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增加司南E300

zr-v4.1.17
nagezeng 3 years ago
parent
cacebea89e
commit
fbff4fa55a
7 changed files with 751 additions and 4 deletions
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  1. 9
      ArduCopter/Parameters.cpp
  2. 3
      E300.sh
  3. 393
      libraries/AP_HAL_ChibiOS/hwdef/E300/README.md
  4. 325
      libraries/AP_HAL_ChibiOS/hwdef/E300/defaults.parm
  5. 4
      libraries/AP_HAL_ChibiOS/hwdef/E300/hwdef-bl.dat
  6. 19
      libraries/AP_HAL_ChibiOS/hwdef/E300/hwdef.dat
  7. BIN
      libraries/AP_HAL_ChibiOS/hwdef/E300/pixhawk4-pinout.jpg

9
ArduCopter/Parameters.cpp
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@ -58,6 +58,9 @@ const AP_Param::Info Copter::var_info[] = { @@ -58,6 +58,9 @@ const AP_Param::Info Copter::var_info[] = {
// 0:rs100, 1:M66, 2:RF610 3:zrzk.20qt2
GSCALAR(sysid_type, "SYSID_TYPE", 0 ),
GSCALAR(sysid_board_id, "SYSID_BOARD_ID", 100),
// @Param: SYSID_THISMAV
@ -1714,14 +1717,14 @@ const char* Copter::get_sysid_board_id(void) @@ -1714,14 +1717,14 @@ const char* Copter::get_sysid_board_id(void)
snprintf(buf, sizeof(buf), "Version: zr-v%u.%u.%u ,ID: RS100%04d%05d",AP::fwversion().major,AP::fwversion().minor,AP::fwversion().patch,(int)nameValue1,(int)nameValue2);
break;
case 8:
snprintf(buf, sizeof(buf), "Version: cn-v%u.%u.%u ,ID: RS100%04d%05d",AP::fwversion().major,AP::fwversion().minor,AP::fwversion().patch,(int)nameValue1,(int)nameValue2);
break;
case 9:
snprintf(buf, sizeof(buf), "Version: D100H-v%u.%u.%u ,ID: D100%04d%05d",AP::fwversion().major,AP::fwversion().minor,AP::fwversion().patch,(int)nameValue1,(int)nameValue2);
break;
case 10:
snprintf(buf, sizeof(buf), "Version: zr-v%u.%u.%u ,ID: ZRZK.19QT2.%d",AP::fwversion().major,AP::fwversion().minor,AP::fwversion().patch,(int)nameValue2);
break;
case 11:
snprintf(buf, sizeof(buf), "Version: cn-v%u.%u.%u ,ID: RS100%04d%05d",AP::fwversion().major,AP::fwversion().minor,AP::fwversion().patch,(int)nameValue1,(int)nameValue2);
break;
}

3
E300.sh
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@ -0,0 +1,3 @@ @@ -0,0 +1,3 @@
./waf configure --board E300
./waf copter
cp ./build/E300/bin/arducopter.apj /mnt/f/_01-work/100\=data/固件/编译/E300-v4.1.17.px4

393
libraries/AP_HAL_ChibiOS/hwdef/E300/README.md
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@ -0,0 +1,393 @@ @@ -0,0 +1,393 @@
# Pixhawk4 Flight Controller
The Pixhawk4 flight controller is sold by [Holybro](http://www.holybro.com/product/pixhawk-4)
## Features
- STM32F765 microcontroller
- Two IMUs: ICM20689 and BMI055
- MS5611 SPI barometer
- builtin I2C IST8310 magnetometer
- microSD card slot
- 6 UARTs plus USB
- 14 PWM outputs
- Four I2C and two CAN ports
- External Buzzer
- external safety Switch
- voltage monitoring for servo rail and Vcc
- two dedicated power input ports for external power bricks
## Pinout
![Pixhawk4 Board](pixhawk4-pinout.jpg "Pixhawk4")
## UART Mapping
- SERIAL0 -> USB
- SERIAL1 -> UART2 (Telem1)
- SERIAL2 -> UART3 (Telem2)
- SERIAL3 -> UART1 (GPS)
- SERIAL4 -> UART4 (GPS2)
- SERIAL5 -> UART6 (spare)
- SERIAL6 -> UART7 (spare, debug)
The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not
have RTS/CTS.
