Add CubeOrange-Ottano

SW-159

.github/workflows/carbonix_build.yml

@@ -174,7 +174,7 @@ jobs:
       - name: build Carbonix Flight Controller
         shell: bash
         run: |
-          boards=("CubeOrange" "CubeOrange-Volanti" "sitl")
+          boards=("CubeOrange" "CubeOrange-Volanti" "CubeOrange-Ottano" "sitl")
           for board in "${boards[@]}"; do
             echo "Compiling ArduPlane for $board..."
             ./waf configure --board "$board" --define=CARBOPILOT=1
@@ -195,7 +195,7 @@ jobs:
         id: check_files
         uses: andstor/file-existence-action@v2
         with:
-          files: "build/CubeOrange/*, build/CubeOrange-Volanti/*, build/sitl/*, build/CarbonixF405/*, build/CarbonixF405-no-crystal/*, build/CarbonixL496/*"
+          files: "build/CubeOrange/*, build/CubeOrange-Volanti/*, build/CubeOrange-Ottano/*, build/sitl/*, build/CarbonixF405/*, build/CarbonixF405-no-crystal/*, build/CarbonixL496/*"
           fail: true
       - name: Extract firmware version and commit id
         id: extract_info
@@ -208,7 +208,7 @@ jobs:
       - name: Gather build output
         run: |
           mkdir -p temp
-          for dir in CubeOrange CubeOrange-Volanti sitl CarbonixF405 CarbonixF405-no-crystal CarbonixL496; do
+          for dir in CubeOrange CubeOrange-Volanti CubeOrange-Ottano sitl CarbonixF405 CarbonixF405-no-crystal CarbonixL496; do
             mkdir -p temp/$dir/bin
             cp -v build/$dir/bin/* temp/$dir/bin/
           done

.github/workflows/cx_build_compare.yml

@@ -24,7 +24,7 @@ jobs:
         exclude:
           - gcc: 10
             toolchain: chibios-clang
-        board: ["CubeOrange-Volanti", "CarbonixF405", "CarbonixF405-no-crystal", "CarbonixL496"]
+        board: ["CubeOrange-Volanti", "CubeOrange-Ottano", "CarbonixF405", "CarbonixF405-no-crystal", "CarbonixL496"]
     steps:
       # git checkout the PR
       - uses: actions/checkout@v3

Tools/Carbonix_scripts/build_no_clean.sh

@@ -8,7 +8,7 @@ set -e
 # The board to build for is passed as an argument to the script
 BOARD=$1
 
-if [ "$BOARD" == "CubeOrange" ] || [ "$BOARD" == "CubeOrange-Volanti" ] || [ "$BOARD" == "sitl" ]
+if [ "$BOARD" == "CubeOrange" ] || [ "$BOARD" == "CubeOrange-Volanti" ] || [ "$BOARD" == "CubeOrange-Ottano" ] || [ "$BOARD" == "sitl" ]
 then
     echo "Compiling Plane for $BOARD..."
     ./waf plane

Tools/Carbonix_scripts/carbonix_waf_build.sh

@@ -21,7 +21,7 @@ fi
 echo "Running distclean..."
 ./waf distclean
 
-main_boards=("CubeOrange-Volanti" "CubeOrange" "sitl")
+main_boards=("CubeOrange-Volanti" "CubeOrange-Ottano" "CubeOrange" "sitl")
 
 for board in "${main_boards[@]}"; do
   echo "Compiling Plane for $board..."

libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/defaults.parm

@@ -0,0 +1,228 @@
+@include ../CarbonixCommon/defaults.parm
+# Ottano-specific parameters
+@include common.param
+ARSPD_FBW_MAX,36
+ARSPD_FBW_MIN,23
+BATT_ARM_MAH,10000
+BATT_ARM_VOLT,24
+BATT_CAPACITY,30600
+BATT_CRT_MAH,7000
+BATT_CRT_VOLT,21
+BATT_FS_CRT_ACT,4
+BATT_FS_LOW_ACT,1
+BATT_FS_VOLTSRC,1
+BATT_LOW_MAH,10000
+BATT_LOW_VOLT,23
+BATT_MONITOR,10
+BATT_OPTIONS,64
+BATT_SUM_MASK,6
+BATT2_AMP_OFFSET,0.002314
+BATT2_AMP_PERVLT,29.86658
+BATT2_CAPACITY,0
+BATT2_CURR_PIN,51
+BATT2_MONITOR,28
+BATT2_VOLT_MULT,16.66666
+BATT2_VOLT_PIN,50
+BATT3_AMP_OFFSET,0.005901
+BATT3_AMP_PERVLT,30.09855
+BATT3_CAPACITY,0
+BATT3_CURR_PIN,52
+BATT3_MONITOR,28
+BATT3_VOLT_MULT,16.66666
+BATT3_VOLT_PIN,50
+BATT4_CAPACITY,0
+BATT4_MONITOR,9
+BATT5_MONITOR,8
+BATT6_MONITOR,8
+BRD_SAFETY_MASK,2032
+CAN_D1_UC_ESC_BM,9
+CAN_D1_UC_SRV_BM,1600
+CAN_D2_UC_ESC_BM,6
+CAN_D2_UC_SRV_BM,1600
+COMPASS_PRIO1_ID,70411
+COMPASS_PRIO2_ID,72963
+COMPASS_USE3,0
+EFI_COEF1,0.68
+EFI_FUEL_DENS,0.8364842
+EFI_THRLIN_COEF1,0.8364842
+EFI_THRLIN_COEF2,-0.02207897
+EFI_THRLIN_COEF3,0.0002301534
+EFI_THRLIN_EN,1
+EFI_THRLIN_OFS,6
+EFI_TYPE,8
+FBWB_CLIMB_RATE,2.4
+GPS_POS1_X,-0.135
+GPS_POS1_Y,-1.05
+GPS_POS2_X,-0.135
+GPS_POS2_Y,1.05
+ICE_ENABLE,1
+ICE_IDLE_RPM,2400
+ICE_IDLE_SLEW,2
+ICE_IGNITION_RLY,2
+ICE_OPTIONS,4
+ICE_RPM_CHAN,1
+ICE_START_CHAN,6
+ICE_START_DELAY,3
+ICE_STARTCHN_MIN,950
+ICE_STARTER_TIME,5
+INS_ACCEL_FILTER,10
+INS_GYRO_FILTER,22
+INS_HNTC2_ATT,60
+INS_HNTC2_BW,12
+INS_HNTC2_ENABLE,1
+INS_HNTC2_FREQ,35
+INS_HNTC2_MODE,2
+INS_HNTC2_OPTS,1
+INS_HNTC2_REF,1
+INS_HNTCH_ATT,60
+INS_HNTCH_BW,15
+INS_HNTCH_ENABLE,1
+INS_HNTCH_FREQ,60
+INS_HNTCH_HMNCS,3
+INS_HNTCH_MODE,3
+INS_HNTCH_OPTS,3
+INS_HNTCH_REF,1
+INS_LOG_BAT_MASK,5
+INS_POS1_X,0.82
+INS_POS2_X,0.82
+INS_POS3_X,0.82
+KFF_RDDRMIX,1
+LIM_ROLL_CD,3500 # Set to match NAVL1_LIM_BANK
+NAVL1_LIM_BANK,35 # Set to match LIM_ROLL_CD
+NAVL1_PERIOD,18
+PTCH_RATE_D,0.007605
+PTCH_RATE_FF,0.7402687
+PTCH_RATE_FLTD,11
+PTCH_RATE_FLTT,3.183099
+PTCH_RATE_I,0.7402687
+PTCH_RATE_IMAX,0.4
+PTCH_RATE_P,0.2194594
+PTCH_RATE_SMAX,110
+PTCH2SRV_RLL,1.05
+PTCH2SRV_RMAX_DN,45
+PTCH2SRV_RMAX_UP,75
+Q_A_ACCEL_P_MAX,8800
+Q_A_ACCEL_R_MAX,13000
+Q_A_ACCEL_Y_MAX,4000
+Q_A_ANG_YAW_P,2
+Q_A_RAT_PIT_D,0.015
+Q_A_RAT_PIT_FLTD,11
+Q_A_RAT_PIT_FLTE,8
+Q_A_RAT_PIT_FLTT,11
+Q_A_RAT_PIT_I,0.18
+Q_A_RAT_PIT_IMAX,0.4
+Q_A_RAT_PIT_P,0.18
+Q_A_RAT_PIT_SMAX,15
+Q_A_RAT_RLL_D,0.006
+Q_A_RAT_RLL_FLTD,11
