AP_HAL_ChibiOS: add hwdef for Flywoo/Goku F405 HD 1-2S ELRS AIO v2 #27036
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pending review by @Hwurzburg |
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needs commit msg cleanup |
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Should I just leave the first sentence, or do you have something else in mind? |
https://ardupilot.org/dev/docs/submitting-patches-back-to-master.html#preparing-commits |
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* AP_HAL_ChibiOS: iFlight Blitz H7 Pro * AP_HAL_ChibiOS: adding active UART in the bootloader Adding USART6 to be active in bootloader phase to allow flashing with a serial connection. * Tools: adding active UART in the bootloader Adding USART6 to be active in bootloader phase to allow flashing with a serial connection. * Tools: autotest: copter: add max alt fence avoidance test * AC_Avoid: add "BACKZ_SPD" vertical backup speed limit parameter * AP_Motors:explain PMWRange/Angle PWM types in metadata * AP_BoardConfig: move handling of AP_Radio RC input down into AP_RCProtocol * AP_HAL_ChibiOS: move handling of AP_Radio RC input down into AP_RCProtocol * AP_HAL: move handling of AP_Radio RC input down into AP_RCProtocol * AP_Radio: move handling of AP_Radio RC input down into AP_RCProtocol * AP_RCProtocol: move handling of AP_Radio RC input down into AP_RCProtocol * GCS_MAVLink: move handling of AP_Radio RC input down into AP_RCProtocol * ArduCopter: move handling of AP_Radio RC input down into AP_RCProtocol * AP_HAL_ChibiOS: enable AP_Scheduler for CubeOrange-periph-heavy ... we use the scehduler in AP_Motors, which is compiled when making heavy-periph * AP_Scripting: enable AP_Scheduler for CubeOrange-periph-heavy ... we use the scehduler in AP_Motors, which is compiled when making heavy-periph * Plane: 4.5.2-beta1 release notes * Plane: update release notes * Tracker: 4.5.2-beta1 release notes * Rover: 4.5.2-beta1 release notes * Copter: 4.5.2-beta1 release notes * Tracker: update release notes * Copter: update release notes * Rover: update release notes * ArduCopter: enabled sending waypoints from a companion computer to ardupilot for copter and rover Signed-off-by: Ryan Friedman <[email protected]> * Rover: enabled sending waypoints from a companion computer to ardupilot for copter and rover Signed-off-by: Ryan Friedman <[email protected]> * Tools: enabled sending waypoints from a companion computer to ardupilot for copter and rover Signed-off-by: Ryan Friedman <[email protected]> * AP_HAL_ChibiOS: add highres sampling to Pixhawk6X * AP_InertialSensor: allow FIFO rate logging for hires sampling * AP_Scripting: fixed crc and added logging to INF_Inject driver * Tools: added serial playback tool for playing back serial data captured by ArduPilot * AP_Periph: add support for streaming dedicated RPM message * AP_RPM: add DC_SEND_ID for periph RPM stream * Tools: ardupilotwaf: boards: enable `HAL_PERIPH_ENABLE_RPM_STREAM` on `sitl_periph_universal` * AP_RPM: add DroneCAN backend * AP_DroneCAN: call RPM subscribe * DroneCAN: DSDL: add RPM message * Plane: refactor NAV_ALTITUDE_WAIT to AutoMode:: to match nav_delay() * AP_InertialSensor: ensure that notches get updated while converging * autotest: tighten DynamicRpmNotches so that failure means failure check notch attenuation at motor frequency * autotest: improve reliability of MotorVibration test * hwdef: ARKV6X: UART6 RC SBUS input * hwdef: ARKV6X: enable debug console * Tools: build_options.py: note extended link stats requires MSP * Tools: build_options.py: note that HereFlow requires DroneCAN * Tools: build_options.py: add RPM DroneCAN .... otherwise no board will compile without dronecan enabled - and some won't build that way * AP_Scripting: allow for 0x00 for 2nd checksum byte in INF_Inject driver the