Add target CoreWingF405WMiniV2 by MakeSomeFakeNews · Pull Request #11723 · iNavFlight/inav

MakeSomeFakeNews · 2026-07-15T06:54:08Z

CoreWing F405 Wing Mini V2

Summary

Adds support for the CoreWing F405 Wing Mini V2 flight controller board — the compact variant of the CoreWing F405 Wing V2 (COREWINGF405WINGV2, merged in #11291).

Hardware Specifications

Component	Specification
MCU	STM32F405RGT6
Gyro	ICM42688P (ICM42605 driver, CW270) or BMI270 (CW180), depending on board variant, on SPI1 with EXTI on PC4
OSD	MAX7456 on SPI2
Blackbox	SD Card on SPI3
Barometer	SPA06-003 on I2C1 (SPL06/DPS310 drivers)
Magnetometer	All supported via I2C1
Motor/Servo Outputs	S1-S11 with DMA (full DSHOT support)
UARTs	6 (UART1-6) + USB VCP + 1 Softserial = 8 ports
LEDs	PA14 (Blue), PA13 (Green)
Beeper	PC15 (Inverted)
LED Strip	PA8
ADC	Vbat (PC0), Current (PC1), Airspeed (PC5)
PINIO	PC13 (USER1, VTX/CAM power switch)
Default RX	CRSF on UART6

Default Port Configuration

Port	Function
UART1	MSP (internally tied to the onboard BLE/WiFi wireless module)
UART5	GPS
UART6	CRSF RX

Pin Mapping

Motor/Servo Outputs

Output	Pin	Timer
S1	PB7	TIM4 CH2
S2	PB6	TIM4 CH1
S3	PB0	TIM3 CH3
S4	PB1	TIM3 CH4
S5	PC8	TIM8 CH3
S6	PC9	TIM8 CH4
S7	PB14	TIM8 CH2N
S8	PA15	TIM2 CH1
S9	PB10	TIM2 CH3
S10	PB11	TIM2 CH4
S11	PB15	TIM12 CH2

SPI Bus Assignment

Bus	Pins (SCK/MISO/MOSI)	Device
SPI1	PA5/PA6/PA7	ICM42688P or BMI270 Gyro (CS: PA4, EXTI: PC4)
SPI2	PB13/PC2/PC3	MAX7456 OSD (CS: PB12)
SPI3	PB3/PB4/PB5	SD Card (CS: PC14)

I2C Bus Assignment

Bus	Pins (SCL/SDA)	Devices
I2C1	PB8/PB9	Barometer, Magnetometer, Rangefinder, Pitot

UART Pin Mapping

UART	TX	RX
UART1	PA9	PA10
UART2	PA2	PA3
UART3	PC10	PC11
UART4	PA0	PA1
UART5	PC12	PD2
UART6	PC6	PC7
Softserial1	PA2	PA2

Differences from CoreWing F405 Wing V2 (#11291)

PC4 is the gyro data-ready (EXTI) input instead of analog RSSI, so the gyros are registered with explicit target hardware descriptors and the RSSI ADC channel is not available on this board
BMI270 IMU variant supported in addition to ICM42688P (board variant dependent), aligned CW180
Current meter scale 195 (vs 158) to match the Mini's integrated PDB
Explicit VBAT_SCALE_DEFAULT 1100
Same outputs, OSD, SD card, PINIO (PC13) VTX power switch, and port layout as the Wing V2

Notes

Designed for fixed-wing aircraft with 11 servo/motor outputs
Supports rangefinder (US42) and pitot tube via I2C1
SD card blackbox logging enabled by default
2S-6S LiPo input with onboard voltage/current sensing

PR Type

Enhancement

Description

Adds support for CoreWing F405 Wing Mini V2 flight controller board
Configures ICM42688P (CW270) / BMI270 (CW180) gyro on SPI1 with EXTI on PC4
Enables 11 motor/servo outputs with full DMA/DSHOT support
Includes 6 UARTs, OSD, SD card blackbox, barometer, magnetometer, LED strip, and PINIO features

Block Diagram

flowchart LR
  MCU["STM32F405RGT6"]
  SPI1["SPI1: ICM42688P / BMI270 Gyro"]
  SPI2["SPI2: MAX7456 OSD"]
  SPI3["SPI3: SD Card"]
  I2C["I2C1: SPA06-003 Baro + Mag"]
  OUTPUTS["11 Servo/Motor Outputs"]
  UART["6 UARTs + USB VCP"]
  PINIO["PINIO: USER1 (VTX power)"]

  MCU --> SPI1
  MCU --> SPI2
  MCU --> SPI3
  MCU --> I2C
  MCU --> OUTPUTS
  MCU --> UART
  MCU --> PINIO

Build Verification

Built successfully against both maintenance-9.x (inav_9.0.1_COREWINGF405WMINIV2.hex) and master (inav_9.1.0_COREWINGF405WMINIV2.hex) with arm-gnu-toolchain 13.2.rel1.

