as defined in timer_stm32h7xx.c. When used for GYRO_CLKIN functionality, it's recommended to use the macro name GYRO_1_CLKIN_PIN in TIMER_PIN_MAPPING for consistency with other pin definitions.
Applied to files:
configs/JHEF435PRO/config.h
🔇 Additional comments (1)
configs/JHEF435PRO/config.h (1)
24-27: BOARD_NAME matches directory (sanity check).
BOARD_NAMEisJHEF435PROand the file lives inconfigs/JHEF435PRO/, so the naming contract is satisfied.
As per coding guidelines / learnings about BOARD_NAME vs directory.
ot0tot
approved these changes
Dec 10, 2025
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ot0tot
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Approving, but I don't think I have a sample of this FC to test.
nerdCopter
approved these changes
Dec 10, 2025
lukas-principiot
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to PrincipIoT/config
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Dec 27, 2025
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