This reverts commit 157d471fe4.
PR #34359 was merged by mistake. On the bench, with an ESC on
YJUAV_A6SE_H743 output 1, the hold presents a continuous high (full
throttle to a PWM ESC) for about 10.5s after every reset, and for as
long as safety is engaged when output 1 is a motor outside
BRD_SAFETY_MASK, which is Copter's default. The ESC started to enter
throttle calibration. Back the change out until the hold can be
chosen per output.
The main ArduPilot for STM32 boards is based on ChibiOS, and the
source code is in Tools/AP_Bootloader
The old bootloader (now unused) was based on libopencm3.
Bootloader images
Binaries for the bootloader for all supported STM32 boards are in this
directory. You can build one of these bootloaders using the
Tools/scripts/build_bootloaders.py script. That script takes a
wildcard pattern of which boards to build. For example, to build a
bootloader for a Pixhawk1, use:
./Tools/scripts/build_bootloaders.py Pixhawk1
The config files for the builds of these bootloaders are in
libraries/AP_HAL_ChibiOS/hwdef, in the files called hwdef-bl.dat
Old Bootloader details
We also have copies of binaries for some of the older bootloaders in
this directory. They are:
iomcu_bl.bin:
for IOMCU on fmuv2
skyviper_v2450_bl.bin:
for F427 based skyviper-v2450 boards (based on fmuv3)
reserves sectors 22 and 23 for ArduPilot storage
board ID 9
skyviperf412_bl.bin:
For F412 processors, setup to load on USART2 on pins PA2/PA3
Setup for code start at 0x0800C000
2 sectors reserved for storage, plus bootloader
Bootloader in ROMFS
When building a ChibiOS based build, if there is a corresponding
bootloader in Tools/bootloaders for the board then that bootloader
will be included as a compressed file in ROMFS. You can then ask
ArduPilot to update the bootloader using the MAVLink command
MAV_CMD_FLASH_BOOTLOADER command using a param5 magic value of 290876
Peter Barker
90dcb1680f