Add support for IMU3+

Author: haslinghuis

locales/en/messages.json

@@ -1531,6 +1531,18 @@
     "configurationSensorGyroToUseBoth": {
         "message": "Both"
     },
+    "configurationSensorGyroTitle": {
+        "message": "IMU Sensor "
+    },
+    "configurationSensorEnable": {
+        "message": "Enable Sensor"
+    },
+    "configurationSensorAlignment": {
+        "message": "Sensor Alignment"
+    },
+    "configurationGyroRequiredWarning": {
+        "message": "At least one gyro must remain enabled. If you disable all gyros, the flight controller will not work properly."
+    },
     "configurationSensorAlignmentGyro1": {
         "message": "First GYRO"
     },

src/css/tabs/configuration.less

@@ -53,6 +53,92 @@
             }
         }
     }
+
+    .gyro_box {
+        padding: 12px;
+        margin-bottom: 15px;
+        box-shadow: 0 1px 3px rgba(0, 0, 0, 0.05);
+    }
+    .gyro_box:hover {
+        border-color: #bbb;
+        box-shadow: 0 1px 4px rgba(0, 0, 0, 0.1);
+    }
+    .gyro_title {
+        font-weight: bold;
+        font-size: 14px;
+        margin-bottom: 12px;
+        padding-bottom: 6px;
+        border-bottom: 1px solid #eee;
+        color: #333;
+    }
+    .gyro_row {
+        display: flex;
+        align-items: center;
+        justify-content: space-between;
+        margin-bottom: 10px;
+    }
+    .alignment-container {
+        display: flex;
+        align-items: center;
+        flex: 3;
+    }
+    .alignment-container span {
+        min-width: 100px;
+        margin-right: 10px;
+    }
+    .alignment-container select {
+        min-width: 120px;
+        flex: 1;
+    }
+    .enable-checkbox {
+        flex: 1;
+        text-align: left;
+        margin-right: 15px;
+        padding-right: 0;
+    }
+    .custom_alignment {
+        margin-top: 10px;
+        padding: 10px;
+    }
+    .alignment_inputs_row {
+        display: flex;
+        justify-content: space-between;
+        margin-bottom: 8px;
+    }
+    .alignment_input_cell {
+        flex: 1;
+        margin-right: 15px;
+        text-align: center;
+    }
+    .alignment_input_cell:last-child {
+        margin-right: 0;
+    }
+    .alignment_label {
+        display: flex;
+        align-items: center;
+        justify-content: center;
+        margin-bottom: 8px;
+        white-space: nowrap;
+    }
+    .alignment_label span {
+        font-size: 12px;
+        color: #333;
+        font-weight: 500;
+        display: inline-block;
+        vertical-align: middle;
+    }
+    .alignment_input_cell input {
+        width: 80px;
+        text-align: right;
+        padding: 4px 8px;
+        border: 1px solid #ddd;
+        border-radius: 3px;
+    }
+    .alignment_input_cell input:focus {
+        border-color: #999;
+        outline: none;
+    }
+
     thead {
         display: none;
     }

src/js/fc.js

@@ -478,9 +478,10 @@ const FC = {
             gyro_to_use: 0,
             gyro_1_align: 0,
             gyro_2_align: 0,
-            gyro_align_roll: 0,
-            gyro_align_pitch: 0,
-            gyro_align_yaw: 0,
+            gyro_align: [],
+            gyro_align_roll: [],
+            gyro_align_pitch: [],
+            gyro_align_yaw: [],
             mag_align_roll: 0,
             mag_align_pitch: 0,
             mag_align_yaw: 0,

