From 2d5f6c2393d7073e165eba69c0ff1073010c17e2 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 2 Jun 2026 12:01:03 +1000 Subject: [PATCH 01/27] AP_AHRS: simplify and correct _getCorrectedDeltaVelocityNED this was not rotating the delta-velocity into NED except when EKF2 or EKF3 was involved. That's definitely not a good thing! --- libraries/AP_AHRS/AP_AHRS.cpp | 42 +++++------------------------------ libraries/AP_AHRS/AP_AHRS.h | 9 ++++++-- 2 files changed, 13 insertions(+), 38 deletions(-) diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp index baaf9362d4618..ce53c2f0324f0 100644 --- a/libraries/AP_AHRS/AP_AHRS.cpp +++ b/libraries/AP_AHRS/AP_AHRS.cpp @@ -489,7 +489,7 @@ void AP_AHRS::update_state(void) state.secondary_pos_ok = _get_secondary_position(state.secondary_pos); state.ground_speed_vec = active_estimates->velocity_NE; state.ground_speed = state.ground_speed_vec.length(); - _getCorrectedDeltaVelocityNED(state.corrected_dv, state.corrected_dv_dt); + state.corrected_dv_valid = _getCorrectedDeltaVelocityNED(state.corrected_dv, state.corrected_dv_dt); // check if origin has been set bool origin_ok = _get_origin(state.origin); @@ -2256,45 +2256,15 @@ bool AP_AHRS::getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const } // Retrieves the NED delta velocity corrected -void AP_AHRS::_getCorrectedDeltaVelocityNED(Vector3f& ret, float& dt) const +bool AP_AHRS::_getCorrectedDeltaVelocityNED(Vector3f& ret, float& dt) const { - int8_t imu_idx = -1; - Vector3f accel_bias; - switch (active_EKF_type()) { -#if AP_AHRS_DCM_ENABLED - case EKFType::DCM: - break; -#endif -#if HAL_NAVEKF2_AVAILABLE - case EKFType::TWO: - imu_idx = ekf2.EKF2.getPrimaryCoreIMUIndex(); - accel_bias = ekf2_estimates.accel_bias; - break; -#endif -#if HAL_NAVEKF3_AVAILABLE - case EKFType::THREE: - imu_idx = ekf3.EKF3.getPrimaryCoreIMUIndex(); - accel_bias = ekf3_estimates.accel_bias; - break; -#endif -#if AP_AHRS_SIM_ENABLED - case EKFType::SIM: - break; -#endif -#if AP_AHRS_EXTERNAL_ENABLED - case EKFType::EXTERNAL: - break; -#endif - } - ret.zero(); - if (imu_idx == -1) { - AP::ins().get_delta_velocity(ret, dt); - return; + if (!AP::ins().get_delta_velocity(active_estimates->primary_accel, ret, dt)) { + return false; } - AP::ins().get_delta_velocity((uint8_t)imu_idx, ret, dt); - ret -= accel_bias*dt; + ret -= active_estimates->accel_bias * dt; ret = state.dcm_matrix * get_rotation_autopilot_body_to_vehicle_body() * ret; ret.z += GRAVITY_MSS*dt; + return true; } void AP_AHRS::set_failure_inconsistent_message(const char *estimator, const char *axis, float diff_rad, char *failure_msg, const uint8_t failure_msg_len) const diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h index cc5c61e8797b0..0c7fb5b11c1da 100644 --- a/libraries/AP_AHRS/AP_AHRS.h +++ b/libraries/AP_AHRS/AP_AHRS.h @@ -251,9 +251,13 @@ class AP_AHRS { } // Retrieves the corrected NED delta velocity in use by the inertial navigation - void getCorrectedDeltaVelocityNED(Vector3f& ret, float& dt) const { + bool getCorrectedDeltaVelocityNED(Vector3f& ret, float& dt) const { + if (!state.corrected_dv_valid) { + return false; + } ret = state.corrected_dv; dt = state.corrected_dv_dt; + return true; } // set the EKF's origin location in 10e7 degrees. This should only @@ -953,7 +957,7 @@ class AP_AHRS { bool _get_secondary_position(Location &loc) const; // Retrieves the corrected NED delta velocity in use by the inertial navigation - void _getCorrectedDeltaVelocityNED(Vector3f& ret, float& dt) const; + bool _getCorrectedDeltaVelocityNED(Vector3f& ret, float& dt) const WARN_IF_UNUSED; // returns the inertial navigation origin in lat/lon/alt bool _get_origin(Location &ret) const WARN_IF_UNUSED; @@ -1025,6 +1029,7 @@ class AP_AHRS { bool secondary_pos_ok; Vector2f ground_speed_vec; float ground_speed; + bool corrected_dv_valid; Vector3f corrected_dv; float corrected_dv_dt; Location origin; From 44cec4640ec31de83a40aafae2efb614170d0a7e Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 2 Jun 2026 12:04:53 +1000 Subject: [PATCH 02/27] AP_AHRS: add placeholders in get_results where we do not return accel_bias --- libraries/AP_AHRS/AP_AHRS_DCM.cpp | 5 +++++ libraries/AP_AHRS/AP_AHRS_External.cpp | 4 ++++ libraries/AP_AHRS/AP_AHRS_SIM.cpp | 4 ++++ 3 files changed, 13 insertions(+) diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp index ff02f502ed01a..15d43c297ea1c 100644 --- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp +++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp @@ -161,6 +161,11 @@ void AP_AHRS_DCM::get_results(AP_AHRS_Backend::Estimates &results) results.gyro_estimate = _omega; results.gyro_drift = _omega_I; + + /* + * acceleration estimates + */ + // results.accel_bias = {} - DCM does not estimate accel bias results.accel_ef = _accel_ef; results.velocity_NED_valid = get_velocity_NED(results.velocity_NED); diff --git a/libraries/AP_AHRS/AP_AHRS_External.cpp b/libraries/AP_AHRS/AP_AHRS_External.cpp index 70cd48419d983..19c06507cef78 100644 --- a/libraries/AP_AHRS/AP_AHRS_External.cpp +++ b/libraries/AP_AHRS/AP_AHRS_External.cpp @@ -53,6 +53,10 @@ void AP_AHRS_External::get_results(AP_AHRS_Backend::Estimates &results) #endif // AP_INERTIALSENSOR_ENABLED } + /* + * acceleration estimates + */ + // results.accel_bias = {} - External does not estimate accel bias const Vector3f accel_ef = results.dcm_matrix * AP::ahrs().get_rotation_autopilot_body_to_vehicle_body() * accel; results.accel_ef = accel_ef; diff --git a/libraries/AP_AHRS/AP_AHRS_SIM.cpp b/libraries/AP_AHRS/AP_AHRS_SIM.cpp index 11bfb7dcf1ad6..5e3340dbe85fc 100644 --- a/libraries/AP_AHRS/AP_AHRS_SIM.cpp +++ b/libraries/AP_AHRS/AP_AHRS_SIM.cpp @@ -198,6 +198,10 @@ void AP_AHRS_SIM::get_results(AP_AHRS_Backend::Estimates &results) results.gyro_estimate = _ins.get_gyro(); results.gyro_drift.zero(); + /* + * acceleration estimates + */ + // results.accel_bias = {} - SIM does not estimate accel bias const Vector3f &accel = _ins.get_accel(); results.accel_ef = results.dcm_matrix * AP::ahrs().get_rotation_autopilot_body_to_vehicle_body() * accel; From 65692fdc4e3cd8ebaa23588ada216f306ed8b79a Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 2 Jun 2026 12:19:13 +1000 Subject: [PATCH 03/27] AC_PrecLand: honour return value for getCorrectedDeltaVelocityNED we may not be able to get the base measurement for this from AP_InertialSensor --- libraries/AC_PrecLand/AC_PrecLand.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/libraries/AC_PrecLand/AC_PrecLand.cpp b/libraries/AC_PrecLand/AC_PrecLand.cpp index 20494e9c59638..9dac5ac5e9cbf 100644 --- a/libraries/AC_PrecLand/AC_PrecLand.cpp +++ b/libraries/AC_PrecLand/AC_PrecLand.cpp @@ -284,15 +284,17 @@ void AC_PrecLand::update(float rangefinder_alt_cm, bool rangefinder_alt_valid) // append current velocity and attitude correction into history buffer struct inertial_data_frame_s inertial_data_newest; const auto &_ahrs = AP::ahrs(); - _ahrs.getCorrectedDeltaVelocityNED(inertial_data_newest.correctedVehicleDeltaVelocityNED, inertial_data_newest.dt); - inertial_data_newest.Tbn = _ahrs.get_rotation_body_to_ned(); + Vector3f curr_vel; nav_filter_status status; - if (!_ahrs.get_velocity_NED(curr_vel) || !_ahrs.get_filter_status(status)) { + if (!_ahrs.getCorrectedDeltaVelocityNED(inertial_data_newest.correctedVehicleDeltaVelocityNED, inertial_data_newest.dt) || + !_ahrs.get_velocity_NED(curr_vel) || + !_ahrs.get_filter_status(status)) { inertial_data_newest.inertialNavVelocityValid = false; } else { inertial_data_newest.inertialNavVelocityValid = status.flags.horiz_vel; } + inertial_data_newest.Tbn = _ahrs.get_rotation_body_to_ned(); curr_vel.z = -curr_vel.z; // NED to NEU inertial_data_newest.inertialNavVelocity = curr_vel; From 41820ac36939abb8791da98ad34cecbb9426d23d Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 3 Jun 2026 17:36:01 +1000 Subject: [PATCH 04/27] Tools: add test for CorrectedDeltaVelocity includes a fix for precision_loiter_to_pos for recent EKF changes --- Tools/autotest/arducopter.py | 43 ++++++++++++++++++++++++++++++++++++ 1 file changed, 43 insertions(+) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index dd78cc493f93e..b248da9af3b3d 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -35,6 +35,7 @@ from vehicle_test_suite import Test from vehicle_test_suite import WaitAndMaintainArmed from vehicle_test_suite import WaitAndMaintainAttitude +from vehicle_test_suite import WaitAndMaintainLocation from vehicle_test_suite import WaitModeTimeout # get location of scripts @@ -6502,6 +6503,7 @@ def precision_loiter_to_pos(self, x, y, z, send_bf=True, timeout=40): dest_ned = rotmat.Vector3(x, y, -z) tstart = self.get_sim_time() success_start = -1 + self.context_set_message_rate_hz('LOCAL_POSITION_NED', 10) while True: now = self.get_sim_time_cached() if now - tstart > timeout: @@ -13937,6 +13939,46 @@ def NoRCOnBootPreArmFailure(self): self.context_pop() self.reboot_sitl() + def CorrectedDeltaVelocity(self): + '''test that AHRS applies accel bias correctly''' + self.change_mode('LOITER') + self.wait_ready_to_arm() + here = self.mav.location(relative_alt=True) + hereabs = self.mav.location() + self.set_parameters({ + "AHRS_EKF_TYPE": 10, + + "SIM_ACC1_BIAS_X": 1, + "SIM_ACC2_BIAS_X": 1, + "SIM_ACC3_BIAS_X": 1, + + "PLND_ENABLED": 1, + "SIM_PLD_LAT": here.lat, + "SIM_PLD_LON": here.lng, + "SIM_PLD_HEIGHT": 0, + "SIM_PLD_ALT_LMT": 15, + "SIM_PLD_DIST_LMT": 10, + "PLND_TYPE": 1, # companion + }) + self.set_analog_rangefinder_parameters() + self.set_parameter("SIM_SONAR_SCALE", 12) + self.reboot_sitl() + + self.takeoff(10, mode='LOITER') + + self.run_auxfunc(39, 2) # enable precision loiter + WaitAndMaintainLocation( + self, + hereabs, + fn=lambda : self.precision_loiter_to_pos(0, 0, 10, True), + fn_interval=0.1, + minimum_duration=10, + ).run() + self.run_auxfunc(39, 0) # disable precision loiter + + self.change_mode('LAND') + self.wait_disarmed() + def IMUConsistency(self): '''test IMUs must be consistent with one another''' self.wait_ready_to_arm() @@ -14109,6 +14151,7 @@ def tests1b(self): self.CustomController, self.WPArcs, self.WPArcs2, + self.CorrectedDeltaVelocity, ]) return ret From d550d0f9868ef703e146d249c24ee5bb3a421572 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 3 Jun 2026 10:23:25 +1000 Subject: [PATCH 05/27] AP_AHRS: AP_AHRS_SIM perfectly estimates accel bias --- libraries/AP_AHRS/AP_AHRS_SIM.