AP_HAL_F4light: fixed compilation for boards AirbotF4, AirbotV2 and CL_Racing_F4. Corrected prefix for binaries

.gitignore

@@ -94,3 +94,4 @@ test.ArduCopter/*
 GPATH
 GRTAGS
 GTAGS
+config.mk

libraries/AP_HAL_F4Light/0_Done.md

@@ -160,28 +160,6 @@
 * a lot of minor enhancements
 
 
-Warning!!!
-EEPROM emulation in Flash cause periodic program hunging on time of sector erase! So to allow auto-save parameters
-like MOT_THST_HOVER - MOT_HOVER_LEARN to be 2 you should defer parameter writing (Param HAL_EE_DEFER)
-
-
-
-Timer usage:
-
-1 RC-Output on some boards
-2 RC-Output
-3 RC-Output
-4 soft_i2c0, PPM_IN on AirbotV2
-5 micros()
-6 event generation for WFE
-7 scheduler
-8 PPM_IN
-9 soft_i2c1
-10 soft_i2c2
-11 
-12 PPM_IN
-13 driver's io_completion
-14 schedule tail timer
 
 
 

libraries/AP_HAL_F4Light/0_Read_me_1st.md

@@ -1,3 +1,27 @@
 this is universal HAL for almost any F4 board, without any external OS
 
 per-board Readme files are in boards/{board}/1_Readme.md
+
+
+Warning!!!
+EEPROM emulation in Flash cause periodic program hunging on time of sector erase! So to allow auto-save parameters
+like MOT_THST_HOVER - MOT_HOVER_LEARN to be 2 you should defer parameter writing (Param BRD_EE_DEFER)
+
+
+
+Timer usage:
+
+1 RC-Output on some boards
+2 RC-Output
+3 RC-Output
+4 soft_i2c0, PPM_IN on AirbotV2
+5 micros()
+6 event generation for WFE
+7 scheduler
+8 PPM_IN
+9 soft_i2c1
+10 soft_i2c2
+11
+12 PPM_IN
+13 driver's io_completion
+14 schedule tail timer

libraries/AP_HAL_F4Light/1_RevoMini_read_ME.md

@@ -1 +0,0 @@
-boards/revomini_Revolution/1_read_ME.md

libraries/AP_HAL_F4Light/EEPROM.cpp

@@ -654,15 +654,16 @@ uint16_t EEPROMClass::read(uint16_t Address, uint16_t *Data)
 	
 	Address &= ADDRESS_MASK;
 	
+	uint32_t ptr = pageEnd;
+	
 	// Check each active page address  starting from end - the last value written
-	for (pageBase += 6; pageEnd >= pageBase; pageEnd -= 4){
-	    if (read_16(pageEnd) == Address){// Compare the read address with the virtual address		
-		*Data = read_16(pageEnd - 2);		// Get content of Address-2 which is variable value
+	for (pageBase += 6; ptr >= pageBase; ptr -= 4){
+	    if (read_16(ptr) == Address){// Compare the read address with the virtual address		
+		*Data = read_16(ptr - 2);		// Get content of Address-2 which is variable value
 		return EEPROM_OK;
 	    }
 	}
 
-	// Return ReadStatus value: (0: variable exist, 1: variable doesn't exist)
 	return EEPROM_BAD_ADDRESS;
 }
 

libraries/AP_HAL_F4Light/HAL_F4Light_Class.cpp

@@ -15,8 +15,6 @@
 #include "HAL_F4Light_Class.h"
 #include "RCInput.h"
 #include "Util.h"
-//#include <AP_HAL_Empty/AP_HAL_Empty.h>
-//#include <AP_HAL_Empty/AP_HAL_Empty_Private.h>
 
 #include <AP_Param_Helper/AP_Param_Helper.h>
 
@@ -27,11 +25,6 @@
 #endif
 
 
-#ifdef USE_WAYBACK_ENABLE
-#include "AP_WayBack/AP_WayBack.h"
-#endif
-
-
 
 #if defined(BOARD_SDCARD_NAME) || defined(BOARD_DATAFLASH_FATFS)
 #include "sd/SD.h"
@@ -280,10 +273,10 @@ void HAL_F4Light::run(int argc,char* const argv[], Callbacks* callbacks) const
 
