Fix HGLRC_H743_LITE board LED & Gyro Align #943

HGLRC-T · 2025-11-03T14:25:06Z

Summary by CodeRabbit

Chores
- Added gyroscope alignment configuration option for HGLRC H743 Lite board.
- Updated LED pin assignments for HGLRC H743 Lite board configuration.

coderabbitai · 2025-11-03T14:25:17Z

Walkthrough

The PR modifies the HGLRC_H743_LITE board configuration by adding a GYRO_1_ALIGN macro and swapping LED pin assignments. LED0_PIN and LED1_PIN values are exchanged: LED0_PIN moves from PE6 to PE4, and LED1_PIN from PE4 to PE6.

Changes

Cohort / File(s)	Summary
Board Configuration Updates `configs/HGLRC_H743_LITE/config.h`	Added GYRO_1_ALIGN macro; swapped LED pin assignments (LED0_PIN: PE6→PE4, LED1_PIN: PE4→PE6)

Estimated code review effort

🎯 2 (Simple) | ⏱️ ~5 minutes

Single file with only macro value updates and one new macro definition
No logic, control flow, or error handling changes
Straightforward pin mapping corrections

Possibly related PRs

PR [HDZERO_AIO15] fix typo #802: Adds GYRO_1_ALIGN macro to a different board configuration file
PR Add HGLRCH743 #872: Modifies the same configs/HGLRC_H743_LITE/config.h file and specifically updates LED0_PIN and LED1_PIN macros
PR Fix DAKEFPVH743PRO target #795: Adds GYRO_1_ALIGN macro to another board configuration file

Suggested labels

Bugfix

Suggested reviewers

ot0tot
haslinghuis

Pre-merge checks and finishing touches

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Description check	⚠️ Warning	The pull request description is entirely missing. The repository requires a mandatory description following a specific template that includes hardware compliance requirements, mandatory reviews, checklists, and other critical information. The template is particularly important for flight controller configurations and hardware-related changes, yet no description content was provided by the author.	Add a comprehensive pull request description following the provided template. Include details about the changes (LED pin corrections and gyro alignment fixes), confirm the board is compliant with Betaflight guidelines, and complete all mandatory checklist items. At minimum, explain why these specific changes were necessary and verify that any hardware modifications have been tested and approved.

✅ Passed checks (1 passed)

Check name	Status	Explanation
Title check	✅ Passed	The pull request title 'Fix HGLRC_H743_LITE board LED & Gyro Align' is clear and specific, directly reflecting the main changes in the changeset. It accurately describes the two primary modifications: LED pin assignment fixes and gyro alignment configuration for the HGLRC_H743_LITE board. The title is concise, avoids generic terminology, and provides meaningful context for someone reviewing the repository history.

✨ Finishing touches

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📜 Recent review details

Configuration used: Path: .coderabbit.yaml

Review profile: CHILL

Plan: Pro

📥 Commits

Reviewing files that changed from the base of the PR and between 38e51b0 and 409a7c9.

📒 Files selected for processing (1)

configs/HGLRC_H743_LITE/config.h (2 hunks)

🧰 Additional context used

🧠 Learnings (15)

📓 Common learnings

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: 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: 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: 0
File: :0-0
Timestamp: 2025-06-02T16:16:20.197Z
Learning: For Betaflight configurations, blackbox logging via SPI3 and LED_STRIP functionality can be mutually exclusive due to DMA stream conflicts on STM32F4 targets. This hardware limitation should be identified during timer configuration reviews.

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: 835
File: configs/HDZERO_HALO_MPU6000/config.h:44-56
Timestamp: 2025-07-14T16:16:56.822Z
Learning: For Betaflight board configurations of boards already in production, pin assignments in config.h files reflect the actual hardware design and cannot be changed, even if they present potential conflicts with debug interfaces. The configuration must match the physical board layout, not ideal software design preferences.

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.

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/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: blckmn
Repo: betaflight/config PR: 851
File: configs/HELLBENDER_0001/config.h:45-46
Timestamp: 2025-08-10T14:08:56.662Z
Learning: In Betaflight, USE_LED_STRIP is a cloud build option that enables/disables the LED strip feature at build time. Individual target config files (configs/*/config.h) only need to define LED_STRIP_PIN as a default pin assignment - they should not define USE_LED_STRIP themselves. The feature enablement is handled externally through the cloud build system, not through preprocessor directives in the config files.

Learnt from: haslinghuis
Repo: betaflight/config PR: 881
File: configs/GEPRC_TAKER_H743MINI/config.h:86-99
Timestamp: 2025-09-01T19:58:52.049Z
Learning: For STM32H743 in Betaflight, PB0 has multiple timer options but only timer index 2 provides a non-complementary output suitable for GYRO_CLKIN functionality. The other timer options for PB0 are N channels (complementary outputs) which are not appropriate for CLKIN usage.