The UART7 connector is labelled debug, but is available as a general
purpose UART with ArduPilot.
### TELEM1, TELEM2 ports
<table border="1" class="docutils">
<tbody>
<tr>
<th>Pin </th>
<th>Signal </th>
<th>Volt </th>
</tr>
<tr>
<td>1 (red)</td>
<td>VCC</td>
<td>+5V</td>
</tr>
<tr>
<td>2 (blk)</td>
<td>TX (OUT)</td>
<td>+3.3V</td>
</tr>
<tr>
<td>3 (blk)</td>
<td>RX (IN)</td>
<td>+3.3V</td>
</tr>
<tr>
<td>4 (blk)</td>
<td>CTS</td>
<td>+3.3V</td>
</tr>
<tr>
<td>5 (blk)</td>
<td>RTS</td>
<td>+3.3V</td>
</tr>
<tr>
<td>6 (blk)</td>
<td>GND</td>
<td>GND</td>
</tr>
</tbody>
</table>
### GPS port
<table border="1" class="docutils">
<tbody>
<tr>
<th>Pin </th>
<th>Signal </th>
<th>Volt </th>
</tr>
<tr>
<td>1 (red)</td>
<td>VCC</td>
<td>+5V</td>
</tr>
<tr>
<td>2 (blk)</td>
<td>SERIAL3 TX (OUT)</td>
<td>+3.3V</td>
</tr>
<tr>
<td>3 (blk)</td>
<td>SERIAL3 RX (IN)</td>
<td>+3.3V</td>
</tr>
<tr>
<td>4 (blk)</td>
<td>SCL</td>
<td>+3.3 (pullups)</td>
</tr>
<tr>
<td>5 (blk)</td>
<td>SDA</td>
<td>+3.3 (pullups)</td>
</tr>
<tr>
<td>6 (blk)</td>
<td>SafetyButton</td>
<td>+3.3V</td>
</tr>
<tr>
<td>7 (blk)</td>
<td>SafetyLED</td>
<td>+3.3V</td>
</tr>
<tr>
<td>8 (blk)</td>
<td>VDD 3.3 (OUT)</td>
<td>+3.3V</td>
</tr>
<tr>
<td>9 (blk)</td>
<td>Buzzer</td>
<td>+3.3V</td>
</tr>
<tr>
<td>10 (blk)</td>
<td>GND</td>
<td>GND</td>
</tr>
</tbody>
</table>
## RC Input
RC input is configured on the port marked DSM/SBUS RC. This connector
supports all 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.
## PWM Output
The Pixhawk4 supports up to 16 PWM outputs. First first 8 outputs (labelled
"MAIN") are controlled by a dedicated STM32F100 IO controller. These 8
outputs support all PWM output formats, but not DShot.
The remaining 8 outputs (labelled AUX1 to AUX8) are the "auxillary"
outputs. These are directly attached to the STM32F765 and support all
PWM protocols. The first 6 of the auxillary PWM outputs support DShot.
The 8 main PWM outputs are in 3 groups:
- PWM 1 and 2 in group1
- PWM 3 and 4 in group2
- PWM 5, 6, 7 and 8 in group3
The 8 auxillary PWM outputs are in 2 groups:
- PWM 1, 2, 3 and 4 in group1
- PWM 5 and 6 in group2
- PWM 7 and 8 in group3
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.
## Battery Monitoring
The board has two dedicated power monitor ports on 6 pin
connectors. The correct battery setting parameters are dependent on
the type of power brick which is connected.
