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New target: FrSky/Rotorflight Vantac RF007 #11082

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e14ba5d
VANTAC_RF007: Add new target FrSky/Rotorflight Vantac RF007
functionpointer Oct 25, 2025
0c6b4fd
VANTAC_RF007: combine targets
functionpointer Nov 1, 2025
95a9795
VANTAC_RF007: Fix UART3/I2C2 resource conflict on port C
functionpointer Nov 22, 2025
0c52ff0
VANTAC_RF007: USE_DSHOT_DMAR, modify defaults
functionpointer Nov 23, 2025
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1 change: 1 addition & 0 deletions src/main/target/VANTAC_RF007/CMakeLists.txt
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target_stm32f722xe(VANTAC_RF007)
73 changes: 73 additions & 0 deletions src/main/target/VANTAC_RF007/README.md
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FrSky/Rotorflight VANTAC RF007
==============================

Family of flight controllers originally designed for helicopters using Rotorflight.
There are three versions available, the only difference is the type of integrated FrSky receiver.
All versions share the same target in INAV.

Rotorflight's site: https://www.rotorflight.org/docs/controllers/frsky-007

FrSky's manual: https://www.frsky-rc.com/wp-content/uploads/Downloads/Amanual/VANTAC%20RF007%20Manual.pdf

Built-in receiver
-------------------

The built-in receiver is connected to UART5 and uses FrSky FBUS.
Only the RxUG update port is connected to the receiver directly.
All other pins are connected to the STM32F7 running INAV.

The receiver has a bind button labelled "Rx".
To bind the Archer+ version, the button needs to be held while power gets connected.
The Archer+ version will bind to Multiprotocol Module FrSky X2 D16 mode, among other options.
For more information, see the manufacturer's manual.

Pin configuration
-----------------

The RPM, TLM, AUX and SBUS pins are Servo/Motor outputs by default.
However, when UART1 or UART2 are assigned a function in the ports tab, the pins will become a UART instead.
See the table below.

| Marking on the case | Both UART1 and UART2 unused | UART1 in use | UART2 in use | Both UART1 and UART2 in use |
|---------------------|------------------------------------------------------------------------------------------------|------------------------------------------------------------------------------------------------|------------------------------------------------------------------------------------------------|------------------------------------------------------------------------------------------------|
| S1 | Output S1 | Output S1 | Output S1 | Output S1 |
| S2 | Output S2 | Output S2 | Output S2 | Output S2 |
| S3 | Output S3 | Output S3 | Output S3 | Output S3 |
| TAIL | Output S4 | Output S4 | Output S4 | Output S4 |
| ESC | Output S5 | Output S5 | Output S5 | Output S5 |
| RPM | Output S6 | Output S6 | UART2 TX | UART2 TX |
| TLM | Output S7 | Output S7 | UART2 RX | UART2 RX |
| AUX | Output S8 | UART1 TX | Output S6 | UART1 TX |
| SBUS | Output S9 | UART1 RX | Output S7 | UART1 RX |
| A | UART4<br>pin order:<br>TX, RX, 5V, GND | UART4<br>pin order:<br>TX, RX, 5V, GND | UART4<br>pin order:<br>TX, RX, 5V, GND | UART4<br>pin order:<br>TX, RX, 5V, GND |
| C | I2C<br>pin order:<br>**SDA, SCL, 5V, GND**<br>or<br>UART3<br>pin order:<br>**RX, TX, 5V, GND** | I2C<br>pin order:<br>**SDA, SCL, 5V, GND**<br>or<br>UART3<br>pin order:<br>**RX, TX, 5V, GND** | I2C<br>pin order:<br>**SDA, SCL, 5V, GND**<br>or<br>UART3<br>pin order:<br>**RX, TX, 5V, GND** | I2C<br>pin order:<br>**SDA, SCL, 5V, GND**<br>or<br>UART3<br>pin order:<br>**RX, TX, 5V, GND** |
| EXT-V | battery voltage<br>max 80V<br>pin order:<br>Vbat, GND | battery voltage<br>max 80V<br>pin order:<br>Vbat, GND | battery voltage<br>max 80V<br>pin order:<br>Vbat, GND | battery voltage<br>max 80V<br>pin order:<br>Vbat, GND |
| built-in receiver | UART5 | UART5 | UART5 | UART5 |

All pin orders are from left to right, when looking at the connector on the flight controller.

