Skip to content

[Sponsored by Holybro] Support for Kakute H743-Wing #24669

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Merged
merged 3 commits into from
May 4, 2025
Merged

[Sponsored by Holybro] Support for Kakute H743-Wing #24669

merged 3 commits into from
May 4, 2025

Conversation

julianoes
Copy link
Contributor

@julianoes julianoes commented Apr 4, 2025 •
edited
Loading

This adds support for the Holybro Kakute H743-Wing (https://holybro.com/products/kakute-h743-wing).

Current status:

  • IMU
  • Baro
  • Params
  • SD card
  • Voltage/Current measurement (hard-coded to BAT1)
  • Serial ports
  • 14 PWM ports (8 with DShot)
  • GPS port
  • UAVCAN
  • External mag
  • SBUS input
  • RC input
  • OSD
  • Buzzer
  • Input capture
  • Docs entry
  • Testing revision RC02
  • Testing revision RC04

Depends on #24668.

FYI @vincentpoont2

@julianoes julianoes changed the title [Sponsored by Holybro] Support for KakuteH7-WingPr kakuteh7 wing [Sponsored by Holybro] Support for KakuteH7-Wing Apr 4, 2025
@julianoes julianoes changed the title [Sponsored by Holybro] Support for KakuteH7-Wing [Sponsored by Holybro] Support for Kakute H743-Wing Apr 4, 2025
Base automatically changed from pr-uavcan-define to main April 4, 2025 20:42
@julianoes julianoes requested a review from davids5 April 10, 2025 01:56
@julianoes julianoes marked this pull request as ready for review April 10, 2025 02:09
davids5
davids5 previously approved these changes Apr 14, 2025
View reviewed changes
Copy link
Member

@davids5 davids5 left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

@julianoes Nice!

@julianoes julianoes force-pushed the pr-kakuteh7-wing branch 3 times, most recently from 821db5e to 59ae5d4 Compare April 15, 2025 04:12
@davids5 davids5 self-requested a review April 15, 2025 07:11
@julianoes julianoes force-pushed the pr-kakuteh7-wing branch 3 times, most recently from 655e539 to 0eb0e7a Compare May 2, 2025 03:14
@julianoes julianoes moved this from Todo to In Progress in PX4 v1.16 Release May 2, 2025
davids5
davids5 reviewed May 2, 2025
View reviewed changes
@davids5 davids5 self-requested a review May 3, 2025 06:41
davids5
davids5 approved these changes May 3, 2025
View reviewed changes
Copy link
Member

@davids5 davids5 left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Let merge as is to keep risk low.

julianoes added 3 commits May 3, 2025 06:20
@julianoes @mrpollo
hrt: Fix PPM input on channel 2
83e8f9f 
The CCMR1_PPM define for PPM input on channel 2 was incorrectly set to 2,
which was setting bits for channel 1 instead of channel 2. This prevented
PPM input from functioning properly on channel 2.

Changed CCMR1_PPM for channel 2 from 2 to (1 << 8), which correctly
configures the CC2S bits for input capture mode on TI2.

This fixes an issue noted in the existing code comment:
"FIXME! There is an interaction in the CCMR registers that prevents
using Chan 1 as the timer and chan 2 as the PPM"

Tested on STM32H743 with PPM input on PC7 (TIM8_CH2).
@julianoes @mrpollo
rc_input: enable sharing serial and PPM pin
49b5e35 
By setting RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX it is now possible to
use the same pin on the STM32 for PPM input as well as serial input.
@julianoes @mrpollo
boards: Add support for Holybro KakuteH7-Wing
6f1e75b
@mrpollo mrpollo force-pushed the pr-kakuteh7-wing branch from 0eb0e7a to 6f1e75b Compare May 3, 2025 13:20
@github-actions GitHub Actions
Copy link

github-actions bot commented May 3, 2025

No flaws found

dakejahl
dakejahl approved these changes May 4, 2025
View reviewed changes
Copy link
Contributor

@dakejahl dakejahl left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

LGTM

Do you need to reserve the board ID in https://github.com/PX4/PX4-Bootloader?

@julianoes
Copy link
Contributor Author

Do you need to reserve the board ID in https://github.com/PX4/PX4-Bootloader?

That's a good point @dakejahl. I thought it would already be there because the board has been sold for a while, and has ArduPilot support already, so I was assuming it's already there. Let me make sure it'll get added.

@julianoes
Copy link
Contributor Author

@dakejahl it's here:
https://github.com/ArduPilot/ardupilot/blob/fccd9600d8e5680f166e1ec1a1bf834b88fe563c/Tools/AP_Bootloader/board_types.txt#L227

@dakejahl
Copy link
Contributor

dakejahl commented May 4, 2025

@dakejahl it's here: https://github.com/ArduPilot/ardupilot/blob/fccd9600d8e5680f166e1ec1a1bf834b88fe563c/Tools/AP_Bootloader/board_types.txt#L227

Hmm so Ardupilot is maintaining their own list. Seems like the PX4-Bootloader repo hasn't seen much activity in comparison.

@julianoes julianoes mentioned this pull request May 4, 2025
Merged
@julianoes
Copy link
Contributor Author

Hmm so Ardupilot is maintaining their own list.

Given they have so many boards on there, I understand it. However, it would be nice if it was some common/upstream thing. Or at least if there was some mechanism to avoid conflicts.

@dakejahl dakejahl merged commit 3c39095 into main May 4, 2025
67 of 70 checks passed
@dakejahl dakejahl deleted the pr-kakuteh7-wing branch May 4, 2025 22:44
@github-project-automation github-project-automation bot moved this from In Progress to Done in PX4 v1.16 Release May 4, 2025
This was referenced May 4, 2025
Merged
Merged
@mrpollo mrpollo mentioned this pull request May 5, 2025
Merged
@hamishwillee
Copy link
Contributor

Don't forget the docs!

@julianoes
Copy link
Contributor Author

@hamishwillee I thought I did well: https://github.com/PX4/PX4-Autopilot/pull/24669/files#diff-b135788132de36d0eb77aa6b1ae9b22742939199e814a7f8fe08d4f31594c334

@julianoes julianoes mentioned this pull request May 20, 2025
Merged
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

@davids5 davids5 davids5 approved these changes

@dakejahl dakejahl dakejahl approved these changes

Assignees

No one assigned

Labels

None yet

Projects

PX4 v1.16 Release
Status: Done

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

4 participants

@julianoes @dakejahl @hamishwillee @davids5