AP_HAL_ChibiOS: BARO update for BETAFPV F405

add UART6 and VBUS to BETAFPV F405
add alt config to BETAFPV-F405 to support RELAY2 instead of UART6_TX as per betaflight
enable SBUS input on BETAFPV-F405 on UART5_RX
enable IMU temperature calibration for BETAFPV-F405

libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405/README.md

@@ -26,10 +26,10 @@ receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
 |:-|:-|:-|
 |SERIAL0|COMPUTER|USB|
 |SERIAL1|RX1/TX1|UART1 (GPS, DMA-enabled)|
-|SERIAL3|TX3/RX3|UART3 (ELRS, internal)
-|SERIAL4|TX4/RX4|UART4 (DJI)|
-|SERIAL5|RX5|UART5 (RX-only)|
-|SERIAL6|RX6|UART6 (SBUS, RX-only, inverted, DMA-enabled)|
+|SERIAL3|TX3/RX3|UART3 (ELRS, internal - can be freed up through board modifications)
+|SERIAL4|TX4/RX4|UART4 (MSP DisplayPort)|
+|SERIAL5|RX5|UART5 (SBUS, RX-only)|
+|SERIAL6|TX6/RX6|UART6 (Spare, DMA-enabled)|
 
 ## RC Input
 
@@ -48,8 +48,6 @@ The PWM are in in two groups:
  - PWM 1-2 in group1
  - PWM 3-4 in group2
  - PWM 5 in group3
- - PWM 6 in group4
- - PWM 7 in group5
 
 Channels within the same group need to use the same output rate. If
 any channel in a group uses DShot then all channels in the group need
@@ -74,9 +72,14 @@ These are set by default in the firmware and shouldn't need to be adjusted
 
 The BETAFPV F405 AIO does not have a builtin compass.
 
+## GPIO Pin / Relay
+
+The board has an IO pin on RELAY2 (GPIO pin 81) which can be enabled by setting BRD_ALT_CONFIG to 1.
+This then turns UART6_TX into a relay which can be used for controlling an external LED (e.g. on the Pavo 20 Pro)
+
 ## NeoPixel LED
 
-The board includes a NeoPixel LED on the underside which is pre-configured to output ArduPilot sequences. This is the seventh PWM output.
+The board includes a NeoPixel LED on the underside which is pre-configured to output ArduPilot sequences. This is the fifth PWM output.
 
 ## Loading Firmware
 

libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405/defaults.parm

@@ -7,3 +7,6 @@ SERVO_BLH_AUTO 1
 SERVO_BLH_BDMASK 15
 SERVO_DSHOT_ESC 2
 MOT_PWM_TYPE 6
+
+# io on alternate config is on
+RELAY2_DEFAULT 1

libraries/AP_HAL_ChibiOS/hwdef/BETAFPV-F405/hwdef.dat

@@ -53,27 +53,33 @@ SERIAL_ORDER OTG1 USART1 EMPTY USART3 UART4 EMPTY USART6
 # PA10 IO-debug-console
 PA11 OTG_FS_DM OTG1
 PA12 OTG_FS_DP OTG1
+PC5 VBUS INPUT OPENDRAIN
 
 # USART1 (GPS)
 PA10 USART1_RX USART1
 PA9 USART1_TX USART1
 define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_GPS
 
-define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_None
-define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_None
-
 # USART3 (ELRS)
 PB10 USART3_TX USART3
 PB11 USART3_RX USART3
 define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_RCIN
 
-# UART4 (DJI)
+# UART4 (MSP)
 PA0 UART4_TX UART4 NODMA
 PA1 UART4_RX UART4 NODMA
-define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_DJI_FPV
+define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_MSP_DisplayPort
+
+# UART5 (SBUS, RX-only)
+PD2 UART5_RX UART5 NODMA
 
-# USART6 (SBUS, inverted)
+# USART6 (Spare)
 PC7 USART6_RX USART6
+PC6 USART6_TX USART6
+
+# IO pin on alternate config
+PC6 EXTERN_GPIO1 OUTPUT GPIO(81) ALT(1)
+define RELAY2_PIN_DEFAULT 81
 
 # I2C ports
 I2C_ORDER
@@ -118,11 +124,14 @@ define HAL_OSD_TYPE_DEFAULT 1
 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin
 
 # BARO setup
-SPIDEV baro  SPI3 DEVID2 BARO1_CS MODE3 1*MHZ 8*MHZ
-BARO BMP280 SPI:baro
-define HAL_BARO_ALLOW_INIT_NO_BARO 1
+SPIDEV baro1  SPI3 DEVID2 BARO1_CS MODE3 1*MHZ 8*MHZ
+SPIDEV baro2  SPI3 DEVID2 BARO1_CS MODE3 1*MHZ 8*MHZ
+BARO BMP280 SPI:baro1
+BARO DPS280 SPI:baro2
+
 define AP_BARO_BACKEND_DEFAULT_ENABLED 0
 define AP_BARO_BMP280_ENABLED 1
+define AP_BARO_DPS280_ENABLED 1
 
 # IMU setup
 SPIDEV imu1   SPI1 DEVID1 GYRO1_CS   MODE3   1*MHZ   8*MHZ
@@ -139,6 +148,8 @@ define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 define HAL_DEFAULT_INS_FAST_SAMPLE 1
 # Motor order implies Betaflight/X for standard ESCs
 define HAL_FRAME_TYPE_DEFAULT 12
+# Generally no compass so need accurate IMU source
+define HAL_INS_TEMPERATURE_CAL_ENABLE 1
 
 
 include ../include/minimize_fpv_osd.inc