Add Gyro feature documentation

.wordlist.txt

@@ -57,6 +57,7 @@ DMX
 DSHOT
 DVDA
 DX
+Dxx
 DaBit
 Denks
 Dev
@@ -73,11 +74,13 @@ EL
 ELRS
 EMAX
 EP
+ER6GV
 ESC
 ESCs
 ESPnow
 ESPxxxx
 ETX
+Elevon
 EdgeTX
 Espressif
 ExpressLRS
@@ -113,6 +116,7 @@ GND
 GPIO
 GSoD
 Graupner
+GV
 GX
 HD
 HDZero
@@ -131,6 +135,7 @@ Hotspot
 IPEX
 ImmersionRC
 ImpulseRC
+IMU
 Init
 Ironman
 JHEMCU
@@ -152,6 +157,7 @@ LinkStats
 LinkFlow
 Linux
 LoRa
+LSM6Dxx
 Lua
 MAVLink
 MCU
@@ -160,6 +166,8 @@ MDL
 MFD
 MHz
 MOSFET
+MPU
+MPU6050
 MSP
 MX
 MacOS

docs/hardware/gyro-receiver-mod.md

@@ -0,0 +1,85 @@
+---
+template: main.html
+description: A short guide on how to add an IMU / gyro to an ExpressLRS receiver.
+---
+
+![Hardware-Banner](https://raw.githubusercontent.com/ExpressLRS/ExpressLRS-Hardware/master/img/hardware.png)
+
+## Overview
+
+ExpressLRS receivers that are equipped with an _inertial measurement unit_ (IMU) / gyro can provide stabilization for aircraft without a flight controller. See [Gyro](../software/gyro.md) for details.
+
+This guide explains how to attach a DIY board to an existing receiver.
+
+## Supported hardware
+
+### IMU / gyro boards:
+
+- MPU6050: very common, supports 5V.
+- LSM6Dxx: not that common. Only supports 3.3V and will need a voltage regulator.
+
+### Receivers
+
+Any supported receiver based on the ESP32 chip, with an accessible I2C or SPI bus. Example: BetaFPV Super-P, RadioMaster ER6, ER8, even ER6GV (via PWM pins).
+
+??? Info "Finding supported ESP32 receivers. (click/tap to expand)"
+    In the [official targets list](https://github.com/ExpressLRS/Targets/blob/master/targets.json), the field `"platform": "esp32"` indicates that the receiver is based on an ESP32 chip.
+
+    If the receiver has PWM pins or multiple UART pads, those may be remapped as I2C or SPI pins.
+
+## Receiver configuration
+
+=== "WebUI"
+
+    TK
+
+=== "Target file"
+
+    TK
+
+## Wiring
+
+
+=== "I2C"
+
+    - The `SCL` pad on the <abbr title="Inertial Measurement Unit">IMU</abbr> board must be connected to the `SCL` pin on the receiver.
+    - The `SDA` pad on the <abbr title="Inertial Measurement Unit">IMU</abbr> board must be connected to the `SDA` pin on the receiver.
+    - The `VCC` pad on the <abbr title="Inertial Measurement Unit">IMU</abbr> board must be connected to a `+` pin on the receiver.
+    - The `GND` pad on the <abbr title="Inertial Measurement Unit">IMU</abbr> board must be connected to a `-` pin on the receiver.
+
+=== "SPI"
+
+    TK
+
+### Wiring examples
+
+<figure markdown>
+  ![TX Binding Tab](../assets/images/gyro/BetaFPV-Super-P-MPU6050.jpg)
+  <figcaption>BetaFPV Super-P with MPU6050 over I2C</figcaption>
+</figure>
+
+<figure markdown>
+  ![TX Binding Tab](../assets/images/gyro/RadioMaster-ER6GV-MPU6050.png)
+  <figcaption>RadioMaster ER6GV with MPU6050 over I2C via PWM pins</figcaption>
+</figure>
+
+## Testing
+
+=== "WebUI"
+
+    TK
+
+=== "Lua script"
+
+    TK
+
+=== "Serial console"
+
+    TK
+
+## Troubleshooting
+
+TK
+
+??? faq "If the gyro is enabled, why is status not OK?"
+    TK

docs/quick-start/webui.md

@@ -312,6 +312,10 @@ ExpressLRS 4.0 improves upon this with a new layout allowing for more sections o
     ![Import/Export Tab](../assets/images/webui/import-export.png)
     </figure>
 
+    ### Gyro Tab
+
+    This tab allows users to configure receivers with an _inertial measurement unit_ (IMU) / gyro to stabilize aircraft without a flight controller. See [Gyro](../software/gyro.md) for more information.
+
     ### WiFi Tab
 
     This tab lets you change the device' WiFi network connectivity and how it will behave when it is in WiFi mode.