device does send 0x00 sometimes and data is valid * Plane: Fix metadata (increments) for changed params Moving from centidegree to degree need adjusting the increments in the metadata (MP uses metadata to setup GUI) * AP_ROMFS: clarify usage and null termination Also remove the redundant insertion of the null terminator. * AP_Filesystem: guarantee load_file() data is null-terminated Improves safety of use and clarity of users. Termination is not included in the reported size to avoid changing user behavior or misrepresenting the file contents. * Tools: update MatekH7A3 bootloader for 16MHz xtal * AP_HAL_ChibiOS: update MatekH7A3 hwdef for 16MHz xtal * HAL_SITL: added Glider SITL model * SITL: added Glider SITL model * Tools: added Glider SITL model * autotest: remove SIM_SERVO_SPEED from whitelist * AP_AHRS: prevent use of uninitialised EAS2TAS * AP_MotorsHeli: Add collective and cyclic blade pitch angle logging * Rover: Delete unnecessary decisions * Rover: Add terminate to parameter description * Tools: add frame params for Rtos Co's SPARK Kit * Tools: add blended GPS build option * AP_Logger: rename class and hwdef related to w25nxx * AC_AttitudeControl: move `euler_rate_to_ang_vel`, `ang_vel_to_euler_rate` and `euler_accel_limit` to Quaternion attitude * Copter: `euler_rate_to_ang_vel` takes Quaternion attitude * Sub: `euler_rate_to_ang_vel` takes Quaternion attitude * Tools: ardupilotwaf: use classic clang linker when compiling on macOS - Fix issue where linker fails with Xcode 15.3. - Add check for CC_VERSION. Signed-off-by: Rhys Mainwaring <[email protected]> * AP_CANManager: CANSensor: add getter for initialized * AP_Scripting: CAN: `get_device` and `get_device2` return nil if no driver is configure with the correct protocol * README: Remove myself from maintainers list * AP_HAL_Linux: remove unused RC input methods these protocols have come from AP_RCProtocol for years * Rover: Change division to multiplication * AP_Scripting: update docs generator to show ap_objects as possibly nil * AP_Scripting: update docs * AP_Scripting: generator: add return count to manual bindings * AP_Scripting: Docs: fix all type errors * AP_Scripting: tests: enforce correct types in docs * Plane: Add tiltrotor specific log message * Plane: tiltrotor: fix canceling out of FWD_GAIN * hwdef: enable can port on Blitz743Pro * Plane: remove altitude_error_cm variable This variable updated unpredictably, and it was easy to introduce bugs. It was not used in many places and is clearer to calculate the error directly when needed. * hwdef:preconfig MicoAir bds shipping with BF for BF migration * AP_JSON: Ensure all printf() calls end with line break * AP_Scripting: added copter_loiter_brake script for automatic BRAKE mode when flying in LOITER in steep terrain * AP_Airspeed: added atmospheric tables for high altitude flight this gets altitude and EAS2TAS much more accurately up to around 150k feet AMSL. Enabled on boards using EKF double * AP_Baro: added atmospheric tables for high altitude flight this gets altitude and EAS2TAS much more accurately up to around 150k feet AMSL. Enabled on boards using EKF double * AP_Baro: log AltAMSL useful as GPS comparison * AP_DAL: use ahrs for EAS2TAS this uses the stored value calculated once per loop * SITL: use new atmospheric tables and improve pitot handling * HAL_SITL: use baro atmospheric tables * Plane: use AHRS for air density ratio * AP_AHRS: added get_air_density_ratio() * AP_Motors: use AHRS for get_air_density_ratio() * autotest: fixed marginal test WPNAV_SPEED_DN this test completed at 59s before the baro change, and needs 62s afterwards with the slight change in atmospheric modelling increase to 70s so it doesn't flap * Copter: Change from enum to class * Tools: add comment at end of file restricting range to be allocated from we