**Port "C" has the data pins swapped. The manufacturers documentation is incorrect.**
Port "A" is wired correctly.

Hardware layout
---------------


| Marking on the case | STM32 pin | Servo | UART | I2C |
|---------------------|-----------|------------------------------:|---------------:|---------:|
| S1 | PB4 | TIM3CH1 | n/a | n/a |
| S2 | PB5 | TIM3CH2 | n/a | n/a |
| S3 | PB0 | TIM3CH3 | n/a | n/a |
| TAIL | PA15 | TIM2CH1 | n/a | n/a |
| ESC | PA9 | TIM1CH2 | UART1 TX | n/a |
| RPM | PA2 | TIM2CH3<br>TIM5CH3<br>TIM9CH1 | UART2 TX | n/a |
| TLM | PA3 | TIM2CH4<br>TIM5CH4<br>TIM9CH2 | UART2 RX | n/a |
| AUX | PB6 | TIM4CH1 | UART1 TX | I2C1 SCL |
| SBUS | PB7 | TIM4CH2 | UART1 RX | I2C1 SDA |
| A | PA0/PA1 | TIM1<br>TIM5 | UART2<br>UART4 | n/a |
| C | PB10/PB11 | TIM2 | UART3 | I2C2 |
| EXT-V | PC0 | n/a | n/a | n/a |
| built-in receiver | PC12/PD2 | n/a | UART5 | n/a |

The pinout is extremely similar to the F7B5 reference design from Rotorflight.
https://github.com/rotorflight/rotorflight-ref-design/blob/master/Reference-Design-F7B.md
32 changes: 32 additions & 0 deletions src/main/target/VANTAC_RF007/config.c
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/*
* This file is part of INAV Project.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this file,
* You can obtain one at http://mozilla.org/MPL/2.0/.
*
* Alternatively, the contents of this file may be used under the terms
* of the GNU General Public License Version 3, as described below:
*
* This file is free software: you may copy, redistribute and/or modify
* it under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or (at your
* option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see http://www.gnu.org/licenses/.
*/

#include <platform.h>
#include "drivers/pwm_mapping.h"

void targetConfiguration(void)
{
// default "ESC" pin to be a motor
timerOverridesMutable(timer2id(TIM1))->outputMode = OUTPUT_MODE_MOTORS;
}
43 changes: 43 additions & 0 deletions src/main/target/VANTAC_RF007/target.c
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/*
* This file is part of INAV.
*
* INAV is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* INAV is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with INAV. If not, see <http://www.gnu.org/licenses/>.
*/

#include <stdint.h>

#include "platform.h"

#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
#include "drivers/timer.h"
#include "target.h"

timerHardware_t timerHardware[] = {
DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // labelled "S1"
DEF_TIM(TIM3, CH2, PB5, TIM_USE_OUTPUT_AUTO, 0, 0), // labelled "S2"
DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // labelled "S3"

DEF_TIM(TIM2, CH1, PA15, TIM_USE_OUTPUT_AUTO, 0, 0), // labelled "TAIL"

DEF_TIM(TIM1, CH2, PA9, TIM_USE_OUTPUT_AUTO, 0, 0), // labelled "ESC"

DEF_TIM(TIM2, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 0), // labelled "RPM", clashes with UART2 TX
DEF_TIM(TIM2, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 0), // labelled "TLM", clashes with UART2 RX

DEF_TIM(TIM4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 0, 0), // labelled "AUX", clashes with UART1 TX and I2C1 SCL
DEF_TIM(TIM4, CH2, PB7, TIM_USE_OUTPUT_AUTO, 0, 0), // labelled "SBUS", clashes with UART1 RX and I2C1 SDA
};

const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
147 changes: 147 additions & 0 deletions src/main/target/VANTAC_RF007/target.h
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/*
* This file is part of INAV.
*
* INAV is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* INAV is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with INAV. If not, see <http://www.gnu.org/licenses/>.
*/


#pragma once

#define TARGET_BOARD_IDENTIFIER "F7B5"

#define USBD_PRODUCT_STRING "VANTAC_RF007"