… function

…eferences

…cceleration function

…search scopes.

…driver support on the STM32Fxxx series.

…rgets.

…ALs do not support it.

… the MATEKF765SE. Allocate memory for the bxCan write and read messages.

…dle to the CAN instance to avoid a dangling pointer.

…fer and the task reads from the ring buffer. Fix missing include for math.h

Expand dronecan_messages_unittest.cc from 5 to 14 tests covering NodeStatus, Fix v1, Auxiliary, boundary values, and data type verification. Create canard_unittest.cc with 30 tests for the libcanard core: init/node ID, memory pool, CRC-16/CCITT, float16 conversion, transfer ID logic, DLC conversion, single/multi-frame TX, RX frame processing, and pool statistics. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

The BatteryInfo message already contains current data which was being stored in dronecanBattSensorGetAmperage(), but this wasn't integrated with INAV's battery metering system. Changes: - Add CURRENT_SENSOR_CAN enum value in battery_config_structs.h - Add case handler in battery.c to read current from DroneCAN - Update settings.yaml to expose CAN option for current_meter_type Users can now select 'CAN' as the current_meter_type in CLI when using DroneCAN-compatible battery sensors. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

This reverts commit 10343b4, reversing changes made to bb61218.

…-merge Revert accidental merge of maintenance-10.x into maintenance-9.x

Removed redundant phrases and clarified manufacturer information.

…e-ordering-stdperiph drivers: fix DMA request disable ordering in timer IRQ handlers and stop functions

Add support for XTX XT25F128F nor flash chip

JHEMCUF435: enable UART2

…WINGMINI Add FlyingRC F4Wing Mini target updates

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github-actions · 2026-07-15T06:54:17Z

Branch Targeting Suggestion

You've targeted the master branch with this PR. Please consider if a version branch might be more appropriate:

maintenance-9.x - If your change is backward-compatible and won't create compatibility issues between INAV firmware and Configurator 9.x versions. This will allow your PR to be included in the next 9.x release.
maintenance-10.x - If your change introduces compatibility requirements between firmware and configurator that would break 9.x compatibility. This is for PRs which will be included in INAV 10.x

If master is the correct target for this change, no action is needed.

This is an automated suggestion to help route contributions to the appropriate branch.

github-actions · 2026-07-15T06:57:49Z

Test firmware build ready — commit de0c56d

Download firmware for PR #11723

1 targets built. Find your board's .hex file by name on that page (e.g. MATEKF405SE.hex). Files are individually downloadable — no GitHub login required.

Development build for testing only. Use Full Chip Erase when flashing.

MakeSomeFakeNews · 2026-07-15T07:16:16Z

The build-SITL-Mac failure is unrelated to this target: maintenance-9.x is missing the log.c VLA fix that is already on master (87ed42b), so that job currently fails for any PR against this base. Backport submitted as #11724 — once it merges, a rebase here will turn this PR green. All other jobs pass, including build-single-target for COREWINGF405WMINIV2.

sensei-hacker · 2026-07-15T22:59:36Z

Hello. Are you a representative of the manufacturer?

MakeSomeFakeNews · 2026-07-16T06:17:36Z

Hello. Are you a representative of the manufacturer?

yes

sensei-hacker · 2026-07-16T14:56:45Z

Excellent.

Can you please get in touch with me on Discord? https://discord.gg/peg2hhbYwN

INAV New Hardware Policy:
https://github.com/iNavFlight/inav/blob/master/docs/policies/NEW_HARDWARE_POLICY.md

MakeSomeFakeNews · 2026-07-17T03:15:46Z

Excellent.

Can you please get in touch with me on Discord? https://discord.gg/peg2hhbYwN

INAV New Hardware Policy: https://github.com/iNavFlight/inav/blob/master/docs/policies/NEW_HARDWARE_POLICY.md

The link https://discord.gg/peg2hhbYwN has expired.

daijoubu · 2026-08-22T04:46:44Z

This is trying to merge 3000 build files, make files and other generated products. It should be trimmed down to just the target files for the CoreWingV2 board and no binaries.

daijoubu and others added 30 commits February 5, 2026 06:39

support gdb on stlink with MATEKH743

85bdad4

Refactor airspeed selection logic in imuCalculateTurnRateacceleration…

8a5b8ea

… function

Created CANbus log topic

3479d25

Clean up error handling.

392c0c6

Correct include search scopes in autogenerated files.

a2607af

Rename pitotValidForAirspeed to pitotGetValidForAirspeed and update r…

b7dc9f1

…eferences

Update comments for airspeed selection logic in imuCalculateTurnRatea…

81492f9

…cceleration function

fixing search scope for include files. Make and Ninja have different …

29fadbf

…search scopes.

