Extend AeroAlign with mixed CoG planning and telemetry base

firmware/slave/platformio.ini

@@ -27,8 +27,6 @@ build_flags =
 ; Library dependencies
 lib_deps =
     Wire                                      ; I2C for IMU
-    adafruit/Adafruit MPU6050@^2.2.4         ; MPU6050 IMU driver
-    adafruit/Adafruit BNO055@^1.6.0          ; BNO055 IMU driver (optional)
 
 ; Partition scheme (minimal, no web server)
 board_build.partitions = min_spiffs.csv
@@ -59,8 +57,6 @@ build_flags =
 ; Library dependencies (same as C3)
 lib_deps =
     Wire
-    adafruit/Adafruit MPU6050@^2.2.4
-    adafruit/Adafruit BNO055@^1.6.0
 
 ; Partition scheme
 board_build.partitions = min_spiffs.csv
@@ -77,47 +73,69 @@ upload_speed = 921600
 [env:slave1]
 extends = env:esp32-c3
 build_flags =
-    ${env:esp32-c3.build_flags}
+    -D ARDUINO_USB_CDC_ON_BOOT=1
+    -D CORE_DEBUG_LEVEL=3
     -D NODE_ID=0x02
 
 [env:slave2]
 extends = env:esp32-c3
 build_flags =
-    ${env:esp32-c3.build_flags}
+    -D ARDUINO_USB_CDC_ON_BOOT=1
+    -D CORE_DEBUG_LEVEL=3
     -D NODE_ID=0x03
 
 [env:slave3]
 extends = env:esp32-c3
 build_flags =
-    ${env:esp32-c3.build_flags}
+    -D ARDUINO_USB_CDC_ON_BOOT=1
+    -D CORE_DEBUG_LEVEL=3
     -D NODE_ID=0x04
 
 [env:slave4]
 extends = env:esp32-c3
 build_flags =
-    ${env:esp32-c3.build_flags}
+    -D ARDUINO_USB_CDC_ON_BOOT=1
+    -D CORE_DEBUG_LEVEL=3
     -D NODE_ID=0x05
 
 [env:slave5]
 extends = env:esp32-c3
 build_flags =
-    ${env:esp32-c3.build_flags}
+    -D ARDUINO_USB_CDC_ON_BOOT=1
+    -D CORE_DEBUG_LEVEL=3
     -D NODE_ID=0x06
 
 [env:slave6]
 extends = env:esp32-c3
 build_flags =
-    ${env:esp32-c3.build_flags}
+    -D ARDUINO_USB_CDC_ON_BOOT=1
+    -D CORE_DEBUG_LEVEL=3
     -D NODE_ID=0x07
 
 [env:slave7]
 extends = env:esp32-c3
 build_flags =
-    ${env:esp32-c3.build_flags}
+    -D ARDUINO_USB_CDC_ON_BOOT=1
+    -D CORE_DEBUG_LEVEL=3
     -D NODE_ID=0x08
 
 [env:slave8]
 extends = env:esp32-c3
 build_flags =
-    ${env:esp32-c3.build_flags}
+    -D ARDUINO_USB_CDC_ON_BOOT=1
+    -D CORE_DEBUG_LEVEL=3
     -D NODE_ID=0x09
+
+[env:slave1-s3]
+extends = env:esp32-s3
+build_flags =
+    -D ARDUINO_USB_CDC_ON_BOOT=1
+    -D CORE_DEBUG_LEVEL=3
+    -D NODE_ID=0x02
+
+[env:slave2-s3]
+extends = env:esp32-s3
+build_flags =
+    -D ARDUINO_USB_CDC_ON_BOOT=1
+    -D CORE_DEBUG_LEVEL=3
+    -D NODE_ID=0x03