## Compass
The Pixhawk4 has a builtin IST8310 compass. Due to potential
interference the board is usually used with an external I2C compass as
part of a GPS/Compass combination.
## GPIOs
The 6 PWM ports can be used as GPIOs (relays, buttons, RPM etc). To
use them you need to limit the number of these pins that is used for
PWM by setting the BRD_PWM_COUNT to a number less than 6. For example
if you set BRD_PWM_COUNT to 4 then PWM5 and PWM6 will be available for
use as GPIOs.
The numbering of the GPIOs for PIN variables in ArduPilot is:
- AUX1 50
- AUX2 51
- AUX3 52
- AUX4 53
- AUX5 54
- AUX6 55
## Analog inputs
The Pixhawk4 has 7 analog inputs
- ADC Pin0 -> Battery Voltage
- ADC Pin1 -> Battery Current Sensor
- ADC Pin2 -> Battery Voltage 2
- ADC Pin3 -> Battery Current Sensor 2
- ADC Pin4 -> ADC port pin 2
- ADC Pin14 -> ADC port pin 3
- ADC Pin10 -> ADC 5V Sense
- ADC Pin11 -> ADC 3.3V Sense
- ADC Pin103 -> RSSI voltage monitoring
## I2C Buses
- the internal I2C port is bus 0 in ArduPilot (I2C3 in hardware)
- the port labelled I2CA is bus 3 in ArduPilot (I2C4 in hardware)
- the port labelled I2CB is bus 2 in ArduPilot (I2c2 in hardware)
- the port labelled GPS is bus 1 in ArduPilot (I2c1 in hardware)
### Pinout for I2CA
<table border="1" class="docutils">
<tbody>
<tr>
<th>Pin</th>
<th>Signal</th>
<th>Volt</th>
</tr>
<tr>
<td>1 (red)</td>
<td>VCC</td>
<td>+5V</td>
</tr>
<tr>
<td>2 (blk)</td>
<td>SCL</td>
<td>+3.3 (pullups)</td>
</tr>
<tr>
<td>3 (blk)</td>
<td>SDA</td>
<td>+3.3 (pullups)</td>
</tr>
<tr>
<td>4 (blk)</td>
<td>GND</td>
<td>GND</td>
</tr>
</tbody>
</table>
### Pinout for I2CB+UART
<table border="1" class="docutils">
<tbody>
<tr>
<th>Pin</th>
<th>Signal</th>
<th>Volt</th>
</tr>
<tr>
<td>1 (red)</td>
<td>VCC</td>
<td>+5V</td>
</tr>
<tr>
<td>2 (blk)</td>
<td>SERIAL4 TX (OUT)</td>
<td>+3.3V</td>
</tr>
<tr>
<td>3 (blk)</td>
<td>SERIAL4 RX (IN)</td>
<td>+3.3V</td>
</tr>
<tr>
<td>4 (blk)</td>
<td>SCL</td>
<td>+3.3 (pullups)</td>
</tr>
<tr>
<td>5 (blk)</td>
<td>SDA</td>
<td>+3.3 (pullups)</td>
</tr>
<tr>
<td>6 (blk)</td>
<td>GND</td>
<td>GND</td>
</tr>
</tbody>
</table>
## CAN
The Pixhawk4 has two independent CAN buses, with the following pinouts.
