F3 and X-Vert support (#2113)

* Make mpu9250 compatible with mpu6500, by providing option to disable mag

* Upgrade QTC version, add more QTCreator compatibility with chibios

* F3 support

* Add priliminary support stm32f3 discovery board using chibios

* Add support for the stm32f37 xvert board by means of chibios

* Give INDI simple full control authority

* Motor driver for the vertx

* Create define out of required THD_WORKING_AREA space

conf/modules/actuators_xvert.xml

@@ -0,0 +1,25 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="actuators_esc32" dir="actuators" task="actuators">
+  <doc>
+    <description>
+      Actuators Driver for x-vert vtol escs
+   </description>
+    <configure name="ESCS_PORT" value="usb_serial" description="Port used to connect to the atmegas escs."/>
+    <configure name="ESCS_BAUD" value="250000" description="Baud rate for ESCS_PORT if a UART"/>
+  </doc>
+  <header>
+    <file name="actuators_xvert.h" dir="subsystems/actuators"/>
+  </header>
+  <makefile target="ap">
+    <define name="ACTUATORS"/>    
+    <file_arch name="actuators_xvert.c" dir="subsystems/actuators"/>
+    <file_arch name="actuators_pwm_arch.c" dir="subsystems/actuators"/>
+    <configure name="ESCS_PORT" default="uart1" case="upper|lower"/>
+    <configure name="ESCS_BAUD" default="250000"/>
+    <define name="USE_$(ESCS_PORT_UPPER)"/>
+    <define name="ESCS_UART" value="$(ESCS_PORT_LOWER)"/>
+    <define name="$(ESCS_PORT_UPPER)_BAUD" value="$(ESCS_BAUD)"/>
+  </makefile>
+</module>
+

conf/modules/stabilization_indi_simple.xml

@@ -44,6 +44,7 @@
       <define name="ACT_DYN_R" value="0.1" description="first order actuator dynamics on yaw rate"/>
       <define name="USE_ADAPTIVE" value="FALSE|TRUE" description="enable adaptive gains"/>
       <define name="ADAPTIVE_MU" value="0.0001" description="adaptation parameter"/>
+      <define name="FULL_AUTHORITY" value="FALSE" description="Enable full control authority"/>
     </section>
   </doc>
   <settings>