 
 #if defined(BOARD_SDCARD_NAME) && defined(BOARD_SDCARD_CS_PIN)
-        printf("\nEnabling SD at %ldms\n", millis());            
+        printf("\nEnabling SD at %ldms\n", AP_HAL::millis());            
         SD.begin(F4Light::SPIDeviceManager::_get_device(BOARD_SDCARD_NAME));
 #elif defined(BOARD_DATAFLASH_FATFS)
-        printf("\nEnabling DataFlash as SD at %ldms\n", millis());            
+        printf("\nEnabling DataFlash as SD at %ldms\n", AP_HAL::millis());            
         SD.begin(F4Light::SPIDeviceManager::_get_device(HAL_DATAFLASH_NAME));
 #endif
 
@@ -321,33 +314,6 @@ void HAL_F4Light::run(int argc,char* const argv[], Callbacks* callbacks) const
 }
 
 
-#if USE_WAYBACK == ENABLED && defined(WAYBACK_DEBUG)
-
-#define SERIAL_BUFSIZE 128
-
-static AP_HAL::UARTDriver* uart;
-
-static void getSerialLine(char *cp ){      // получение строки
-    uint8_t cnt=0; // строка не длиннее 256 байт
-
-    while(true){
-        if(!uart->available()){
-            continue;
-        }
-
-        char c=uart->read();
-
-        if(c==0x0d || (cnt && c==0x0a)){
-            cp[cnt]=0;
-            return;
-        }
-        if(c==0x0a) continue; // skip unneeded LF
-
-        cp[cnt]=c;
-        if(cnt<SERIAL_BUFSIZE) cnt++;
-    }
-}
-#endif
 
 static bool lateInitDone=false;
 
@@ -454,117 +420,6 @@ void HAL_F4Light::lateInit() {
     }
 #endif
 
-#if USE_WAYBACK == ENABLED && defined(WAYBACK_DEBUG)
-    {
-        uint8_t dbg = hal_param_helper->_dbg_wayback;
-        if(dbg){
-                    
-            dbg -=1;
-
-            if(dbg < sizeof(uarts)/sizeof(AP_HAL::UARTDriver**) ){
-                AP_HAL::UARTDriver** up = uarts[dbg];
-                if(up && *up){        
-                    uart = *up;
-            
-                    AP_WayBack track;
-                    Scheduler::_delay(5000); // time to connect
-            
-                    track.set_debug_mode(true);
-                    track.init();
-                    track.start();
-                    
-                    uart->begin(115200);
-    
-                    uart->println("send pairs 'lat,lon'");
-                    uart->println("send H for help");
-            
-                    char buffer[SERIAL_BUFSIZE];
-                    float x,y;
-                    char *bp=buffer;
-                    uint16_t i=0;
-            
-                    while(1){
-                        getSerialLine(buffer);
-
-                        if(buffer[1]==0) {
-                            switch(buffer[0]){
-                            case 'G': // return by track
-                                // get point
-    
-                                track.stop();
-
-                                while(track.get_point(x,y)){
-                                    uart->print(x);
-                                    uart->print(",");
-                                    uart->println(y);
-                                }
-                                uart->println(".");
-                                break;
-                                
-                            case 'c':
-                            case 'C':
-                                hal_param_helper->_dbg_wayback = 0;
-                                hal_param_helper->_dbg_wayback.save();
-                                goto done;
-                                
-                                
-                            case 'R': // Reset
-                                track.stop();
-                                track.end();
-                                track.init();
-                                track.start();
-                                break;
-                            
-                            case 'S': // show current state
-                                i=0;
-                                while(true){
-                                    uint16_t k=i;
-                                    if(!track.show_track(i, x, y )) break;
-                                    uart->print(k);
-                                    uart->print(",");
-                                    uart->print(x);
-                                    uart->print(",");
-                                    uart->println(y);
-                                }
-                                uart->println(".");
-                                break;
-                            case 'h':
-                            case 'H':
-                                uart->println("send pairs 'lat,lon'");
-                                uart->println("send G to get point");
-
-                                uart->println("send S to show track point");            
-                                uart->println("send R to reset track");            
-                                uart->println("send C to cancel this mode");            
-                                break;
-                        
-                            }
-                        } else {
-                            // given a point - "x,y"
-                            bp=buffer;
-
-                            while(*bp) {
-                                if(*bp++ == ',') break;
-                            }
-                            x=atof(buffer);
-                            y=atof(bp);
-        
-                            uint32_t t=AP_HAL::micros();
-
-                            track.add_point(x,y);
-                            t=AP_HAL::micros() - t;
-
-                            uart->print("# time=");
-                            uart->println(t);
-                        
-                        }
-                    }
-                }
-            }
-        }
-    }
-done:
-#endif
 
