AP_HAL_ChibiOS/hwdef: PodmanH7 FC board target #27086
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| # we can automatically update the IOMCU firmware on boot. The format | ||
| # is "ROMFS ROMFS-filename source-filename". Paths are relative to the | ||
| # ardupilot root. | ||
| ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_f103_8MHz_lowpolh.bin |
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if you have an f103 and don't have level shifters then you can also support the iomcu bdshot feature. Please see the Pixhawk6X hwdef for an example
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It requires providing an extra iomcu firmware
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Thank you.
I have an f103 with 8Mhz IOMCU.And don't have level shifters
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I have finished build iofirmware_f103_8MHz_dshot_lowpolh iomcu firmware.
#27087
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if you have an f103 and don't have level shifters then you can also support the iomcu bdshot feature. Please see the Pixhawk6X hwdef for an example
My local testing on this computer has resulted in no issues.
I must wait for Pull Request (PR) number 27087 to merge into the master branch before making changes; otherwise, the compilation will fail.
To integrate this code snippet correctly, it should be appended at the end of the hwdef.dat file.
# enable support for dshot on iomcu
ROMFS io_firmware_dshot.bin Tools/IO_Firmware/iofirmware_f103_8MHz_dshot_lowpolh.bin
define HAL_WITH_IO_MCU_BIDIR_DSHOT 1
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I have completed testing and it works well.
Due to the inclusion of default parameters, after reflashing the firmware, only a six-axis accelerometer calibration is required for normal unlocking.
The flight controller was tested by utilizing the 8 outputs from the IOMCU in DShot format, and it demonstrated stable and reliable performance during test flights with an octocopter setup. |
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After a careful compilation on my computer, I successfully tested with the Podman H7 flight controller using the iomcu output for the 8-channel DShot signal on an octocopter. The results were flawless, allowing for proper motor speed feedback.
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You now need to split the commits across subsystems - use Tools/gittools/git-subsystems-split |
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| # Now setup the default battery pins driver analog pins and default | |||
| SERIAL0_BAUD 460 | |||
| SERIAL1_BAUD 115 | |||
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You can do these with define DEFAULT_SERIALx_BAUD y etc in hwdef - please don't define the ones that have the right defaults
| SERIAL6_BAUD 460 | ||
| SERIAL6_PROTOCOL 2 | ||
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| COMPASS_EXTERNAL 1 |
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You should not change these - they should be down to the user.
| COMPASS_EXTERN3 1 | ||
| COMPASS_ORIENT 4 | ||
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| GPS_TYPE 1 |
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Should not change these
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| GPS_TYPE 1 | ||
| GPS_TYPE2 1 | ||
| GPS_RATE_MS 100 |
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Should not change these
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| BRD_SAFETY_DEFLT 0 | ||
| FS_THR_ENABLE 0 | ||
| ARMING_CHECK 10256 |
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I've made the necessary changes, and after compiling, it successfully passed the tests on my own flight controller. Thank you so much for your patience, It really shows your patience to guide me through all those submissions! |
A new flight controller (PodmanH7).
We added a board definition file and etc.
ardupilot_wiki
Thank you.