allocated outside the comment mentioned at the top of the file, so add a comment at the end too * hwdef:update DMA * autotest: add test for Rover RTL speed * Rover: correct clamping of RTL_SPEED parameter MAX wasn't treating these things as floats * Tools: added LongBowF405WING to board_types.txt * AP_HAL_Linux: fix SPIUARTDriver to work with GPS autodetection GPS auto-detection requires get_baud_rate to return non-zero. The SPIUARTDriver was returning 0. * AP_Periph: allow airspeed without I2C * AP_Periph: always limit rangefinder update rate to given max rate * Filter: Get common processes out of the way * AP_Scripting: allow revert of angular rate limits * AP_Torqeedo: multi backend support * AP_BattMonitor: torqeedo support for multiple instances * Rover: torqeedo multiple backend integration shorten param prefix add param conversion * AP_Mission: emit jump count even if no limit previously if there was a jump limit we informed the user we were jumping and provided the current count and the limit. This changes things so that if there's no limit we emit the same message, with the count and "unlimited" in place of the limit number * Sub: correct boot on boards with features missing parameters don't exist for defaulting, so config error loop is entered. The config error loop also isn't working well this early in the boot, so the board is not perfectly informative. Config Error: param deflt fail:BARO_PROBE_EXT no link Config Error: param deflt fail:BARO_PROBE_EXT no link no link Config Error: param deflt fail:BARO_PROBE_EXT no link * AP_Baro: create explicit define for BARO_PROBE_EXT parameter the more-than-trivial #if is needed elsewhere, so create an explicit name for it * hwdef: added MatekL431-APDTelem for using APD ESCs with serial telemetry * Tools: added MatekL431-APDTelem bootloader * waf: update to 2.0.27 this fixes python 3.12 support * mavlink: support python 3.12 * waf: cope with CI python oddity * AP_HAL_ChibiOS: correct GPS output on MambaH743v4 * Tools: install-prereqs-ubuntu.sh: add support for Ubuntu Noble (24.04) * AP_MotorsHeli: Swash: Make motor numbers const * Vagrant: add support for Ubuntu Noble, 24.04 * github: test_environment: test Ubuntu noble and not Ubuntu mantic mantic is EOL, save some CI time * HAL_ChibiOS: fixed erasing of G4 dual-bank past 256k flash BKER needs to be set to bank number, lower 7 bits of page number in PNB * Tools: add MatekG474-Periph bootloader * AP_HAL_ChibiOS: add MatekG474-Periph hwdef * Tools: use previous release of pymonocypher * board_types.txt: reserve board ID for MountainEagle H743 * AP_GPS: fix GPS headings * If you don't wrap the heading, you can get a flyaway Signed-off-by: Ryan Friedman <[email protected]> * SITL: fix GPS headings * Rename NMEA heading to ground_course_deg * Rename heading() utility to ground course (it was wrong) * Add _rad prefix to be pedantic about units * Add missing degrees conversion in NMEA because NMEA is not SI Signed-off-by: Ryan Friedman <[email protected]> * Rover: Initialize variables * AP_HAL_Linux: Util_RPI: Add support to RPI5 identification Signed-off-by: Patrick José Pereira <[email protected]> * AP_HAL_Linux: Util_RPI: Add message about unknown board Signed-off-by: Patrick José Pereira <[email protected]> * AP_HAL_Linux: Add support to Raspberry Pi 5 The Raspberry Pi 5 has a coprocessor that takes care of the IO over the BCM. This adds support to the new RP1 processor. Signed-off-by: Patrick José Pereira <[email protected]> * AP_HAL_Linux: Remove message about base address The value is the same as in the match Signed-off-by: Patrick José Pereira <[email protected]> * AP_Bootloader: Reserve ID range for Matek * Quadplane: fix TRIM_PITCH description * autotest: add test for transfer again after bad count supplied * GCS_MAVLink: mark as not receiving when too