WIP Octano Board Type

.github/workflows/carbonix_build.yml

@@ -270,12 +270,12 @@ jobs:
         id: check_files
         uses: andstor/file-existence-action@v2
         with:
-          files: "build/CubeOrange/*, build/CubeOrangePlus/*, build/CubeOrange-Volanti/*, build/CubeOrangePlus-Volanti/*, build/CubeOrange-Ottano/*, build/CubeOrangePlus-Ottano/*, build/CarbonixF405/*, build/CarbonixF405-no-crystal/*"
+          files: "build/CubeOrange/*, build/CubeOrangePlus/*, build/CubeOrange-Volanti/*, build/CubeOrangePlus-Volanti/*, build/CubeOrange-Ottano/*, build/CubeOrangePlus-Ottano/*, build/CubeOrange-Octano/*, build/CarbonixF405/*, build/CarbonixF405-no-crystal/*"
           fail: true
       - name: Gather build output
         run: |
           mkdir -p temp/others
-          for dir in CubeOrange CubeOrangePlus CubeOrange-Volanti CubeOrangePlus-Volanti CubeOrange-Ottano CubeOrangePlus-Ottano CarbonixF405 CarbonixF405-no-crystal; do
+          for dir in CubeOrange CubeOrangePlus CubeOrange-Volanti CubeOrangePlus-Volanti CubeOrange-Ottano CubeOrangePlus-Ottano CubeOrange-Octano CarbonixF405 CarbonixF405-no-crystal; do
             mkdir -p temp/others/$dir/bin
             cp -vr build/$dir/bin/* temp/others/$dir/bin/
           done
@@ -284,6 +284,7 @@ jobs:
           mv temp/others/CubeOrangePlus-Volanti temp/Volanti
           mv temp/others/CubeOrange-Ottano temp/Ottano
           mv temp/others/CubeOrangePlus-Ottano temp/Ottano
+          mv temp/others/CubeOrange-Octano temp/Octano
           if [ -d "ArduPlane/ReleaseNotes.txt" ]; then
             cp -v ArduPlane/ReleaseNotes.txt temp/
           else

.github/workflows/cx_build_compare.yml

@@ -24,7 +24,7 @@ jobs:
         exclude:
           - gcc: 10
             toolchain: chibios-clang
-        board: ["CubeOrange-Volanti", "CubeOrangePlus-Volanti", "CubeOrange-Ottano", "CubeOrangePlus-Ottano", "CarbonixF405", "CarbonixF405-no-crystal"]
+        board: ["CubeOrange-Volanti", "CubeOrangePlus-Volanti", "CubeOrange-Ottano", "CubeOrangePlus-Ottano", "CubeOrange-Octano", "CarbonixF405", "CarbonixF405-no-crystal"]
     steps:
       # git checkout the PR
       - uses: actions/checkout@v4

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" == "CubeOrangePlus" ] || [ "$BOARD" == "CubeOrange-Volanti" ] || [ "$BOARD" == "CubeOrangePlus-Volanti" ] || [ "$BOARD" == "CubeOrange-Ottano" ] || [ "$BOARD" == "CubeOrangePlus-Ottano" ] || [ "$BOARD" == "sitl" ]
+if [ "$BOARD" == "CubeOrange" ] || [ "$BOARD" == "CubeOrangePlus" ] || [ "$BOARD" == "CubeOrange-Volanti" ] || [ "$BOARD" == "CubeOrangePlus-Volanti" ] || [ "$BOARD" == "CubeOrange-Ottano" ] || [ "$BOARD" == "CubeOrangePlus-Ottano" ] || [ "$BOARD" == "sitl" ] || [ "$BOARD" == "CubeOrange-Octano"]
 then
     echo "Compiling Plane for $BOARD..."
     ./waf plane

Tools/Carbonix_scripts/carbonix_waf_build.sh

@@ -6,7 +6,7 @@ set -e
 echo "Running distclean..."
 ./waf distclean
 
-main_boards=("CubeOrange" "CubeOrangePlus" "CubeOrange-Volanti" "CubeOrangePlus-Volanti" "CubeOrange-Ottano" "CubeOrangePlus-Ottano")
+main_boards=("CubeOrange" "CubeOrangePlus" "CubeOrange-Volanti" "CubeOrangePlus-Volanti" "CubeOrange-Ottano" "CubeOrangePlus-Ottano" "CubeOrange-Octano")
 for board in "${main_boards[@]}"; do
   echo "Compiling ArduPlane for $board..."
   ./waf configure --board "$board" -g