### CAN1&2
<table border="1" class="docutils">
<tbody>
<tr>
<th>Pin</th>
<th>Signal</th>
<th>Volt</th>
</tr>
<tr>
<td>1 (red)</td>
<td>VCC</td>
<td>+5V</td>
</tr>
<tr>
<td>2 (blk)</td>
<td>CAN_H</td>
<td>+12V</td>
</tr>
<tr>
<td>3 (blk)</td>
<td>CAN_L</td>
<td>+12V</td>
</tr>
<tr>
<td>4 (blk)</td>
<td>GND</td>
<td>GND</td>
</tr>
</tbody>
</table>
## Debug
The Pixhawk4 supports SWD debugging on the debug port
<table border="1" class="docutils">
<tbody>
<tr>
<th>Pin </th>
<th>Signal </th>
<th>Volt </th>
</tr>
<tr>
<td>1 (red)</td>
<td>FMU VDD 3.3</td>
<td>+3.3V</td>
</tr>
<tr>
<td>2 (blk)</td>
<td>UART TX Debug (OUT)</td>
<td>+3.3V</td>
</tr>
<tr>
<td>3 (blk)</td>
<td>UART RX Debug (IN)</td>
<td>+3.3V</td>
</tr>
<tr>
<td>4 (blk)</td>
<td>SWDIO</td>
<td>+3.3V</td>
</tr>
<tr>
<td>5 (blk)</td>
<td>SWCLK</td>
<td>+3.3V</td>
</tr>
<tr>
<td>6 (blk)</td>
<td>GND</td>
<td>GND</td>
</tr>
</tbody>
</table>
## Loading Firmware
The board comes pre-installed with an ArduPilot compatible bootloader,
allowing the loading of *.apj firmware files with any ArduPilot
compatible ground station.
## Acknowledgements
Thanks to
[PX4](https://docs.px4.io/en/flight_controller/pixhawk4.html) for
images used under the [CC-BY 4.0 license](https://creativecommons.org/licenses/by/4.0/)

325
libraries/AP_HAL_ChibiOS/hwdef/E300/defaults.parm
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@ -0,0 +1,325 @@ @@ -0,0 +1,325 @@
# Pixhawk4 does not have hw flow control on radios
#NOTE: 2020/8/26 18:26:32 Frame : PID 0.19 0.17
ACRO_BAL_PITCH 1
ACRO_BAL_ROLL 1
ACRO_RP_EXPO 0.3
ACRO_RP_P 4.5
ACRO_THR_MID 0
ACRO_TRAINER 2
ACRO_Y_EXPO 0
ACRO_YAW_P 3
ARMING_CHECK 1
ARMING_DELAY 5
ARMING_MIS_ITEMS 0
ARMING_RUDDER 2
ARMING_VPERC 90
ATC_ACCEL_P_MAX 110000
ATC_ACCEL_R_MAX 110000
ATC_ACCEL_Y_MAX 27000
ATC_ANG_LIM_TC 1
ATC_ANG_PIT_P 4.5
ATC_ANG_RLL_P 4.5
ATC_ANG_YAW_P 6
ATC_ANGLE_BOOST 1
ATC_INPUT_TC 0.15
ATC_AA_PIT_D 0.0036
ATC_AA_PIT_FF 0
ATC_AA_PIT_FLTD 20
ATC_AA_PIT_FLTE 0
ATC_AA_PIT_FLTT 20
