From de37e2e17972a08fbd941e802d6ed57c979f1fc1 Mon Sep 17 00:00:00 2001 From: Stephen Dade Date: Thu, 21 Feb 2019 21:58:39 +1100 Subject: [PATCH] HAL_ChibiOS: Corrected servo output order for KakuteF4 --- libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef.dat | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef.dat index 806a77b9fd..7ac450aca1 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteF4/hwdef.dat @@ -7,6 +7,9 @@ # MCU class and specific type MCU STM32F4xx STM32F405xx +# Betaflight motor order for copter +define HAL_FRAME_TYPE_DEFAULT 12 + # board ID for firmware load APJ_BOARD_ID 122 @@ -110,10 +113,10 @@ PA14 JTCK-SWCLK SWD # PWM out pins. Note that channel order follows the ArduPilot motor # order conventions -PB1 TIM3_CH4 TIM3 PWM(1) GPIO(50) -PA3 TIM5_CH4 TIM5 PWM(2) GPIO(51) -PA2 TIM5_CH3 TIM5 PWM(3) GPIO(52) -PB0 TIM3_CH3 TIM3 PWM(4) GPIO(53) +PB0 TIM3_CH3 TIM3 PWM(1) GPIO(53) +PB1 TIM3_CH4 TIM3 PWM(2) GPIO(50) +PA3 TIM5_CH4 TIM5 PWM(3) GPIO(51) +PA2 TIM5_CH3 TIM5 PWM(4) GPIO(52) # PC8 TIM8_CH3 TIM2 GPIO(54) # LED strip