From 720f8d5dd34a1acdb6cc4d97e77d9f96119f5ad2 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 18 Mar 2022 18:17:34 +1100 Subject: [PATCH 1/4] AP_HAL_ChibiOS: enable Solo Gimbal only on CubeGreen --- libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/hwdef.dat | 2 ++ libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/hwdef.dat | 2 ++ 2 files changed, 4 insertions(+) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/hwdef.dat index a594650beddcd..12804f9f7d6e3 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeGreen-solo/hwdef.dat @@ -12,4 +12,6 @@ env DEFAULT_PARAMETERS 'Tools/Frame_params/Solo_Copter-4_GreenCube.param' define HAL_OREO_LED_ENABLED 1 +define HAL_SOLO_GIMBAL_ENABLED HAL_MOUNT_ENABLED + AUTOBUILD_TARGETS Copter diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/hwdef.dat index b5bd97b349b01..696118b716d8f 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/hwdef.dat @@ -52,4 +52,6 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_OREO_LED_ENABLED 1 define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5 +define HAL_SOLO_GIMBAL_ENABLED HAL_MOUNT_ENABLED + AUTOBUILD_TARGETS Copter From 69b9966f74f42af05a90f021cbcb53d12865b78a Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 18 Mar 2022 18:17:35 +1100 Subject: [PATCH 2/4] AP_Mount: enable Solo Gimbal only on CubeGreen --- libraries/AP_Mount/AP_Mount.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Mount/AP_Mount.h b/libraries/AP_Mount/AP_Mount.h index aa617040d3c4c..da4cb5de80abe 100644 --- a/libraries/AP_Mount/AP_Mount.h +++ b/libraries/AP_Mount/AP_Mount.h @@ -27,7 +27,7 @@ #endif #ifndef HAL_SOLO_GIMBAL_ENABLED -#define HAL_SOLO_GIMBAL_ENABLED HAL_MOUNT_ENABLED && BOARD_FLASH_SIZE > 1024 +#define HAL_SOLO_GIMBAL_ENABLED 0 #endif #if HAL_MOUNT_ENABLED From 376266bfcabf053bd3113c516f651e09e2c2dd6d Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 23 Mar 2022 12:29:45 +1100 Subject: [PATCH 3/4] hwdef: enable both OreoLED and Solo gimbal on CubeOrange for users who have replaced their CubeSolo with a CubeOrange --- libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat | 3 +++ 1 file changed, 3 insertions(+) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat index aedc8dd099016..a3ba4e1bab257 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange/hwdef.dat @@ -333,3 +333,6 @@ ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_highpolh.bin DMA_NOSHARE SPI1* SPI4* USART6* +# for users who have replaced their CubeSolo with a CubeOrange: +define HAL_OREO_LED_ENABLED 1 +define HAL_SOLO_GIMBAL_ENABLED HAL_MOUNT_ENABLED From 2b92e42b3b40f3ae65097775b34810a1d5b76b34 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 23 Mar 2022 12:30:57 +1100 Subject: [PATCH 4/4] hwdef: enable both OreoLED and Solo gimbal on fmuv3 for users running fmuv3 on their Solo --- libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat index fec01b85833b4..183f6c4a976b8 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv3/hwdef.dat @@ -468,3 +468,7 @@ DMA_PRIORITY USART6* SPI* # is "ROMFS ROMFS-filename source-filename". Paths are relative to the # ardupilot root. ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin + +# for users running fmuv3 on their Solo: +define HAL_OREO_LED_ENABLED (BOARD_FLASH_SIZE > 1024) +define HAL_SOLO_GIMBAL_ENABLED (HAL_MOUNT_ENABLED && BOARD_FLASH_SIZE > 1024)