src/js/msp/MSPHelper.js

@@ -638,18 +638,35 @@ MspHelper.prototype.process_data = function (dataHandler) {
                     FC.SENSOR_ALIGNMENT.align_acc = data.readU8();
                     FC.SENSOR_ALIGNMENT.align_mag = data.readU8();
                     FC.SENSOR_ALIGNMENT.gyro_detection_flags = data.readU8();
-                    FC.SENSOR_ALIGNMENT.gyro_to_use = data.readU8();
-                    FC.SENSOR_ALIGNMENT.gyro_1_align = data.readU8();
-                    FC.SENSOR_ALIGNMENT.gyro_2_align = data.readU8();
+
                     if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_47)) {
-                        FC.SENSOR_ALIGNMENT.gyro_align_roll = data.read16() / 10;
-                        FC.SENSOR_ALIGNMENT.gyro_align_pitch = data.read16() / 10;
-                        FC.SENSOR_ALIGNMENT.gyro_align_yaw = data.read16() / 10;
+                        FC.SENSOR_ALIGNMENT.gyro_enable_mask = data.readU8(); // replacing gyro_to_use
+
+                        // Initialize arrays for gyro alignment
+                        FC.SENSOR_ALIGNMENT.gyro_align = [];
+                        FC.SENSOR_ALIGNMENT.gyro_align_roll = [];
+                        FC.SENSOR_ALIGNMENT.gyro_align_pitch = [];
+                        FC.SENSOR_ALIGNMENT.gyro_align_yaw = [];
+
+                        for (let i = 0; i < 8; i++) {
+                            FC.SENSOR_ALIGNMENT.gyro_align[i] = data.readU8();
+                        }
+
+                        for (let i = 0; i < 8; i++) {
+                            FC.SENSOR_ALIGNMENT.gyro_align_roll[i] = data.read16() / 10;
+                            FC.SENSOR_ALIGNMENT.gyro_align_pitch[i] = data.read16() / 10;
+                            FC.SENSOR_ALIGNMENT.gyro_align_yaw[i] = data.read16() / 10;
+                        }
 
                         FC.SENSOR_ALIGNMENT.mag_align_roll = data.read16() / 10;
                         FC.SENSOR_ALIGNMENT.mag_align_pitch = data.read16() / 10;
                         FC.SENSOR_ALIGNMENT.mag_align_yaw = data.read16() / 10;
+                    } else {
+                        FC.SENSOR_ALIGNMENT.gyro_to_use = data.readU8();
+                        FC.SENSOR_ALIGNMENT.gyro_1_align = data.readU8();
+                        FC.SENSOR_ALIGNMENT.gyro_2_align = data.readU8();
                     }
+
                     break;
                 case MSPCodes.MSP_DISPLAYPORT:
                     break;
@@ -2079,19 +2096,33 @@ MspHelper.prototype.crunch = function (code, modifierCode = undefined) {
             buffer
                 .push8(FC.SENSOR_ALIGNMENT.align_gyro)
                 .push8(FC.SENSOR_ALIGNMENT.align_acc)
-                .push8(FC.SENSOR_ALIGNMENT.align_mag)
-                .push8(FC.SENSOR_ALIGNMENT.gyro_to_use)
-                .push8(FC.SENSOR_ALIGNMENT.gyro_1_align)
-                .push8(FC.SENSOR_ALIGNMENT.gyro_2_align);
+                .push8(FC.SENSOR_ALIGNMENT.align_mag);
+
             if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_47)) {
-                buffer.push16(FC.SENSOR_ALIGNMENT.gyro_align_roll * 10);
-                buffer.push16(FC.SENSOR_ALIGNMENT.gyro_align_pitch * 10);
-                buffer.push16(FC.SENSOR_ALIGNMENT.gyro_align_yaw * 10);
+                buffer.push8(FC.SENSOR_ALIGNMENT.gyro_enable_mask); // replacing gyro_to_use
 
-                buffer.push16(FC.SENSOR_ALIGNMENT.mag_align_roll * 10);
-                buffer.push16(FC.SENSOR_ALIGNMENT.mag_align_pitch * 10);
-                buffer.push16(FC.SENSOR_ALIGNMENT.mag_align_yaw * 10);
+                for (let i = 0; i < 8; i++) {
+                    buffer.push8(FC.SENSOR_ALIGNMENT.gyro_align[i]);
+                }
+
+                for (let i = 0; i < 8; i++) {
+                    buffer
+                        .push16(FC.SENSOR_ALIGNMENT.gyro_align_roll[i] * 10)
+                        .push16(FC.SENSOR_ALIGNMENT.gyro_align_pitch[i] * 10)
+                        .push16(FC.SENSOR_ALIGNMENT.gyro_align_yaw[i] * 10);
+                }
+
+                buffer
+                    .push16(FC.SENSOR_ALIGNMENT.mag_align_roll * 10)
+                    .push16(FC.SENSOR_ALIGNMENT.mag_align_pitch * 10)
+                    .push16(FC.SENSOR_ALIGNMENT.mag_align_yaw * 10);
+            } else {
+                buffer
+                    .push8(FC.SENSOR_ALIGNMENT.gyro_to_use)
+                    .push8(FC.SENSOR_ALIGNMENT.gyro_1_align)
+                    .push8(FC.SENSOR_ALIGNMENT.gyro_2_align);
             }
+
             break;
         case MSPCodes.MSP_SET_ADVANCED_CONFIG:
             buffer