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

@@ -0,0 +1,246 @@
+@include ../CarbonixCommon/defaults.parm
+# Octano-specific parameters
+AIRSPEED_CRUISE,26
+AIRSPEED_MAX,36
+AIRSPEED_MIN,23
+ARSPD_TYPE,8
+# Battery 1: VTOL Battery (Combined)
+BATT_CAPACITY,30000 # Sum of BATT4_CAPACITY and BATT5_CAPACITY
+BATT_MONITOR,10 # Sum
+BATT_OPTIONS,576 # 6:Send resistance compensated voltage to GCS, 9:Sum monitor measures minimum voltage instead of average
+BATT_SUM_MASK,24 # Sum of BATT4 and BATT5
+# Battery 2: Avionics Battery
+BATT2_CAPACITY,5100
+BATT2_CRT_VOLT,22
+BATT2_FS_CRT_ACT,1 # RTL
+BATT2_LOW_VOLT,23
+BATT2_MONITOR,8 # DroneCAN
+BATT2_SERIAL_NUM,2 # DroneCAN Battery index to listen to
+# Battery 3: Fuel Level Sensor
+BATT3_MONITOR,8 # DroneCAN
+BATT3_SERIAL_NUM,1 # DroneCAN Battery index to listen to
+# Battery 4: VTOL Battery (Left)
+BATT4_CAPACITY,15000 # matches BATT5_CAPACITY
+BATT4_CRT_VOLT,42
+BATT4_ESC_MASK,6 # ESC 2 and 3
+BATT4_FS_VOLTSRC,1 # Failsafe on sag-compensated voltage
+BATT4_LOW_VOLT,43
+BATT4_MONITOR,9 # ESC
+BATT4_OPTIONS,64 # 6:Send resistance compensated voltage to GCS
+# Battery 5: VTOL Battery (Right)
+BATT5_CAPACITY,15000 # matches BATT4_CAPACITY
+BATT5_CRT_VOLT,42
+BATT5_ESC_MASK,9 # ESC 1 and 4
+BATT5_FS_VOLTSRC,1 # Failsafe on sag-compensated voltage
+BATT5_LOW_VOLT,43
+BATT5_MONITOR,9 # ESC
+BATT5_OPTIONS,64 # 6:Send resistance compensated voltage to GCS
+# Battery 6: PDB Volt/Current Sensor 1
+BATT6_AMP_OFFSET,0.004108
+BATT6_AMP_PERVLT,29.98257
+BATT6_CURR_PIN,51 # AD7091R VIN1 (BAT_ISen_1)
+BATT6_MONITOR,28 # AD7091R
+BATT6_VOLT_MULT,16.667
+BATT6_VOLT_PIN,50 # AD7091R VIN0 (Vsen_Batt_1), pin shared with BATT7
+# Battery 7: PDB Volt/Current Sensor 2
+BATT7_AMP_OFFSET,0.004108
+BATT7_AMP_PERVLT,29.98257
+BATT7_CURR_PIN,52 # AD7091R VIN2 (BAT_ISen_2)
+BATT7_MONITOR,28 # AD7091R
+BATT7_VOLT_MULT,16.667
+BATT7_VOLT_PIN,50 # AD7091R VIN0 (Vsen_Batt_1), pin shared with BATT6
+BRD_SAFETY_MASK,2016
+CAN_D1_UC_ESC_BM,16711680
+CAN_D1_UC_ESC_OF,16
+CAN_D2_UC_ESC_BM,16711680
+CAN_D2_UC_ESC_OF,16
+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
+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_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,20
+INS_GYRO_FILTER,22
+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_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_LOG_BAT_OPT,4
+INS_POS1_X,0.82
+INS_POS2_X,0.82
+INS_POS3_X,0.82
+KFF_RDDRMIX,1
+NAVL1_LIM_BANK,35 # Set to match ROLL_LIMIT_DEG
+NAVL1_PERIOD,27
+PTCH_RATE_D,0.0065
+PTCH_RATE_FF,0.7402687
+PTCH_RATE_FLTD,11
+PTCH_RATE_FLTT,3.183099
+PTCH_RATE_I,0.7402687 # DISABLE_CHECKS: it is recommended for RATE_I to match RATE_FF on planes, but the metadata gives a limit of 0.6 for this and 3.0 for FF