ATC_AA_PIT_I 0.17
ATC_AA_PIT_IMAX 0.5
ATC_AA_PIT_P 0.19
ATC_AA_RLL_D 0.0036
ATC_AA_RLL_FF 0
ATC_AA_RLL_FLTD 20
ATC_AA_RLL_FLTE 0
ATC_AA_RLL_FLTT 20
ATC_AA_RLL_I 0.17
ATC_AA_RLL_IMAX 0.5
ATC_AA_RLL_P 0.19
ATC_AA_YAW_D 0
ATC_AA_YAW_FF 0
ATC_AA_YAW_FLTD 0
ATC_AA_YAW_FLTE 2.5
ATC_AA_YAW_FLTT 20
ATC_AA_YAW_I 0.04
ATC_AA_YAW_IMAX 0.5
ATC_AA_YAW_P 0.45
ATC_RATE_FF_ENAB 1
ATC_RATE_P_MAX 0
ATC_RATE_R_MAX 0
ATC_RATE_Y_MAX 0
ATC_SLEW_YAW 6000
ATC_THR_MIX_MAN 0.1
ATC_THR_MIX_MAX 0.5
ATC_THR_MIX_MIN 0.1
AVOID_ANGLE_MAX 1000
AVOID_BEHAVE 0
AVOID_DIST_MAX 1
AVOID_ENABLE 0
AVOID_MARGIN 7
BATT_AMP_OFFSET 0
BATT_AMP_PERVLT 20.7
BATT_ARM_MAH 0
BATT_ARM_VOLT 0
BATT_CAPACITY 16000
BATT_CRT_MAH 0
BATT_CRT_VOLT 0
BATT_CURR_PIN 1
BATT_FS_CRT_ACT 0
BATT_FS_LOW_ACT 2
BATT_FS_VOLTSRC 0
BATT_LOW_MAH 0
BATT_LOW_VOLT 20.5
BATT_LOW_TIMER 10
BATT_MONITOR 4
BATT_SERIAL_NUM -1
BATT_VOLT_PIN 0
BATT2_MONITOR 13
BRD_PWM_COUNT 0
BRD_RTC_TYPES 1
BRD_RTC_TZ_MIN 0
BRD_SAFETYENABLE 0
BRD_SAFETYOPTION 3
BRD_SBUS_OUT 0
BRD_SD_SLOWDOWN 0
BRD_SER1_RTSCTS 0
BRD_SER2_RTSCTS 0
BRD_SERIAL_NUM 0
BRD_TYPE 24
BRD_VBUS_MIN 4.3
BRD_VSERVO_MIN 0
BTN_ENABLE 0
CAM_AUTO_ONLY 1
CAM_DURATION 3
CAM_FEEDBACK_PIN -1
CAM_FEEDBACK_POL 0
CAM_MAX_ROLL 0
CAM_MIN_INTERVAL 0
CAM_RELAY_ON 1
CAM_SERVO_OFF 1100
CAM_SERVO_ON 1900
CAM_TRIGG_DIST 0
CAM_TRIGG_TYPE 2
CAM_TYPE 0
CAN_D1_PROTOCOL 1
CAN_D1_UC_ESC_BM 0
CAN_D1_UC_NODE 10
CAN_D1_UC_SRV_BM 0
CAN_D1_UC_SRV_RT 50
CAN_D2_PROTOCOL 1
CAN_P1_BITRATE 1000000
CAN_P1_DRIVER 1
CAN_P2_BITRATE 1000000
CAN_P2_DRIVER 1
CAN_SLCAN_CPORT 0
CAN_SLCAN_SERNUM -1
CAN_SLCAN_TIMOUT 0
CHUTE_ENABLED 0
CIRCLE_RADIUS 1000
CIRCLE_RATE 20
COMPASS_USE 1
COMPASS_USE2 0
COMPASS_USE3 0
DEV_OPTIONS 0
DISARM_DELAY 2
EK2_MAG_I_GATE 800
EK2_YAW_I_GATE 800
FLTMODE_CH 5
FLTMODE1 2
FLTMODE2 2
FLTMODE3 5
FLTMODE4 5
FLTMODE5 5
FLTMODE6 5
FRAME_CLASS 1
FRAME_TYPE 1
FS_CRASH_CHECK 1
FS_EKF_ACTION 1
FS_EKF_THRESH 0.8
FS_GCS_ENABLE 0
FS_OPTIONS 0
FS_THR_ENABLE 0
FS_THR_VALUE 975
FS_VIBE_ENABLE 1
GND_EFFECT_COMP 1
GND_EXT_BUS -1
