Hello,
I’m attempting to do some experimentation with ChibiOS on the Pixhawk 6x pro using the Orin baseboard from Holybro. I will start by saying that my experience in the embedded programming world is pretty limited. With that being said I am looking for drivers and pin assignment for the STM32H753 so that I can use the port functionalities on the baseboard. I’ve dug around the Ardupilot github a little bit but can’t make heads or tails of what is Ardupilot related and what is ChibiOS related. I currently have a clean and unaltered version of ChibiOS running on my Pixhawk and would appreciate any pointers to achieving the same functionality as Ardupilot.
Sir, I am a 17 years old electronics and UAV enthusiast and I am an intermediate-beginner and may I ask some doubts regarding your work from you?
What do we want to do with such experimentations…? Mostly, ardupilot runs in Pixhawk but somehow a clean chibiOS is running in your Pixhawk?. What more functionality can we gain in the drone by such core software changes? Are you trying to customise the pinouts of STM32H753 to make a highly advanced terminator 800 like flying machine!?(
) What will you do after this something called “Port” process?
I think you are misinterpreting what I am saying and that’s on me given my lack of vocabulary on the subject. My goal is to develop a custom flight control software using similar techniques to ardupilot but not building on top of the already dense environment of ardupilot. What I mean by saying “clean” is that there is no ardupilot “stuff” on the pixhawk at the moment. I followed the ChibiOS documentation to get a demo working (or what I believe is working) on the STM32H753 within the pixhawk. From my understanding of how Ardupilot works, which granted could be completely wrong, is that an instance of ChibiOS is running on the chip that executes the commands of ardupilot. So my question is if there are configuration files for said chip so that I can use the PWM, UART, I2C, etc ports on the carry board. Because at this moment it does not seem like any of these pins have been assigned to those functions in my current ChibiOS environment. I apologize if I’m disrespecting this space by not contributing directly to Ardupilot. I just figured there would be some helpful experts on the subject of ChibiOS for the purpose of flight control systems around here.
No disrespect taken, but also likely not much help to be given. If I were to attempt to help, I’d do the same thing you need to do in order to reverse engineer enough of the code to get what you want. The codebase is fairly well organized, and GitHub search is pretty decent (as long as you’re signed in).
So what all benefits do we get if we make our custom firmware instead of Ardupilot!? Wouldn’t it be a tiring work? Typing all 9 Hundred Thousand lines of code by yourself? Is this just for interest or does it give significant benefits of customisation?