New target mamba f405 mk2

.ci/Jenkinsfile-compile

@@ -52,6 +52,7 @@ pipeline {
                      "cuav_x7pro_default",
                      "cubepilot_cubeorange_default",
                      "cubepilot_cubeyellow_default",
+                     "diatone_mamba-f405-mk2_default",
                      "freefly_can-rtk-gps_canbootloader",
                      "freefly_can-rtk-gps_default",
                      "holybro_can-gps-v1_canbootloader",

.github/workflows/compile_nuttx.yml

@@ -29,6 +29,7 @@ jobs:
           cuav_x7pro,
           cubepilot_cubeorange,
           cubepilot_cubeyellow,
+          diatone_mamba-f405-mk2,
           freefly_can-rtk-gps,
           holybro_can-gps-v1,
           holybro_durandal-v1,

boards/diatone/mamba-f405-mk2/default.px4board

@@ -0,0 +1,53 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_NO_HELP=y
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_BMP280=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
+CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
+CONFIG_DRIVERS_OSD=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_TEST=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_PWM=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/diatone/mamba-f405-mk2/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 42,
+    "magic": "MAMBAF405MK2",
+    "description": "Firmware for the MambaF405Mk2 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4/MambaF405",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1032192,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/diatone/mamba-f405-mk2/init/rc.board_defaults

@@ -0,0 +1,18 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+# system_power unavailable
+param set-default CBRK_SUPPLY_CHK 894281
+
+# Disable safety switch by default
+param set-default CBRK_IO_SAFETY 22027
+
+# use the Q attitude estimator, it works w/o mag or GPS.
+param set-default SYS_MC_EST_GROUP 3
+param set-default ATT_ACC_COMP 0
+param set-default ATT_W_ACC 0.4000
+param set-default ATT_W_GYRO_BIAS 0.0000
+
+param set-default SYS_HAS_MAG 0

boards/diatone/mamba-f405-mk2/init/rc.board_extras

@@ -0,0 +1,9 @@
+#!/bin/sh
+#
+# Mamba F405 MK2 specific board extras init
+#------------------------------------------------------------------------------
+
+if ! param compare OSD_ATXXXX_CFG 0
+then
+	atxxxx start -s
+fi

boards/diatone/mamba-f405-mk2/init/rc.board_sensors

@@ -0,0 +1,25 @@
+#!/bin/sh
+#
+# Mamba F405 MK2 specific board sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+if ! mpu6000 -R 6 -s start
+then
+	# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
+	icm20602 -s -R 6 start
+fi
+
+if ! hmc5883 -T -X start
+then	
+	if mpu9250_i2c -X -b 2 -a 0x68 -R 28 start; then
+		sleep 1 # wait for mpu9250 to be configured with bypass enabled
+		ak8963 -X -b 2 -R 30 start # -R 34
+		sleep 1
+		mpu9250_i2c stop
+		ak8963 -X -b 2 -R 30 start # -R 34
+	fi
+fi
+
+bmp280 -X -b 2 start