HAL_ChibiOS: added Swan K1 support

libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/defaults.parm

@@ -0,0 +1,111 @@
+
+BATT_MONITOR 4
+BATT_VOLT_MULT 6.52
+BATT_AMP_PERVLT 15.7
+BATT_CAPACITY  5500
+
+Q_ENABLE 1
+Q_FRAME_CLASS 1
+Q_TAILSIT_MOTMX 15
+SERVO1_FUNCTION 33
+SERVO2_FUNCTION 34
+SERVO3_FUNCTION 35
+SERVO4_FUNCTION 36
+Q_OPTIONS 128
+
+# RC input is SBUS on serial4 TX pin
+SERIAL4_PROTOCOL 23
+SERIAL4_OPTIONS 8
+
+RC1_MIN 1050
+RC1_MAX 1950
+RC2_MIN 1050
+RC2_MAX 1950
+RC3_MIN 1050
+RC3_MAX 1950
+RC4_MIN 1050
+RC4_MAX 1950
+
+THR_MIN 20
+
+ARMING_RUDDER 2
+
+ARSPD_TUBE_ORDER 0
+ARSPD_USE 1
+
+ALT_HOLD_RTL 3000
+ARSPD_FBW_MAX  25
+ARSPD_FBW_MIN  8
+ARSPD_RATIO    1.9
+
+# setup left 3-pos switch for QHOVER, QLOITER and FBWA
+FLTMODE1 18
+FLTMODE4 19
+FLTMODE6 5
+FLTMODE_CH 5
+
+# setup a harmonic notch filter to reduce noise
+INS_GYRO_FILTER 30
+INS_HNTCH_ATT         40
+INS_HNTCH_BW          49
+INS_HNTCH_ENABLE       1
+INS_HNTCH_FREQ        99
+INS_HNTCH_HMNCS       63
+INS_HNTCH_MODE         1
+INS_HNTCH_OPTS         1
+INS_HNTCH_REF          0.4560
+
+# no rudder mixing
+KFF_RDDRMIX 0
+
+# reasonable attitude limits
+LIM_PITCH_MAX 4000
+LOG_FILE_DSRMROT 1
+
+# lower logging rate a bit to make logs faster to fetch
+# using a USB cable
+LOG_FILE_RATEMAX 50
+
+# tuning
+RLL2SRV_TCONST 0.4
+Q_A_ACCEL_P_MAX    40000
+Q_A_ACCEL_R_MAX    20000
+Q_A_ANG_PIT_P          8
+Q_A_ANG_RLL_P          8
+Q_A_RAT_PIT_D          0.01
+Q_A_RAT_PIT_FLTD      15
+Q_A_RAT_PIT_P          0.3
+Q_A_RAT_PIT_SMAX      15
+Q_A_RAT_RLL_D          0.015
+Q_A_RAT_RLL_FLTD      15
+Q_A_RAT_RLL_P          0.35
+Q_A_RAT_RLL_SMAX      15
+Q_A_RAT_YAW_D          0.2
+Q_A_RAT_YAW_FLTD      15
+Q_A_RAT_YAW_I          0.07
+Q_A_RAT_YAW_P          0.7
+Q_A_RAT_YAW_SMAX      15
+Q_A_ACCEL_P_MAX    40000
+Q_A_ACCEL_R_MAX    20000
+Q_P_ACCZ_P            0.8
+Q_P_POSZ_P            1.5
+Q_P_VELZ_P            8.0
+Q_M_THST_HOVER        0.45
+Q_WP_ACCEL 250
+Q_WP_JERK  2
+Q_WP_SPEED 900
+
+# Q flight options
+Q_RTL_MODE 3
+Q_TRANS_DECEL 2.5
+
+# QRTL on 'D' button
+RC10_OPTION 4
+
+RC_OPTIONS 32
+
+# slow down for landing approach
+TECS_LAND_ARSPD 8
+
+# 16 m/s target airspeed in auto modes
+TRIM_ARSPD_CM 1600

libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/hwdef-bl.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for Swan-K1 bootloader
+
+include ../fmuv5/hwdef-bl.dat

libraries/AP_HAL_ChibiOS/hwdef/Swan-K1/hwdef.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for Swan-K1 (HWing) from Foxtech
+# This is a variant of fmuv5 without the IOMCU
+
+include ../fmuv5/hwdef.dat
+
+# order of UARTs (and USB). Telem2 is UART4 on the mini, USART3 is not available
+SERIAL_ORDER OTG1 USART2 UART4 USART1 USART6 OTG2
+
+# enable TX on USART6 (disabled for fmuv5 with iomcu)
+PG14 USART6_TX USART6 NODMA
+
+# start with PE3 low
+undef PE3
+PE3 VDD_3V3_SENSORS_EN OUTPUT LOW
+
+# disable the IOMCU UART
+undef IOMCU_UART
+undef UART8_TX
+undef UART8_RX
+undef AP_FEATURE_SBUS_OUT
+
+# RCInput on the PPM pin, for all protocols
+PI5 TIM8_CH1 TIM8 RCININT PULLUP LOW
+
+# setup for supplied power brick
+undef HAL_BATT_VOLT_SCALE
+define HAL_BATT_VOLT_SCALE 18.182
+undef HAL_BATT_CURR_SCALE
+define HAL_BATT_CURR_SCALE 36.364
+
+# this board has a 16k RAMTROM
+undef HAL_STORAGE_SIZE
+define HAL_STORAGE_SIZE 16384
+define HAL_WITH_RAMTRON 1
+
+# use a longer frame gap detector for more robust SBUS with H12 controller
+define HAL_SBUS_FRAME_GAP 5000U