The 12V output on the POWER AUX connector is gated by a BEC enable on
PG4. It was driven on at boot with no way to control it, and the enable
was mislabeled VDD_5V_PERIPH_EN even though it drives the 12V rail, not
5V.
Rename it to VDD_12V_PERIPH_EN, give it a GPIO, and pre-map it to RELAY1
via RELAY1_PIN_DEFAULT so it can be switched from an RC channel
(RELAY1_FUNCTION + RCx_OPTION). Default behavior is unchanged: the rail
is still on at boot via the pin's OUTPUT HIGH state.
LIS2MDL and IIS2MDC are the same ST silicon with identical register
maps, WHO_AM_I, I2C address and sensitivity. Remove the separate
LIS2MDL driver entirely and switch boards that referenced it to IIS2MDC.
AIRBRAINH743 COMPASS line changed from LIS2MDL to IIS2MDC.
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PF12 is the SCALED_VDD_3V3_SENSORS4 ADC input per the schematic; the
actual VDD_5V_HIPOWER_nEN line is on PG10, which is what the
application hwdef already uses. The bootloader was driving the wrong
pin and never asserting HIPOWER during boot.
All three IMU candidates on the ARKV6X — IIM-42652, ICM-42688, and
IIM-42653 — support 19-bit high-resolution FIFO sampling on the
Invensensev3 driver. Enable it for all three instances.
The original bdshot variant only enabled BIDIR on TIM5 channels (PWM
1-4), leaving PWM 5-6 on TIM4 as plain DShot without telemetry. Mirror
the Pixhawk6X-bdshot pattern by enabling BIDIR on TIM4_CH2 and
TIM4_CH3 as well.
Add DMA_NOSHARE TIM5* TIM4* so motor output DMA streams cannot be
preempted by other peripherals — the parent ARKV6X DMA_PRIORITY places
TIM* last, which can starve bdshot under load.
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Rename STM32_I2C_I2Cn_IRQ_PRIORITY to STM32_IRQ_I2Cn_PRIORITY to
match the naming used by the kernel v9 I2Cv4 driver, mirroring
the same rename already applied to stm32g4_mcuconf.h.
The ChibiOS I2Cv4 LLD (used on STM32G0/G4/C0/U0/U3/H5/L4+) uses a
single DMA channel per I2C peripheral, shared between TX and RX,
configured via STM32_I2C_I2Cx_DMA_CHANNEL. The previous code
emitted the separate STM32_I2C_I2Cx_RX/TX_DMA_STREAM defines used
by I2Cv2/I2Cv3, which no longer satisfy the I2Cv4 driver.
Detect I2Cv4 MCUs from CHIBIOS_PLATFORM_MK, allocate a single DMA
channel per I2C peripheral in dma_resolver.py (no _RX/_TX split),
and generate HAL_I2Cn_CONFIG entries that feed the single channel
into the shared DMA slot with SHARED_DMA_NONE as the partner.
Also replace the unconditional STM32_I2C_USE_I2Cn TRUE lines in
stm32g4_mcuconf.h with #ifndef-guarded defaults to FALSE, so
boards only enable the I2C peripherals their hwdef actually uses.
Without this, the I2Cv4 driver demanded DMA channels for every
I2C peripheral on every G4 board regardless of pin usage.
The ROMFS / ROMFS_WILDCARD / ROMFS_DIRECTORY hwdef keywords were
previously only understood by the ChibiOS hwdef parser, which has
duplicated implementations of romfs_add / romfs_wildcard / romfs_add_dir
and a write_ROMFS step that publishes env_vars['ROMFS_FILES']. Lift
all of that into the base HWDef class so any HAL with a hwdef parser
(SITL, future HALs) gets ROMFS handling for free.
- Base hwdef.py owns self.romfs, the romfs_*() methods, the
ROMFS / ROMFS_WILDCARD / ROMFS_DIRECTORY process_line cases,
the undef ROMFS handler, and write_ROMFS(); base run() calls
write_ROMFS() at the end so subclasses that don't override run()
publish ROMFS automatically.
- ChibiOS keeps a thin romfs_add_dir() override solely for its
bootloader-build no-op guard; everything else is inherited.
No behaviour change for ChibiOS boards.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
when safety is enabled (especially on IOMCU) we would get a last
chopped pulse, leading to servos going to extremes, or for reversible
ESCs we could end up with a propeller running at high speed
there were two bugs:
- we were using the current outputs max pulse width for the delay in
trigger_groups() when it should be the previous max width (as that
is the active one)
- we should not be doing a new trigger for oneshot for zero pulses,
it will naturally happen when the pulse ends
Replace RST :ref: cross-references to ArduPilot parameters with proper
markdown links to https://ardupilot.org/copter/docs/parameters.html.
Anchors verified by downloading the parameters page.
Also fix a SERIAL11_PROTOCOL typo in JHEMCUF405WING (should be
SERIAL1_PROTOCOL) and a bare :ref:common-FPort-receivers ref in
CORVON405V2_1.
Also fix two incorrect parameter names carried over from the original RST:
- BATT1_MONITOR → BATT_MONITOR (BATT1_MONITOR does not exist)
- RSSI_PIN → RSSI_ANA_PIN (RSSI_PIN does not exist; renamed parameter)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Fix firmare.ardupilot.org → firmware.ardupilot.org (typo) in HWH7 and
MicoAir743-Lite. Fix common-limited_firmware → common-limited-firmware
(underscore vs hyphen) in ATOMRCF405NAVI-Deluxe.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
SkyViper has no IO MCU. Remove the embedded IOMCU firmware from ROMFS
(saves ~29 KB of flash), the USART6 pin definitions that were only
present as the IOMCU UART, and the USART6 DMA_NOSHARE/DMA_PRIORITY
entries that were carried over from fmuv3.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Jacob Dahl
Peter Barker
Sharanie0612
Andy Piper
Josh Henderson
Andrew Tridgell
lixiaowei
Brown
Thomas Watson
dakefpv
Henry Wurzburg
PilotGaea2001
Norihiko Itou