So from your source tree run libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_betaflight_unified.py on the config and that will give you a reasonable starting point for the hwdef
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Awesome. Thank you.
Just so Iām clear, by Betaflight configuration you are referring to the results of āsave backupā from the configurator?
I donāt have to choose a specific branch within Ardupilot because the BF configuration contains enough info?
Just so Iām clear, by Betaflight configuration you are referring to the results of āsave backupā from the configurator?
No there is not enough info in the dump - you need an actual unified config of this kind - GitHub - betaflight/unified-targets: Target configurations for Betaflight Unified Targets - I couldnāt see the config in there, but maybe I didnāt look hard enough
I donāt have to choose a specific branch within Ardupilot because the BF configuration contains enough info?
Use the master branch
Ok. Iāll work on this tomorrow and report back. Thanks again for all your help and guidance.
I ran the instsall prereqs but still get the same error about arm-none-eabi-ar when I run:
./waf configure --board CubeBlack
Update: It works after a linux restart
I get this error when I try to convert the Betaflight config. BTW I donāt know what āboard IDā is that Iām prompted for so I entered the BF config filename.
wam@wam-ROG-Strix-G533ZW-G533ZW:~/ardupilot$ libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_betaflight_unified.py BEFH-BETAFPVF405.config
Board id? BEFH-BETAFPVF405.config
define: USE_ACC
define: USE_ACC_SPI_MPU6000
define: USE_GYRO
define: USE_GYRO_SPI_MPU6000
define: USE_GYRO_SPI_ICM42688P
define: USE_ACC_SPI_ICM42688P
define: USE_ACCGYRO_BMI270
define: USE_BARO
define: USE_BARO_SPI_BMP280
define: USE_FLASH
define: USE_FLASH_W25Q128FV
define: USE_MAX7456
resource: 1 PB4 BEEPER BEEPER
resource: 1 PB0 MOTOR MOTOR
resource: 2 PB1 MOTOR MOTOR
resource: 3 PA3 MOTOR MOTOR
resource: 4 PA2 MOTOR MOTOR
resource: 5 PC8 MOTOR MOTOR
resource: 6 PA8 MOTOR MOTOR
resource: 1 PB8 PPM PPM
resource: 1 PC9 SONAR SONAR_TRIGGER
resource: 1 PA8 SONAR SONAR_ECHO
resource: 1 PB6 LED LED_STRIP
resource: 1 PA9 SERIAL SERIAL_TX
resource: 3 PB10 SERIAL SERIAL_TX
resource: 4 PA0 SERIAL SERIAL_TX
resource: 6 PC6 SERIAL SERIAL_TX
resource: 1 PA10 SERIAL SERIAL_RX
resource: 3 PB11 SERIAL SERIAL_RX
resource: 4 PA1 SERIAL SERIAL_RX
resource: 5 PD2 SERIAL SERIAL_RX
resource: 6 PC7 SERIAL SERIAL_RX
resource: 3 PC9 INVERTER INVERTER
resource: 6 PC8 INVERTER INVERTER
resource: 1 PB5 LED LED
resource: 1 PA5 SPI SPI_SCK
resource: 2 PB13 SPI SPI_SCK
resource: 3 PC10 SPI SPI_SCK
resource: 1 PA6 SPI SPI_MISO
resource: 2 PB14 SPI SPI_MISO
resource: 3 PC11 SPI SPI_MISO
resource: 1 PA7 SPI SPI_MOSI
resource: 2 PB15 SPI SPI_MOSI
resource: 3 PC12 SPI SPI_MOSI
resource: 1 PB8 ESCSERIAL ESCSERIAL
resource: 1 PC2 ADC ADC_BATT
resource: 1 PC0 ADC ADC_RSSI
resource: 1 PC1 ADC ADC_CURR
resource: 1 PB3 BARO BARO_CS
resource: 1 PB12 SDCARD SDCARD_CS
resource: 1 PB7 SDCARD SDCARD_DETECT
resource: 1 PB12 FLASH FLASH_CS
resource: 1 PA15 OSD OSD_CS
resource: 1 PC4 GYRO GYRO_EXTI
resource: 1 PA4 GYRO GYRO_CS
resource: 1 PC5 USB USB_DETECT
timer: PB8 TIM10 CH1
timer: PC8 TIM8 CH3
timer: PB0 TIM3 CH3
timer: PB1 TIM3 CH4
timer: PA3 TIM2 CH4
timer: PA2 TIM2 CH3
timer: PB6 TIM4 CH1
timer: PA8 TIM1 CH1
timer: PA9 TIM1 CH2
timer: PA10 TIM1 CH3
feature: RX_SERIAL
feature: AIRMODE
feature: LED_STRIP
feature: OSD
settings: mag_bustype I2C