#define LED0 PC14
#define LED1 PC15

#define USE_SPI
#define USE_SPI_DEVICE_1
#define SPI1_SCK_PIN PA5
#define SPI1_MISO_PIN PA6
#define SPI1_MOSI_PIN PA7

#define USE_IMU_ICM42605 // is actually ICM42688P
#define IMU_ICM42605_ALIGN CW90_DEG
#define ICM42605_CS_PIN PA4
#define ICM42605_EXTI_PIN PB2
#define ICM42605_SPI_BUS BUS_SPI1

// *************** I2C /Baro/Mag *********************
#define USE_I2C
#define USE_I2C_DEVICE_1
#define I2C1_SCL PB8
#define I2C1_SDA PB9
// alternate pin assignment
// clashes with UART1
// also won't allow the built-in barometer to be used
//#define I2C1_SCL PB6
//#define I2C1_SDA PB7

#define USE_I2C_DEVICE_2 // clashes with UART3
#define I2C2_SCL PB10
#define I2C2_SDA PB11
#define EXTERNAL_I2C BUS_I2C2
#define I2C_DEVICE_2_SHARES_UART3

#define USE_BARO
#define BARO_I2C_BUS BUS_I2C1
#define USE_BARO_SPL06
#define SPL06_I2C_ADDR 119

#define TEMPERATURE_I2C_BUS EXTERNAL_I2C

#define PITOT_I2C_BUS EXTERNAL_I2C

#define USE_RANGEFINDER
#define RANGEFINDER_I2C_BUS EXTERNAL_I2C

// *************** SPI2 Blackbox *******************
#define USE_SPI_DEVICE_2
#define SPI2_SCK_PIN PB13
#define SPI2_MISO_PIN PB14
#define SPI2_MOSI_PIN PB15

#define USE_FLASHFS
#define USE_FLASH_W25N01G
#define W25N01G_SPI_BUS BUS_SPI2
#define W25N01G_CS_PIN PB12
#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT

// *************** UART *****************************
#define USE_VCP

#define USE_UART1 // clashes with I2C1
#define UART1_TX_PIN PB6
#define UART1_RX_PIN PB7 // pin labelled "SBUS"

#define USE_UART2
#define UART2_TX_PIN PA2 // pin labelled as "RPM"
#define UART2_RX_PIN PA3 // pin labelled as "TLM"

#define USE_UART3 // clashes with I2C2
// port labelled "C"
#define UART3_TX_PIN PB10
#define UART3_RX_PIN PB11

#define USE_UART4
// port labelled "A"
#define UART4_TX_PIN PA0
#define UART4_RX_PIN PA1

#define USE_UART5
// port internal receiver
#define UART5_TX_PIN PC12
#define UART5_RX_PIN PD2

#define SERIAL_PORT_COUNT 6

#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
#define SERIALRX_PROVIDER SERIALRX_FBUS
#define SERIALRX_UART SERIAL_PORT_USART5

#define SENSORS_SET (SENSOR_ACC|SENSOR_BARO)

// *************** ADC *****************************
#define USE_ADC
#define ADC_INSTANCE ADC1
#define ADC1_DMA_STREAM DMA2_Stream0

#define ADC_CHANNEL_1_PIN PC2
#define ADC_CHANNEL_2_PIN PC1
#define ADC_CHANNEL_3_PIN PC0

#define VBAT_ADC_CHANNEL ADC_CHN_3 // port labelled "EXT-V"
//BEC ADC is ADC_CHN_2
//BUS ADC is ADC_CHN_1

#define VBAT_SCALE_DEFAULT 2464

#define DEFAULT_FEATURES (FEATURE_TELEMETRY | FEATURE_VBAT | FEATURE_TX_PROF_SEL)

#define USE_SERIAL_4WAY_BLHELI_INTERFACE

#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff
#define TARGET_IO_PORTC 0xffff
#define TARGET_IO_PORTD 0xffff

#define MAX_PWM_OUTPUT_PORTS 9

#define USE_DSHOT
#define USE_SERIALSHOT
#define USE_ESC_SENSOR
#define USE_SMARTPORT_MASTER // no internal current sensor, enable SMARTPORT_MASTER so external ones can be used

#define USE_DSHOT_DMAR