From 126456742a6a1f8a19cc9b187c0f59ea565e1d43 Mon Sep 17 00:00:00 2001
From: Michael Oborne <mich146@hotmail.com>
Date: Fri, 14 May 2021 16:40:36 +1000
Subject: [PATCH] Hwdef: add Joey

---
 Tools/bootloaders/CubeOrange-joey_bl.bin      | Bin 0 -> 17372 bytes
 .../hwdef/CubeOrange-joey/defaults.parm       |  49 ++++++++++++++
 .../hwdef/CubeOrange-joey/hwdef-bl.dat        |  16 +++++
 .../hwdef/CubeOrange-joey/hwdef.dat           |  15 +++++
 .../hwdef/CubeOrange-joey/scripts/mode.lua    |  60 ++++++++++++++++++
 5 files changed, 140 insertions(+)
 create mode 100644 Tools/bootloaders/CubeOrange-joey_bl.bin
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/defaults.parm
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/hwdef-bl.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/hwdef.dat
 create mode 100644 libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/scripts/mode.lua

diff --git a/Tools/bootloaders/CubeOrange-joey_bl.bin b/Tools/bootloaders/CubeOrange-joey_bl.bin
new file mode 100644
index 0000000000000000000000000000000000000000..a582ef1fb893d4194101c20f45862d103824268b
GIT binary patch
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HcmV?d00001

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/defaults.parm b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/defaults.parm
new file mode 100644
index 0000000000..47a0b3921d
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/defaults.parm
@@ -0,0 +1,49 @@
+BATT_AMP_PERVLT 39.877
+BATT_VOLT_MULT 12.02
+AHRS_EKF_TYPE 2 @READONLY
+AHRS_ORIENTATION 2 @READONLY
+ATC_ACCEL_P_MAX 160000 @READONLY
+ATC_ACCEL_R_MAX 392244 @READONLY
+ATC_ACCEL_Y_MAX 35000 @READONLY
+ATC_ANG_RLL_P 15.876 @READONLY
+ATC_RAT_PIT_D 0.004 @READONLY
+ATC_RAT_PIT_I 0.098 @READONLY
+ATC_RAT_PIT_P 0.18 @READONLY
+ATC_RAT_RLL_D 0.00113 @READONLY
+ATC_RAT_RLL_I 0.0401 @READONLY
+ATC_RAT_RLL_P 0.0401 @READONLY
+BATT_MONITOR 4
+BATT_FS_LOW_ACT 1 @READONLY
+BATT_LOW_VOLT 11
+BRD_SAFETYENABLE 0
+CAN_P1_DRIVER 1
+CAN_P2_DRIVER 1
+FENCE_ALT_MAX 15 @READONLY
+FENCE_ENABLE 1
+FENCE_RADIUS 100 @READONLY
+FLTMODE_CH 6 @READONLY
+FLTMODE1 2 @READONLY
+FLTMODE2 2 @READONLY
+FLTMODE3 2 @READONLY
+FLTMODE4 2 @READONLY
+FLTMODE5 9 @READONLY
+FLTMODE6 9 @READONLY
+FRAME_CLASS 1 @READONLY
+FS_OPTIONS 0 @READONLY
+FS_THR_ENABLE 3 @READONLY
+FS_THR_VALUE 950 @READONLY
+GPS_TYPE 9 @READONLY
+INS_GYRO_FILTER 100
+MOT_THST_HOVER 0.4028862
+NTF_LED_TYPES 231 @READONLY
+RC_OPTIONS 0
+RC5_OPTION 41
+RC8_MIN 1000
+RC8_OPTION 17
+SERIAL1_PROTOCOL 2
+WPNAV_ACCEL 100 @READONLY
+WPNAV_SPEED 500 @READONLY
+SCR_ENABLE 1 @READONLY
+SCR_DIR_DISABLE 0 @READONLY
+BRD_IMUHEAT_I 0.07 @READONLY
+BRD_IMUHEAT_P 50 @READONLY
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/hwdef-bl.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/hwdef-bl.dat
new file mode 100644
index 0000000000..648d137554
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/hwdef-bl.dat
@@ -0,0 +1,16 @@
+# hw definition file for processing by chibios_hwdef.py
+# for H743 bootloader
+
+include ../CubeOrange/hwdef-bl.dat
+
+undef USB_STRING_PRODUCT
+undef USB_STRING_MANUFACTURER
+undef APJ_BOARD_ID
+undef USB_PRODUCT
+
+# USB setup
+USB_PRODUCT 0x1056
+USB_STRING_MANUFACTURER "CubePilot"
+USB_STRING_PRODUCT "Joey-BL"
+
+APJ_BOARD_ID 1033
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/hwdef.dat
new file mode 100644
index 0000000000..30272e1788
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/hwdef.dat
@@ -0,0 +1,15 @@
+# hw definition file for processing by chibios_hwdef.py
+
+include ../CubeOrange/hwdef.dat
+
+undef USB_STRING_PRODUCT
+undef USB_STRING_MANUFACTURER
+undef APJ_BOARD_ID
+undef USB_PRODUCT
+
+# USB setup
+USB_PRODUCT 0x1057
+USB_STRING_MANUFACTURER "CubePilot"
+USB_STRING_PRODUCT "Joey"
+
+APJ_BOARD_ID 1033
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/scripts/mode.lua b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/scripts/mode.lua
new file mode 100644
index 0000000000..c4dff247b2
--- /dev/null
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-joey/scripts/mode.lua
@@ -0,0 +1,60 @@
+
+-- 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag,25:SystemID,26:Heli_Autorotate
+-- and arming:is_armed()
+
+local MODE_AUTO = 3
+local MODE_LOITER = 5
+local MODE_ALT_HOLD = 2
+local MODE_RTL = 6
+local MODE_LAND = 9
+local counter = 0
+
+function update()
+  local pos = ahrs:get_position()
+
+  if (vehicle:get_mode() == MODE_AUTO or vehicle:get_mode() == MODE_LOITER) then
+    setfence(true)
+  elseif vehicle:get_mode() == MODE_ALT_HOLD and not pos then
+    setfence(false)
+  elseif vehicle:get_mode() == MODE_ALT_HOLD and pos then
+    setfence(true)
+  end
+  
+  if (vehicle:get_mode() ~= MODE_AUTO and vehicle:get_mode() ~= MODE_LOITER and vehicle:get_mode() ~= MODE_ALT_HOLD and vehicle:get_mode() ~= MODE_RTL and vehicle:get_mode() ~= MODE_LAND) then
+    if not pos then
+        vehicle:set_mode(MODE_ALT_HOLD)
+        gcs:send_text(0, "JoeyFence: Invalid Mode, Changing no gps")
+    else
+        vehicle:set_mode(MODE_LOITER)
+        gcs:send_text(0, "JoeyFence: Invalid Mode, Changing gps")
+    end
+  end
+
+  if (counter >= 5 * 5) then
+    --gcs:send_text(0, "JoeyFence: Running")
+    counter = 0
+  end
+
+  counter = counter + 1
+  -- run at 5Hz
+  return update, 200
+end
+
+function setfence(enabled)
+  if (enabled) then
+    value = param:get('FENCE_ENABLE')
+    if(value ~= 1) then
+      param:set('FENCE_ENABLE',1)
+      gcs:send_text(0, "JoeyFence: Enabled")
+    end
+  else
+    value = param:get('FENCE_ENABLE')
+    if(value ~= 0) then
+      param:set('FENCE_ENABLE',0)
+      gcs:send_text(0, "JoeyFence: Disabled")
+    end
+  end
+end
+
+-- start running update loop
+return update()