diff --git a/README.md b/README.md deleted file mode 100644 index 67f28a75bc1d59..00000000000000 --- a/README.md +++ /dev/null @@ -1,160 +0,0 @@ -# ArduPilot Project - -Discord - -[![Test Copter](https://github.com/ArduPilot/ardupilot/workflows/test%20copter/badge.svg?branch=master)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_sitl_copter.yml) [![Test Plane](https://github.com/ArduPilot/ardupilot/workflows/test%20plane/badge.svg?branch=master)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_sitl_plane.yml) [![Test Rover](https://github.com/ArduPilot/ardupilot/workflows/test%20rover/badge.svg?branch=master)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_sitl_rover.yml) [![Test Sub](https://github.com/ArduPilot/ardupilot/workflows/test%20sub/badge.svg?branch=master)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_sitl_sub.yml) [![Test Tracker](https://github.com/ArduPilot/ardupilot/workflows/test%20tracker/badge.svg?branch=master)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_sitl_tracker.yml) - -[![Test AP_Periph](https://github.com/ArduPilot/ardupilot/workflows/test%20ap_periph/badge.svg?branch=master)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_sitl_periph.yml) [![Test Chibios](https://github.com/ArduPilot/ardupilot/workflows/test%20chibios/badge.svg?branch=master)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_chibios.yml) [![Test Linux SBC](https://github.com/ArduPilot/ardupilot/workflows/test%20Linux%20SBC/badge.svg?branch=master)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_linux_sbc.yml) [![Test Replay](https://github.com/ArduPilot/ardupilot/workflows/test%20replay/badge.svg?branch=master)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_replay.yml) - -[![Test Unit Tests](https://github.com/ArduPilot/ardupilot/workflows/test%20unit%20tests%20and%20sitl%20building/badge.svg?branch=master)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_unit_tests.yml)[![test size](https://github.com/ArduPilot/ardupilot/actions/workflows/test_size.yml/badge.svg)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_size.yml) - -[![Test Environment Setup](https://github.com/ArduPilot/ardupilot/actions/workflows/test_environment.yml/badge.svg?branch=master)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_environment.yml) - -[![Cygwin Build](https://github.com/ArduPilot/ardupilot/actions/workflows/cygwin_build.yml/badge.svg)](https://github.com/ArduPilot/ardupilot/actions/workflows/cygwin_build.yml) [![Macos Build](https://github.com/ArduPilot/ardupilot/actions/workflows/macos_build.yml/badge.svg)](https://github.com/ArduPilot/ardupilot/actions/workflows/macos_build.yml) - -[![Coverity Scan Build Status](https://scan.coverity.com/projects/5331/badge.svg)](https://scan.coverity.com/projects/ardupilot-ardupilot) - -[![Test Coverage](https://github.com/ArduPilot/ardupilot/actions/workflows/test_coverage.yml/badge.svg?branch=master)](https://github.com/ArduPilot/ardupilot/actions/workflows/test_coverage.yml) - -[![Autotest Status](https://autotest.ardupilot.org/autotest-badge.svg)](https://autotest.ardupilot.org/) - -ArduPilot is the most advanced, full-featured, and reliable open source autopilot software available. -It has been under development since 2010 by a diverse team of professional engineers, computer scientists, and community contributors. -Our autopilot software is capable of controlling almost any vehicle system imaginable, from conventional airplanes, quad planes, multi-rotors, and helicopters to rovers, boats, balance bots, and even submarines. -It is continually being expanded to provide support for new emerging vehicle types. - -## The ArduPilot project is made up of: ## - -- ArduCopter: [code](https://github.com/ArduPilot/ardupilot/tree/master/ArduCopter), [wiki](https://ardupilot.org/copter/index.html) - -- ArduPlane: [code](https://github.com/ArduPilot/ardupilot/tree/master/ArduPlane), [wiki](https://ardupilot.org/plane/index.html) - -- Rover: [code](https://github.com/ArduPilot/ardupilot/tree/master/Rover), [wiki](https://ardupilot.org/rover/index.html) - -- ArduSub : [code](https://github.com/ArduPilot/ardupilot/tree/master/ArduSub), [wiki](http://ardusub.com/) - -- Antenna