Peter BarkerandClaude Opus 4.5
7ceb7c31c7
global: fix MD007 unordered list indentation in markdown files Normalize unordered list indentation to use 2-space multiples: - Top-level list items start at column 0 - Nested list items use 2 additional spaces per level Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> global: fix MD009 trailing whitespace in markdown files Remove trailing whitespace from all affected markdown files. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> global: fix MD010 hard tabs in markdown files Replace hard tab characters with 4 spaces. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> global: fix MD012 multiple consecutive blank lines in markdown Collapse multiple consecutive blank lines to single blank lines across all markdown files (excluding vendored code). Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> global: fix MD007 list indentation base level in markdown Shift list indentation left by 2 spaces so top-level list items start at column 0 instead of column 2. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD022 blank lines around headings in markdown Ensure headings are surrounded by blank lines as required by markdownlint MD022 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD032 blank lines around lists in markdown Ensure lists are surrounded by blank lines as required by markdownlint MD032 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD031 blank lines around code blocks in markdown Ensure fenced code blocks are surrounded by blank lines as required by markdownlint MD031 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD047 files should end with single newline Ensure all markdown files end with exactly one newline character as required by markdownlint MD047 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD023 headings must start at beginning of line Remove leading whitespace from heading lines as required by markdownlint MD023 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD007 remaining list indentation in markdown Fix unordered list indentation to use correct spacing as required by markdownlint MD007 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD030 spaces after list markers in markdown Reduce multiple spaces after list markers to single space as required by markdownlint MD030 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD022 blank lines around setext headings Ensure setext-style headings (underlined with === or ---) are surrounded by blank lines as required by markdownlint MD022 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD018 missing space after hash in headings Add space after hash marks in atx-style headings as required by markdownlint MD018 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD019 multiple spaces after hash in headings Reduce multiple spaces after hash marks to single space in atx-style headings as required by markdownlint MD019 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD012 multiple consecutive blank lines in markdown Remove multiple consecutive blank lines and ensure files end with exactly one newline as required by markdownlint MD012 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD023 headings with leading whitespace Remove leading whitespace from setext-style heading text lines as required by markdownlint MD023 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD022 blank line after heading in markdown Add missing blank line after heading as required by markdownlint MD022 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD009 trailing non-breaking space in markdown Remove trailing non-breaking space (U+00A0) as required by markdownlint MD009 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD012 remaining multiple blank lines in markdown Remove leading blank lines and whitespace-only lines that create multiple consecutive blank lines. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
Orqa FC 3030 F405 Flight Controller
The Orqa FC 3030 F405 is a flight controller produced by Orqa.
Features
- MCU - STM32F405 32-bit processor
- IMU - MPU6000
- Barometer - DPS310
- OSD - AT7456E
- Onboard Flash: 128Mbit
- 4x UARTs
- 8x PWM Outputs (8 Motor Output)
- Battery input voltage: 2S-6S
- BEC 5V 2A
- BEC 10V 2A
Pinout
UART Mapping
The UARTs are marked Rn and Tn in the above pinouts. The Rn pin is the receive pin for UARTn. The Tn pin is the transmit pin for UARTn.
- SERIAL0 -> USB
- SERIAL1 -> UART1 (RX/GHST, DMA-enabled)
- SERIAL3 -> UART3 (GPS, DMA-enabled)
- SERIAL5 -> UART5 (ESC Telemetry)
- SERIAL6 -> UART6 (Sik/MAVLink)
RC Input
RC input is configured for GHST by default on the T1 (UART1_TX) pin using half-duplex. To support other RC protocols set SERIAL1_OPTIONS to 0. This will support all serial RC protocols except SBUS. For PPM and SBUS support on UART1_RX set BRD_ALT_CONFIG to 1.
OSD Support
The Orqa FC 3030 F405 supports OSD using OSD_TYPE 1 (MAX7456 driver) or OSD_TYPE 3 if using DJI OSD
PWM Output
The Orqa FC 3030 F405 supports up to 8 PWM outputs in the JST-GH ESC and MFC connectors. Outputs 5-8 are labeled as GPIO1-4 on the 7pin JST-GH connector
The PWM is in 3 groups:
- PWM 1,4-6 in group1
- PWM 2-3 in group2
- PWM 7-8 in group3
Channels within the same group need to use the same output rate. If any channel in a group uses DShot then all channels in the group need to use dshot. All channels support dshot. Channels 1-4 support bi-directional dshot. All channels can also be used for GPIO.
Battery Monitoring
The board has a built-in voltage and current sensor. The current sensor can read up to 130 Amps. The voltage sensor can handle up to 6S LiPo batteries.
The correct battery setting parameters are:
- BATT_MONITOR 4
- BATT_VOLT_PIN 13
- BATT_CURR_PIN 12
- BATT_VOLT_MULT 8.3
- BATT_AMP_PERVLT 92.6
VTX Control
Switching between Camera1 and Camera2 can be achieved via GPIO pin 74 which is configured on RELAY2
Compass
The Orqa FC 3030 F405 does not have a builtin compass, but you can attach an external compass using I2C on the SDA and SCL pin.
Loading Firmware
Initial firmware load can be done with DFU by plugging in USB with the bootloader button pressed. Then you should load the "with_bl.hex" firmware, using your favourite DFU loading tool.
Once the initial firmware is loaded you can update the firmware using any ArduPilot ground station software. Updates should be done with the *.apj firmware files.