Flywoo Explorer LR V2 - "BNF" Arducopter?

The Flywoo Explorer LR V2 ships with the Flywoo GOKU F745 16x16 FC. The version I received had the STM32F745VE6 MCU, which according to the datasheet only has 512kb of flash, so I put it aside figuring it would not be able to run Ardupilot. However, I recently discovered that all of my Flywoo F745 boards actually report 1Mb flash in STM32Cube Programmer, and have been able to successfully flash them with Ardupilot. This holds true for the FC on the Explorer as well, so I set out to configure Ardupilot.

I created a custom hwdef (below) in order to free up some DMA resources for optimal performance. This version gives you full DMA on UART3, DMA on UART 1,2,4, and 6 TX, and DMA on UART 5 RX.

I swapped out the Flywoo Mini GPS for the Flywoo Mini GPS with compass, and added a Siyi FR mini RX for RC control and telemetry link. I had to move some wiring around on the FC as follows:
USART1 (Serial1): MavLink (Siyi FR mini TX3/RX3, FM30 TX connected to MissionPlanner via Bluetooth)
USART2 (Serial2): Unused
USART3 (Serial3): SBUS (Siyi FR Mini SBUS output)
UART4 (Serial4): DJI MSP
UART5 (Serial5): GPS
USART6 (Serial6): Unused
UART7 (Serial7): Unused

Compass I2C was connected to the I2C2 pads on the FC. The GPS/compass is currently in the stock location in a TPU mount on the rear standoffs, but may need to be moved if there is too much magnetic interference.

There is a nice location between the rear arms under the frame where I could mount the Matek LIDAR/Optical flow sensor, so I’ll probably do that once I have flight tested.

Everything works properly on the bench. I’ll update with tuning info once I have a chance to maiden it.

hwdef.dat for Flywoo Explorer LR V2

# hw definition file for processing by chibios_pins.py
# for FLYWOO Goku F745 Nano. - Edited for the Flywoo Explorer LR V2 by V22
# thanks to betaflight for pin information

# MCU class and specific type
MCU STM32F7xx STM32F745xx

# board ID for firmware load
APJ_BOARD_ID 1042

# crystal frequency, setup to use external oscillator
OSCILLATOR_HZ 8000000

FLASH_SIZE_KB 1024

# bootloader takes first sector
FLASH_RESERVE_START_KB 96

# I2C
I2C_ORDER I2C1 I2C2

# Buzzer - DMA timer channel use by LEDs
#PD15 TIM4_CH4 TIM4 GPIO(80) ALARM
PD15 BUZZER OUTPUT GPIO(80) LOW
define HAL_BUZZER_PIN 80
define HAL_BUZZER_ON 1
define HAL_BUZZER_OFF 0

# USB
PA11 OTG_FS_DM OTG1
PA12 OTG_FS_DP OTG1

# USB detection
PA8 VBUS INPUT OPENDRAIN

# Debug
PA13 JTMS-SWDIO SWD
PA14 JTCK-SWCLK SWD

# SPI1 for Flash Storage 16mb
PA4 FLASH_CS CS
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1

# SPI2 for OSD
PB12 AT7456E_CS CS
PB13 SPI2_SCK SPI2
PB14 SPI2_MISO SPI2
PB15 SPI2_MOSI SPI2

# SPI4 for MPU6000
PE4 MPU6000_CS CS
PE2 SPI4_SCK SPI4
PE5 SPI4_MISO SPI4
PE6 SPI4_MOSI SPI4

# I2C1 for baro
PB6 I2C1_SCL I2C1 PULLUP
PB7 I2C1_SDA I2C1 PULLUP

# I2C2
PB10 I2C2_SCL I2C2
PB11 I2C2_SDA I2C2

PC3 BATT_VOLTAGE_SENS ADC1 SCALE(1)
PC2 BATT_CURRENT_SENS ADC1 SCALE(1)

# define default battery setup
define HAL_BATT_VOLT_PIN 13
define HAL_BATT_CURR_PIN 12
#define HAL_BATT_VOLT_SCALE 10.9
define HAL_BATT_VOLT_SCALE 11.1
#define HAL_BATT_CURR_SCALE 28.5
define HAL_BATT_CURR_SCALE 20.0
define HAL_BATT_MONITOR_DEFAULT 4