     RCOutput::lateInit(); // 2nd stage - now with loaded parameters
 

libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/Rebuild.sh

@@ -0,0 +1,27 @@
+#git submodule init && git submodule update
+export TOOLCHAIN
+
+ROOT=`cd ../../../../..; pwd`
+
+export PATH=/usr/local/bin:$PATH
+
+echo $ROOT
+
+
+(  # AirBotF4 board
+ cd $ROOT/ArduPlane
+ make f4light-clean
+ make f4light BOARD=f4light_Airbot &&
+ cp $ROOT/ArduPlane/f4light_Airbot.bin $ROOT/Release/Plane &&
+ cp $ROOT/ArduPlane/f4light_Airbot.hex $ROOT/Release/Plane &&
+ cp $ROOT/ArduPlane/f4light_Airbot.dfu $ROOT/Release/Plane 
+) && (
+ cd $ROOT/ArduCopter
+ make f4light-clean
+ make f4light BOARD=f4light_Airbot &&
+ 
+ cp $ROOT/ArduCopter/f4light_Airbot.bin $ROOT/Release/Copter &&
+ cp $ROOT/ArduCopter/f4light_Airbot.hex $ROOT/Release/Copter &&
+ cp $ROOT/ArduCopter/f4light_Airbot.dfu $ROOT/Release/Copter 
+) 
+

libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/UPLOAD-DFU.sh

@@ -1,9 +1,9 @@
 #!/bin/sh
 
 #production binary for bootloader
-#dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/revomini_Revolution.bin
+#dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/f4light_Revolution.bin
 
 # bare metal binary
-#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D ../../../../../ArduCopter/revomini_Airbot.bin
-dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D ../../../../../ArduCopter/revomini_Airbot.bin
+#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D ../../../../../ArduCopter/f4light_Airbot.bin
+dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D ../../../../../ArduCopter/f4light_Airbot.bin
 

libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/UPLOAD-STLINK.sh

@@ -1,9 +1,9 @@
 #!/bin/sh
 
 # production binary with bootloader
-#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/revomini_Revolution.bin 0x08010000
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
 
 #bare metal binary
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/revo_cl_racing.bin 0x08000000 && /usr/local/stlink/st-util -m
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_Airbot.bin 0x08000000 && /usr/local/stlink/st-util -m
 
 

libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/UPLOAD-plane-STLINK.sh

@@ -1,9 +1,9 @@
 #!/bin/sh
 
 # production binary with bootloader
-#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/revomini_Revolution.bin 0x08010000
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
 
 #bare metal binary
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/revo_cl_racing.bin 0x08000000 && /usr/local/stlink/st-util -m
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_Airbot.bin 0x08000000 && /usr/local/stlink/st-util -m
 
 

libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/1_read_me.md

@@ -34,3 +34,11 @@ How to get voltage/current reading(tested on omnibus, should work on other targe
 - BAT_AMP_PERVOLT 38.0 (or 17 for apm power module)
 
 Don't try to configure Curr/Vol reading from Initial setup page of MP, because VOL/CURR variables will be reset.
+
+Attention!
+
+If you select PPM (both via jumper or removing 0 ohm resistor) UART1 is no more used for RC IN and can be 
+used for telemetry (Serial1 on MP settings).
+
+Once PPM is selected you can use this pin for RC IN with PPM/SBUS/DSM, the parser in the HAL is able to understand 
+which protocol are you using and to decode it properly. 

libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/support/DOWNLOAD-STLINK.sh

@@ -1,7 +1,7 @@
 #!/bin/sh
 
 # production binary with bootloader
-#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/revomini_Revolution.bin 0x08010000
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
 
 #bare metal binary
 /usr/local/stlink/st-flash  --reset read readout.bin 0x08000000 0x100000

libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/support/Rebuild.sh

@@ -11,11 +11,11 @@ echo $ROOT
 ( # AirBotF4 board
  cd $ROOT/ArduCopter
  make f4light-clean
- make f4light VERBOSE=1 BOARD=revomini_AirbotV2
+ make f4light VERBOSE=1 BOARD=f4light_AirbotV2
 ) && (
  cd $ROOT/ArduPlane
  make f4light-clean
- make f4light VERBOSE=1 BOARD=revomini_AirbotV2
+ make f4light VERBOSE=1 BOARD=f4light_AirbotV2
 )
 
