2025-02-14 00:51:39 -04:00
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# Parrot Disco fixed-wing
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define HAL_BOARD_LOG_DIRECTORY "/data/ftp/internal_000/ardupilot/logs"
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define HAL_BOARD_TERRAIN_DIRECTORY "/data/ftp/internal_000/ardupilot/terrain"
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define HAL_BOARD_STORAGE_DIRECTORY "/data/ftp/internal_000/ardupilot"
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# heater support:
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define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
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define HAL_LINUX_HEAT_PWM_NUM 10
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define HAL_LINUX_HEAT_KP 20000
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define HAL_LINUX_HEAT_KI 6
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define HAL_LINUX_HEAT_PERIOD_NS 125000
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define HAL_LINUX_HEAT_TARGET_TEMP 50
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define BEBOP_CAMV_PWM 9
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define BEBOP_CAMV_PWM_FREQ 43333333
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# in-built optical flow support:
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define HAL_OPTFLOW_ONBOARD_VDEV_PATH "/dev/video0"
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define HAL_OPTFLOW_ONBOARD_SUBDEV_PATH "/dev/v4l-subdev0"
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define HAL_OPTFLOW_ONBOARD_SENSOR_WIDTH 320
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define HAL_OPTFLOW_ONBOARD_SENSOR_HEIGHT 240
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define HAL_OPTFLOW_ONBOARD_OUTPUT_WIDTH 64
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define HAL_OPTFLOW_ONBOARD_OUTPUT_HEIGHT 64
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define HAL_OPTFLOW_ONBOARD_CROP_WIDTH 240
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define HAL_OPTFLOW_ONBOARD_CROP_HEIGHT 240
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define HAL_OPTFLOW_ONBOARD_NBUFS 8
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define HAL_FLOW_PX4_MAX_FLOW_PIXEL 4
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define HAL_FLOW_PX4_BOTTOM_FLOW_FEATURE_THRESHOLD 30
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define HAL_FLOW_PX4_BOTTOM_FLOW_VALUE_THRESHOLD 5000
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define HAL_RCOUT_DISCO_BLDC_I2C_BUS 1
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define HAL_RCOUT_DISCO_BLDC_I2C_ADDR 0x08
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define HAL_PARAM_DEFAULTS_PATH "/data/ftp/internal_000/ardupilot/disco.parm"
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# focal length 2.21mm pixel size 3.6 um, 2x binning in each direction
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# 240x240 crop rescaled to 64x64
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#define HAL_FLOW_PX4_FOCAL_LENGTH_MILLIPX (2.21 / (3.6 * 2.0 * 240 / 64))
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#define HAL_RANGEFINDER_LIGHTWARE_I2C_BUS 0
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# the disco has challenges with its magnetic setup
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define AP_COMPASS_OFFSETS_MAX_DEFAULT 2200
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2025-02-14 09:33:01 -04:00
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2025-02-14 00:51:39 -04:00
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define HAL_GPIO_SCRIPT "/data/ftp/internal_000/ardupilot/gpio.sh"
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2025-02-14 09:33:01 -04:00
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define AP_BATTERY_BEBOP_ENABLED AP_BATTERY_BACKEND_DEFAULT_ENABLED
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define HAL_BATT_MONITOR_DEFAULT AP_BattMonitor::Type::BEBOP
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2025-02-14 09:32:58 -04:00
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define DEFAULT_NTF_LED_TYPES (Notify_LED_Board)
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2025-02-14 00:51:39 -04:00
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define AP_NOTIFY_DISCO_LED_ENABLED 1
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2025-02-14 09:31:52 -04:00
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# NAME BUS SUBDEV MODE BPW CS_PIN LOWSPD HIGHSPD
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LINUX_SPIDEV "bebop" 1 0 SPI_MODE_0 8 SPI_CS_KERNEL 320*KHZ 320*KHZ
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2025-02-14 10:12:14 -04:00
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define HAL_LINUX_GPIO_AERO_ENABLED 1
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