GND_FLTR_RNG 0
GND_PRIMARY 0
GND_PROBE_EXT 0
GND_TEMP 0
GPS_AUTO_CONFIG 1
GPS_AUTO_SWITCH 1
GPS_BLEND_MASK 5
GPS_BLEND_TC 10
GPS_DELAY_MS 0
GPS_DELAY_MS2 0
GPS_GNSS_MODE 0
GPS_GNSS_MODE2 0
GPS_HDOP_GOOD 90
GPS_INJECT_TO 127
GPS_MIN_DGPS 100
GPS_MIN_ELEV -100
GPS_NAVFILTER 8
GPS_NUM_SW 5
GPS_POS1_X 0
GPS_POS1_Y 0
GPS_POS1_Z 0
GPS_POS2_X 0
GPS_POS2_Y -0.23
GPS_POS2_Z 0
GPS_RATE_MS 200
GPS_RATE_MS2 200
GPS_RAW_DATA 0
GPS_SAVE_CFG 2
GPS_SBAS_MODE 2
GPS_SBP_LOGMASK -256
GPS_TYPE 1
GPS_TYPE2 17
LAND_ALT_LOW 5000
LAND_LOCK_ALT 40
LAND_LOCK_RPY 1
LAND_REPOSITION 1
LAND_SL_2ND_ALT 1500
LAND_SL_3ND_ALT 3000
LAND_SPEED 150
LAND_SPEED_2ND 50
LAND_SPEED_3ND 100
LAND_SPEED_HIGH 0
MOT_BAT_CURR_MAX 0
MOT_BAT_CURR_TC 5
MOT_BAT_IDX 0
MOT_BAT_VOLT_MAX 0
MOT_BAT_VOLT_MIN 0
MOT_BOOST_SCALE 0
MOT_HOVER_LEARN 2
MOT_PWM_MAX 0
MOT_PWM_MIN 0
MOT_PWM_TYPE 0
MOT_SAFE_DISARM 0
MOT_SAFE_TIME 1
MOT_SLEW_DN_TIME 0
MOT_SLEW_UP_TIME 0
MOT_SPIN_ARM 0.1
MOT_SPIN_MAX 0.95
MOT_SPIN_MIN 0.15
MOT_SPOOL_TIME 0.5
MOT_THST_EXPO 0.65
MOT_THST_HOVER 0.35
MOT_YAW_HEADROOM 200
NTF_BUZZ_ENABLE 1
NTF_BUZZ_ON_LVL 1
NTF_BUZZ_PIN 0
NTF_BUZZ_VOLUME 100
NTF_DISPLAY_TYPE 0
NTF_LED_BRIGHT 3
NTF_LED_OVERRIDE 4
NTF_LED_TYPES 38
NTF_OREO_THEME 0
OA_TYPE 0
PHLD_BRAKE_ANGLE 3000
PHLD_BRAKE_RATE 8
PILOT_ACCEL_Z 250
PILOT_DN2_ALT 100
PILOT_SPEED_DN 250
PILOT_SPEED_DN2 100
PILOT_SPEED_UP 250
PILOT_THR_BHV 0
PILOT_THR_FILT 0
PILOT_TKOFF_ALT 0
PLND_ENABLED 0
PRX_TYPE 4
PRX_YAW_CORR 0
RALLY_INCL_HOME 1
RALLY_LIMIT_KM 0.3
RALLY_TOTAL 0
RC7_OPTION 9
RC8_OPTION 0
RC9_OPTION 4
RELAY_PIN 50
RELAY_PIN2 53
RELAY_PIN3 52
RELAY_PIN4 54
RELAY_PIN5 -1
RELAY_PIN6 -1
RNGFND_GAIN 0.8
RNGFND1_ADDR 11
RNGFND1_FUNCTION 0
RNGFND1_GNDCLEAR 10
RNGFND1_MAX_CM 500
RNGFND1_MIN_CM 20
RNGFND1_OFFSET 0
RNGFND1_ORIENT 25
RNGFND1_PIN -1
RNGFND1_POS_X 0
RNGFND1_POS_Y 0
RNGFND1_POS_Z 0
RNGFND1_PWRRNG 0
RNGFND1_RMETRIC 1
RNGFND1_SCALING 3
RNGFND1_STOP_PIN -1
RNGFND1_TYPE 24
RNGFND2_ADDR 1
RNGFND2_FUNCTION 0
RNGFND2_GNDCLEAR 10
RNGFND2_MAX_CM 3500