+Q_A_RAT_RLL_FLTE,8
+Q_A_RAT_RLL_FLTT,11
+Q_A_RAT_RLL_I,0.3
+Q_A_RAT_RLL_P,0.3
+Q_A_RAT_RLL_SMAX,15
+Q_A_RAT_YAW_D,0.002
+Q_A_RAT_YAW_FLTD,11
+Q_A_RAT_YAW_FLTE,2
+Q_A_RAT_YAW_FLTT,11
+Q_A_RAT_YAW_I,0.25
+Q_A_RAT_YAW_IMAX,0.45
+Q_A_RAT_YAW_P,2.5
+Q_A_RAT_YAW_SMAX,10
+Q_A_RATE_P_MAX,45
+Q_A_RATE_R_MAX,55
+Q_A_RATE_Y_MAX,12
+Q_A_SLEW_YAW,1500
+Q_ACCEL_Z,100
+Q_ANGLE_MAX,1500
+Q_ASSIST_SPEED,18
+Q_FRAME_CLASS,1
+Q_FRAME_TYPE,1
+Q_LOIT_ACC_MAX,100
+Q_LOIT_ANG_MAX,10
+Q_LOIT_BRK_ACCEL,25
+Q_LOIT_BRK_JERK,175
+Q_LOIT_SPEED,300
+Q_M_BAT_VOLT_MAX,50.4
+Q_M_BAT_VOLT_MIN,39.6
+Q_M_SPIN_ARM,0.07
+Q_M_SPIN_MIN,0.1
+Q_M_THST_EXPO,0.582
+Q_M_THST_HOVER,0.3868718
+Q_M_YAW_HEADROOM,100
+Q_OPTIONS,147553
+Q_P_ACCZ_D,0.015
+Q_P_ACCZ_FLTD,6
+Q_P_ACCZ_FLTE,3
+Q_P_ACCZ_FLTT,6
+Q_P_ACCZ_I,0.82
+Q_P_ACCZ_P,0.41
+Q_P_ANGLE_MAX,10
+Q_P_JERK_XY,1.25
+Q_P_POSXY_P,0.85
+Q_P_POSZ_P,1.28
+Q_P_VELXY_D,0.2
+Q_P_VELXY_I,0.4
+Q_P_VELXY_P,0.65
+Q_P_VELZ_FLTD,7
+Q_P_VELZ_FLTE,4
+Q_P_VELZ_I,0.78
+Q_P_VELZ_IMAX,4
+Q_P_VELZ_P,4
+Q_PLT_Y_RATE,25
+Q_TRANS_DECEL,0.9
+Q_VFWD_GAIN,0.1
+Q_WP_ACCEL_Z,30
+Q_WP_JERK,0.7
+Q_WP_SPEED_DN,200
+Q_WP_SPEED_UP,220
+Q_WVANE_GAIN,1
+RELAY2_PIN,108
+RLL_RATE_D,0.001917198
+RLL_RATE_FF,0.7728607
+RLL_RATE_FLTD,11
+RLL_RATE_FLTT,3.183099
+RLL_RATE_I,0.7728607
+RLL_RATE_IMAX,0.4
+RLL_RATE_P,0.09429314
+RLL_RATE_SMAX,125
+RLL2SRV_RMAX,75
+RNGFND1_GNDCLEAR,27
+RNGFND1_POS_X,0.93
+RNGFND1_TYPE,24
+RPM1_TYPE,3
+SCALING_SPEED,24
+SERIAL1_BAUD,57
+SERIAL1_PROTOCOL,24
+SERIAL2_BAUD,115
+SERIAL3_BAUD,115
+SERIAL3_PROTOCOL,23
+SERIAL4_BAUD,57
+SERIAL4_PROTOCOL,2
+SERIAL5_PROTOCOL,28
+SERIAL6_BAUD,115
+SERIAL6_PROTOCOL,2
+SERVO5_MAX,1950
+SERVO5_MIN,980
+TECS_CLMB_MAX,4
+TECS_INTEG_GAIN,0.15
+TECS_LAND_ARSPD,24
+TECS_PITCH_MAX,16
+TECS_PITCH_MIN,-8
+TECS_PTCH_DAMP,0.4
+TECS_RLL2THR,20
+TECS_SINK_MAX,2.7
+TECS_SINK_MIN,2.4
+TECS_SPDWEIGHT,0.5
+TECS_THR_DAMP,0.4
+TECS_TIME_CONST,4
+TECS_VERT_ACC,6
+THR_SLEWRATE,50
+TRIM_ARSPD_CM,2600
+TRIM_PITCH_CD,300
+TRIM_THROTTLE,60
+WP_LOITER_RAD,250
+WP_RADIUS,150
+YAW2SRV_DAMP,0.6
+YAW2SRV_IMAX,1000
+YAW2SRV_INT,1
+YAW2SRV_SLIP,3.5

libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/hwdef.dat

@@ -0,0 +1 @@
+include ../CarbonixCommon/cubeorange.inc

libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/scripts/cx_built_in_test.lua

@@ -0,0 +1 @@
+../../CarbonixCommon/scripts/cx_built_in_test.lua

libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-Ottano/scripts/cx_led_driver.lua

@@ -0,0 +1 @@
+../../CarbonixCommon/scripts/cx_led_driver.lua