Add bi-directional dshot firmware to build system and simplify configuration

Tools/scripts/build_binaries.py

@@ -572,16 +572,20 @@ def common_boards(self):
                 "KakuteF7Mini",
                 "MambaF405v2",
                 "MatekF405",
+                "MatekF405-bdshot",
                 "MatekF405-STD",
                 "MatekF405-Wing",
                 "MatekF765-Wing",
                 "MatekH743",
+                "MatekH743-bdshot",
                 "OMNIBUSF7V2",
                 "sparky2",
                 "omnibusf4",
                 "omnibusf4pro",
+                "omnibusf4pro-bdshot",
                 "omnibusf4v6",
                 "OmnibusNanoV6",
+                "OmnibusNanoV6-bdshot",
                 "mini-pix",
                 "airbotf4",
                 "revo-mini",
@@ -597,13 +601,16 @@ def common_boards(self):
                 "CUAVv5Nano",
                 "CUAV-Nora",
                 "CUAV-X7",
+                "CUAV-X7-bdshot",
                 "mRoX21",
                 "Pixracer",
+                "Pixracer-bdshot",
                 "F4BY",
                 "mRoX21-777",
                 "mRoControlZeroF7",
                 "mRoNexus",
                 "mRoPixracerPro",
+                "mRoPixracerPro-bdshot",
                 "mRoControlZeroOEMH7",
                 "F35Lightning",
                 "speedybeef4",
@@ -616,7 +623,9 @@ def common_boards(self):
                 "VRBrain-v54",
                 "TBS-Colibri-F7",
                 "Durandal",
+                "Durandal-bdshot",
                 "CubeOrange",
+                "CubeOrange-bdshot",
                 "CubeYellow",
                 "R9Pilot",
                 "QioTekZealotF427",

Tools/scripts/generate_manifest.py

@@ -23,40 +23,50 @@
     'Pixhawk4' : ('Pixhawk 4', 'Holybro'),
     'Pix32v5' :  ('Pix32 v5', 'Holybro'),
     'Durandal' : ('Durandal', 'Holybro'),
+    'Durandal-bdshot' : ('Durandal', 'Holybro'),
     'PH4-mini' : ('Pixhawk 4 Mini', 'Holybro'),
     'KakuteF4' : ('KakuteF4', 'Holybro'),
     'KakuteF7' : ('KakuteF7', 'Holybro'),
     'KakuteF7Mini' : ('KakuteF7Mini', 'Holybro'),
     'CubeBlack' : ('CubeBlack', 'Hex/ProfiCNC'),
     'CubeYellow' : ('CubeYellow', 'Hex/ProfiCNC'),
     'CubeOrange' : ('CubeOrange', 'Hex/ProfiCNC'),
+    'CubeOrange-bdshot' : ('CubeOrange', 'Hex/ProfiCNC'),
     'CubePurple' : ('CubePurple', 'Hex/ProfiCNC'),
     'CubeSolo' : ('CubeSolo', '3DR'),
     'CubeGreen-solo' : ('CubeGreen Solo', 'Hex/ProfiCNC'),
     'CUAVv5' : ('CUAVv5', 'CUAV'),
     'CUAVv5Nano' : ('CUAVv5 Nano', 'CUAV'),
     'CUAV-Nora' : ('CUAV Nora', 'CUAV'),
     'CUAV-X7' : ('CUAV X7', 'CUAV'),
+    'CUAV-X7-bdshot' : ('CUAV X7', 'CUAV'),
     'DrotekP3Pro' : ('Pixhawk 3 Pro', 'Drotek'),
     'MambaF405v2' : ('Diatone Mamba F405 MK2', 'Diatone'),
     'MatekF405' : ('Matek F405', 'Matek'),
+    'MatekF405-bdshot' : ('Matek F405', 'Matek'),
     'MatekF405-STD' : ('Matek F405 STD', 'Matek'),
     'MatekF405-Wing' : ('Matek F405 Wing', 'Matek'),
+    'MatekH743' : ('Matek H743', 'Matek'),
+    'MatekH743-bdshot' : ('Matek H743', 'Matek'),
     'mini-pix' : ('MiniPix', 'Radiolink'),
     'Pixhawk1' : ('Pixhawk1', 'mRobotics'),
     'Pixracer' : ('PixRacer', 'mRobotics'),
+    'Pixracer-bdshot' : ('PixRacer', 'mRobotics'),
     'mRoX21' : ('mRo X2.1', 'mRobotics'),
     'mRoX21-777' : ('mRo X2.1-777', 'mRobotics'),
     'mRoPixracerPro' : ('mRo PixracerPro', 'mRobotics'),
+    'mRoPixracerPro-bdshot' : ('mRo PixracerPro', 'mRobotics'),
     'mRoControlZeroOEMH7' : ('mRo ControlZero OEM H7', 'mRobotics'),
     'mRoNexus' : ('mRo Nexus', 'mRobotics'),
     'TBS-Colibri-F7' : ('Colibri F7', 'TBS'),
     'sparky2' : ('Sparky2', 'TauLabs'),
     'mindpx-v2' : ('MindPX V2', 'AirMind'),
     'OMNIBUSF7V2' : ('Omnibus F7 V2', 'Airbot'),
     'omnibusf4pro' : ('Omnibus F4 Pro', 'Airbot'),
+    'omnibusf4pro-bdshot' : ('Omnibus F4 Pro', 'Airbot'),
     'omnibusf4v6' : ('Omnibus F4 V6', 'Airbot'),
     'OmnibusNanoV6' : ('Omnibus Nano V6', 'Airbot'),
+    'OmnibusNanoV6-bdshot' : ('Omnibus Nano V6', 'Airbot'),
     'speedybeef4' : ('SpeedyBee F4', 'SpeedyBee'),
     'QioTekZealotF427' : ('ZealotF427', 'QioTek'),
     'BeastH7' : ('Beast H7 55A AIO', 'iFlight'),

libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7-bdshot/defaults.parm

@@ -0,0 +1,18 @@
+# temperature control. We need lower P/I values
+# to prevent oscillation of the BMI088 temperature
+# the ADIS16470 is factory temperature calibrated,
+# but the BMI088 isn't, so temperature control is still
+# worthwhile
+BRD_IMU_TARGTEMP 45
+BRD_IMUHEAT_P 50
+BRD_IMUHEAT_I 0.07
+
+# turn on the CAN power monitoring(default)
+CAN_P1_DRIVER 1
+BATT_MONITOR 8
+
+# setup the parameter for the ADC power module
+BATT_VOLT_PIN 16
+BATT_CURR_PIN 17
+BATT_VOLT_MULT 18.000
+BATT_AMP_PERVLT 24.000

libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7-bdshot/hwdef-bl.dat

@@ -0,0 +1 @@
+include ../CUAV-X7/hwdef-bl.dat

libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7-bdshot/hwdef.dat

@@ -0,0 +1,8 @@
+# Bi-directional dshot version CUAV-X7
+
+include ../CUAV-X7/hwdef.dat
+
+undef PH10 PH12
+
+PH10 TIM5_CH1 TIM5 PWM(1) GPIO(50) BIDIR
+PH12 TIM5_CH3 TIM5 PWM(3) GPIO(52) BIDIR

libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-bdshot/hwdef-bl.dat

@@ -0,0 +1 @@
+include ../CubeOrange/hwdef-bl.dat