Moving STM32H7 specific code to it's own module to prepare for bxCan …

16d2fc1

…driver support on the STM32Fxxx series.

Remove unneeded settings header.

3ccefe2

Removed incorrect USE_DRONECAN define that was enabling it for all ta…

0ad4fc1

…rgets.

Only try to initialize hardware pins if defined.

976c6f9

Move define to pin initialization and use pin definitions for check.

04abcab

Clean up warning causing build failure on Github.

35d2916

Moved all references to FDCAN down to the STM32H7 driver.

947ea8f

Working on the f7 port but need to update the HAL library

25e78fa

Reworked to use HAL_CAN v1.2.2

569f953

Setup canard for 64 bit platforms on SITL builds

2b10d06

Moved define to fix targets that don't use dronecan.

0b4cadb

Move the unique id call into the chip specific drivers as the older H…

823f3be

…ALs do not support it.

Fixed missing call to get protocol status in F7 driver for canard

7ebc087

Helps to compile the HAL CAN library.

2e1e1f8

Flag unused parameter in HAL as unused.

eff9c7a

Add the CAN standby pin to the target description as per AP hwdef for…

ef4f3e1

… the MATEKF765SE. Allocate memory for the bxCan write and read messages.

Move the storage for the receive message to the same scope as the han…

fbe8078

…dle to the CAN instance to avoid a dangling pointer.

Adding a dronecan battery sensor

6e55583

Move the F7 driver to use interrupt based receives to fill a ring buf…

5d9d6dc

…fer and the task reads from the ring buffer. Fix missing include for math.h

Added CAN battery voltage meter and tested with Matek CAN-L4-BM

c3ad505

sensei-hacker added 7 commits May 30, 2026 19:23

Revert "Merge branch 'maintenance-10.x' into maintenance-9.x"

d5ac9bb

This reverts commit 10343b4, reversing changes made to bb61218.

Merge pull request iNavFlight#11606 from sensei-hacker/fix/revert-bad…

b0c5ecf

…-merge Revert accidental merge of maintenance-10.x into maintenance-9.x

Refine description and manufacturer details for F4Wing Mini

92de3ec

Removed redundant phrases and clarified manufacturer information.

Merge pull request iNavFlight#11589 from sensei-hacker/fix/dma-disabl…

d56097b

…e-ordering-stdperiph drivers: fix DMA request disable ordering in timer IRQ handlers and stop functions

Merge pull request iNavFlight#11590 from gaoyu2144287/master

5314eaa

Add support for XTX XT25F128F nor flash chip

Merge pull request iNavFlight#11597 from dtrbinh/fix/jhemcuf435-uart2

871bb55

JHEMCUF435: enable UART2

Merge pull request iNavFlight#11588 from FlyingRC-Official/FLYINGRCF4…

f1558a0

…WINGMINI Add FlyingRC F4Wing Mini target updates

MakeSomeFakeNews force-pushed the add-corewing-f405-wing-mini-v2 branch from de0c56d to 3781241 Compare July 15, 2026 06:59

MakeSomeFakeNews changed the base branch from master to maintenance-9.x July 15, 2026 06:59

MakeSomeFakeNews changed the title ~~Add COREWINGF405WMINIV2 target~~ Add target CoreWingF405WMiniV2 Jul 15, 2026

add CoreWingF405WMiniV2

33ddb3a

MakeSomeFakeNews force-pushed the add-corewing-f405-wing-mini-v2 branch from 3781241 to 33ddb3a Compare July 15, 2026 07:07

MakeSomeFakeNews mentioned this pull request Jul 15, 2026

Backport to 9.x: fix build-SITL-Mac VLA-folding-constant error in log.c #11724

Closed

sensei-hacker changed the base branch from maintenance-9.x to release/9.1 July 15, 2026 22:54

sensei-hacker changed the base branch from release/9.1 to maintenance-10.x July 15, 2026 22:54

sensei-hacker added Testing Required Don't merge New target This PR adds a new target hardware needed Blocked by lack of hardware to reproduce issue Fix needed - don't merge Not ready for merge because issues remain after testing labels Jul 15, 2026

sensei-hacker changed the base branch from maintenance-10.x to release/9.1 August 22, 2026 05:32

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Add target CoreWingF405WMiniV2 - #11723

Add target CoreWingF405WMiniV2#11723
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MakeSomeFakeNews commented Jul 15, 2026 •

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MakeSomeFakeNews commented Jul 15, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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CoreWing F405 Wing Mini V2

Summary

Hardware Specifications

Default Port Configuration

Pin Mapping

Motor/Servo Outputs

SPI Bus Assignment

I2C Bus Assignment

UART Pin Mapping

Differences from CoreWing F405 Wing V2 (#11291)

Notes

PR Type

Description

Block Diagram

Build Verification

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MakeSomeFakeNews commented Jul 15, 2026 •

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