 # at 4e017bf5b3da4f2a9ffc2e1cc0a37b94edac2bdc

libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/support/UPLOAD-DFU.sh

@@ -1,12 +1,12 @@
 #!/bin/sh
 
 #production binary for bootloader
-#dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/revomini_AirbotV2.bin
+#dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/f4light_AirbotV2.bin
 
 # bare metal binary
 
-#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/revomini_Revolution.bin
-#dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduCopter/revomini_Revolution.bin -R
+#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/f4light_Revolution.bin
+#dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduCopter/f4light_Revolution.bin -R
 
-dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D ../../../../../ArduCopter/revo_cl_racing.bin -R
+dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D ../../../../../ArduCopter/f4light_AirbotV2.bin -R
 

libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/support/UPLOAD-STLINK.sh

@@ -1,9 +1,9 @@
 #!/bin/sh
 
 # production binary with bootloader
-#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/revomini_Revolution.bin 0x08010000
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
 
 #bare metal binary
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/MiniF4_OSD.bin 0x08000000 && /usr/local/stlink/st-util -m
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_AirbotV2.bin 0x08000000 && /usr/local/stlink/st-util -m
 
 

libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/support/UPLOAD-plane-STLINK.sh

@@ -1,9 +1,9 @@
 #!/bin/sh
 
 # production binary with bootloader
-#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/revomini_Revolution.bin 0x08010000
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
 
 #bare metal binary
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/revomini_Airbot.bin 0x08000000 && /usr/local/stlink/st-util -m
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_AirbotV2.bin 0x08000000 && /usr/local/stlink/st-util -m
 
 

libraries/AP_HAL_F4Light/boards/f4light_MatekF405_OSD/support/Rebuild.sh

@@ -11,11 +11,11 @@ echo $ROOT
 ( # AirBotF4 board
  cd $ROOT/ArduCopter
  make f4light-clean
- make f4light VERBOSE=1 BOARD=revomini_AirbotV2
+ make f4light VERBOSE=1 BOARD=f4light_AirbotV2
 ) && (
  cd $ROOT/ArduPlane
  make f4light-clean
- make f4light VERBOSE=1 BOARD=revomini_AirbotV2
+ make f4light VERBOSE=1 BOARD=f4light_AirbotV2
 )
 
 # at 4e017bf5b3da4f2a9ffc2e1cc0a37b94edac2bdc

libraries/AP_HAL_F4Light/boards/f4light_MatekF405_OSD/support/UPLOAD-DFU.sh

@@ -1,12 +1,12 @@
 #!/bin/sh
 
 #production binary for bootloader
-#dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/revomini_AirbotV2.bin
+#dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/f4light_AirbotV2.bin
 
 # bare metal binary
 
-#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/revomini_Revolution.bin
-#dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduCopter/revomini_Revolution.bin -R
+#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/f4light_Revolution.bin
+#dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduCopter/f4light_Revolution.bin -R
 
-dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D ../../../../../ArduCopter/revomini_AirbotV2.bin -R
+dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D ../../../../../ArduCopter/f4light_AirbotV2.bin -R
 

libraries/AP_HAL_F4Light/boards/f4light_MatekF405_OSD/support/UPLOAD-STLINK.sh

@@ -1,9 +1,9 @@
 #!/bin/sh
 
 # production binary with bootloader
-#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/revomini_Revolution.bin 0x08010000
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
 
 #bare metal binary
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/revomini_Airbot.bin 0x08000000 && /usr/local/stlink/st-util -m
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_AirbotV2.bin 0x08000000 && /usr/local/stlink/st-util -m
 
 

libraries/AP_HAL_F4Light/boards/f4light_MatekF405_OSD/support/UPLOAD-plane-STLINK.sh

@@ -1,9 +1,9 @@
 #!/bin/sh
 
 # production binary with bootloader
-#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/revomini_Revolution.bin 0x08010000
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
 
 #bare metal binary
-/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/revomini_AirbotV2.bin 0x08000000 && /usr/local/stlink/st-util -m
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_AirbotV2.bin 0x08000000 && /usr/local/stlink/st-util -m
 
