Add Nexus XR Wing target by ot0tot · Pull Request #1098 · betaflight/config

ot0tot · 2026-05-07T15:03:34Z

Add Radiomaster Nexus XR Wing target

@coderabbitai note this is a Wing FC, and the usual Betaflight quad FC restrictions do not apply.

Hardware test

Summary by CodeRabbit

New Features
- Added support for the NEXUSXR flight controller board: motor and optional servo/wing control, multiple UART ports (including built‑in RC telemetry), onboard IMU and barometer, onboard SPI flash for blackbox, and default telemetry/blackbox settings.
- Enabled ADC-based current/voltage sensing with sensible scaling, DShot ESC protocol support, and default sensor/telemetry routing for out-of-the-box use.

coderabbitai · 2026-05-07T15:03:49Z

No actionable comments were generated in the recent review. 🎉

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📥 Commits

Reviewing files that changed from the base of the PR and between 51e70cc and 23057f0.

📒 Files selected for processing (1)

configs/NEXUSXR/config.h

🚧 Files skipped from review as they are similar to previous changes (1)

configs/NEXUSXR/config.h

Walkthrough

A new Betaflight board configuration header for NEXUSXR adds MCU/board identifiers, sensor and flash feature flags, GPIO pin and timer mappings for motors/servos/UART/I2C/SPI/ADC, and default runtime configuration (ADC/blackbox/DSHOT/ELRS/gyro/flash settings).

Changes

Cohort / File(s)	Summary
NEXUSXR Board Configuration `configs/NEXUSXR/config.h`	Adds a new board config header: Betaflight license/pragma, target MCU (STM32F7X2), board/manufacturer IDs, enabled features (ICM42688P SPI accel/gyro, DPS310 baro, W25N SPI flash, conditional servos/wing), GPIO mappings for motors (M1–M8) and servos (S1–S6), UART1–UART6 pinouts (including ELRS on UART5), I2C/SPI/ADC/LED/RF/flash/gyro pins, `TIMER_PIN_MAPPING`, and default peripheral and telemetry macros (ADC/DMA, baro/mag I2C instances, blackbox device, DSHOT bitbang, current/voltage meter sources/scales, ELRS RX provider UART5 CRSF, SPI instances, gyro alignment).

Estimated code review effort

🎯 2 (Simple) | ⏱️ ~10 minutes

Possibly related PRs

betaflight/config#838: Overlaps on sensor macro additions for ICM42688P and DPS310 barometer declarations.

Suggested labels

Uses Betaflight Connector Standard

Suggested reviewers

sugaarK
haslinghuis

🚥 Pre-merge checks | ✅ 4 | ❌ 1

❌ Failed checks (1 warning)

Check name	Status	Explanation	Resolution
Description check	⚠️ Warning	The PR description is largely incomplete. While it identifies the hardware (Radiomaster Nexus XR Wing) and notes this is a Wing FC, it lacks critical details from the template including schematics review, hardware testing confirmation, and guideline compliance checkboxes.	Complete the mandatory checklist items: confirm schematics review, hardware testing, compliance with guidelines/connector standards, flight testing status, and resolution of any comments/issues.

✅ Passed checks (4 passed)

Check name	Status	Explanation
Title check	✅ Passed	The title 'Add Nexus XR Wing target' is clear, specific, and directly describes the main change—adding a new Betaflight board configuration for the Nexus XR Wing.
Docstring Coverage	✅ Passed	No functions found in the changed files to evaluate docstring coverage. Skipping docstring coverage check.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.

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👉 Steps to fix this

Actionable comments posted: 1

🤖 Prompt for all review comments with AI agents

Verify each finding against current code. Fix only still-valid issues, skip the
rest with a brief reason, keep changes minimal, and validate.

Inline comments:
In `@configs/NEXUSXR/config.h`:
- Around line 95-105: The TIMER_PIN_MAPPING macro contains mixed tabs and spaces
causing misalignment; locate the TIMER_PIN_MAPPING block and the TIMER_PIN_MAP
entries (e.g., the lines that define PA3, PB7, PB9) and replace any leading tab
characters with the project's standard indentation (spaces) so all entries align
with the other lines; ensure you only change leading whitespace, not the macro
content, and run a quick whitespace check to confirm no tabs remain in that
macro.

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Create a new PR with the fixes

ℹ️ Review info

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📥 Commits

Reviewing files that changed from the base of the PR and between ee3d78a and 51e70cc.

📒 Files selected for processing (1)

configs/NEXUSXR/config.h

ot0tot · 2026-05-07T16:44:13Z

@coderabbitai review and approve

coderabbitai · 2026-05-07T16:44:27Z

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@ot0tot, I'll kick off a review of the PR right away! 🐰

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[review]

haslinghuis · 2026-05-07T17:28:19Z

@coderabbitai approve

coderabbitai · 2026-05-07T17:28:31Z

✅ Actions performed

Comments resolved and changes approved.

ot0tot · 2026-05-07T17:39:40Z

Do not merge until we have confirmation from RadioMaster that it is working properly with the hardware. We currently do not have hardware to test.

sugaarK

tested on hardware sent from RM

Add Nexus XR Wing target

51e70cc

coderabbitai Bot reviewed May 7, 2026

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Comment thread configs/NEXUSXR/config.h Outdated

ot0tot added 3 commits May 7, 2026 11:13

Fix voltage scale

3502c1d

Fix tabs/spaces

4b214a4

Add servo outputs

0189133

haslinghuis assigned ot0tot May 7, 2026

haslinghuis approved these changes May 7, 2026

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coderabbitai Bot approved these changes May 7, 2026

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haslinghuis reviewed May 7, 2026

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Comment thread configs/NEXUSXR/config.h

haslinghuis reviewed May 7, 2026

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Comment thread configs/NEXUSXR/config.h

haslinghuis reviewed May 7, 2026

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Comment thread configs/NEXUSXR/config.h

ot0tot commented May 14, 2026

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Comment thread configs/NEXUSXR/config.h Outdated

sugaarK reviewed May 28, 2026

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sugaarK approved these changes May 29, 2026

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Move mag to I2C2 (Port C)

23057f0

haslinghuis merged commit 1359bbe into betaflight:master May 31, 2026
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Add Nexus XR Wing target#1098

Add Nexus XR Wing target#1098
haslinghuis merged 5 commits into
betaflight:masterfrom
ot0tot:Add-Nexus-XR-Wing

ot0tot commented May 7, 2026 •

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