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/libraries/AP_AHRS/AP_AHRS_SIM.cpp b/libraries/AP_AHRS/AP_AHRS_SIM.cpp index 5e3340dbe85fc..3fe2af86851f5 100644 --- a/libraries/AP_AHRS/AP_AHRS_SIM.cpp +++ b/libraries/AP_AHRS/AP_AHRS_SIM.cpp @@ -201,7 +201,9 @@ void AP_AHRS_SIM::get_results(AP_AHRS_Backend::Estimates &results) /* * acceleration estimates */ - // results.accel_bias = {} - SIM does not estimate accel bias + // SIM exactly estimates accel bias: + results.accel_bias = AP::sitl()->accel_bias[results.primary_accel].get(); + const Vector3f &accel = _ins.get_accel(); results.accel_ef = results.dcm_matrix * AP::ahrs().get_rotation_autopilot_body_to_vehicle_body() * accel; From 2aa05a1900f7773ea1aa655effc5d81cb2cf1416 Mon Sep 17 00:00:00 2001 From: Stephen Dade Date: Mon, 1 Jun 2026 19:33:16 +1000 Subject: [PATCH 06/27] Tools: Add frame params for Yahboom Balancebot --- Tools/Frame_params/Yahboom-balancebot.param | 62 +++++++++++++++++++++ 1 file changed, 62 insertions(+) create mode 100644 Tools/Frame_params/Yahboom-balancebot.param diff --git a/Tools/Frame_params/Yahboom-balancebot.param b/Tools/Frame_params/Yahboom-balancebot.param new file mode 100644 index 0000000000000..a6a29d2a3a6ad --- /dev/null +++ b/Tools/Frame_params/Yahboom-balancebot.param @@ -0,0 +1,62 @@ +#For the Yahboom Balancebot chassis at http://category.yahboom.net/products/sbr-chassis-kit?variant=50227273072956 +#Using ArduRover 4.7.0 +FRAME_CLASS 3 +FRAME_TYPE 0 +MOT_SLEWRATE 0 +SERVO1_FUNCTION 74 +SERVO1_MAX 1920 +SERVO1_MIN 1120 +SERVO1_REVERSED 0 +SERVO1_TRIM 1520 +SERVO3_FUNCTION 73 +SERVO3_MAX 1920 +SERVO3_MIN 1120 +SERVO3_REVERSED 0 +SERVO3_TRIM 1520 +WENC2_CPR 1320 +WENC2_PINA 53 +WENC2_PINB 52 +WENC2_POS_X 0.000000 +WENC2_POS_Y 0.080000 +WENC2_POS_Z 0.000000 +WENC2_RADIUS 0.034000 +WENC2_TYPE 1 +WENC_CPR 1320 +WENC_PINA 54 +WENC_PINB 55 +WENC_POS_X 0.000000 +WENC_POS_Y -0.080000 +WENC_POS_Z 0.000000 +WENC_RADIUS 0.034000 +WENC_TYPE 1 +SERVO11_FUNCTION -1 +SERVO12_FUNCTION -1 +SERVO13_FUNCTION -1 +SERVO14_FUNCTION -1 +EK3_SRC1_VELXY 7 +ATC_BAL_D 0.120000 +ATC_BAL_D_FF 0.000000 +ATC_BAL_FF 0.000000 +ATC_BAL_I 10.000000 +ATC_BAL_IMAX 1.000000 +ATC_BAL_LIM_TC 0.500000 +ATC_BAL_LIM_THR 0.800000 +ATC_BAL_P 3.200000 +ATC_BAL_PDMX 0.000000 +CIRC_RADIUS 0.6 +CIRC_SPEED 0.5 +CRUISE_SPEED 0.6 +CRUISE_THROTTLE 55 +ATC_STR_RAT_P 0.06 +ATC_STR_RAT_MAX 360.0 +ATC_STR_ACC_MAX 360.0 +ACRO_TURN_RATE 360 +ATC_SPEED_I 0.700000 +ATC_SPEED_P 2.000000 +WP_RADIUS 0.08 +WP_SPEED 0.5 +TURN_RADIUS 0.08 +PSC_VEL_P 5.000000 +PSC_VEL_I 1.000000 +PSC_VEL_D 0.400000 +PSC_POS_P 0.500000 From fae092d23088e1ee3b01e68aa72b0d0f54386e06 Mon Sep 17 00:00:00 2001 From: Yuri Sharapov Date: Wed, 3 Jun 2026 12:45:27 +0300 Subject: [PATCH 07/27] Bootloaders: Add IDs for two upcoming boards --- Tools/AP_Bootloader/board_types.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt index ac1527480ac76..eceaa521c7b02 100644 --- a/Tools/AP_Bootloader/board_types.txt +++ b/Tools/AP_Bootloader/board_types.txt @@ -334,6 +334,8 @@ AP_HW_CSKY_PMU 1212 AP_HW_PilotGaeaSH7V1 1213 AP_HW_JPilot-C 1214 AP_HW_SIYI-UniFC-6-PICO 1215 +AP_HW_CSKY_AVEGA6X 1216 +AP_HW_CSKY_AVEGALITER03 1217 AP_HW_MUPilot 1222 AP_HW_HWH7 1223 From 0ca723565efcca34fac48f74843178b0a2bdb3a6 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Wed, 3 Jun 2026 14:50:05 +0100 Subject: [PATCH 08/27] autotest: add Loiter-without-compass-yaw tests Cover arming and Loiter when the compass is enabled but not an EK3 yaw source (EK3_SRC1_YAW=0): - LoiterNoCompassYaw: optical flow, no GPS. The EKF runs in relative aiding with a free-running yaw, so arming directly in Loiter works. - LoiterNoCompassYawGPS: GPS, no optical flow. The GSF yaw estimator only aligns once moving, so Loiter cannot be entered on the ground; the test arms in AltHold, flies forward to align yaw, then Loiters. --- Tools/autotest/arducopter.py | 86 ++++++++++++++++++++++++++++++++++++ 1 file changed, 86 insertions(+) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index b248da9af3b3d..b166fb4cc3230 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -3730,6 +3730,90 @@ def OpticalFlowLimits(self): raise NotAchievedException("Alt should be limited by EKF optical flow limits") self.reboot_sitl(force=True) + def LoiterNoCompassYaw(self): + '''Loiter indoors with optical flow and no GPS, compass not an EK3 yaw source''' + # Indoor case: position from optical flow + rangefinder, no GPS. The + # compass stays enabled and healthy but is not an EK3 yaw source + # (EK3_SRC1_YAW=0/None), so the EKF runs in relative-position mode with + # a free-running yaw. using_noncompass_for_yaw() stays true, so the + # Copter arm-time compass-health gate is skipped. Verify that arming + # directly in Loiter is permitted and that Loiter stays engaged. + self.set_parameters({ + "AHRS_EKF_TYPE": 3, + "EK3_ENABLE": 1, + "EK2_ENABLE": 0, + "EK3_SRC1_YAW": 0, # None - compass enabled but not used for yaw + "SIM_FLOW_ENABLE": 1, + "FLOW_TYPE": 10, + "SIM_GPS1_ENABLE": 0, + "SIM_TERRAIN": 0, + }) + self.configure_EKFs_to_use_optical_flow_instead_of_GPS() + self.set_analog_rangefinder_parameters() + self.reboot_sitl() + + self.wait_ready_to_arm(require_absolute=False, timeout=120) + + # arm and take off directly in Loiter: this is the path that matters - + # Loiter requires_position(), and arming exercises the arm-time + # compass-health gate while the compass is not the EKF yaw source. + self.takeoff(alt_min=10, mode='LOITER', require_absolute=False, takeoff_throttle=1800) + + # confirm Loiter stays engaged and armed (no EKF failsafe / mode + # revert). A lat/lon position-hold check is not used: with no GPS the + # EKF has no absolute origin, so global position is not valid here. + self.delay_sim_time(15) + self.wait_mode('LOITER') + if not self.armed(): + raise NotAchievedException("Disarmed during Loiter without compass yaw source") + + self.land_and_disarm() + + def LoiterNoCompassYawGPS(self): + '''Loiter with GPS and no optical flow, compass not an EK3 yaw source''' + # GPS-aided, no optical flow. Compass enabled but not an EK3 yaw source + # (EK3_SRC1_YAW=0/None), so yaw comes from the GSF estimator, which only + # aligns once the vehicle has GPS velocity to work with. Loiter cannot + # be entered on the ground (no heading -> no absolute position), so + # exercise the supported path: arm and climb in ALT_HOLD, fly forward + # to let GSF align yaw, then switch to Loiter and confirm it holds. + self.set_parameters({ + "AHRS_EKF_TYPE": 3, + "EK3_ENABLE": 1, + "EK2_ENABLE": 0, + "EK3_SRC1_YAW": 0, # None - compass enabled but not used for yaw + "SIM_FLOW_ENABLE": 0, + "FLOW_TYPE": 0, + }) + self.reboot_sitl() + + # GSF cannot align yaw while stationary, so there is no absolute + # position yet; arm and climb in ALT_HOLD, which needs no position. + self.wait_gps_fix_type_gte(3) + self.context_collect("STATUSTEXT") + self.change_mode('ALT_HOLD') + self.wait_prearm_sys_status_healthy(timeout=120) + self.arm_vehicle() + self.set_rc(3, 1700) + self.wait_altitude(8, 20, relative=True, timeout=60) + self.set_rc(3, 1500) + + # fly forward so the GSF has a velocity to align yaw from + self.set_rc(2, 1300) + self.wait_statustext("yaw aligned", check_context=True, timeout=60) + self.set_rc(2, 1500) + + # yaw is aligned, so the EKF now has an absolute position and Loiter is + # usable; switch to it and confirm it stays engaged and armed. + self.wait_ekf_happy(require_absolute=True, timeout=30) + self.change_mode('LOITER') + self.delay_sim_time(15) + self.wait_mode('LOITER') + if not self.armed(): + raise NotAchievedException("Disarmed during Loiter without compass yaw source") + + self.do_RTL() + def OpticalFlowCalibration(self): '''test optical flow calibration''' ex = None @@ -14213,6 +14297,8 @@ def tests1d(self): self.OpticalFlow, self.OpticalFlowLocation, self.OpticalFlowLimits, + self.LoiterNoCompassYaw, + self.LoiterNoCompassYawGPS, self.OpticalFlowCalibration, self.MotorFail, self.ModeFlip, From ebceaa75aa175c6b6b52f69a8da8337e2919d62b Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Thu, 4 Jun 2026 10:34:57 +0100 Subject: [PATCH 09/27] AP_Bootloader: reserve ID range for NWBlue --- Tools/AP_Bootloader/board_types.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt index eceaa521c7b02..51cb6a84b7950 100644 --- a/Tools/AP_Bootloader/board_types.txt +++ b/Tools/AP_Bootloader/board_types.txt @@ -542,6 +542,7 @@ AP_HW_IOMCU_F103 5711 AP_HW_IOMCU_F103_8MHZ 5712 # some boards are clocked differently AP_HW_IOMCU_F100 5713 +# IDs 5730-5739 reserved for NWBlue #IDs 5800-5809 reserved for Droneer AP_HW_DroneerF405 5800 From f25aebd1d84826f2b846cddd80ef6cd7f6f396d7 Mon Sep 17 00:00:00 2001 From: Norihiko Itou Date: Wed, 15 Apr 2026 18:22:03 +0900 Subject: [PATCH 10/27] hwdef: Add JFB200 of JAE flight controllers --- .../hwdef/JFB200/JFB-200_overview.png | Bin 0 -> 208246 bytes .../hwdef/JFB200/JFB-200_pinout.png | Bin 0 -> 112748 bytes .../AP_HAL_ChibiOS/hwdef/JFB200/README.md | 386 ++++++++++++++++++ .../AP_HAL_ChibiOS/hwdef/JFB200/defaults.parm | 6 + .../AP_HAL_ChibiOS/hwdef/JFB200/hwdef-bl.dat | 167 ++++++++ .../AP_HAL_ChibiOS/hwdef/JFB200/hwdef.dat | 377 +++++++++++++++++ 6 files changed, 936 insertions(+) create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/JFB200/JFB-200_overview.png create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/JFB200/JFB-200_pinout.png create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/JFB200/README.md create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/JFB200/defaults.parm create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/JFB200/hwdef-bl.dat create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/JFB200/hwdef.dat diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JFB200/JFB-200_overview.png b/libraries/AP_HAL_ChibiOS/hwdef/JFB200/JFB-200_overview.png new file mode 100644 index 0000000000000000000000000000000000000000..862035aba53f7e2bc8ffc6f147a966b135c2091b GIT binary patch literal 208246 zcmeFZ^;^_Y7dAgxG)fPj>AHzFN^NOyNP3?`#ksvGsAr5v(G+zuf5hfgnp5eKt~}&dG_oXx|F2o*Jsb3hdg@*xBe0lJkpr7 z2>TDt@vFqAXTJuCcfb!XOocxSKYR8k8ueZu0sM??C#mlE>={No>>nJ|w$KRtLa@1# znv>dRSzbe1Yesz|TLWW8H)}ia>SxdRh1~4)4K0nG$PA24&20pzj~be($;^!es8u;W 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z*0s6xvMy8T3gaQ+;T$N$rBKp|n_x(ZHLjI0nV0s?0q?tsxV&FR_rW9!l}Ta`>D(_4dhIo0Ay+y4Snz^%5b4cUF*3Y zh&GZg;-WS$%jfUWDrI$svksF((edXGBiz7NR$DW>Zp3JG{Oo)s5c1v&EVLK(oJ7&2P!GDGl z@NUxD=Fl7$@x3y=IPcXE34^cR=&-QE@NV2BNr;7t8Hv-pm_iE zIWhL58eU(#9Zcm&hL!csA6Zf|5{nLbZRY0OZp~{MQS+P%*>1%pdjm8B zVObBg<07{VwqG@oD&!6QRvteV58Qk<=Q%ts7(o81gc0tZ0`F4+aTS1wVv_Cu3V0Hv ztUI4>Q_)zU8vDBN^L$i(Zf?NI_B2>|-#|+WY6&jf@O37xUk)#mD}V51ZVGH#Wz(i# zhhS3C)Aw3HR~~i+!L26B!t(hy<1 USB (MAVLink2) +- SERIAL1 -> UART7 (TELEM1, MAVLink2, DMA-enabled) +- SERIAL2 -> UART5 (TELEM2, MAVLink2, DMA-enabled) +- SERIAL3 -> USART3 (TELEM3, MAVLink2, DMA-enabled) +- SERIAL4 -> USART1 (GPS1, DMA-enabled) +- SERIAL5 -> USART2 (GPS2, DMA-enabled) +- SERIAL6 -> UART8 (RCIN, DMA-enabled) +- SERIAL7 -> USART6 (SBUSOUT, DMA-enabled) +- SERIAL8 -> USB (MAVLink2) + +The TELEM1, TELEM2 and TELEM3 ports have RTS/CTS pins, the other UARTs do not have RTS/CTS. + +## RC Input + +RC input is configured on the port marked RCIN/UART. +This connector supports all RC unidirectional RC protocols. Two cables are available for this port. +To use software binding of Spektrum satellite receivers you need to use the Spektrum satellite cable. +To use bi-directional protocols such as CRSF/ELRS, a full UART must be used instead. UART8 is pre-configured for these RC inputs. See [RC systems](https://ardupilot.org/copter/docs/common-rc-systems.html) for more details. + +## PWM Output + +The JFB-200 supports up to 16 PWM/DShot outputs. + +The 16 PWM outputs are in 4 groups: + +- PWM 1, 2, 3 and 4 in group1 (TIM1) +- PWM 5, 6, 7 and 8 in group2 (TIM3) +- PWM 9, 10, 11 and 12 in group3 (TIM4) +- PWM 13, 14, 15 and 16 in group4 (TIM8) + +Channels within the same group need to use the same output rate. +If any channel in a group uses DShot then all channels in the group need to use DShot. +PWM output voltage can be changed setting BRD_PWM_VOLT_SEL parameter. + +## Battery Monitoring + +The board has two dedicated power monitor ports on 8 pin connectors. +The correct battery setting parameters are dependent