+PTCH_RATE_IMAX,0.4
+PTCH_RATE_P,0.2194594
+PTCH_RATE_SMAX,110
+PTCH_TRIM_DEG,3
+PTCH2SRV_RLL,1.05
+PTCH2SRV_RMAX_DN,45
+PTCH2SRV_RMAX_UP,75
+Q_A_ACCEL_P_MAX,20000
+Q_A_ACCEL_R_MAX,20000
+Q_A_ACCEL_Y_MAX,2250
+Q_A_ANG_YAW_P,0.25
+Q_A_RAT_PIT_D,0.007
+Q_A_RAT_PIT_FLTD,11
+Q_A_RAT_PIT_FLTT,11
+Q_A_RAT_PIT_I,0.25
+Q_A_RAT_PIT_P,0.12
+Q_A_RAT_PIT_SMAX,15
+Q_A_RAT_RLL_D,0.007
+Q_A_RAT_RLL_FLTD,11
+Q_A_RAT_RLL_FLTT,11
+Q_A_RAT_RLL_I,0.25
+Q_A_RAT_RLL_P,0.25
+Q_A_RAT_RLL_SMAX,15
+Q_A_RAT_YAW_D,0
+Q_A_RAT_YAW_FLTE,2.5
+Q_A_RAT_YAW_FLTT,11
+Q_A_RAT_YAW_I,0.018
+Q_A_RAT_YAW_P,0.18
+Q_A_RAT_YAW_SMAX,10
+Q_A_RATE_P_MAX,45
+Q_A_RATE_R_MAX,45
+Q_A_RATE_Y_MAX,45
+Q_A_SLEW_YAW,2500
+Q_ANGLE_MAX,1500
+Q_ASSIST_SPEED,18
+Q_FRAME_CLASS,4
+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 # DISABLE_CHECKS: this parameter should be a range restriction, but only values are defined
+Q_M_THST_EXPO,0
+Q_M_THST_HOVER,0.25
+Q_M_YAW_HEADROOM,100
+Q_PLT_Y_RATE,25
+Q_TRANS_DECEL,0.9
+Q_VFWD_GAIN,0.1
+Q_WP_ACCEL_Z,30 # DISABLE_CHECKS: AP limits are based on small quadcopters
+Q_WP_SPEED_DN,200
+Q_WP_SPEED_UP,220
+Q_WVANE_GAIN,1
+RELAY1_FUNCTION,4
+RELAY2_FUNCTION,2
+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 # DISABLE_CHECKS: it is recommended for RATE_I to match RATE_FF on planes, but the metadata gives a limit of 0.6 for this and 3.0 for FF
+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
+ROLL_LIMIT_DEG,35  # Set to match NAVL1_LIM_BANK
+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
+SERVO_32_ENABLE,1
+SERVO1_FUNCTION,0
+SERVO2_FUNCTION,0
+SERVO3_FUNCTION,0
+SERVO4_FUNCTION,0
+SERVO5_MAX,1950
+SERVO5_MIN,980
+SERVO6_MAX,2000
+SERVO6_MIN,1000
+SERVO7_MAX,2000
+SERVO7_MIN,1000
+SERVO8_MAX,2000
+SERVO8_MIN,1000
+SERVO9_MAX,2000
+SERVO9_MIN,1000
+SERVO17_FUNCTION,33
+SERVO17_MAX,2000
+SERVO17_MIN,1000
+SERVO18_FUNCTION,34
+SERVO18_MAX,2000
+SERVO18_MIN,1000
+SERVO19_FUNCTION,35
+SERVO19_MAX,2000
+SERVO19_MIN,1000
+SERVO20_FUNCTION,36
+SERVO20_MAX,2000
+SERVO20_MIN,1000
+SERVO21_FUNCTION,37
+SERVO21_MAX,2000
+SERVO21_MIN,1000
+SERVO22_FUNCTION,38
+SERVO22_MAX,2000
+SERVO22_MIN,1000
+SERVO23_FUNCTION,39
+SERVO23_MAX,2000
+SERVO23_MIN,1000
+SERVO24_FUNCTION,40
+SERVO24_MAX,2000
+SERVO24_MIN,1000
+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_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-Octano/hwdef.dat

@@ -0,0 +1,4 @@
+include ../CubeOrange/hwdef.dat
+include ../CarbonixCommon/cx_cubecarrier.inc
+USE_BOOTLOADER_FROM_BOARD CubeOrange
+define NUM_SERVO_CHANNELS 32

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

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

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

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