RNGFND2_MIN_CM 50
RNGFND2_OFFSET 0
RNGFND2_ORIENT 0
RNGFND2_PIN -1
RNGFND2_POS_X 0
RNGFND2_POS_Y 0
RNGFND2_POS_Z 0
RNGFND2_PWRRNG 0
RNGFND2_RMETRIC 1
RNGFND2_SCALING 3
RNGFND2_STOP_PIN -1
RNGFND2_TYPE 24
RTL_ALT_FINAL 1500
RTL_CLIMB_MIN 0
RTL_CONE_SLOPE 3
RTL_LOIT_TIME 5000
RTL_SPEED 1000
SCHED_DEBUG 0
SCHED_LOOP_RATE 400
SCR_ENABLE 0
SERIAL_PASS1 0
SERIAL_PASS2 -1
SERIAL_PASSTIMO 15
SERIAL0_BAUD 115
SERIAL0_PROTOCOL 2
SERIAL1_BAUD 57
SERIAL1_OPTIONS 0
SERIAL1_PROTOCOL 1
SERIAL2_BAUD 115
SERIAL2_OPTIONS 0
SERIAL2_PROTOCOL 24
SERIAL3_BAUD 38
SERIAL3_OPTIONS 0
SERIAL3_PROTOCOL 5
SERIAL4_BAUD 115
SERIAL4_OPTIONS 0
SERIAL4_PROTOCOL 5
SERIAL5_BAUD 57
SERIAL5_OPTIONS 0
SERIAL5_PROTOCOL -1
SERIAL6_BAUD 57
SERIAL6_OPTIONS 0
SERIAL6_PROTOCOL -1
SERIAL7_BAUD 115200
SERIAL7_OPTIONS 0
SERIAL7_PROTOCOL 2
WP_YAW_BEHAVIOR 1
WPNAV_ACCEL 100
WPNAV_ACCEL_Z 100
WPNAV_FAST_WP 0
WPNAV_RADIUS 200
WPNAV_RFND_USE 1
WPNAV_SPEED 800
WPNAV_SPEED_DN 150
WPNAV_SPEED_UP 350
ZR_RTL_DELAY 15
ZR_TK_DELAY 5
ZR_TK_REQ_ALT 600

4
libraries/AP_HAL_ChibiOS/hwdef/E300/hwdef-bl.dat
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# hw definition file for processing by chibios_hwdef.py
# for Pixhawk4 bootloader
include ../fmuv5/hwdef-bl.dat

19
libraries/AP_HAL_ChibiOS/hwdef/E300/hwdef.dat
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@ -0,0 +1,19 @@ @@ -0,0 +1,19 @@
# hw definition file for processing by chibios_hwdef.py
# for Holybro Pixhawk4 hardware.
include ../fmuv5/hwdef.dat
undef ZR_FRAME_TYPE
define ZR_FRAME_TYPE 7
# setup for supplied power brick
undef HAL_BATT_VOLT_SCALE
define HAL_BATT_VOLT_SCALE 18.182
undef HAL_BATT_CURR_SCALE
define HAL_BATT_CURR_SCALE 36.364
undef AC_ATC_MULTI_RATE_RP_P
define AC_ATC_MULTI_RATE_RP_P 0.190f
undef AC_ATC_MULTI_RATE_RP_I
define AC_ATC_MULTI_RATE_RP_I 0.170f
undef AC_ATC_MULTI_RATE_YAW_P
define AC_ATC_MULTI_RATE_YAW_P 0.450f
undef AC_ATC_MULTI_RATE_YAW_I
define AC_ATC_MULTI_RATE_YAW_I 0.040f

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