on the type of power brick which is connected. +Recomended input voltage is 4.9 to 5.5 volt. + +First battery monitor is enabled by default: + +- BATT_MONITOR 4 (Analog Voltage and Current) +- BATT_VOLT_PIN 16 +- BATT_CURR_PIN 18 +- BATT_VOLT_MULT 1 (must need adjustment depending on the connected power monitor) +- BATT_AMP_PERVLT 1 (must need adjustment depending on the connected power monitor) + +The second battery monitor is not enabled by default, but its parameter defaults have been set: + +- BATT2_VOLT_PIN 4 +- BATT2_CURR_PIN 6 +- BATT2_VOLT_MULT 1 (must need adjustment depending on the connected power monitor) +- BATT2_AMP_PERVLT 1 (must need adjustment depending on the connected power monitor) + +## Compass + +The JFB-200 has two builtin compasses BMM350 and IST8310. +Due to potential interference the board is usually used with an external I2C compass as part of a GPS/Compass combination. + +## GPIOs + +PWM 1-8 can be used as GPIO outputs only for relays,etc. +PMW 9-16 can be used as GPIOs for relays, buttons, RPM etc. + +The numbering of the GPIOs for PIN variables in ArduPilot is: + +- PWM(1) 50 +- PWM(2) 51 +- PWM(3) 52 +- PWM(4) 53 +- PWM(5) 54 +- PWM(6) 55 +- PWM(7) 56 +- PWM(8) 57 +- PWM(9) 58 +- PWM(10) 59 +- PWM(11) 60 +- PWM(12) 61 +- PWM(13) 62 +- PWM(14) 63 +- PWM(15) 64 +- PWM(16) 65 +- CAP1 66 +- CAP2 67 + +## Analog inputs + +The JFB-200 has 10 analog inputs + +- ADC Pin2 -> +3.3V Sense +- ADC Pin4 -> Battery Voltage 2 +- ADC Pin6 -> Battery Current Sensor 2 +- ADC Pin8 -> ADC IN 1 (6.6V) +- ADC Pin10 -> RSSI voltage monitoring +- ADC Pin13 -> ADC IN 2 (3.3V) +- ADC Pin14 -> SERVORAIL sense +- ADC Pin15 -> 5V sense +- ADC Pin16 -> Battery Voltage +- ADC Pin18 -> Battery Current Sensor + +## I2C Buses + +The JFB-200 has 4 I2C interfaces. +I2C 3 is for internal only. + +- the internal I2C port is bus 3 in ArduPilot (I2C3 in hardware) +- the port labelled GPS1 is bus 1 in ArduPilot (I2C1 in hardware) +- the port labelled GPS2 is bus 2 in ArduPilot (I2C2 in hardware) +- the port labelled I2C is bus 4 in ArduPilot (I2C4 in hardware) + +## CAN + +The JFB-200 has two independent CAN buses with terminating resistors. + +## Dedicated Signal input/output + +The JFB-200 has the following dedicated discrete signals on the AUX port + +- ARMED status signal output +- Hardware WDT Fail signal output +- HW reset signal input + +## Connectors + +Unless noted otherwise all connectors are JST GH 1.25mm pitch + +### AUX port + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | ARMEDn | +3.3V | | +| 2 | WDT_FAILn | +3.3V | | +| 3 | EXT_RESETn | +3.3V | | +| 4 | SHEILD | GND | | + +### PWM1 ports + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCChigh | +5V | +| 2 | PWM(1) | +3.3V or +5V | GPIO 50 (Output only) | +| 3 | PWM(2) | +3.3V or +5V | GPIO 51 (Output only) | +| 4 | PWM(3) | +3.3V or +5V | GPIO 52 (Output only) | +| 5 | PWM(4) | +3.3V or +5V | GPIO 53 (Output only) | +| 6 | PWM(5) | +3.3V or +5V | GPIO 54 (Output only) | +| 7 | PWM(6) | +3.3V or +5V | GPIO 55 (Output only) | +| 8 | PWM(7) | +3.3V or +5V | GPIO 56 (Output only) | +| 9 | PWM(8) | +3.3V or +5V | GPIO 57 (Output only) | +| 10 | GND | | + +### PWM2 ports + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCChigh | +5V | +| 2 | PWM(9) | +3.3V or +5V | GPIO 58 | +| 3 | PWM(10) | +3.3V or +5V | GPIO 59 | +| 4 | PWM(11) | +3.3V or +5V | GPIO 60 | +| 5 | PWM(12) | +3.3V or +5V | GPIO 61 | +| 6 | PWM(13) | +3.3V or +5V | GPIO 62 | +| 7 | PWM(14) | +3.3V or +5V | GPIO 63 | +| 8 | PWM(15) | +3.3V or +5V | GPIO 64 | +| 9 | PWM(16) | +3.3V or +5V | GPIO 65 | +| 10 | GND | | + +### SPI port + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC | +5V | +| 2 | SPI5_SCK | +3.3V | +| 3 | SPI5_MISO | +3.3V | +| 4 | SPI5_MOSI | +3.3V | +| 5 | SPI5_CSn | +3.3V | +| 6 | N.C. | | +| 7 | GND | | + +### CAN1, CAN2 ports + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC | +5V | +| 2 | CAN_H | | +| 3 | CAN_L | | +| 4 | GND | | + +### ADC/IO port + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC3high | +3.3V | +| 2 | CAP1 | +3.3V | GPIO 66 | +| 3 | CAP2 | +3.3V | GPIO 67 | +| 4 | AIN3 | +3.3V | +| 5 | AIN6 | +6.6V | +| 6 | GND | | + +### TELEM1 ports + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC | +5V | +| 2 | UART7_TX (OUT) | +3.3V | +| 3 | UART7_RX (IN) | +3.3V | +| 4 | UART7_CTS | +3.3V | +| 5 | UART7_RTS | +3.3V | +| 6 | GND || + +### TELEM2 ports + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC | +5V | +| 2 | UART5_TX (OUT) | +3.3V | +| 3 | UART5_RX (IN) | +3.3V | +| 4 | UART5_CTS | +3.3V | +| 5 | UART5_RTS | +3.3V | +| 6 | GND || + +### TELEM3 ports + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC | +5V | +| 2 | USART3_TX (OUT) | +3.3V | +| 3 | USART3_RX (IN) | +3.3V | +| 4 | USART3_CTS | +3.3V | +| 5 | USART3_RTS | +3.3V | +| 6 | GND || + +### GPS2 port + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC | +5V | +| 2 | USART2_TX (OUT) | +3.3V | +| 3 | USART2_RX (IN) | +3.3V | +| 4 | I2C2 SCL | +3.3V | +| 5 | I2C2 SDA | +3.3V | +| 6 | GND | | + +### ETH port + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | RXN | | +| 2 | RXP | | +| 3 | TXN | | +| 4 | TXP | | + +### GPS1 port + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC | +5V | +| 2 | USART1_TX (OUT) | +3.3V | +| 3 | USART1_RX (IN) | +3.3V | +| 4 | I2C1 SCL | +3.3V(pullup) | +| 5 | I2C1 SDA| +3.3V(pullup) | +| 6 | Safety Button | +3.3V | +| 7 | Safety LED | +3.3V | +| 8 | VCC3 | +3.3V | +| 9 | BUZZER | OPEN/DRAIN | +| 10 | GND | | + +### BUZZER port (See Note¹) + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | BUZZER VCC | +24V/GND | +| 2 | GND | | + +- **¹**: **[CAUTION]** To prevent malfunction caused by overvoltage, do not connect any buzzer other than 24V. + +### RCIN/UART port + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCChigh | +5V | +| 2 | USART6_TX (OUT) | +3.3V | SBUSOUT | +| 3 | USART6_RX (IN) | +3.3V | SBUSOUT | +| 4 | RSSI | +3.3V | +| 5 | PPM | +3.3V | Low Reso | +| 6 | USART8_TX (OUT) | +3.3V | RCIN | +| 7 | USART8_RX (IN) | +3.3V | RCIN | +| 8 | GND | | + +### I2C port + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC | +5V | +| 2 | I2C4 SCL | +3.3V | +| 3 | I2C4 SDA | +3.3V | +| 4 | GND | | + +### USB port + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC | +5V | Power IN | +| 2 | D_Minus | | +| 3 | D_Plus | | +| 4 | GND | | + +### RCIN port + +2.54mm pitch pin header + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | RCIN | +3.3V | +| 2 | VCChigh | +5V | +| 3 | GND | | + +### SOUT port + +2.54mm pitch pin header + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | SOUT | +3.3V | +| 2 | VCChigh | +5V | +| 3 | GND | | + +### POWER1, POWER2 ports + +Molex picoblade 5024430670 + +| Pin | Signal | Volt | Remarks | +| --- | --- | --- | --- | +| 1 | VCC IN | +4.9V ～ +5V | Power IN | +| 2 | VCC IN | +4.9V ～ +5V | Power IN | +| 3 | CURRENT | +3.3V | +| 4 | VOLTAGE | +3.3V | +| 5 | GND | | +| 6 | GND | | + +## Loading Firmware + +Firmware for these boards can be found at the [ArduPilot firmware server](https://firmware.ardupilot.org) in sub-folders labeled "JFB200". + +The board comes pre-installed with an ArduPilot compatible bootloader, allowing the loading of *.apj firmware files with any ArduPilot compatible ground station. +The JFB-200 can be booted into DFU mode using a dedicated adapter. diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JFB200/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/JFB200/defaults.parm new file mode 100644 index 0000000000000..3da10ead6fcaf --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/JFB200/defaults.parm @@ -0,0 +1,6 @@ +# board setting +BRD_VBUS_MIN 4.75 + +# CAN setting +CAN_P1_DRIVER 1 +CAN_P2_DRIVER 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JFB200/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/JFB200/hwdef-bl.dat new file mode 100644 index 0000000000000..7763d0d802157 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/JFB200/hwdef-bl.dat @@ -0,0 +1,167 @@ +## hw definition file for processing by chibios_hwdef.py +## for the JFB200 hardware + +## board ID. See Tools/AP_Bootloader/board_types.txt +APJ_BOARD_ID AP_HW_JFB200 + +## MCU class and specific type +MCU STM32H7xx STM32H755xx +define CORE_CM7 + +## crystal frequency 24MHz +OSCILLATOR_HZ 24000000 + +## the H755 has 128k sectors +## the location where the bootloader will put the firmware +FLASH_BOOTLOADER_LOAD_KB 128 + +## bootloader is installed at zero offset +FLASH_RESERVE_START_KB 0 + +## with 2M flash we can afford to optimize for speed +FLASH_SIZE_KB 2048 + +## order of UARTs (and USB) +## SERIAL | 0 | 1 | 2 | 3 | +SERIAL_ORDER OTG1 UART7 UART5 UART4 + +## serial port for stdout, set SERIAL3_PROTOCOL 0(none) when using +## The value for STDOUT_SERIAL is a serial device name, and must be for a +## serial device for which pins are defined in this file. For example, SD3 +## is for USART3 (SD3 == "serial device 3" in ChibiOS). +STDOUT_SERIAL SD4 +STDOUT_BAUDRATE 921600 + +## default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN + +## USB OTG1 SERIAL0 +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 + +## pins for SWD debugging +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +## telem1 +PE8 UART7_TX UART7 SPEED_VERYLOW +PE10 UART7_CTS UART7 SPEED_VERYLOW +PE7 UART7_RX UART7 SPEED_VERYLOW +PF8 UART7_RTS UART7 SPEED_VERYLOW + +## telem2 +PC12 UART5_TX UART5 SPEED_VERYLOW +PC9 UART5_CTS UART5 SPEED_VERYLOW +PD2 UART5_RX UART5 SPEED_VERYLOW +PC8 UART5_RTS UART5 SPEED_VERYLOW + +## telem3 +PD8 USART3_TX USART3 SPEED_VERYLOW +PD11 USART3_CTS USART3 SPEED_VERYLOW +PD9 USART3_RX USART3 SPEED_VERYLOW +PD12 USART3_RTS USART3 SPEED_VERYLOW + +## GPS1 +PA9 USART1_TX USART1 SPEED_VERYLOW +PB7 USART1_RX USART1 SPEED_VERYLOW + +## GPS2 +PD5 USART2_TX USART2 SPEED_VERYLOW +PA3 USART2_RX USART2 SPEED_VERYLOW + +## RC input or Ext UART +PE1 UART8_TX UART8 SPEED_VERYLOW +PE0 UART8_RX UART8 SPEED_VERYLOW # UART8_RX_SBUS + +## SBUS OUT or Ext UART +PG14 USART6_TX USART6 SPEED_VERYLOW +PG9 USART6_RX USART6 SPEED_VERYLOW + +## debug uart +PH13 UART4_TX UART4 SPEED_VERYLOW NODMA +PH14 UART4_RX UART4 SPEED_VERYLOW NODMA + +## VDD Sense Pins +## Now the VDD sense pin. This is used to sense primary board voltage. +PH4 VDD_5V_SENS INPUT # ADC3_15 +PA10 VBUS_RESERVED INPUT +PF11 SCALED_V3V3 INPUT # ADC1_2 + +## JFB200 has SERVORAIL ADC +PH3 FMU_SERVORAIL_VCC_SENS INPUT # ADC3_14 + +## This defines an output pin which will default to output HIGH. It is +## a pin that enables peripheral power on this board. It starts in the +## off state, then is pulled low to enable peripherals in +## peripheral_power_enable() +PG10 nVDD_5V_HIPOWER_EN OUTPUT HIGH # VDD_5V_HIPOWER_CEn +PK1 nVDD_5V_PERIPH_EN OUTPUT HIGH # VDD_5V_PERIPH_CEn +PJ2 VDD_3V3_SENSORS_EN OUTPUT LOW +PG0 VDD_3V3_SENSORS2_EN OUTPUT LOW # VDD_3V3_GPS_EN +PJ4 VDD_3V3_SENSORS3_EN OUTPUT LOW # BUZZER_VCC_EN + +PI13 HEATER_CEn OUTPUT HIGH # HEATER_CEn + +## Control of Spektrum power pin +## no SPEKTRUM_RC pin so this is controlled manually +PA15 SPEKTRUM_PWR OUTPUT LOW # VDD_3V3_SPEKTRUM_EN + +## CS pins +PK5 FRAM_SPI1_CS CS SPEED_VERYLOW # SPI1_CS +PJ3 IMU3_SPI1_CS CS SPEED_VERYLOW # SPI1_CS + +PB10 BARO1_SPI2_CS CS SPEED_VERYLOW # SPI2_CS +PI4 IMU1_SPI2_CS CS SPEED_VERYLOW # SPI2_CS + +PI10 IMU2_SPI3_CS CS SPEED_VERYLOW # SPI3_CS +PB11 BARO2_SPI3_CS