many items in MISSION_COUNT.count we left things in the "receiving" state, which would eventually lead to a timeout, rather than just failing instanenously with the correct code. * AP_RangeFinder: fix Lua timeout * AP_Bootloader: BLITZ Wing H743 * bootloaders: BLITZ Wing H743 * AP_HAL_ChibiOS: BLITZ Wing H743 * Tools: Expose map/console mavproxy args * These can be set in ros2 launch calls now Signed-off-by: Ryan Friedman <[email protected]> * AP_BattMonitor: ESC: add mask * AP_ExternalAHRS: Fix duplicate condition Signed-off-by: Ryan Friedman <[email protected]> * AP_HAL_ChibiOS: remove setting of ROMFS flags * Tools: ardupilotwaf: move setting of ROMFS flags for all boards to `embed_ROMFS_files` method * Plane: 4.5.2 release notes * AC_AutoTune: zero out D_FF during twitching * Tracker: 4.5.2 release notes * Rover: 4.5.2 release notes * Copter: 4.5.2 release notes * AP_Scripting: added example script that causes a hard fault this exercises rapid fault handling * AP_Scripting: fixed float register save/restore in setjmp/longjmp the register save must happen before the setjmp() call, which means outside of the LUAI_TRY() macro. We also should be saving all 32 floating point registers * AP_Bootloader: add SDMODELV2 * bootloaders: add SDMODELV2 * AP_HAL_ChibiOS: add SDMODELV2 * autotest: add test for partial-transfer after mission-upload * GCS_MAVLink: deny attempt to do partial upload while mission transfer in progress fixes an internal error where we make sure resources are not allocated before allocating upload resources. The user may receive a DENIED message if they move a waypoint before an item has been transfered to the vehicle. * AC_PosControl: add support for sysid of vel and pos loops * Copter: add support for sysid of vel and pos loops * Copter: simplification of system ID * Copter: clean up * Copter: Added new input types for SID_AXIS parameter * Copter: incorporate comment to remove unnecessary function * Copter: fixes for suggested changes * Copter: change position controller method for making inputs * AC_AttitudeControl: implement suggested changes * Copter: implement suggested changes * Copter: change input_loiter_xxx to input_vel_xxx in sysid mode * AC_AttitudeControl: add comments for system ID disturbance input code * AP_ESC_Telem: add support for Extended DShot Telemetry v2 * AP_HAL_ChibiOS: add support for Extended DShot Telemetry v2 * AP_HAL: add support for Extended DShot Telemetry v2 * AP_IOMCU: add support for Extended DShot Telemetry v2 * Tools: rebuilt IO firmware * ArduCopter: update release notes for 4.5.3-beta1 * ArduPlane: update release notes for 4.5.3-beta1 * Rover: update release notes for 4.5.3-beta1 * Tracker: release notes for 4.5.3-beta1 * AP_Terrain: added parameter for terrain cache size * Tools: specify pymonocypher version in more places and confirm version when running tools * autotest: add support for minimum_duration to wait_ekf_flags .... by re-implementing in terms of a WaitAndMaintain class * autotest: pass kwargs straight through in wait_ekf_args this allows minimum_duration to be passed through to the underlying methods, for example * AP_GPS: TYPE param value renamed to MAVLink * AC_PrecLand: TYPE param renamed to MAVLink * AP_EFI: TYPE param renamed to MAVLink * AP_SerialManager: TYPE param renamed to MAVLink * AP_OSD: Add configurable sidebar horizontal and vertical size extensions * AP_OSD: add BTFL sidebar symbols Adds the sidebar symbols translation to BTFL fonts, so sidebar is properly displayed in DJI O3 OSD. * AP_Scripting: ignore lua-language-server-errors * Tools: ignore lua-language-server-errors * Tools: scripts: add lua language check and docs generation * AP_Scripting: tests: add config files for checks and docs generation * gitignore: add generated scripting docs * actions: run lua-language-check and