add extra_configs support for local platformio env

[tstibor]

Add platformio_custom.ini as an extra_configs entry so developers can define personal board environments (e.g. [env:m5stampfly]) without modifying the tracked platformio.ini. The file is gitignored to keep local configs out of the repository.

Example:

$ cat platformio_custom.ini
[env:M5STAMPFLY]
board = esp32-s3-devkitc-1
platform = espressif32
framework = arduino
monitor_filters = esp32_exception_decoder
build_flags =
    -D ARDUINO_USB_MODE=1
    -D ARDUINO_USB_CDC_ON_BOOT=1

[qqqlab]

I don't mind if you add the m5stampfly config directly in platform.ini (and keep the platform_custom.ini as well)

The idea is to support stampfly at some point.

Todo:

• VL53L3 - driver available, but needs enable pin
• PMW3901 - driver available, but need sync/mutex
• INA3221
• ESP-NOW remote

We could add a stampfly specific example or hack mf lib for stampfly specific stuff... Probably use first option: Do the PMW3901 update in imu_loop(), and set VL53L3 enable pin in setup()

What are you doing for rc radio?

This is my work-in-progress setup:

Black port -> openlog sdcard
Red port -> elrs receiver

[tstibor]

Today finally the HY2.0 cable arrived. I had not such a cable. My plan is connect a spare TBS CRSF nano to it.
Once everything is soldered I will look at the PMW3901 sync/mutex first.

[tstibor]

Success it flies. These are my settings:

#define MF_BOARD "brd/default_ESP32-S3.h"

const char madflight_config[] = R""(

//--- IMU --- Inertial Measurement Unit  (use spi -OR- i2c bus)
imu_gizmo      BMI270  // options: NONE, BMI270, ICM42688, ICM45686, MPU6000, MPU6050, MPU6500, MPU9150, MPU9250
imu_bus_type   SPI     // options: SPI, I2C (not all combinations of gizmo and bus_type are supported)
imu_align      CW90 // CW90FLIP     // options: CW0, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP
imu_spi_bus    0       // spi
pin_imu_cs     46      // spi
pin_imu_int    11      // spi and i2c
imu_i2c_bus    -1      // i2c
imu_i2c_adr    0       // i2c: enter decimal i2c address, not hex (use 0 for default i2c address)

//--- RCL --- Remote Controller Link  (use serial bus -OR- ppm pin)
rcl_gizmo      CRSF  // options: NONE, MAVLINK, CRSF, SBUS, DSM, PPM
rcl_ser_bus    1     // serial
pin_rcl_ppm   -1     // ppm
rcl_num_ch     8     // serial and ppm: number of channels
rcl_deadband   0     // serial and ppm: center stick deadband

//--- BAR --- Barometer
bar_gizmo      BMP280  // options: NONE, BMP280, BMP388, BMP390, BMP580, HP203B, MS5611
bar_i2c_adr    0x76
bar_i2c_bus    0

//--- MAG --- Magnetometer
mag_gizmo      BMM150 // options: NONE, QMC6309, QMC5883L, QMC5883P, RM3100, BMM150
mag_align      CW0    // options: CW0, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP
mag_i2c_adr    0x10
mag_i2c_bus    0

//--- BAT --- Battery Monitor  (use i2c bus -OR- adc pins)
bat_gizmo      NONE  // options: NONE, ADC, INA226, INA228
bat_i2c_adr    0     // i2c
bat_i2c_bus   -1     // i2c
pin_bat_i     -1     // adc
pin_bat_v     -1     // adc
bat_cal_v      1     // for ADC: voltage scale, value is: actual_voltage_in_v / adc_reading; for INA226/228: not used
bat_cal_i      1     // for ADC: current scale, value is: actual_current_in_a / adc_reading; for INA226/228: rshunt value in ohm

//--- GPS ---
gps_gizmo      NONE  // options: NONE, UBLOX
gps_baud       0     // use 0 for auto baud
gps_ser_bus   -1