CS SPEED_VERYLOW # SPI3_CS + +PH15 BARO3_SPI4_CS CS SPEED_VERYLOW # SPI4_CS +PG6 EEPROM_SPI4_CS CS SPEED_VERYLOW # SPI4_CS + +PE2 EXT_SPI5_CS CS SPEED_VERYLOW # SPI5_CS + +## PWM output pins +PE9 PWMOUT1 OUTPUT LOW +PJ11 PWMOUT2 OUTPUT LOW +PJ9 PWMOUT3 OUTPUT LOW +PE14 PWMOUT4 OUTPUT LOW +PC6 PWMOUT5 OUTPUT LOW +PC7 PWMOUT6 OUTPUT LOW +PB0 PWMOUT7 OUTPUT LOW +PB1 PWMOUT8 OUTPUT LOW +PB6 PWMOUT9 OUTPUT LOW +PD13 PWMOUT10 OUTPUT LOW +PD14 PWMOUT11 OUTPUT LOW +PD15 PWMOUT12 OUTPUT LOW +PI5 PWMOUT13 OUTPUT LOW +PI6 PWMOUT14 OUTPUT LOW +PI7 PWMOUT15 OUTPUT LOW +PI2 PWMOUT16 OUTPUT LOW +PK2 PWM_OE OUTPUT HIGH +PJ6 PWM_VOLTAGE_SEL_5V_3Vn OUTPUT LOW + +## CAN bus +PK4 GPIO_CAN_SILENT OUTPUT PUSHPULL LOW # CAN_OEn + +## armed indication +PF2 nARMED OUTPUT HIGH SPEED_VERYLOW + +## microSD +PD6 SDMMC2_CK SDMMC2 SPEED_LOW +PD7 SDMMC2_CMD SDMMC2 SPEED_LOW +PB14 SDMMC2_D0 SDMMC2 SPEED_LOW +PB15 SDMMC2_D1 SDMMC2 SPEED_LOW +PB3 SDMMC2_D2 SDMMC2 SPEED_LOW +PB4 SDMMC2_D3 SDMMC2 SPEED_LOW +define FATFS_HAL_DEVICE SDCD2 +PC13 SD_CARD_IN INPUT + +## LEDs +PE3 DUMMY1 OUTPUT HIGH # LED_REDn +PE4 LED_BOOTLOADER OUTPUT HIGH # LED_GREENn +PE5 DUMMY2 OUTPUT HIGH # LED_BLUEn +define HAL_LED_ON 0 + +## Ethernet +PH2 GPIO_ETH_ENABLE OUTPUT LOW SPEED_VERYLOW # ETH_RMII_POWER_EN diff --git a/libraries/AP_HAL_ChibiOS/hwdef/JFB200/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/JFB200/hwdef.dat new file mode 100644 index 0000000000000..571873d619f70 --- /dev/null +++ b/libraries/AP_HAL_ChibiOS/hwdef/JFB200/hwdef.dat @@ -0,0 +1,377 @@ +## hw definition file for processing by chibios_hwdef.py +## for the JFB200 hardware + +## board ID. See Tools/AP_Bootloader/board_types.txt +APJ_BOARD_ID AP_HW_JFB200 + +## MCU class and specific type +MCU STM32H7xx STM32H755xx +define CORE_CM7 + +## crystal frequency 24MHz +OSCILLATOR_HZ 24000000 + +## the H755 has 128k sectors +## bootloader is installed at 128kb offset +FLASH_BOOTLOADER_LOAD_KB 128 +FLASH_RESERVE_START_KB 128 +## with 2M flash we can afford to optimize for speed +FLASH_SIZE_KB 2048 + +## order of UARTs (and USB) +## SERIAL | 0 | 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | +SERIAL_ORDER OTG1 UART7 UART5 USART3 USART1 USART2 UART8 USART6 OTG2 + +## Serial Default Setting +define DEFAULT_SERIAL3_BAUD 57 +define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_MAVLink2 +define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_GPS +define DEFAULT_SERIAL5_BAUD 230 +define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_GPS +define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_RCIN +define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_Sbus1 + +## serial port for stdout, set SERIAL8_PROTOCOL 0(none) when using +## The value for STDOUT_SERIAL is a serial device name, and must be for a +## serial device for which pins are defined in this file. For example, SD3 +## is for USART3 (SD3 == "serial device 3" in ChibiOS). +STDOUT_SERIAL SD4 +STDOUT_BAUDRATE 921600 + +## default to all pins low to avoid ESD issues +DEFAULTGPIO OUTPUT LOW PULLDOWN + +## USB OTG1 SERIAL0 +PA11 OTG_FS_DM OTG1 +PA12 OTG_FS_DP OTG1 +## default the 2nd interface to MAVLink2 +define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2 + +## pins for SWD debugging +PA13 JTMS-SWDIO SWD +PA14 JTCK-SWCLK SWD + +## telem1 +PE8 UART7_TX UART7 SPEED_VERYLOW +PE10 UART7_CTS UART7 SPEED_VERYLOW +PE7 UART7_RX UART7 SPEED_VERYLOW +PF8 UART7_RTS UART7 SPEED_VERYLOW + +## telem2 +PC12 UART5_TX UART5 SPEED_VERYLOW +PC9 UART5_CTS UART5 SPEED_VERYLOW +PD2 UART5_RX UART5 SPEED_VERYLOW +PC8 UART5_RTS UART5 SPEED_VERYLOW + +## telem3 +PD8 USART3_TX USART3 SPEED_VERYLOW +PD11 USART3_CTS USART3 SPEED_VERYLOW +PD9 USART3_RX USART3 SPEED_VERYLOW +PD12 USART3_RTS USART3 SPEED_VERYLOW + +## GPS1 +PA9 USART1_TX USART1 SPEED_VERYLOW +PB7 USART1_RX USART1 SPEED_VERYLOW + +## GPS2 +PD5 USART2_TX USART2 SPEED_VERYLOW +PA3 USART2_RX USART2 SPEED_VERYLOW + +## RC input or Ext UART +PE1 UART8_TX UART8 SPEED_VERYLOW +PE0 UART8_RX UART8 SPEED_VERYLOW # UART8_RX_SBUS + +## SBUS OUT or Ext UART +PG14 USART6_TX USART6 SPEED_VERYLOW +PG9 USART6_RX USART6 SPEED_VERYLOW + +## debug uart +PH13 UART4_TX UART4 SPEED_VERYLOW NODMA +PH14 UART4_RX UART4 SPEED_VERYLOW NODMA + +## ADC +PA0 BATT_VOLTAGE_SENS ADC1 SCALE(1) # ADC1_16 +PA4 BATT_CURRENT_SENS ADC1 SCALE(1) # ADC1_18 +PF5 BATT2_VOLTAGE_SENS ADC3 SCALE(1) # ADC3_4 +PF12 BATT2_CURRENT_SENS ADC1 SCALE(1) # ADC1_6 + +## setup scaling defaults for supplied power brick +define HAL_BATT_MONITOR_DEFAULT 4 +define HAL_BATT_VOLT_SCALE 1 +define HAL_BATT_CURR_SCALE 1 +define HAL_BATT2_VOLT_SCALE 1 +define HAL_BATT2_CURR_SCALE 1 +define HAL_BATT_VOLT_PIN 16 +define HAL_BATT_CURR_PIN 18 +define HAL_BATT2_VOLT_PIN 4 +define HAL_BATT2_CURR_PIN 6 + +## VDD Sense Pins +## Now the VDD sense pin. This is used to sense primary board voltage. +PH4 VDD_5V_SENS ADC3 SCALE(2) # ADC3_15 +define ANALOG_VCC_5V_PIN 15 +define HAL_HAVE_BOARD_VOLTAGE 1 +PA10 VBUS_RESERVED INPUT +PF11 SCALED_V3V3 ADC1 SCALE(2) # ADC1_2 + +## JFB200 has SERVORAIL ADC +PH3 FMU_SERVORAIL_VCC_SENS ADC3 SCALE(2) # ADC3_14 + +## RSSI Input +PC0 RSSI_IN ADC1 SCALE(1) # ADC1_10 +define BOARD_RSSI_ANA_PIN 10 + +## External ADC +PF6 ADC3_6V6 ADC3 SCALE(2) # ADC3_8 +PC3 ADC1_3V3 ADC1 SCALE(1) # ADC1_13 + +## This defines an output pin which will default to output HIGH. It is +## a pin that enables peripheral power on this board. It starts in the +## off state, then is pulled low to enable peripherals in +## peripheral_power_enable() +PG10 nVDD_5V_HIPOWER_EN OUTPUT HIGH # VDD_5V_HIPOWER_CEn +PK1 nVDD_5V_PERIPH_EN OUTPUT HIGH # VDD_5V_PERIPH_CEn +PJ2 VDD_3V3_SENSORS_EN OUTPUT LOW +PG0 VDD_3V3_SENSORS2_EN OUTPUT LOW # VDD_3V3_GPS_EN +PJ4 VDD_3V3_SENSORS3_EN OUTPUT LOW # BUZZER_VCC_EN + +#PI13 nVDD_3V3_SD_CARD_EN OUTPUT HIGH # HEATER_CEn +PI13 HEATER_CEn OUTPUT LOW # HEATER_CEn +# To Do : nVDD_5V_HEATER_EN needed to create + +## Control of Spektrum power pin +## no SPEKTRUM_RC pin so this is controlled manually +PA15 SPEKTRUM_PWR OUTPUT HIGH GPIO(69) # VDD_3V3_SPEKTRUM_EN +define HAL_GPIO_SPEKTRUM_PWR 69 +define HAL_SPEKTRUM_PWR_ENABLED 1 + +## Checked in Analogin.cpp -> MAV_POWER_STATUS +PG1 VDD_BRICK_nVALID INPUT # VDD_BRICK_VALIDn +PG2 VDD_BRICK2_nVALID INPUT # VDD_BRICK2_VALIDn +PG3 VBUS_nVALID INPUT # (VBUS)VDD_BRICK3_VALIDn +PF10 VDD_5V_HIPOWER_nOC INPUT PULLDOWN # VDD_5V_HIPOWER_FAULTn +PJ15 VDD_5V_PERIPH_nOC INPUT PULLDOWN # VDD_5V_PERIPH_FAULTn +PE15 5V_HEATER_FAULTn INPUT +# To Do : Vdd_5V_HEATER_VCC needed to create + +## SPI1 +PA5 SPI1_SCK SPI1 SPEED_VERYLOW +PB5 SPI1_MOSI SPI1 SPEED_VERYLOW +PA6 SPI1_MISO SPI1 SPEED_VERYLOW +PK5 FRAM_SPI1_CS CS SPEED_VERYLOW # FM25V02A-DGTR +PJ3 IMU3_SPI1_CS CS SPEED_VERYLOW # IIM-42653 + +## SPI2 +PI1 SPI2_SCK SPI2 SPEED_VERYLOW +PI3 SPI2_MOSI SPI2 SPEED_VERYLOW +PC2 SPI2_MISO SPI2 SPEED_VERYLOW +PB10 BARO1_SPI2_CS CS SPEED_VERYLOW # BMP390 on FSU +PI4 IMU1_SPI2_CS CS SPEED_VERYLOW # ICM-45686 on FSU + +## SPI3 +PC10 SPI3_SCK SPI3 SPEED_VERYLOW +PB2 SPI3_MOSI SPI3 SPEED_VERYLOW +PC11 SPI3_MISO SPI3 SPEED_VERYLOW +PI10 IMU2_SPI3_CS CS SPEED_VERYLOW # ASM330LHH on FSU + +## SPI4 +PE12 SPI4_SCK SPI4 SPEED_VERYLOW +PE6 SPI4_MOSI SPI4 SPEED_VERYLOW +PE13 SPI4_MISO SPI4 SPEED_VERYLOW +PH15 BARO3_SPI4_CS CS SPEED_VERYLOW # BMP390 on MCM +PG6 EEPROM_SPI4_CS CS SPEED_VERYLOW # AT25512-TH-T + +## SPI5 +PF7 SPI5_SCK SPI5 SPEED_VERYLOW +PJ10 SPI5_MOSI SPI5 SPEED_VERYLOW +PH7 SPI5_MISO SPI5 SPEED_VERYLOW +PE2 EXT_SPI5_CS CS SPEED_VERYLOW + +## SPI devices +SPIDEV iim42653 SPI1 DEVID1 IMU3_SPI1_CS MODE3 2*MHZ 20*MHZ # IIM-42653 (24MHz max) +SPIDEV ramtron SPI1 DEVID2 FRAM_SPI1_CS MODE3 2*MHZ 38*MHZ # FM25V02A-DGTR (40MHz max) + +SPIDEV icm45686 SPI2 DEVID1 IMU1_SPI2_CS MODE3 2*MHZ 20*MHZ # ICM-45686 on FSU (24MHz max) +SPIDEV bmp390_1 SPI2 DEVID2 BARO1_SPI2_CS MODE3 2*MHZ 8*MHZ # BMP390 on FSU (10MHz max) + +SPIDEV asm330lhh SPI3 DEVID1 IMU2_SPI3_CS MODE3 2*MHZ 8*MHZ # ASM330LHH on FSU (10MHz max) + +SPIDEV bmp390_2 SPI4 DEVID1 BARO3_SPI4_CS MODE3 2*MHZ 8*MHZ # BMP390 on MCM (10MHz max) +SPIDEV at25512 SPI4 DEVID2 EEPROM_SPI4_CS MODE3 2*MHZ 8*MHZ # AT25512-TH-T (10MHz max) + +## JFB200 has 3 IMUs +## IMU devices for JFB200. The JFB200 board has ICM-45686 and ASM330LHH, IIM-42653. +IMU Invensensev3 SPI:icm45686 ROTATION_NONE # ICM-45686 on FSU +IMU ASM330 SPI:asm330lhh ROTATION_NONE # ASM330LHH on FSU +IMU Invensensev3 SPI:iim42653 ROTATION_ROLL_180 # IIM-42653 + +define HAL_DEFAULT_INS_FAST_SAMPLE 7 +define HAL_EKF_IMU_MASK_DEFAULT 7 + +## JFB200 has 2 BAROs +BARO BMP388 SPI:bmp390_1 # BMP390 on FSU +BARO BMP388 SPI:bmp390_2 # BMP390 on MCM + +## PWM output pins +PE9 TIM1_CH1 TIM1 PWM(1) GPIO(50) SPEED_VERYLOW +PJ11 TIM1_CH2 TIM1 PWM(2) GPIO(51) SPEED_VERYLOW +PJ9 TIM1_CH3 TIM1 PWM(3) GPIO(52) SPEED_VERYLOW +PE14 TIM1_CH4 TIM1 PWM(4) GPIO(53) SPEED_VERYLOW +PC6 TIM3_CH1 TIM3 PWM(5) GPIO(54) SPEED_VERYLOW +PC7 TIM3_CH2 TIM3 PWM(6) GPIO(55) SPEED_VERYLOW +PB0 TIM3_CH3 TIM3 PWM(7) GPIO(56) SPEED_VERYLOW +PB1 TIM3_CH4 TIM3 PWM(8) GPIO(57) SPEED_VERYLOW +PB6 TIM4_CH1 TIM4 PWM(9) GPIO(58) SPEED_VERYLOW +PD13 TIM4_CH2 TIM4 PWM(10) GPIO(59) SPEED_VERYLOW +PD14 TIM4_CH3 TIM4 PWM(11) GPIO(60) SPEED_VERYLOW +PD15 TIM4_CH4 TIM4 PWM(12) GPIO(61) SPEED_VERYLOW +PI5 TIM8_CH1 TIM8 PWM(13) GPIO(62) SPEED_VERYLOW +PI6 TIM8_CH2 TIM8 PWM(14) GPIO(63) SPEED_VERYLOW +PI7 TIM8_CH3 TIM8 PWM(15) GPIO(64) SPEED_VERYLOW +PI2 TIM8_CH4 TIM8 PWM(16) GPIO(65) SPEED_VERYLOW +PK2 PWM_OE OUTPUT HIGH +PJ6 PWM_VOLTAGE_SEL_5V_3Vn OUTPUT LOW GPIO(3) +define HAL_GPIO_PWM_VOLT_PIN 3 +define HAL_GPIO_PWM_VOLT_3v3 0 # PWM Output 3.3V is GPIO Low. + +## GPIOs +PE11 FMU_CAP1 INPUT PULLDOWN GPIO(66) +PI9 FMU_CAP2 INPUT PULLDOWN GPIO(67) + +## CAN bus +PD0 CAN1_RX CAN1 SPEED_VERYLOW # FDCAN1_RX +PD1 CAN1_TX CAN1 SPEED_VERYLOW # FDCAN1_TX +PB12 CAN2_RX CAN2 SPEED_VERYLOW # FDCAN2_RX +PB13 CAN2_TX CAN2 SPEED_VERYLOW # FDCAN2_TX + +PK4 GPIO_CAN_SILENT OUTPUT PUSHPULL LOW # CAN_OEn + +## I2C buses +define HAL_I2C_MAX_CLOCK 100000 + +## I2C1, external +PB8 I2C1_SCL I2C1 +PB9 I2C1_SDA I2C1 + +## I2C2, external +PF1 I2C2_SCL I2C2 +PF0 I2C2_SDA I2C2 + +## I2C3, IST8310 Internal, BMM350 Internal on FSU +PA8 I2C3_SCL I2C3 SPEED_VERYLOW +PH8 I2C3_SDA I2C3 SPEED_VERYLOW + +## I2C4, external +PF14 I2C4_SCL I2C4 +PF15 I2C4_SDA I2C4 + +## order of I2C buses +I2C_ORDER I2C3 I2C1 I2C2 I2C4 +define HAL_I2C_INTERNAL_MASK 1 + +## this board is very tight on DMA channels. To allow for more UART DMA +## we disable DMA on I2C. This also prevents a problem with DMA on I2C +## interfering with IMUs +NODMA I2C* +define STM32_I2C_USE_DMA FALSE + +## builtin compass on JAE JFB200 +define AP_COMPASS_INTERNAL_BUS_PROBING_ENABLED 0 +define AP_COMPASS_PROBING_ENABLED 1 +COMPASS BMM350 I2C:ALL_INTERNAL:0x14 false ROTATION_ROLL_180 +COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_NONE + +COMPASS IST8310 I2C:ALL_EXTERNAL:0x0E true ROTATION_ROLL_180_YAW_90 + +## armed indication +PF2 nARMED OUTPUT HIGH SPEED_VERYLOW + +## microSD +PD6 SDMMC2_CK SDMMC2 SPEED_LOW +PD7 SDMMC2_CMD SDMMC2 SPEED_LOW +PB14 SDMMC2_D0 SDMMC2 SPEED_LOW +PB15 SDMMC2_D1 SDMMC2 SPEED_LOW +PB3 SDMMC2_D2 SDMMC2 SPEED_LOW +PB4 SDMMC2_D3 SDMMC2 SPEED_LOW +define FATFS_HAL_DEVICE SDCD2 +PC13 SD_CARD_IN INPUT + +## safety +## allow to have a dedicated safety switch pin +PD10 LED_SAFETY OUTPUT HIGH # SAFETY_LEDn +PG15 SAFETY_IN INPUT PULLDOWN # SAFETY_SWITCH_IN +define HAL_HAVE_SAFETY_SWITCH 1 + +## LEDs +PE3 LED_RED OUTPUT OPENDRAIN GPIO(70) HIGH SPEED_VERYLOW # LED_REDn +PE4 LED_GREEN OUTPUT OPENDRAIN GPIO(71) LOW SPEED_VERYLOW # LED_GREENn +PE5 LED_BLUE OUTPUT OPENDRAIN GPIO(72) HIGH SPEED_VERYLOW # LED_BLUEn + +## setup for "AP_BoardLED" RGB LEDs +define AP_NOTIFY_GPIO_LED_2_ENABLED 1 +define HAL_GPIO_A_LED_PIN 72 +define HAL_GPIO_B_LED_PIN 70 + +## PWM output for buzzer +PF9 TIM14_CH1 TIM14 GPIO(73) ALARM SPEED_VERYLOW +define AP_NOTIFY_BUZZER_ENABLED 1 + +## RC input (PPM) +## note: For only low resolution +PH6 TIM12_CH1 TIM12 RCININT PULLDOWN LOW + +## enable RAMTRON parameter storage +define HAL_STORAGE_SIZE 32768 +define HAL_WITH_RAMTRON 1 + +## DMA +DMA_PRIORITY SDMMC* UART* USART* ADC* SPI* TIM* + +## enable FAT filesystem support (needs a microSD defined via SDMMC) +define HAL_OS_FATFS_IO 1 + +## enable DFU reboot for installing bootloader +## note that if firmware is build with --secure-bl then DFU is +## disabled +ENABLE_DFU_BOOT 1 + +## External watchdog gpio +PI0 EXT_WDOG OUTPUT LOW SPEED_VERYLOW # WDOG +define EXT_WDOG_INTERVAL_MS 50 + +## Ethernet +PA1 ETH_RMII_REF_CLK ETH1 SPEED_VERYLOW +PA2 ETH_MDIO ETH1 SPEED_VERYLOW +PA7 ETH_RMII_CRS_DV ETH1 SPEED_VERYLOW +PC1 ETH_MDC ETH1 SPEED_VERYLOW +PC4 ETH_RMII_RXD0 ETH1 SPEED_VERYLOW +PC5 ETH_RMII_RXD1 ETH1 SPEED_VERYLOW +PG11 ETH_RMII_TX_EN ETH1 SPEED_VERYLOW +PG13 ETH_RMII_TXD0 ETH1 SPEED_VERYLOW +PG12 ETH_RMII_TXD1 ETH1 SPEED_VERYLOW +PH2 GPIO_ETH_ENABLE OUTPUT GPIO(113) HIGH SPEED_VERYLOW # ETH_RMII_POWER_EN +define HAL_GPIO_ETH_ENABLE 113 + +define BOARD_PHY_ID MII_LAN8742A_ID +define BOARD_PHY_RMII + +## Refer to https://maclookup.app/vendors/japan-aviation-electronics-industry-ltd +## Note, lower 3 bytes (ADDR3,4,5) will be replaced with the platform UUID +define AP_NETWORKING_DEFAULT_MAC_ADDR "00:E0:5E:00:00:00" + +define AP_NETWORKING_DEFAULT_STATIC_IP_ADDR "192.168.100.1" +define AP_NETWORKING_DEFAULT_STATIC_NETMASK "255.255.255.0" +define AP_NETWORKING_DEFAULT_STATIC_GW_ADDR "192.168.100.254" + +## HEATER +## Setup the IMU heater +define HAL_HAVE_IMU_HEATER 1 +define HAL_IMU_TEMP_DEFAULT 45 +define HAL_IMUHEAT_P_DEFAULT 50 +define HAL_IMUHEAT_I_DEFAULT 0.07 +define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5 + +PI12 IMU_TEMP_CTL OUTPUT LOW SPEED_VERYLOW GPIO(80) # IMU_TEMP_CTRL + +## HEATER define +define HAL_HEATER_GPIO_PIN 80 From 93856baf171a4ee3027734c7d1109b06d4e4425a Mon Sep 17 00:00:00 2001 From: Norihiko Itou Date: Thu, 4 Jun 2026 18:57:26 +0900 Subject: [PATCH 11/27] Tools: add JFB200 bootloaders --- Tools/bootloaders/JFB200_bl.bin | Bin 0 -> 24564 bytes Tools/bootloaders/JFB200_bl.hex | 1538 +++++++++++++++++++++++++++++++ 2 files changed, 1538 insertions(+) create mode 100644 Tools/bootloaders/JFB200_bl.bin create mode 100644 Tools/bootloaders/JFB200_bl.hex diff --git a/Tools/bootloaders/JFB200_bl.bin b/Tools/bootloaders/JFB200_bl.bin new file mode 100644 index 0000000000000000000000000000000000000000..e9786a79bd787a7bff6c8898f345ab69a56f47bc GIT binary patch literal 24564 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z3|)_-c|?Aw?_{h!Jw^Z9_NuVerI_p~NxxQd255atHHr2PY!5?nTx%V6i}0amDEvc( zo+0SkIhK4)u8{A?tMicEI!}XnU1jV(_G7FCwaOpuwaTB&Sv=RpdTNzR=31qN zq!x2sv{m#Bn1sIOF^_bxvSY>m2Z zMM?BEInA-d_VwPOg$)*|0TLupGT~MAKzJ6uiD}yiIgM7oG=a`@{|3XS0{gxS- z*avIdf|)a>uPU5+PeuN;%9RE7d~gv-F~KFn;W_fs2No6Nm&}+uckXboVDpq2`J0Dh z(+Z}{m`)v(F^p+B;Y<$^#=MMh=C47-z&ea@kXktiHTyxB#(Bi`3I10zmAN+YR4m)6LZ7v~Z`ZlL%!^%zN-nHwVAmf~6MN5ju-R;Dyo~84aEGSwy z4)C~ZYkvzY#P~Lx1EbPWNz5|ba2^+fNw!AI0(+n!djI~iT&j0t7?wPHH{L-{LS5l! zz_|dE4SSk6)TRVSNr96B_xL+gqqPLLI#KXg|`zQ&C&kwQ5{q^8YVB>h;h+)eBT_-fj)Zx z=SJ#i{z~{h_zpyF4h}kvh99f&K2E$V*RDd?M{3rR3dK)u+D&%;nFFM=bz1vF6AqM>0{dZq=YTgMnbKMq9S?$l)Wj^=gbJg=b9ZX6hf= zd1xmll_?U-14#o2N;Gfhkt4KD4-DMI^BGMKns}Ob Date: Thu, 4 Jun 2026 18:16:22 +1000 Subject: [PATCH 12/27] AP_HAL_SITL: avoid buffer overread in SPIDevice recent fix to deconflict caused an issue --- libraries/AP_HAL_SITL/SPIDevice.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/libraries/AP_HAL_SITL/SPIDevice.cpp b/libraries/AP_HAL_SITL/SPIDevice.cpp index b20d4cce0d9cc..3d9c7b69fb61f 100644 --- a/libraries/AP_HAL_SITL/SPIDevice.cpp +++ b/libraries/AP_HAL_SITL/SPIDevice.cpp @@ -115,6 +115,7 @@ static const struct SPIDriverInfo { // uint8_t dma_channel_tx; } spi_devices[] = { { 0, }, + { 1, }, }; // name, bus, cs_pin @@ -178,6 +179,9 @@ SPIDevice::SPIDevice(SPIBus &_bus, SPIDesc &_device_desc) : bus(_bus) , device_desc(_device_desc) { + if (_bus.bus >= ARRAY_SIZE(spi_devices)) { + AP_HAL::panic("SPIDevice: bus %u out of range", (unsigned)_bus.bus); + } set_device_bus(spi_devices[_bus.bus].busid); set_device_address(_device_desc.cs_pin); } From 068fd1908030249f33fefb6b28d7dd9601f045c5 Mon Sep 17 00:00:00 2001 From: George Zogopoulos Date: Tue, 2 Jun 2026 11:27:05 +0200 Subject: [PATCH 13/27] Tracker: 4.7.0-beta6 release notes --- AntennaTracker/ReleaseNotes.txt | 48 ++++++++++++++++++++++++++++++++- 1 file changed, 47 insertions(+), 1 deletion(-) diff --git a/AntennaTracker/ReleaseNotes.txt b/AntennaTracker/ReleaseNotes.txt index 51f8fd41b1148..7efe5916478a0 100644 --- a/AntennaTracker/ReleaseNotes.txt +++ b/AntennaTracker/ReleaseNotes.txt @@ -1,4 +1,50 @@ ArduPilot Antenna Tracker Release Notes: +------------------------------------------------------------------ +Release 4.7.0-beta6 01-June-2026 + +Changes from 4.7.0-beta5 + +1) Board specific changes + +- MambaF405v2 SBUS pin polarity fixed (@andyp1per, PR:33203) +- PilotGaeaSV7V1 board added (@PilotGaea2001, PR:32416) +- SkyDroid-S3 board added (@UAVcihang, PR:32920) +- ZeroOneX6v2 supports SPA06 and MBP581 barometers (@ZeroOne-Aero, PR:33237) + +2) Driver changes + +- AP_Compass: LIS2MDL recent duplicate driver is removed (@dakejahl, PR:33140) +- Filter: Harmonic Notch Filters fixed to prevent runtime error (@peterbarker, PR:33230) +- KellerLD barometer has better corruption rejection (@vshie, PR:32889) +- Lightware GRF250 I2C driver added (@rishabsingh3003, PR:32923) +- RC_Channel: Channel overrides fixed to not apply on restricted channels (@peterbarker, PR:33275) + +3) Library changes + +- AP_CANManager: Removed unused logging interface (@tpwrules, PR:33031) +- AP_Filesystem: FTP-related hardfault is fixed (@peterbarker, PR:33156) +- AP_Follow: Vertical target estimate has minor fixes (@lthall, PR:33109) +- AP_Follow: bugfixes related to the motion of the target (@lthall, PR:33038) +- AP_OpenDroneID: UAS ID available length is fixed (@cuav-chen2, PR:33224) +- Filter: Harmonic notch logging fix to avoid over reading array (@peterbarker, PR:33232) +- ardupilotwaf: gcc-14+ compiler warnings are suppressed (@yuri-rage, PR:33138) + +4) Plane specific changes + +- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955) + +5) Copter specific changes + +- Terrain failsafe will be triggered when a mission terrain altitude cannot be retrieved (@rmackay9, PR:32943) +- Pilot yaw is correctly ignored during RTL (@rmackay9, PR:33169) +- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955) + +6) Sub related changes + +- MOT_FV_CPLNG_K has better documentation (@ES-Alexander, PR:33076) +- Very early prearm check will not cause initializatin bug (@CSmith1539, PR:33217) +- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955) + ------------------------------------------------------------------ Release 4.7.0-beta5 15-May-2026 @@ -11,7 +57,7 @@ Changes from 4.7.0-beta4 2) Library changes - AP_Logger: Named Value Float dataflash logging drops fixed (@tridge, PR:32975) -- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33013) +- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33030) - AP_Logger: logging over MAVLink speed significantly improved (@tridge, PR:33020) - AP_NavEKF3: barometer offset logging added (@rmackay, PR:32931) - AP_NavEKF3: bugfix to prevent covariance state corruption (@tpwrules, PR:32177) From 8ff21d32a69dc12eca9ee5b81b110bffbf7f6536 Mon Sep 17 00:00:00 2001 From: George Zogopoulos Date: Tue, 2 Jun 2026 11:27:32 +0200 Subject: [PATCH 14/27] AP_Periph: 4.7.0-beta6 release notes --- Tools/AP_Periph/ReleaseNotes.txt | 48 +++++++++++++++++++++++++++++++- 1 file changed, 47 insertions(+), 1 deletion(-) diff --git a/Tools/AP_Periph/ReleaseNotes.txt b/Tools/AP_Periph/ReleaseNotes.txt index 7909f330a1061..dcd74e056fc76 100644 --- a/Tools/AP_Periph/ReleaseNotes.txt +++ b/Tools/AP_Periph/ReleaseNotes.txt @@ -1,4 +1,50 @@ ArduPilot AP_Periph Release Notes +------------------------------------------------------------------ +Release 4.7.0-beta6 01-June-2026 + +Changes from 4.7.0-beta5 + +1) Board specific changes + +- MambaF405v2 SBUS pin polarity fixed (@andyp1per, PR:33203) +- PilotGaeaSV7V1 board added (@PilotGaea2001, PR:32416) +- SkyDroid-S3 board added (@UAVcihang, PR:32920) +- ZeroOneX6v2 supports SPA06 and MBP581 barometers (@ZeroOne-Aero, PR:33237) + +2) Driver changes + +- AP_Compass: LIS2MDL recent duplicate driver is removed (@dakejahl, PR:33140) +- Filter: Harmonic Notch Filters fixed to prevent runtime error (@peterbarker, PR:33230) +- KellerLD barometer has better corruption rejection (@vshie, PR:32889) +- Lightware GRF250 I2C driver added (@rishabsingh3003, PR:32923) +- RC_Channel: Channel overrides fixed to not apply on restricted channels (@peterbarker, PR:33275) + +3) Library changes + +- AP_CANManager: Removed unused logging interface (@tpwrules, PR:33031) +- AP_Filesystem: FTP-related hardfault is fixed (@peterbarker, PR:33156) +- AP_Follow: Vertical target estimate has minor fixes (@lthall, PR:33109) +- AP_Follow: bugfixes related to the motion of the target (@lthall, PR:33038) +- AP_OpenDroneID: UAS ID available length is fixed (@cuav-chen2, PR:33224) +- Filter: Harmonic notch logging fix to avoid over reading array (@peterbarker, PR:33232) +- ardupilotwaf: gcc-14+ compiler warnings are suppressed (@yuri-rage, PR:33138) + +4) Plane specific changes + +- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955) + +5) Copter specific changes + +- Terrain failsafe will be triggered when a mission terrain altitude cannot be retrieved (@rmackay9, PR:32943) +- Pilot yaw is correctly ignored during RTL (@rmackay9, PR:33169) +- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955) + +6) Sub related changes + +- MOT_FV_CPLNG_K has better documentation (@ES-Alexander, PR:33076) +- Very early prearm check will not cause initializatin bug (@CSmith1539, PR:33217) +- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955) + ------------------------------------------------------------------ Release 4.7.0-beta5 15-May-2026 @@ -11,7 +57,7 @@ Changes from 4.7.0-beta4 2) Library changes - AP_Logger: Named Value Float dataflash logging drops fixed (@tridge, PR:32975) -- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33013) +- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33030) - AP_Logger: logging over MAVLink speed significantly improved (@tridge, PR:33020) - AP_NavEKF3: barometer offset logging added (@rmackay, PR:32931) - AP_NavEKF3: bugfix to prevent covariance state corruption (@tpwrules, PR:32177) From cdfb1fb2aaa537787514a43416331f369687db41 Mon Sep 17 00:00:00 2001 From: George Zogopoulos Date: Tue, 2 Jun 2026 11:28:14 +0200 Subject: [PATCH 15/27] Sub: 4.7.0-beta6 release notes --- ArduSub/ReleaseNotes.txt | 48 +++++++++++++++++++++++++++++++++++++++- 