Tracker : [code](https://github.com/ArduPilot/ardupilot/tree/master/AntennaTracker), [wiki](https://ardupilot.org/antennatracker/index.html) - -## User Support & Discussion Forums ## - -- Support Forum: - -- Community Site: - -## Developer Information ## - -- Github repository: - -- Main developer wiki: - -- Developer discussion: - -- Developer chat: - -## Top Contributors ## - -- [Flight code contributors](https://github.com/ArduPilot/ardupilot/graphs/contributors) -- [Wiki contributors](https://github.com/ArduPilot/ardupilot_wiki/graphs/contributors) -- [Most active support forum users](https://discuss.ardupilot.org/u?order=post_count&period=quarterly) -- [Partners who contribute financially](https://ardupilot.org/about/Partners) - -## How To Get Involved ## - -- The ArduPilot project is open source and we encourage participation and code contributions: [guidelines for contributors to the ardupilot codebase](https://ardupilot.org/dev/docs/contributing.html) - -- We have an active group of Beta Testers to help us improve our code: [release procedures](https://ardupilot.org/dev/docs/release-procedures.html) - -- Desired Enhancements and Bugs can be posted to the [issues list](https://github.com/ArduPilot/ardupilot/issues). - -- Help other users with log analysis in the [support forums](https://discuss.ardupilot.org/) - -- Improve the wiki and chat with other [wiki editors on Discord #documentation](https://discord.com/channels/ardupilot) - -- Contact the developers on one of the [communication channels](https://ardupilot.org/copter/docs/common-contact-us.html) - -## License ## - -The ArduPilot project is licensed under the GNU General Public -License, version 3. - -- [Overview of license](https://ardupilot.org/dev/docs/license-gplv3.html) - -- [Full Text](https://github.com/ArduPilot/ardupilot/blob/master/COPYING.txt) - -## Maintainers ## - -ArduPilot is comprised of several parts, vehicles and boards. The list below -contains the people that regularly contribute to the project and are responsible -for reviewing patches on their specific area. - -- [Andrew Tridgell](https://github.com/tridge): - - ***Vehicle***: Plane, AntennaTracker - - ***Board***: Pixhawk, Pixhawk2, PixRacer -- [Francisco Ferreira](https://github.com/oxinarf): - - ***Bug Master*** -- [Grant Morphett](https://github.com/gmorph): - - ***Vehicle***: Rover -- [Willian Galvani](https://github.com/williangalvani): - - ***Vehicle***: Sub - - ***Board***: Navigator -- [Michael du Breuil](https://github.com/WickedShell): - - ***Subsystem***: Batteries - - ***Subsystem***: GPS - - ***Subsystem***: Scripting -- [Peter Barker](https://github.com/peterbarker): - - ***Subsystem***: DataFlash, Tools -- [Randy Mackay](https://github.com/rmackay9): - - ***Vehicle***: Copter, Rover, AntennaTracker -- [Siddharth Purohit](https://github.com/bugobliterator): - - ***Subsystem***: CAN, Compass - - ***Board***: Cube* -- [Tom Pittenger](https://github.com/magicrub): - - ***Vehicle***: Plane -- [Bill Geyer](https://github.com/bnsgeyer): - - ***Vehicle***: TradHeli -- [Emile Castelnuovo](https://github.com/emilecastelnuovo): - - ***Board***: VRBrain -- [Georgii Staroselskii](https://github.com/staroselskii): - - ***Board***: NavIO -- [Gustavo José de Sousa](https://github.com/guludo): - - ***Subsystem***: Build system -- [Julien Beraud](https://github.com/jberaud): - - ***Board***: Bebop & Bebop 2 -- [Leonard Hall](https://github.com/lthall): - - ***Subsystem***: Copter attitude control and navigation -- [Matt Lawrence](https://github.com/Pedals2Paddles): - - ***Vehicle***: 3DR Solo & Solo based vehicles -- [Matthias Badaire](https://github.com/badzz): - - ***Subsystem***: FRSky -- [Mirko Denecke](https://github.com/mirkix): - - ***Board***: BBBmini, BeagleBone Blue, PocketPilot -- [Paul Riseborough](https://github.com/priseborough): - - ***Subsystem***: AP_NavEKF2 - - ***Subsystem***: AP_NavEKF3 -- [Víctor Mayoral Vilches](https://github.com/vmayoral): - - ***Board***: PXF, Erle-Brain 2, PXFmini -- [Amilcar Lucas](https://github.com/amilcarlucas): - - ***Subsystem***: Marvelmind -- [Samuel Tabor](https://github.com/samuelctabor): - - ***Subsystem***: Soaring/Gliding -- [Henry