 

libraries/AP_HAL_F4Light/boards/f4light_MiniF4_OSD/support/UPLOAD-DFU.sh

@@ -1,8 +1,8 @@
 #!/bin/sh
 
 #production binary for bootloader
-#dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/revomini_AirbotV2.bin
+#dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/f4light_AirbotV2.bin
 
 # bare metal binary
-dfu-util -a 0 --dfuse-address 0x08000000 -D ../../../../../ArduCopter/MiniF4_OSD.bin
+dfu-util -a 0 --dfuse-address 0x08000000 -D ../../../../../ArduCopter/f4light_MiniF4_OSD.bin
 

libraries/AP_HAL_F4Light/boards/f4light_MiniF4_OSD/support/UPLOAD-STLINK.sh

@@ -0,0 +1,9 @@
+#!/bin/sh
+
+# production binary with bootloader
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
+
+#bare metal binary
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_MiniF4_OSD.bin 0x08000000 && /usr/local/stlink/st-util -m
+
+

libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/Rebuild.sh

@@ -11,11 +11,11 @@ echo $ROOT
 ( # AirBotF4 board
  cd $ROOT/ArduCopter
  make f4light-clean
- make f4light VERBOSE=1 
+ make f4light 
 ) && (
  cd $ROOT/ArduPlane
  make f4light-clean
- make f4light VERBOSE=1 
+ make f4light 
 )
 
 # at 4e017bf5b3da4f2a9ffc2e1cc0a37b94edac2bdc

libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/UPLOAD-DFU-plane.sh

@@ -1,9 +1,9 @@
 #!/bin/sh
 
 #production binary for bootloader
-#dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/revomini_Revolution.bin
+#dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/f4light_Revolution.bin
 
 # bare metal binary
-#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/revomini_Revolution.bin
-dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduPlane/revomini_Revolution.bin -R
+#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/f4light_Revolution.bin
+dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduPlane/f4light_Revolution.bin -R
 

libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/UPLOAD-DFU.sh

@@ -1,9 +1,9 @@
 #!/bin/sh
 
 #production binary for bootloader
-#dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/revomini_Revolution.bin
+#dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/f4light_Revolution.bin
 
 # bare metal binary
-#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/revomini_Revolution.bin
-dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduCopter/revomini_Revolution.bin -R
+#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/f4light_Revolution.bin
+dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduCopter/f4light_Revolution.bin -R
 

libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/UPLOAD-STLINK.sh

@@ -0,0 +1,9 @@
+#!/bin/sh
+
+# production binary with bootloader
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
+
+#bare metal binary
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduCopter/f4light_Revolution.bin 0x08000000 && /usr/local/stlink/st-util -m
+
+

libraries/AP_HAL_F4Light/boards/f4light_Revolution/support/UPLOAD-plane-STLINK.sh

@@ -0,0 +1,9 @@
+#!/bin/sh
+
+# production binary with bootloader
+#/usr/local/stlink/st-flash  --reset write /tmp/ArduCopter.build/f4light_Revolution.bin 0x08010000
+
+#bare metal binary
+/usr/local/stlink/st-flash  --reset write ../../../../../ArduPlane/f4light_Revolution.bin 0x08000000 && /usr/local/stlink/st-util -m
+
+

libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/Rebuild.sh

@@ -11,10 +11,10 @@ echo $ROOT
 ( # AirBotF4 board
  cd $ROOT/ArduCopter
  make f4light-clean
- make f4light BOARD=revo_cl_racing
+ make f4light BOARD=f4light_cl_racing
 ) && (
  cd $ROOT/ArduPlane
  make f4light-clean
- make f4light BOARD=revo_cl_racing
+ make f4light BOARD=f4light_cl_racing
 )
 

libraries/AP_HAL_F4Light/boards/f4light_cl_racing/support/UPLOAD-DFU.sh

@@ -1,12 +1,12 @@
 #!/bin/sh
 
 #production binary for bootloader
-#dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/revomini_AirbotV2.bin
+#dfu-util -a 0 --dfuse-address 0x08010000 -D /tmp/ArduCopter.build/f4light_AirbotV2.bin
 
 # bare metal binary
 
-#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/revomini_Revolution.bin
-#dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduCopter/revomini_Revolution.bin -R
+#dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/f4light_Revolution.bin
+#dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduCopter/f4light_Revolution.bin -R
 
-dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D ../../../../../ArduCopter/revomini_AirbotV2.bin -R
+dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D ../../../../../ArduCopter/f4light_cl_racing.bin -R