settings: mag_i2c_device 2
settings: mag_hardware NONE
settings: baro_spi_device 3
settings: baro_hardware NONE
settings: serialrx_provider SBUS
settings: adc_device 2
settings: blackbox_device SPIFLASH
settings: dshot_idle_value 450
settings: dshot_burst ON
settings: motor_pwm_protocol DSHOT600
settings: motor_poles 12
settings: current_meter ADC
settings: battery_meter ADC
settings: beeper_inversion ON
settings: beeper_od OFF
settings: yaw_motors_reversed ON
settings: sdcard_detect_inverted ON
settings: sdcard_mode SPI
settings: sdcard_spi_bus 2
settings: system_hse_mhz 8
settings: vtx_band 5
settings: vtx_channel 8
settings: vtx_power 1
settings: vtx_freq 5917
settings: max7456_spi_bus 3
settings: dashboard_i2c_bus 2
settings: flash_spi_bus 2
settings: gyro_1_bustype SPI
settings: gyro_1_spibus 1
settings: gyro_1_sensor_align CW270
settings: gyro_1_align_yaw 2700
settings: gyro_2_spibus 1
Traceback (most recent call last):
File "/home/wam/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_betaflight_unified.py", line 500, in <module>
convert_file(fname, board_id)
File "/home/wam/ardupilot/libraries/AP_HAL_ChibiOS/hwdef/scripts/convert_betaflight_unified.py", line 319, in convert_file
''' % (get_ADC1_chan(mcu, adc[1]), int(settings['ibata_scale']) * 59.5 / 168 )) # scale taken from KakuteH7
KeyError: 'ibata_scale'
board id is a number that the bootloader protocol uses unique to each board - just pick one for now, e.g. 1200
looks like the battery info is missing from the config - try adding a fake one from another board
Thank you for that.
That completed without any error messages but I donāt see a folder under Build like when I built the example?
you still have some work to do - you should end up with hwdef.dat and hwdef-bl.dat in the current directory. You then need to create a directory in libraries/AP_HAL_ChibiOS/hwdef with an appropriate name and copy them there. Then try building using that name
Ok, now I have a folder with the name I gave the board (BetaFPV-F405AIO) that contains a bin folder with arducopter.apj and arducopter.bin. Those are my targets right? Did it also build the _bl version?
You will need to build the bootloader to get that. Run ./Tools/scripts/build_bootloaders.py BetaFPV-F405AIO to get that
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Awesome thanks so much for all of your help.
What should I look for (other than obvious error messages etc) when I load the firmware into the board?
I loaded the hex file with the STM32Cube programmer. The board shows up as Ardupilot on USB as COM4, but mission planner is unable to connect - no heartbeat packets
https://ardupilot.org/dev/docs/porting.html
youāll probably need to try removing stuff until you can get something that boots. I recommend you use mavproxy for connecting since then you can see any debug messages
This slightly presupposes that the config you used is the right one - if its the wrong one with the wrong pin definitions then that would also cause this kind of problem
I let Betaflight auto-detect the board and then selected that as the base.
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Should I have reset the environment (clean dist) after the first build but before the _BL version?
Not sure. If you build the bootloader you will then need to reconfigure and rebuild for the regular firmware
I suggest you start putting your changes up as a PR so that we can see what you have so far
Ok.i will read about how to do that later today or tomorrow.
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