1 file changed, 47 insertions(+), 1 deletion(-) diff --git a/ArduSub/ReleaseNotes.txt b/ArduSub/ReleaseNotes.txt index 1ed063702b1e0..21fe12df595a8 100644 --- a/ArduSub/ReleaseNotes.txt +++ b/ArduSub/ReleaseNotes.txt @@ -1,4 +1,50 @@ ArduPilot Sub Release Notes: +------------------------------------------------------------------ +Release 4.7.0-beta6 01-June-2026 + +Changes from 4.7.0-beta5 + +1) Board specific changes + +- MambaF405v2 SBUS pin polarity fixed (@andyp1per, PR:33203) +- PilotGaeaSV7V1 board added (@PilotGaea2001, PR:32416) +- SkyDroid-S3 board added (@UAVcihang, PR:32920) +- ZeroOneX6v2 supports SPA06 and MBP581 barometers (@ZeroOne-Aero, PR:33237) + +2) Driver changes + +- AP_Compass: LIS2MDL recent duplicate driver is removed (@dakejahl, PR:33140) +- Filter: Harmonic Notch Filters fixed to prevent runtime error (@peterbarker, PR:33230) +- KellerLD barometer has better corruption rejection (@vshie, PR:32889) +- Lightware GRF250 I2C driver added (@rishabsingh3003, PR:32923) +- RC_Channel: Channel overrides fixed to not apply on restricted channels (@peterbarker, PR:33275) + +3) Library changes + +- AP_CANManager: Removed unused logging interface (@tpwrules, PR:33031) +- AP_Filesystem: FTP-related hardfault is fixed (@peterbarker, PR:33156) +- AP_Follow: Vertical target estimate has minor fixes (@lthall, PR:33109) +- AP_Follow: bugfixes related to the motion of the target (@lthall, PR:33038) +- AP_OpenDroneID: UAS ID available length is fixed (@cuav-chen2, PR:33224) +- Filter: Harmonic notch logging fix to avoid over reading array (@peterbarker, PR:33232) +- ardupilotwaf: gcc-14+ compiler warnings are suppressed (@yuri-rage, PR:33138) + +4) Plane specific changes + +- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955) + +5) Copter specific changes + +- Terrain failsafe will be triggered when a mission terrain altitude cannot be retrieved (@rmackay9, PR:32943) +- Pilot yaw is correctly ignored during RTL (@rmackay9, PR:33169) +- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955) + +6) Sub related changes + +- MOT_FV_CPLNG_K has better documentation (@ES-Alexander, PR:33076) +- Very early prearm check will not cause initializatin bug (@CSmith1539, PR:33217) +- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955) + ------------------------------------------------------------------ Release 4.7.0-beta5 15-May-2026 @@ -11,7 +57,7 @@ Changes from 4.7.0-beta4 2) Library changes - AP_Logger: Named Value Float dataflash logging drops fixed (@tridge, PR:32975) -- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33013) +- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33030) - AP_Logger: logging over MAVLink speed significantly improved (@tridge, PR:33020) - AP_NavEKF3: barometer offset logging added (@rmackay, PR:32931) - AP_NavEKF3: bugfix to prevent covariance state corruption (@tpwrules, PR:32177) From 3c9418184b770a867e23b57ec9d9d8d6a5a4c0e7 Mon Sep 17 00:00:00 2001 From: George Zogopoulos Date: Tue, 2 Jun 2026 11:28:50 +0200 Subject: [PATCH 16/27] Rover: 4.7.0-beta6 release notes --- Rover/ReleaseNotes.txt | 48 +++++++++++++++++++++++++++++++++++++++++- 1 file changed, 47 insertions(+), 1 deletion(-) diff --git a/Rover/ReleaseNotes.txt b/Rover/ReleaseNotes.txt index 0f91c509715ab..32e4b223b5a59 100644 --- a/Rover/ReleaseNotes.txt +++ b/Rover/ReleaseNotes.txt @@ -1,4 +1,50 @@ ArduPilot Rover Release Notes: +------------------------------------------------------------------ +Release 4.7.0-beta6 01-June-2026 + +Changes from 4.7.0-beta5 + +1) Board specific changes + +- MambaF405v2 SBUS pin polarity fixed (@andyp1per, PR:33203) +- PilotGaeaSV7V1 board added (@PilotGaea2001, PR:32416) +- SkyDroid-S3 board added (@UAVcihang, PR:32920) +- ZeroOneX6v2 supports SPA06 and MBP581 barometers (@ZeroOne-Aero, PR:33237) + +2) Driver changes + +- AP_Compass: LIS2MDL recent duplicate driver is removed (@dakejahl, PR:33140) +- Filter: Harmonic Notch Filters fixed to prevent runtime error (@peterbarker, PR:33230) +- KellerLD barometer has better corruption rejection (@vshie, PR:32889) +- Lightware GRF250 I2C driver added (@rishabsingh3003, PR:32923) +- RC_Channel: Channel overrides fixed to not apply on restricted channels (@peterbarker, PR:33275) + +3) Library changes + +- AP_CANManager: Removed unused logging interface (@tpwrules, PR:33031) +- AP_Filesystem: FTP-related hardfault is fixed (@peterbarker, PR:33156) +- AP_Follow: Vertical target estimate has minor fixes (@lthall, PR:33109) +- AP_Follow: bugfixes related to the motion of the target (@lthall, PR:33038) +- AP_OpenDroneID: UAS ID available length is fixed (@cuav-chen2, PR:33224) +- Filter: Harmonic notch logging fix to avoid over reading array (@peterbarker, PR:33232) +- ardupilotwaf: gcc-14+ compiler warnings are suppressed (@yuri-rage, PR:33138) + +4) Plane specific changes + +- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955) + +5) Copter specific changes + +- Terrain failsafe will be triggered when a mission terrain altitude cannot be retrieved (@rmackay9, PR:32943) +- Pilot yaw is correctly ignored during RTL (@rmackay9, PR:33169) +- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955) + +6) Sub related changes + +- MOT_FV_CPLNG_K has better documentation (@ES-Alexander, PR:33076) +- Very early prearm check will not cause initializatin bug (@CSmith1539, PR:33217) +- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955) + ------------------------------------------------------------------ Release 4.7.0-beta5 15-May-2026 @@ -11,7 +57,7 @@ Changes from 4.7.0-beta4 2) Library changes - AP_Logger: Named Value Float dataflash logging drops fixed (@tridge, PR:32975) -- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33013) +- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33030) - AP_Logger: logging over MAVLink speed significantly improved (@tridge, PR:33020) - AP_NavEKF3: barometer offset logging added (@rmackay, PR:32931) - AP_NavEKF3: bugfix to prevent covariance state corruption (@tpwrules, PR:32177) From 3f5aae1575157b7b2e32331bf87cde7cd43f208a Mon Sep 17 00:00:00 2001 From: George Zogopoulos Date: Tue, 2 Jun 2026 11:30:18 +0200 Subject: [PATCH 17/27] Copter: 4.7.0-beta6 release notes --- ArduCopter/ReleaseNotes.txt | 48 ++++++++++++++++++++++++++++++++++++- 1 file changed, 47 insertions(+), 1 deletion(-) diff --git a/ArduCopter/ReleaseNotes.txt b/ArduCopter/ReleaseNotes.txt index 6979b83ac5458..b690872babc80 100644 --- a/ArduCopter/ReleaseNotes.txt +++ b/ArduCopter/ReleaseNotes.txt @@ -1,4 +1,50 @@ ArduPilot Copter Release Notes: +------------------------------------------------------------------ +Release 4.7.0-beta6 01-June-2026 + +Changes from 4.7.0-beta5 + +1) Board specific changes + +- MambaF405v2 SBUS pin polarity fixed (@andyp1per, PR:33203) +- PilotGaeaSV7V1 board added (@PilotGaea2001, PR:32416) +- SkyDroid-S3 board added (@UAVcihang, PR:32920) +- ZeroOneX6v2 supports SPA06 and MBP581 barometers (@ZeroOne-Aero, PR:33237) + +2) Driver changes + +- AP_Compass: LIS2MDL recent duplicate driver is removed (@dakejahl, PR:33140) +- Filter: Harmonic Notch Filters fixed to prevent runtime error (@peterbarker, PR:33230) +- KellerLD barometer has better corruption rejection (@vshie, PR:32889) +- Lightware GRF250 I2C driver added (@rishabsingh3003, PR:32923) +- RC_Channel: Channel overrides fixed to not apply on restricted channels (@peterbarker, PR:33275) + +3) Library changes + +- AP_CANManager: Removed unused logging interface (@tpwrules, PR:33031) +- AP_Filesystem: FTP-related hardfault is fixed (@peterbarker, PR:33156) +- AP_Follow: Vertical target estimate has minor fixes (@lthall, PR:33109) +- AP_Follow: bugfixes related to the motion of the target (@lthall, PR:33038) +- AP_OpenDroneID: UAS ID available length is fixed (@cuav-chen2, PR:33224) +- Filter: Harmonic notch logging fix to avoid over reading array (@peterbarker, PR:33232) +- ardupilotwaf: gcc-14+ compiler warnings are suppressed (@yuri-rage, PR:33138) + +4) Plane specific changes + +- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955) + +5) Copter specific changes + +- Terrain failsafe will be triggered when a mission terrain altitude cannot be retrieved (@rmackay9, PR:32943) +- Pilot yaw is correctly ignored during RTL (@rmackay9, PR:33169) +- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955) + +6) Sub related changes + +- MOT_FV_CPLNG_K has better documentation (@ES-Alexander, PR:33076) +- Very early prearm check will not cause initializatin bug (@CSmith1539, PR:33217) +- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955) + ------------------------------------------------------------------ Release 4.7.0-beta5 15-May-2026 @@ -11,7 +57,7 @@ Changes from 4.7.0-beta4 2) Library changes - AP_Logger: Named Value Float dataflash logging drops fixed (@tridge, PR:32975) -- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33013) +- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33030) - AP_Logger: logging over MAVLink speed significantly improved (@tridge, PR:33020) - AP_NavEKF3: barometer offset logging added (@rmackay, PR:32931) - AP_NavEKF3: bugfix to prevent covariance state corruption (@tpwrules, PR:32177) From d297fb5061c073a6380903a1bee98d48b4383071 Mon Sep 17 00:00:00 2001 From: George Zogopoulos Date: Tue, 2 Jun 2026 11:30:45 +0200 Subject: [PATCH 18/27] Plane: 4.7.0-beta6 release notes --- ArduPlane/ReleaseNotes.txt | 48 +++++++++++++++++++++++++++++++++++++- 1 file changed, 47 insertions(+), 1 deletion(-) diff --git a/ArduPlane/ReleaseNotes.txt b/ArduPlane/ReleaseNotes.txt index 4a3456f4f719c..eab6ceaa56b8f 100644 --- a/ArduPlane/ReleaseNotes.txt +++ b/ArduPlane/ReleaseNotes.txt @@ -1,4 +1,50 @@ ArduPilot Plane Release Notes: +------------------------------------------------------------------ +Release 4.7.0-beta6 01-June-2026 + +Changes from 4.7.0-beta5 + +1) Board specific changes + +- MambaF405v2 SBUS pin polarity fixed (@andyp1per, PR:33203) +- PilotGaeaSV7V1 board added (@PilotGaea2001, PR:32416) +- SkyDroid-S3 board added (@UAVcihang, PR:32920) +- ZeroOneX6v2 supports SPA06 and MBP581 barometers (@ZeroOne-Aero, PR:33237) + +2) Driver changes + +- AP_Compass: LIS2MDL recent duplicate driver is removed (@dakejahl, PR:33140) +- Filter: Harmonic Notch Filters fixed to prevent runtime error (@peterbarker, PR:33230) +- KellerLD barometer has better corruption rejection (@vshie, PR:32889) +- Lightware GRF250 I2C driver added (@rishabsingh3003, PR:32923) +- RC_Channel: Channel overrides fixed to not apply on restricted channels (@peterbarker, PR:33275) + +3) Library changes + +- AP_CANManager: Removed unused logging interface (@tpwrules, PR:33031) +- AP_Filesystem: FTP-related hardfault is fixed (@peterbarker, PR:33156) +- AP_Follow: Vertical target estimate has minor fixes (@lthall, PR:33109) +- AP_Follow: bugfixes related to the motion of the target (@lthall, PR:33038) +- AP_OpenDroneID: UAS ID available length is fixed (@cuav-chen2, PR:33224) +- Filter: Harmonic notch logging fix to avoid over reading array (@peterbarker, PR:33232) +- ardupilotwaf: gcc-14+ compiler warnings are suppressed (@yuri-rage, PR:33138) + +4) Plane specific changes + +- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955) + +5) Copter specific changes + +- Terrain failsafe will be triggered when a mission terrain altitude cannot be retrieved (@rmackay9, PR:32943) +- Pilot