generate and upload docs * AP_Scripting: generator allow more types for uint32 prams and dont add class keyword to globals * AP_Scripting: docs: update * AP_Scripting: ignore lua language check issues resulting from ArduPilot#26939 * Tools: scripts: run_lua_language_check: grab and install latest release * gitignore: ignore installed lua-language-server and version cashe * Tools: scripts: generate_lua_docs: check for local lua-language-server * actions: test_scripting: remove lua-language-server install * AP_Scripting: examples: fault_handling.lua: ignore errors. * AP_Param: Summarize the type definitions settings * AP_NavEKF3: accept set origin even when using GPS * AP_NavEKF3: set-origin failure comment improved * autotest: add test for flying a mission far from EKF origin * SITL: added SIM_WIND_TC time constant for wind changes * HAL_SITL: implement wind rate of change * Plane:correct Q_ASSIST metadata * AP_BattMonitor: FuelLevel_Ananlog: set has_current true so capacity is reported * Plane: fix rangefinder correction when terrain follow is off * autotest: add test showing throttle saturation problem autotest: verbose minimum_duration in wait_message_field_values * autotest: neaten Copter Loiter test * Plane: correct description of MIN_GROUNDSPEED parameter * Plane: CRASH_DETECT Param doc update to add 1 in value set As this was causing a CI check we made locally to compare param values to param_metadata generated xml file. * Tools: enforce Values/Bitmask sanity check for vehicles as well as libraries we have enforced this one-of-Values-or-Bitmask in libraries for a long time, and should have been enforcing it in vehicles before now. MissionPlanner and MAVProxy ignore Values if Bitmask is present * AntennaTracker: remove redundant @values from parameter documentation * ArduCopter: remove redundant @values from parameter documentation * ArduPlane: remove redundant @values from parameter documentation * ArduSub: remove redundant @values from parameter documentation * Blimp: remove redundant @values from parameter documentation * Rover: remove redundant @values from parameter documentation * AP_Mount: Clarify angle frames of set_angle_target() * AP_Bootloader: ID reserve for FlywooF405HD_AIOv2 See: ArduPilot#27036 * AP_Motors_test: add tri frames to json output * AP_MotorsTri: reverse-frame cleanup and fixes - fix motor test order for reverse frame - add frame type string for reverse frame - fix initialization of _pitch_reversed flag * AP_Mount: Add roll_range_valid() and pitch_range_valid() functions Equivalent to yaw_range_valid(). * AP_Mount: In Servo backend, add overrides for has_roll_control() and has_tilt_control() * AP_Mount: In Servo backend, report attitude as demanded servo angles, not target angles * autotest: Handle pitch limits when testing achieved mount pitch angle * AC_WPNav: remove un-needed initialisation * autotest: add polygon pre-arm tests * Tools: update run_in_terminal_window.sh Remove the TERM variable dependency * AP_Bootloader: Reserve ID range for UAV-DEV GmbH * AP_Compass: removed IST8310 overrun message this is not useful and just causes concern to users. Any small bus delay can trigger this. We have health monitoring at a higher level * AP_Mount: Only save converted mount if mount was previously set in the first place The mount library force configures the mount type on conversion, even if the mount was never configured in the first place * AP_RCProtocol: add frame ids for CRSF baro/vario * AP_Frsky_Telem: factor out vspeed and nav alt * AP_RCTelemetry: add support for baro/vario CRSF frames * AP_Mount: add Backend_Serial * AP_Mount: Siyi inherits from serial backend * AP_Mount: Viewpro inherits from serial backend * AP_Mount: SToRM32_serial inherits from serial backend * AP_Mount: serial backends gets instance * hwdef: fold