PC5 RSSI_ADC ADC1

# order of UARTs (and USB)
SERIAL_ORDER OTG1 USART1 USART2 USART3 UART4 UART5 USART6 UART7

# USART1
PA10 USART1_RX USART1 NODMA
PA9  USART1_TX USART1

# USART2
PD5 USART2_TX USART2
PD6 USART2_RX USART2 NODMA

# USART3
PD8 USART3_TX USART3
PD9 USART3_RX USART3

# UART4
PA0 UART4_TX UART4
PA1 UART4_RX UART4 NODMA

# UART5
PC12 UART5_TX UART5 NODMA
PD2  UART5_RX UART5

# USART6
PC6 USART6_TX USART6
PC7 USART6_RX USART6 NODMA

# UART7
PE7 UART7_RX UART7 NODMA
PE8 UART7_TX UART7 NODMA

# Motors

PB0  TIM3_CH3 TIM3 PWM(1) GPIO(50)          # Motor 1
PB1  TIM3_CH4 TIM3 PWM(2) GPIO(51) BIDIR    # Motor 2
PE9  TIM1_CH1 TIM1 PWM(3) GPIO(52)			# Motor 3
PE11 TIM1_CH2 TIM1 PWM(4) GPIO(53) BIDIR	# Motor 4
#PC9  TIM8_CH4 TIM8 PWM(5) GPIO(54)			# Motor 5 //undef to remove TIM8
#PA3  TIM5_CH4 TIM5 PWM(6) GPIO(55)			# Motor 6 //undef to remove TIM5 - could leave if needed, would share DMA with I2C1_TX
#PB4  TIM3_CH1 TIM3 PWM(7) GPIO(56)			# Motor 7 //undef so there aren't too many motor outputs for bidir dshot
#PB5  TIM3_CH2 TIM3 PWM(8) GPIO(57)			# Motor 8

# NeoPixel LED strip
PD12 TIM4_CH1 TIM4 PWM(9) GPIO(58)
PA2 LED0 OUTPUT LOW GPIO(90) # LED

# Misc Timer Stuff
#PE13 TIM1_CH3 TIM1 PWM(10) GPIO(59)			# PPM/Unused - for future use according to Flywoo

DMA_PRIORITY USART3* I2C2* TIM1* TIM3*
#DMA_PRIORITY I2C2* TIM3_UP TIM3_CH4 TIM1_CH2
#DMA_NOSHARE SPI1_TX SPI1_RX SPI4_TX SPI4_RX TIM1_CH1 TIM3_CH4
DMA_NOSHARE SPI1_TX SPI1_RX

define HAL_STORAGE_SIZE 16384
STORAGE_FLASH_PAGE 1

# enable logging to dataflash
define HAL_LOGGING_DATAFLASH_ENABLED 1

# spi devices
SPIDEV dataflash SPI1 DEVID1 FLASH_CS   MODE3 32*MHZ 32*MHZ
SPIDEV osd SPI2 DEVID2 AT7456E_CS MODE0 10*MHZ 10*MHZ
SPIDEV mpu6000 SPI4 DEVID3 MPU6000_CS MODE3  1*MHZ  4*MHZ

# no built-in compass, but probe the i2c bus for all possible
# external compass types
define ALLOW_ARM_NO_COMPASS
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
define HAL_PROBE_EXTERNAL_I2C_BAROS
define HAL_I2C_INTERNAL_MASK 1
define HAL_FRAME_TYPE_DEFAULT 12

# one IMU
IMU Invensense SPI:mpu6000 ROTATION_YAW_180
define HAL_DEFAULT_INS_FAST_SAMPLE 1

# one BARO
BARO BMP280 I2C:0:0x76

# setup for OSD
define OSD_ENABLED 1
define HAL_OSD_TYPE_DEFAULT 1
ROMFS_WILDCARD libraries/AP_OSD/fonts/font0.bin

define STM32_PWM_USE_ADVANCED TRUE

# FFT option (disabled by default)
# define HAL_WITH_DSP 1
# define AC_OAPATHPLANNER_ENABLED 0

# EK2 options (disabled by default)
# define HAL_NAVEKF2_AVAILABLE 1
# define HAL_NAVEKF3_AVAILABLE 0

# save some flash
define HAL_GENERATOR_ENABLED 0
define AC_OAPATHPLANNER_ENABLED 0
define PRECISION_LANDING 0
define HAL_BARO_WIND_COMP_ENABLED 0
define GRIPPER_ENABLED 0
define HAL_PARACHUTE_ENABLED 0
define HAL_SPRAYER_ENABLED 0
define AP_BATTMON_SMBUS_ENABLE 0
define AP_BATTMON_FUEL_ENABLE 0
define AP_OPTICALFLOW_ENABLED 0
3 Likes

This is great as I’m done with crappy iNav on my Flywoo Explorer and want to put Ardupilot on it like all my fixed wings.

Have you had any luck with tuning? Could you share your config?

Thanks

Hello,

I am interested in your return since I am going to migrate mine also from iNav to Arducopter.

Thanks,
Alex