Wurzburg](https://github.com/Hwurzburg): - - ***Subsystem***: OSD - - ***Site***: Wiki -- [Peter Hall](https://github.com/IamPete1): - - ***Vehicle***: Tailsitters - - ***Vehicle***: Sailboat - - ***Subsystem***: Scripting -- [Andy Piper](https://github.com/andyp1per): - - ***Subsystem***: Crossfire - - ***Subsystem***: ESC - - ***Subsystem***: OSD - - ***Subsystem***: SmartAudio -- [Alessandro Apostoli ](https://github.com/yaapu): - - ***Subsystem***: Telemetry - - ***Subsystem***: OSD -- [Rishabh Singh ](https://github.com/rishabsingh3003): - - ***Subsystem***: Avoidance/Proximity -- [David Bussenschutt ](https://github.com/davidbuzz): - - ***Subsystem***: ESP32,AP_HAL_ESP32 -- [Charles Villard ](https://github.com/Silvanosky): - - ***Subsystem***: ESP32,AP_HAL_ESP32 diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MUPilot/MUPilot.png b/libraries/AP_HAL_ChibiOS/hwdef/MUPilot/MUPilot.png new file mode 100644 index 00000000000000..2aeb3cf8462407 Binary files /dev/null and b/libraries/AP_HAL_ChibiOS/hwdef/MUPilot/MUPilot.png differ diff --git a/libraries/AP_HAL_ChibiOS/hwdef/MUPilot/README.md b/libraries/AP_HAL_ChibiOS/hwdef/MUPilot/README.md index baf9dd5918c8b1..4cb5b8ed14b9fa 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/MUPilot/README.md +++ b/libraries/AP_HAL_ChibiOS/hwdef/MUPilot/README.md @@ -21,7 +21,138 @@ The MUPilot flight controller is sold by [MUGIN UAV](http://https://www.muginuav ## Pinout -![MUPilot Board](MUPILOT-pinout.jpg "MUPilot") +![MUPilot Board](MUPILOT.png "MUPilot") + +## Connectors + +**POWER1/2** + +| Pin | Signal | Volt | +| :--: | :-------------: | :---: | +| 1 | VCC_IN | +5V | +| 2 | VCC_IN | +5V | +| 3 | CRRENT_ADC | +3.3V | +| 4 | VOLTAGE_ADC | +3.3V | +| 5 | GND | GND | +| 6 | GND | GND | + +**TELEM1** + +| Pin | Signal | Volt | +| :--: | :-----: | :---: | +| 1 | VCC | +5V | +| 2 | UART_TX2| +3.3V | +| 3 | UART_RX2| +3.3V | +| 4 | CTS | +3.3V | +| 5 | RTS | +3.3V | +| 6 | GND | GND | + +**TELEM2** + +| Pin | Signal | Volt | +| :--: | :-----: | :---: | +| 1 | VCC | +5V | +| 2 | UART_TX6| +3.3V | +| 3 | UART_RX6| +3.3V | +| 4 | CTS | +3.3V | +| 5 | RTS | +3.3V | +| 6 | GND | GND | + +**GPS&SAFETY** + +| Pin | Signal | Volt | +| :--: | :-----------: | :---: | +| 1 | VCC | +5V | +| 2 | UART_TX1 | +3.3V | +| 3 | UART_RX1 | +3.3V | +| 4 | I2C1_SCL | +3.3V | +| 5 | I2C1_SDA | +3.3V | +| 6 | SAFETY_SW | +3.3V | +| 7 | SAFETY_SW_LED | +3.3V | +| 8 | 3V3_OUT | +3.3V | +| 9 | BUZZER | +3.3V | +| 10 | GND | GND | + +**UART4(GPS2)** + +| Pin | Signal | Volt | +| :--: | :-----: | :---: | +| 1 | VCC | +5V | +| 2 |UART_TX3 | +3.3V | +| 3 |UART_RX3 | +3.3V | +| 4 |I2C2_SCL | +3.3V | +| 5 |I2C2_SDA | +3.3V | +| 6 | GND | GND | + +**CAN1/2** + +| Pin | Signal | Volt | +| :--: | :----: | :---: | +| 1 | VCC | +5V | +| 2 | CAN_H | +3.3V | +| 3 | CAN_L | +3.3V | +| 4 | GND | GND | + +**ADC** + +| Pin | Signal | Volt | +| :--: | :-----: | :---: | +| 1 | VCC | +5V | +| 2 | ADC_3V3 | +3.3V | +| 3 | ADC_6V6 | +6.6V | +| 4 | GND | GND | + +**I2C1/2/3/4** + +| Pin | Signal | Volt | +| :--: | :------: | :---: | +| 1 | VCC | +5V | +| 2 | I2C_SCL | +3.3V | +| 3 | I2C _SDA | +3.3V | +| 4 | GND | GND | + + +**SPI5** + +| Pin | Signal | Volt | +| :--: | :----: | :---: | +| 1 | VCC | +5V | +| 2 | SCK | +3.3V | +| 3 | MISO | +3.3V | +| 5 | MOSI | +3.3V | +| 6 | CS1 | +3.3V | +| 7 | CS2 | +3.3V | +| 8 | GND | GND | + +**DSM/SBUS/RSSI** + +| Pin | Signal | Volt | +| :--: | :---------: | :---: | +| 1 | VCC | +5V | +| 2 | DSM/SBUS | +3.3V | +| 3 | RSSI | +3.3V | +| 4 | 3V3_OUT | +3.3V | +| 5 | GND | GND | + +**SBUS OUT** + +| Pin | Signal | Volt | +| :--: | :----: | :---: | +| 1 | - | - | +| 2 |SBUS OUT| +3.3V | +| 3 | GND | GND | + +**DEBUG** + +| Pin | Signal | Volt | +| :--: | :----: | :---: | +| 1 | VCC | +5V | +| 2 |UART_TX7| +3.3V | +| 3 |UART_RX7| +3.3V | +| 4 | SWDIO | +3.3V | +| 5 | SWCLK | +3.3V | +| 6 | GND | GND | + ## UART Mapping @@ -32,6 +163,7 @@ The MUPilot flight controller is sold by [MUGIN UAV](http://https://www.muginuav - SERIAL4 -> UART4 (GPS2) - SERIAL5 -> UART6 (spare) - SERIAL6 -> UART7 (spare, debug) + - SERIAL7 -> USB2 (SLCAN) The Telem1 and Telem2 ports have RTS/CTS pins, the other UARTs do not have RTS/CTS.