minimal_GPS.inc into sole user * autotest: add test for Copter behaviour in guided with force-arm * Copter: avoid Guided submode change unless can change Loc to Vec-from-origin ordering problem between changing the submode and setting a valid position * AP_Scripting: docs: document all functions currently documented on the wiki * Plane: ensure the dshot type gets set * AP_InternalError: fix signedness issue with snprintf --------- Signed-off-by: Ryan Friedman <[email protected]> Signed-off-by: Rhys Mainwaring <[email protected]> Signed-off-by: Patrick José Pereira <[email protected]> Co-authored-by: Andy Piper <[email protected]> Co-authored-by: richaravoil <[email protected]> Co-authored-by: Iampete1 <[email protected]> Co-authored-by: Henry Wurzburg <[email protected]> Co-authored-by: Peter Barker <[email protected]> Co-authored-by: Randy Mackay <[email protected]> Co-authored-by: Andrew Tridgell <[email protected]> Co-authored-by: haarshitgarg <[email protected]> Co-authored-by: Tom Pittenger <[email protected]> Co-authored-by: Jacob Dahl <[email protected]> Co-authored-by: Andras Schaffer <[email protected]> Co-authored-by: Thomas Watson <[email protected]> Co-authored-by: mateksys <[email protected]> Co-authored-by: Gone4Dirt <[email protected]> Co-authored-by: muramura <[email protected]> Co-authored-by: TsuyoshiKawamura <[email protected]> Co-authored-by: tanghongkai <[email protected]> Co-authored-by: Rhys Mainwaring <[email protected]> Co-authored-by: Lucas De Marchi <[email protected]> Co-authored-by: Bob Long <[email protected]> Co-authored-by: Nick Exton <[email protected]> Co-authored-by: MallikarjunSE <sierra@MallikarjunSE> Co-authored-by: magate <[email protected]> Co-authored-by: Peter Großhans <[email protected]> Co-authored-by: Ryan Friedman <[email protected]> Co-authored-by: Patrick José Pereira <[email protected]> Co-authored-by: Clyde McQueen <[email protected]> Co-authored-by: bnsgeyer <[email protected]> Co-authored-by: Maxim Buzdalov <[email protected]> Co-authored-by: rmaia <[email protected]> Co-authored-by: Jonathan Challinger <[email protected]> Co-authored-by: Lokesh-Ramina <[email protected]> Co-authored-by: Risto <[email protected]> Co-authored-by: Ashwin Nambiar <[email protected]> Co-authored-by: Mirko Denecke <[email protected]> Co-authored-by: James O'Shannessy <[email protected]> Co-authored-by: Alex Burka <[email protected]>
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libraries/AP_HAL_ChibiOS/hwdef/FlywooF405HD-AIOv2/defaults.parm
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…roller support Co-authored-by: Henry Wurzburg <[email protected]>
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squashed,rebased, library split....think its ready for Devcall if @andyp1per agrees
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Adds support for https://flywoo.net/products/goku-f405-hd-1-2s-elrs-aio-v2 (adapted from FLYWOO_F405S_AIO target).
The biggest difference is that PB05 is used to control 9V/VTX positive rail power with PINIO 1, GPIO(81) on the new v2 HD video supporting AIO (e.g. to stop VTX overheating when setting up on the bench or waiting GPS to get a lock).
Uses the new proposed Board ID
1180from #27037This PR was tested with 2" Flywoo FlyLens 85 tinywhoop (picture taken during indoor flight while in ArduCopter PosHold using optical flow and rangefinder):
With this PR, 9V/VTX output pin state on Goku F405 HD AIO v2 can be controlled using ArduPilot relay switch function (
RELAYx_FUNCTION 1,RELAYx_PIN 81andRCy_OPTIONeither 28 (x=1), 34 (x=2), 35 (x=3), 36 (x=4), 66 (x=5) or 67 (x=6)).(Goku F405 HD 1-2S ELRS AIO v2 flashed with custom ArduCopter v4.6.0-dev using the target files from this PR, ESP8285 flashed with mLRS, the quad is equipped also with MicoAir MTF-01 and Walksnail Avatar HD mini 1s lite)