Learnt from: haslinghuis
Repo: betaflight/config PR: 881
File: configs/GEPRC_TAKER_H743MINI/config.h:86-99
Timestamp: 2025-09-01T19:58:52.049Z
Learning: For STM32H743 PB0 in Betaflight, there are three timer options: TIM1_CH2N, TIM3_CH3, and TIM8_CH2N. Only TIM3_CH3 (timer index 2) is suitable for GYRO_CLKIN as the other two are complementary (N) channels. This is confirmed in timer_stm32h7xx.c.

📚 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/HGLRC_H743_LITE/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/HGLRC_H743_LITE/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/HGLRC_H743_LITE/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/HGLRC_H743_LITE/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/HGLRC_H743_LITE/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/HGLRC_H743_LITE/config.h

📚 Learning: 2025-07-14T16:16:56.822Z

Learnt from: haslinghuis
Repo: betaflight/config PR: 835
File: configs/HDZERO_HALO_MPU6000/config.h:44-56
Timestamp: 2025-07-14T16:16:56.822Z
Learning: For Betaflight board configurations of boards already in production, pin assignments in config.h files reflect the actual hardware design and cannot be changed, even if they present potential conflicts with debug interfaces. The configuration must match the physical board layout, not ideal software design preferences.

Applied to files:

configs/HGLRC_H743_LITE/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: 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/HGLRC_H743_LITE/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/HGLRC_H743_LITE/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/HGLRC_H743_LITE/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/HGLRC_H743_LITE/config.h

📚 Learning: 2025-09-01T19:58:52.049Z

Learnt from: haslinghuis
Repo: betaflight/config PR: 881
File: configs/GEPRC_TAKER_H743MINI/config.h:86-99
Timestamp: 2025-09-01T19:58:52.049Z
Learning: For STM32H743 in Betaflight, PB0 has multiple timer options but only timer index 2 provides a non-complementary output suitable for GYRO_CLKIN functionality. The other timer options for PB0 are N channels (complementary outputs) which are not appropriate for CLKIN usage.

Applied to files:

configs/HGLRC_H743_LITE/config.h

📚 Learning: 2025-09-01T19:58:52.049Z

Learnt from: haslinghuis
Repo: betaflight/config PR: 881
File: configs/GEPRC_TAKER_H743MINI/config.h:86-99
Timestamp: 2025-09-01T19:58:52.049Z
Learning: For STM32H743 PB0 in Betaflight, there are three timer options: TIM1_CH2N, TIM3_CH3, and TIM8_CH2N. Only TIM3_CH3 (timer index 2) is suitable for GYRO_CLKIN as the other two are complementary (N) channels. This is confirmed in timer_stm32h7xx.c.

Applied to files:

configs/HGLRC_H743_LITE/config.h

📚 Learning: 2025-07-14T15:41:14.364Z

Learnt from: ot0tot
Repo: betaflight/config PR: 834
File: configs/RADIOLINKF405/config.h:79-88
Timestamp: 2025-07-14T15:41:14.364Z
Learning: In STM32F405 configurations, PB1 typically maps to TIM3_CH4 and PC9 typically maps to TIM8_CH4. These are different timers and do not share DMA resources, so there is no conflict when both pins are used simultaneously (e.g., PB1 for LED_STRIP and PC9 for MOTOR4).

Applied to files:

configs/HGLRC_H743_LITE/config.h

🔇 Additional comments (2)

configs/HGLRC_H743_LITE/config.h (2)

47-47: LGTM: Gyro alignment fix added.

The addition of GYRO_1_ALIGN CW180_DEG_FLIP correctly specifies the physical mounting orientation of the ICM42688P gyro sensor on this board, ensuring proper flight controller operation.

89-90: LGTM: LED pin assignments corrected.

The swap of LED0_PIN and LED1_PIN assignments correctly reflects the actual hardware layout of the board. No timer conflicts detected with PE4 or PE6.

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HGLRC-T · 2025-11-05T12:09:20Z

Thanks~

Fix HGLRC_H743_LITE board LED & Gyro Align

409a7c9

coderabbitai bot approved these changes Nov 3, 2025

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haslinghuis assigned HGLRC-T Nov 3, 2025

haslinghuis approved these changes Nov 3, 2025

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haslinghuis added the Bugfix Fixes a problem label Nov 3, 2025

haslinghuis requested review from blckmn, nerdCopter and ot0tot November 6, 2025 00:17

nerdCopter approved these changes Nov 7, 2025

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haslinghuis merged commit 6b3dbe0 into betaflight:master Nov 7, 2025
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HGLRC-T deleted the FIX_HGLRC_H743_LITE branch November 12, 2025 14:39

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Fix HGLRC_H743_LITE board LED & Gyro Align #943

Fix HGLRC_H743_LITE board LED & Gyro Align #943

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Fix HGLRC_H743_LITE board LED & Gyro Align #943

Fix HGLRC_H743_LITE board LED & Gyro Align #943

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