yaw is correctly ignored during RTL (@rmackay9, PR:33169) +- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955) + +6) Sub related changes + +- MOT_FV_CPLNG_K has better documentation (@ES-Alexander, PR:33076) +- Very early prearm check will not cause initializatin bug (@CSmith1539, PR:33217) +- Spoolup events are better reported with less false-positive errors (@lthall, PR:32955) + ------------------------------------------------------------------ Release 4.7.0-beta5 15-May-2026 @@ -11,7 +57,7 @@ Changes from 4.7.0-beta4 2) Library changes - AP_Logger: Named Value Float dataflash logging drops fixed (@tridge, PR:32975) -- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33013) +- AP_Logger: LOG_MAV_RATEMAX default changed to 10 (@tridge, PR:33030) - AP_Logger: logging over MAVLink speed significantly improved (@tridge, PR:33020) - AP_NavEKF3: barometer offset logging added (@rmackay, PR:32931) - AP_NavEKF3: bugfix to prevent covariance state corruption (@tpwrules, PR:32177) From 0332990510f2fb64b75b51e1a650a22641e3e370 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Mon, 25 May 2026 13:05:07 +1000 Subject: [PATCH 19/27] Tools: signing/README.md, add a note on accepting commands when no pukeys --- Tools/scripts/signing/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/scripts/signing/README.md b/Tools/scripts/signing/README.md index 73a403058f997..70626216bbc5e 100644 --- a/Tools/scripts/signing/README.md +++ b/Tools/scripts/signing/README.md @@ -140,7 +140,7 @@ public keys and one of your own public keys then X will be 4 in the above command. Re-run the 'securecommand getpublickeys' command again and check that "No public keys" is returned. -This confirms that all keys have been removed. +This confirms that all keys have been removed. By design, ArduPilot accepts all SECURE_COMMANDs when there are no public keys present. Now exit MAVProxy and build a firmware using the normal bootloader but still using the --signed-fw option: From 3d8917c4187eea9326770461f710ae86b955d75d Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 31 May 2026 14:19:42 +1000 Subject: [PATCH 20/27] .github: tidy up the template used when creating a github issue --- .github/ISSUE_TEMPLATE/feature_request.md | 28 ++++++++++++----------- 1 file changed, 15 insertions(+), 13 deletions(-) diff --git a/.github/ISSUE_TEMPLATE/feature_request.md b/.github/ISSUE_TEMPLATE/feature_request.md index 2a18c97a88553..824a319f3a870 100644 --- a/.github/ISSUE_TEMPLATE/feature_request.md +++ b/.github/ISSUE_TEMPLATE/feature_request.md @@ -4,23 +4,25 @@ about: If you have an idea for a new feature, choose this option --- -# Feature Request +# IF YOU DON'T REMOVE THIS ENTIRE SECTION, THEN YOUR REQUEST WILL BE CLOSED AUTOMATICALLY -**IF YOU DON'T REMOVE THESE FOUR LINES, THEN YOUR REQUEST WILL BE CLOSED AUTOMATICALLY** -Questions and user problems should be directed at the [ArduPilot forum](http://discuss.ardupilot.org) -_**Please do a careful search before opening this, there are already a lot of feature requests**_ -If there was a previous discussion in the forum, link to it +- Questions and user problems should be directed at the [ArduPilot forum](http://discuss.ardupilot.org) +- Please do a careful search before opening this, there are already a lot of feature requests +- If there was a previous discussion in the forum, link to it -## Feature request +## Feature Request -**Is your feature request related to a problem? Please describe.** -_A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]_ +### Is your feature request related to a problem? Please describe -**Describe the solution you'd like** -_A clear and concise description of what you want to happen._ +A clear and concise description of what the problem is. Ex. I'm always frustrated when [...] -**Describe alternatives you've considered** -_A clear and concise description of any alternative solutions or features you've considered._ +### Describe the solution you'd like + +A clear and concise description of what you want to happen. + +### Describe alternatives you've considered + +A clear and concise description of any alternative solutions or features you've considered. ### Platform @@ -33,4 +35,4 @@ _A clear and concise description of any alternative solutions or features you've ### Additional context -_Add any other context or screenshots about the feature request here._ +Add any other context or screenshots about the feature request here. From 3616a1822fe3927bb320f7e5fbf41826fbd41a84 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 31 May 2026 11:15:31 +1000 Subject: [PATCH 21/27] Tools: add failure injection to build_options.py --- Tools/scripts/build_options.py | 1 + Tools/scripts/extract_features.py | 1 + 2 files changed, 2 insertions(+) diff --git a/Tools/scripts/build_options.py b/Tools/scripts/build_options.py index 7390b725753c6..191acebf9ba29 100644 --- a/Tools/scripts/build_options.py +++ b/Tools/scripts/build_options.py @@ -458,6 +458,7 @@ def config_option(self): Feature('Developer', 'KILL_IMU', 'AP_INERTIALSENSOR_KILL_IMU_ENABLED', 'Allow IMUs to be disabled at runtime', 0, None), Feature('Developer', 'CRASHCATCHER', 'AP_CRASHDUMP_ENABLED', 'Enable CrashCatcher', 0, None), + Feature('Developer', 'FAILURE_INJECTION', 'AP_MAVLINK_FAILURE_CREATION_ENABLED', 'Enable autopilot failure injection via MAVLink ', 0, None), # noqa:E501 Feature('GPS Drivers', 'UBLOX', 'AP_GPS_UBLOX_ENABLED', 'Enable U-blox GPS', 1, None), Feature('GPS Drivers', 'SBP2', 'AP_GPS_SBP2_ENABLED', 'Enable SBP2 GPS', 0, 'SBP'), diff --git a/Tools/scripts/extract_features.py b/Tools/scripts/extract_features.py index 6a575e9a43f0d..de7e574d83aed 100755 --- a/Tools/scripts/extract_features.py +++ b/Tools/scripts/extract_features.py @@ -250,6 +250,7 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"): ('AP_INERTIALSENSOR_KILL_IMU_ENABLED', r'AP_InertialSensor::kill_imu'), ('AP_CRASHDUMP_ENABLED', 'CrashCatcher_DumpMemory'), + ('AP_MAVLINK_FAILURE_CREATION_ENABLED', 'GCS_MAVLINK::deadlock_sem'), ('AP_CAN_SLCAN_ENABLED', 'SLCAN::CANIface::var_info'), ('AP_ADSB_AVOIDANCE_ENABLED', 'AP_Avoidance::init'), From 0a7eedce98e1cf383392f57ba27f7c239d3ba208 Mon Sep 17 00:00:00 2001 From: zhucaigui Date: Fri, 5 Jun 2026 12:06:36 +0800 Subject: [PATCH 22/27] board_types.txt: Reserve board IDs for SIYI_N7_ODID and SIYI-UniFC-6-PICO_ODID --- Tools/AP_Bootloader/board_types.txt | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Tools/AP_Bootloader/board_types.txt b/Tools/AP_Bootloader/board_types.txt index 51cb6a84b7950..ac18059b481df 100644 --- a/Tools/AP_Bootloader/board_types.txt +++ b/Tools/AP_Bootloader/board_types.txt @@ -603,6 +603,8 @@ AP_HW_CUAV-V6X-V2_ODID 17001 AP_HW_CUAV-X25-EVO_ODID 17002 AP_HW_SKYDROID-S3_ODID 11300 AP_HW_CUBEORANGEPLUS_ODID 11063 +AP_HW_SIYI_N7_ODID 11123 +AP_HW_SIYI-UniFC-6-PICO_ODID 11215 # do not allocate board IDs above 10,000 for non-ODID boards. # do not allocate board IDs above 19,999 in this file. From 05b5e203097fe8f1cb2e60f15f77bad14600bd58 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Sun, 31 May 2026 14:00:17 +1000 Subject: [PATCH 23/27] AP_FETtecOneWire: tidy calculation of max. ESCs --- libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp b/libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp index 7066a04964efc..8b8d1acbcfe44 100644 --- a/libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp +++ b/libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp @@ -124,11 +124,12 @@ void AP_FETtecOneWire::init() // OneWire supports telemetry in at most 15 ESCs, because of the 4 bit limitation // on the fast-throttle command. But we are still limited to the // number of ESCs the telem library will collect data for. - if (_esc_count == 0 || _motor_mask >= (1U << MIN(15, ESC_TELEM_MAX_ESCS))) { + const auto esc_count_limit = MIN(15, ESC_TELEM_MAX_ESCS); #else // OneWire supports at most 24 ESCs without telemetry - if (_esc_count == 0 || _motor_mask >= (1U << MIN(24, NUM_SERVO_CHANNELS))) { + const auto esc_count_limit = MIN(24, NUM_SERVO_CHANNELS); #endif + if (_esc_count == 0 || _motor_mask >= (1U << esc_count_limit)) { _invalid_mask = true; return; } From 4d0480f8a2c04468984bb0058cacb77c970e55fa Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 29 May 2026 23:53:05 +1000 Subject: [PATCH 24/27] AP_InertialSensor: SCH16T: check register_read results during init register_read() returns false without writing *value when the SPI response fails its CRC check. Several callers ignored that return and then used the output: - validate_register_configuration() compared an uninitialised value against the expected register contents, so a corrupted read produced an undefined comparison (could wrongly pass or fail validation); - read_product_id() relied on its values being zero-initialised; - configure_registers() read-modify-wrote a control register from an uninitialised value, potentially writing garbage to the hardware. Honour the return value at each of these sites (a failed read now fails the relevant init step), use UNUSED_RESULT() for the intentional dummy reads, and mark the bool status methods WARN_IF_UNUSED so future callers cannot silently ignore a failed read. Clears one clang-scan-build "garbage value" finding, so the expected count drops from 30 to 29. Co-Authored-By: Claude Opus 4.8 --- .../AP_InertialSensor_ZeroOne_FPGA_SCH16T.cpp | 35 ++++++++++++------- .../AP_InertialSensor_ZeroOne_FPGA_SCH16T.h | 12 +++---- 2 files changed, 28 insertions(+), 19 deletions(-) diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_ZeroOne_FPGA_SCH16T.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_ZeroOne_FPGA_SCH16T.cpp index 0320afb3b1724..3452f545858ad 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_ZeroOne_FPGA_SCH16T.