Add hardware documentation for the VOLOLAND NarinFC-H7 flight controller
including pinouts, serial port mapping, PWM output groups, and analog
inputs. Fix version badge to v1.17 and clarify RC_IN is wired directly
to FMU via RC_INPUT driver.
Based on work by @vololand and @hamishwillee from PR #26542.
Signed-off-by: Ramon Roche <mrpollo@gmail.com>
* fix(fw_mode_manager): honor DO_CHANGE_SPEED in manual airspeed modes
Re-anchor the throttle-stick airspeed interpolation on the last
MAV_CMD_DO_CHANGE_SPEED value (falling back to FW_AIRSPD_TRIM if none).
Previously, _commanded_manual_airspeed_setpoint was stored but never
read when FW_POS_STK_CONF bit 1 was set (the default), so
DO_CHANGE_SPEED had no effect in Position/Altitude.
With this change:
- Stick centered = commanded cruise speed (= FW_AIRSPD_TRIM if no command).
- Stick deflection deviates from cruise between FW_AIRSPD_MIN/MAX.
- Disconnecting the controller collapses the interpolation to the cruise
(Sticks zeroes the throttle channel on manual_control_signal_lost).
- No setpoint jump when a controller is plugged in with stick centered.
- No behavior change for users who never send DO_CHANGE_SPEED.
* fix(fw_mode_manager): clear DO_CHANGE_SPEED override on mode change
Reset _commanded_manual_airspeed_setpoint to NaN when entering a
manual airspeed mode from outside the manual airspeed pair, so a
prior MAV_CMD_DO_CHANGE_SPEED does not silently anchor the manual
airspeed setpoint after the pilot has left and re-entered manual
airspeed control. Toggling between Position and Altitude preserves
the commanded value since both modes share the same airspeed mechanic.
Also fold in a make-format whitespace fix in get_manual_airspeed_setpoint.
* docs(flight_modes_fw): document DO_CHANGE_SPEED in manual airspeed modes
Describe how MAV_CMD_DO_CHANGE_SPEED re-anchors the throttle-stick cruise
airspeed in Position and Altitude mode, matching the new behavior in the
fw_mode_manager. Covers the centered-stick anchor, deflection scaling
between FW_AIRSPD_MIN/MAX, the shared setpoint across both modes, and the
reset to trim when entering from any other mode.
Signed-off-by: Gregor Hohl <gregor.hohl@auterion.com>
* Subedit
* fix(fw_mode_manager): reset DO_CHANGE_SPEED override on any mode change
Reset _commanded_manual_airspeed_setpoint to NaN whenever the position
control mode changes, instead of only when entering manual airspeed
control from outside the Position/Altitude pair. This makes the manual
airspeed setpoint revert to FW_AIRSPD_TRIM on every mode change,
including toggling between Position and Altitude, for predictable
behavior.
Signed-off-by: Gregor Hohl <gregor.hohl@auterion.com>
* docs(flight_modes_fw): note manual airspeed resets on mode change
Clarify that the commanded airspeed defaults to FW_AIRSPD_TRIM when no
airspeed has been commanded, and document that the commanded airspeed
resets on every flight mode change.
Signed-off-by: Gregor Hohl <gregor.hohl@auterion.com>
* docs(flight_modes_fw): clarify DO_CHANGE_SPEED param1/param2 handling
Signed-off-by: Gregor Hohl <gregor.hohl@auterion.com>
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Signed-off-by: Gregor Hohl <gregor.hohl@auterion.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* refactor(navigator): removed geofence breach avoidance library
- was disabled by default as an experimental feature
- is too unpredictable given that it commands reposition points, which could
be arbitrarily close to objects
- does not work well in space constrained scenarios
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* fix(docs): removed reference to GF_PREDICT
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* style(navigator): fix formatting
* docs(safety): add minimal guidelines on how to strictly avoid geofence breaches
* docs(safety): slightly simplify wording
* docs(safety): revert typo
* docs(docs): Tweak
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Balduin <balduin@auterion.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* feat(fw_perf_model): warn in max bank infeasible due to empty airspeed range
* style(fw_perf_model): refer explicitly to max airspeed param
and only implicitly to max bank, so users will be inclined to adjust the
former.
* docs(fw-tuning): add section on roll compensation and effect on airspeed limits
* docs(fw-tuning): fix LaTeX
- wrap text in \text{} so it does not render as if it were variable
names
- fix incorrect double escaping which made \sqrt{} and \frac{} not
render
- replace \over with \frac - the latter is nicer and handles more edge
cases
* docs(fw-tuning): fix typo
In the above equation (supposed to be rearranged) there is only C_L, no C_D.
* docs(fw-tuning): correct mistake
only stall and min airspeed are load factor (due to bank) compensated in
the performance model, not trim.
* feat(boards): add support for AEDROXH7 flight controller
STM32H743-based FPV / racing flight controller from AEDROX.
Brings up:
- ICM-42688-P IMU on SPI2
- DPS310 baro on internal I2C2
- W25N NAND flash on SPI3 with littlefs at /fs/flash
- MAX7456 analog OSD on SPI1
- 8 motor outputs (TIM1 + TIM8) all bidirectional-DShot capable
- CAN1
- External I2C1 connector for compass / sensors
- 6 UARTs (TEL1, GPS1, RC, TEL2, ESC telemetry, debug console on UART8),
- Two user GPIOs on the M5-M8 connector, VTX power and camera-switch GPIOs,
buzzer on PA7 (active-buzzer transistor low-side switch), battery V/I sensing
via ADC1.
Board ID 1198 shared with ArduPilot's AP_HW_AEDROXH7 entry.
USB enumerates as 0x16D0:0x14FE with VENDORSTR "AEDROX".
Signed-off-by: Julian Oes <julian@oes.ch>
* docs(docs): Minor subedit
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Signed-off-by: Julian Oes <julian@oes.ch>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* feat(boards): add CBUnmanned H753-Stamp flight controller
* Update board_id to 1302
* docs: update CBUnmanned H753-Stamp board docs
Apply review feedback: correct the I2C bus count (add internal bus),
clarify SPI (IMUs on a dedicated internal bus), note the debug console
alongside the user UARTs, and describe how the board is powered from an
external 5 V supply with separate battery voltage sensing.
Add the pinout image and a PWM Outputs section.
Signed-off-by: Julian Oes <julian@oes.ch>
* refactor(boards): rename CBUnmanned H753-Stamp to H753-SOM
Rename the board directory, build target (cbunmanned_h753-som), USB
product strings, docs page, asset directory and pinout image, and the
bundled bootloader binary from -Stamp to -SOM. The hardware is a
System-on-Module, so SOM is the accurate name.
Signed-off-by: Julian Oes <julian@oes.ch>
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Signed-off-by: Julian Oes <julian@oes.ch>