//--- BBX --- Black Box Data Logger  (use spi -OR- mmc)
bbx_gizmo      NONE  // options: NONE, SDSPI, SDMMC
pin_bbx_cs    -1     // spi
bbx_spi_bus   -1     // spi
pin_mmc_dat   -1     // mmc
pin_mmc_clk   -1     // mmc
pin_mmc_cmd   -1     // mmc

//--- RDR --- Radar (use serial bus -OR- trig+echo pins)
rdr_gizmo      NONE  // options: NONE, DTS6012M, LD2411S, LD2413, SR04, USD1
rdr_ser_bus   -1     // serial
rdr_baud       0     // serial, use 0 for default baud
pin_rdr_trig  -1     // trig+echo
pin_rdr_echo  -1     // trig+echo

//--- OFL --- Optical FLow (use serial bus -OR- spi bus)
ofl_gizmo      PMW3901  // options: NONE, PMW3901, PMW3901U
ofl_ser_bus    -1       // serial
ofl_baud       0        // serial, use 0 for default baud
ofl_spi_bus    0        // spi
pin_ofl_cs     12       // spi

//--- LED ---
led_gizmo     RGB   // options: NONE, HIGH_IS_ON, LOW_IS_ON, RGB
pin_led       39

//--- AHR --- AHRS (keep MAHONY, unless you want to experiment)
ahr_gizmo     MAHONY // options: MAHONY, MAHONY_BF, MADGWICK, VQF

//--- Serial bus 0 ---
pin_ser0_rx   -1
pin_ser0_tx   -1

//--- Serial bus 1 ---
pin_ser1_rx   2 // Serial1/uart1 (Radio Control Link) (Black Grove JST - I)
pin_ser1_tx   1 // Serial1/uart1 (Radio Control Link) (Black Grove JST - O)

//--- SPI bus 0 ---
pin_spi0_miso 43
pin_spi0_mosi 14
pin_spi0_sclk 44

//--- SPI bus 1 ---
pin_spi1_miso -1
pin_spi1_mosi -1
pin_spi1_sclk -1

//--- I2C Bus 0 ---
pin_i2c0_sda  3
pin_i2c0_scl  4

//--- I2C Bus 1 ---
pin_i2c1_sda  -1
pin_i2c1_scl  -1

//--- OUT Pins ---
pin_out0      41
pin_out1      42
pin_out2      10
pin_out3      5
pin_out4      -1
pin_out5      -1
pin_out6      -1
pin_out7      -1
pin_out8      -1
pin_out9      -1
pin_out10     -1
pin_out11     -1
pin_out12     -1
pin_out13     -1
pin_out14     -1
pin_out15     -1

rcl_rol_ch        1 // roll (aileron) channel number
rcl_rol_left   1100
rcl_rol_mid    1500
rcl_rol_right  1900

rcl_pit_ch        2 // pitch (elevator) channel
rcl_pit_pull   1100 // pwm for stick pulled toward you, i.e. pitch-up
rcl_pit_mid    1500
rcl_pit_push   1900 // pwm for stick pushed away, i.e. pitch-down

rcl_yaw_ch        4 // yaw (rudder) channel
rcl_yaw_left   1100
rcl_yaw_mid    1500
rcl_yaw_right  1900

rcl_thr_ch        3 // throttle channel
rcl_thr_pull   1100 // pwm for stick pulled toward you, i.e. idle throttle
rcl_thr_mid    1500
rcl_thr_push   1900 // pwm for stick pushed away, i.e. full throttle

rcl_arm_ch        5 // arm switch channel, set to 0 to use stick commands for arming
rcl_arm_min    1500 // armed pwm range min
rcl_arm_max    2500 // armed pwm range max

)""; // End of madflight_config


//========================================================================================================================//
//                                               COMPILER OPTIONS                                                         //
//========================================================================================================================//

// Reset config eeprom to defaults (uncomment this, upload, execute, then comment out, and upload again)
// #define MF_CONFIG_CLEAR

// Uncomment to reduce startup delay
#define MF_DEBUG

I am on master and else didn't change anything. Here is also the main.cpp
main.cpp

The PID values though needs to be properly set. It wobbles and is difficult to fly.