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_ZeroOne_FPGA_SCH16T.cpp @@ -509,13 +509,14 @@ void AP_InertialSensor_ZeroOne_FPGA_SCH16T::reset_chip() bool AP_InertialSensor_ZeroOne_FPGA_SCH16T::read_product_id() { uint32_t comp_id = 0, asic_id = 0; - register_read(COMP_ID, 0);//the FPGA doesn't process the first instruction,it only starts processing after receiving the second instruction,resulting in the same command being sent twice. - register_read(ASIC_ID, &comp_id); - register_read(ASIC_ID, &asic_id); - - bool success = asic_id == 0x21 && comp_id == 0x21; + // the FPGA ignores the first instruction, so the first read is a dummy + UNUSED_RESULT(register_read(COMP_ID, 0)); + if (!register_read(ASIC_ID, &comp_id) || + !register_read(ASIC_ID, &asic_id)) { + return false; + } - return success; + return asic_id == 0x21 && comp_id == 0x21; } void AP_InertialSensor_ZeroOne_FPGA_SCH16T::configure_registers() @@ -523,11 +524,15 @@ void AP_InertialSensor_ZeroOne_FPGA_SCH16T::configure_registers() for (auto &r : _registers) { register_write(r.addr, r.value); } - uint32_t reg_value; - register_read(CTRL_USER_IF, 0);//the FPGA doesn't process the first instruction,it only starts processing after receiving the second instruction,resulting in the same command being sent twice. - register_read(CTRL_USER_IF, ®_value); - reg_value |= DRY_DRV_EN; - register_write(CTRL_USER_IF, reg_value); + uint32_t reg_value = 0; + // the FPGA ignores the first instruction, so the first read is a dummy + UNUSED_RESULT(register_read(CTRL_USER_IF, 0)); + // only modify-write the register if we actually read it back; otherwise + // we would write an uninitialised value to a control register + if (register_read(CTRL_USER_IF, ®_value)) { + reg_value |= DRY_DRV_EN; + register_write(CTRL_USER_IF, reg_value); + } register_write(CTRL_MODE, EN_SENSOR); } @@ -549,8 +554,12 @@ bool AP_InertialSensor_ZeroOne_FPGA_SCH16T::validate_register_configuration() uint32_t value; for (auto &r : _registers) { - register_read(r.addr,0); ////the FPGA doesn't process the first instruction,it only starts processing after receiving the second instruction,resulting in the same command being sent twice. - register_read(r.addr,&value); + // the FPGA ignores the first instruction, so the first read is a dummy + UNUSED_RESULT(register_read(r.addr, 0)); + if (!register_read(r.addr, &value)) { + // a failed read leaves value unset; treat as validation failure + return false; + } if (value != r.value) { return false; diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_ZeroOne_FPGA_SCH16T.h b/libraries/AP_InertialSensor/AP_InertialSensor_ZeroOne_FPGA_SCH16T.h index 3b4b82f3a8854..4e2159b2e690b 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_ZeroOne_FPGA_SCH16T.h +++ b/libraries/AP_InertialSensor/AP_InertialSensor_ZeroOne_FPGA_SCH16T.h @@ -134,15 +134,15 @@ class AP_InertialSensor_ZeroOne_FPGA_SCH16T : public AP_InertialSensor_Backend void fpga_write_cmd(uint32_t addr, uint8_t ptr, uint8_t read_valid, uint8_t is_sensor, uint8_t offset); void sch16t_gen_cmd(uint32_t addr, uint8_t* buff, uint8_t read_valid, uint8_t is_sensor, uint8_t offset); void run_state_machine(); - bool collect_and_publish(); - bool read_data(); + bool collect_and_publish() WARN_IF_UNUSED; + bool read_data() WARN_IF_UNUSED; void reset_chip(); - bool read_product_id(); + bool read_product_id() WARN_IF_UNUSED; void configure_registers(); - bool validate_sensor_status(); - bool validate_register_configuration(); + bool validate_sensor_status() WARN_IF_UNUSED; + bool validate_register_configuration() WARN_IF_UNUSED; void read_status_registers(); - bool register_read(uint16_t addr, uint32_t* value); + bool register_read(uint16_t addr, uint32_t* value) WARN_IF_UNUSED; void register_write(uint16_t addr, uint32_t value); void fpga_read_fifo8(uint16_t reg, uint8_t* value, uint8_t size); void fpga_write_reg8(uint16_t reg, uint8_t value); From 7851f731a9c72eed4be5ee2f727a087c0f686c70 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 29 May 2026 18:03:02 +1000 Subject: [PATCH 25/27] autotest: use wait_altitude instead of watch_altitude_maintained Replace the Copter callers of the watch_altitude_maintained helper with direct wait_altitude calls and remove the now-unused base-class method. Co-Authored-By: Claude Opus 4.8 --- Tools/autotest/arducopter.py | 43 ++++++++++++++++++++++------ Tools/autotest/vehicle_test_suite.py | 11 ------- 2 files changed, 35 insertions(+), 19 deletions(-) diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py index b166fb4cc3230..70e2e57ec1bb3 100644 --- a/Tools/autotest/arducopter.py +++ b/Tools/autotest/arducopter.py @@ -279,14 +279,26 @@ def ModeLoiter(self, holdtime=10, maxaltchange=5, maxdistchange=5): def ModeAltHold(self): '''Test AltHold Mode''' self.takeoff(10, mode="ALT_HOLD") - self.watch_altitude_maintained(altitude_min=9, altitude_max=11) + self.wait_altitude( + altitude_min=9, + altitude_max=11, + relative=True, + minimum_duration=5, + timeout=6, + ) # feed in full elevator and aileron input and make sure we # retain altitude: self.set_rc_from_map({ 1: 1000, 2: 1000, }) - self.watch_altitude_maintained(altitude_min=9, altitude_max=11) + self.wait_altitude( + altitude_min=9, + altitude_max=11, + relative=True, + minimum_duration=5, + timeout=6, + ) self.set_rc_from_map({ 1: 1500, 2: 1500, @@ -4727,11 +4739,13 @@ def GuidedEKFLaneChange(self): }) self.wait_statustext("EKF3 lane switch 1", timeout=10, check_context=True) - self.watch_altitude_maintained( + self.wait_altitude( altitude_min=gps_alt-2, altitude_max=gps_alt+2, + relative=True, altitude_source='GPS_RAW_INT.alt', minimum_duration=10, + timeout=11, ) self.disarm_vehicle(force=True) @@ -6933,7 +6947,14 @@ def ManualThrottleModeChange(self): self.change_mode("STABILIZE") self.change_mode("GUIDED") self.set_rc(3, 1700) - self.watch_altitude_maintained(altitude_min=-1, altitude_max=0.2) # should not take off in guided + # should not take off in guided: + self.wait_altitude( + altitude_min=-1, + altitude_max=0.2, + relative=True, + minimum_duration=5, + timeout=6, + ) self.run_cmd_do_set_mode( "ACRO", want_result=mavutil.mavlink.MAV_RESULT_FAILED) @@ -11235,19 +11256,25 @@ def WatchAlts(self): self.progress("absolute_alt=%f" % absolute_alt) epsilon = 4 # SIM_STATE and vehicle state can be off by a bit... for source in ['GLOBAL_POSITION_INT.alt', 'SIM_STATE.alt', 'GPS_RAW_INT.alt']: - self.watch_altitude_maintained( + self.wait_altitude( absolute_alt-epsilon, absolute_alt+epsilon, - altitude_source=source + relative=True, + altitude_source=source, + minimum_duration=5, + timeout=6, ) self.progress("Testing absolute altitudes") relative_alt = self.get_altitude(relative=True) for source in ['GLOBAL_POSITION_INT.relative_alt']: - self.watch_altitude_maintained( + self.wait_altitude( relative_alt-epsilon, relative_alt+epsilon, - altitude_source=source + relative=True, + altitude_source=source, + minimum_duration=5, + timeout=6, ) self.do_RTL() diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py index 36b0300dad05c..cb8371293d97b 100644 --- a/Tools/autotest/vehicle_test_suite.py +++ b/Tools/autotest/vehicle_test_suite.py @@ -7740,17 +7740,6 @@ def validator(value2, target2=None): **kwargs ) - def watch_altitude_maintained(self, altitude_min, altitude_max, minimum_duration=5, relative=True, altitude_source=None): - """Watch altitude is maintained or not between altitude_min and altitude_max during minimum_duration""" - return self.wait_altitude( - altitude_min=altitude_min, - altitude_max=altitude_max, - relative=relative, - minimum_duration=minimum_duration, - timeout=minimum_duration + 1, - altitude_source=altitude_source, - ) - def wait_climbrate(self, speed_min, speed_max, timeout=30, **kwargs): """Wait for a given vertical rate.""" assert speed_min <= speed_max, "Minimum speed should be less than maximum speed." From 2527252a89dfeefe0f180fd51a4d6c0bbf93f706 Mon Sep 17 00:00:00 2001 From: Jacob Dahl Date: Mon, 1 Jun 2026 13:48:01 -0600 Subject: [PATCH 26/27] hwdef: ARK_FPV: update documentation for 12V Relay configuration --- libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/README.md | 9 ++++----- libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat | 2 +- 2 files changed, 5 insertions(+), 6 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/README.md b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/README.md index 5bea29ff2ae47..8bd73ab5c1808 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/README.md +++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/README.md @@ -248,14 +248,13 @@ All outputs are capable of PWM and DShot. Motors 1-4 are capable of Bidirectiona ## 12V Peripheral Output (POWER AUX) -The 12V pin on the **POWER AUX** connector is gated by a BEC enable (`PG4`) that is **on by default** - it is driven high once the main firmware boots, so no setup is needed to use it. +The 12V pin on the **POWER AUX** connector is gated by a BEC enable pin. The pin is pre-mapped to GPIO 81 and configured as RELAY1. By default it is configured OFF via `RELAY1_DEFAULT`. -To make it controllable from the transmitter, expose it as **RELAY1** (the pin is pre-mapped to GPIO 81): - -- Set `RELAY1_FUNCTION` = 1 (Relay) and `RELAY1_DEFAULT` = 1 (so it still powers on at boot; the relay's own default state is off). +- To make it controllable from the transmitter. set `RELAY1_FUNCTION` = 1 (Relay). +- To change the default state to ON, set `RELAY1_DEFAULT` = 1. - Assign `RCx_OPTION` = 28 (Relay1 On/Off) to the channel you want to use as the switch. -The 12V output is off at power-on and in the bootloader, coming on once the firmware initializes the pin. The VBAT pin on the same connector is a direct battery pass-through and is not controlled by firmware. +The VBAT pin on the same connector is a direct battery pass-through and is not controlled by firmware. ## Loading Firmware diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat index b9855012597c2..5403a26d9dbf9 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat @@ -145,7 +145,7 @@ PE6 nARMED OUTPUT HIGH PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH -# 12V peripheral output (POWER AUX). Default enabled at boot. +# 12V peripheral output (POWER AUX). Default off. PG4 VDD_12V_PERIPH_EN OUTPUT HIGH GPIO(81) define RELAY1_PIN_DEFAULT 81 From fd93c26ac03b58d737832054aad23e656db4ab0c Mon Sep 17 00:00:00 2001 From: Jacob Dahl Date: Mon, 1 Jun 2026 15:26:53 -0600 Subject: [PATCH 27/27] hwdef: ARK_FPV: default 12V POWER AUX output to ON --- libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/README.md | 7 +++---- libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/defaults.parm | 2 +- libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat | 2 +- 3 files changed, 5 insertions(+), 6 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/README.md b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/README.md index 8bd73ab5c1808..e7b3f31c1f7d5 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/README.md +++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/README.md @@ -248,11 +248,10 @@ All outputs are capable of PWM and DShot. Motors 1-4 are capable of Bidirectiona ## 12V Peripheral Output (POWER AUX) -The 12V pin on the **POWER AUX** connector is gated by a BEC enable pin. The pin is pre-mapped to GPIO 81 and configured as RELAY1. By default it is configured OFF via `RELAY1_DEFAULT`. +The 12V pin on the **POWER AUX** connector is gated by a BEC enable pin. The pin is pre-mapped to GPIO 81 and configured as RELAY1. By default it is ON via `RELAY1_DEFAULT` = 1. -- To make it controllable from the transmitter. set `RELAY1_FUNCTION` = 1 (Relay). -- To change the default state to ON, set `RELAY1_DEFAULT` = 1. -- Assign `RCx_OPTION` = 28 (Relay1 On/Off) to the channel you want to use as the switch. +- To change the default state to OFF, set `RELAY1_DEFAULT` = 0. +- To make it controllable from the transmitter, set `RELAY1_FUNCTION` = 1 (Relay) and assign `RCx_OPTION` = 28 (Relay1 On/Off) to the channel you want to use as the switch. The VBAT pin on the same connector is a direct battery pass-through and is not controlled by firmware. diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/defaults.parm index ab4cb1af3bf94..a26ec7830753d 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/defaults.parm +++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/defaults.parm @@ -1,3 +1,3 @@ # CAN CAN_P1_DRIVER 1 # Enables the use of CAN - +RELAY1_DEFAULT 1 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat index 5403a26d9dbf9..66b7df419e94b 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/ARK_FPV/hwdef.dat @@ -145,7 +145,7 @@ PE6 nARMED OUTPUT HIGH PC13 VDD_3V3_SD_CARD_EN OUTPUT HIGH PI11 VDD_3V3_SENSORS1_EN OUTPUT HIGH -# 12V peripheral output (POWER AUX). Default off. +# 12V peripheral output (POWER AUX). PG4 VDD_12V_PERIPH_EN OUTPUT HIGH GPIO(81) define RELAY1_PIN_DEFAULT 81