4.8:32058/add VUAV-TinyV7

common/source/docs/common-autopilots.rst

@@ -250,6 +250,7 @@ Closed Hardware
     YJUAV A6SE <common-yjuav-a6se>
     YJUAV A6SE H743<common-yjuav-a6se-h743>
     YJUAV-A6Ultra <common-yjuav-a6ultra>
+    VUAV-TINYV7 <common-vuav-tinyv7>
 
 .. note:: due to flash memory limitations, most F4 based, and some other boards, do not include all ArduPilot features. See :ref:`Firmware Limitations <common-limited_firmware>` for details.
 

common/source/docs/common-vuav-tinyv7.rst

@@ -0,0 +1,149 @@
+.. _common-vuav-tinyv7:
+
+[copywiki destination="plane,copter,rover,blimp,sub"]
+
+===============================
+VUAV-TinyV7 Flight Controller
+===============================
+
+The VUAV-TinyV7 flight controller is manufactured by `V-UAV <http://www.v-uav.com/>`__.
+This page summarizes the board support currently in ArduPilot for the "VUAV-TinyV7" target.
+
+Features
+========
+
+* STM32H743 microcontroller
+* 2MB flash
+* Dual IMUs: ICM45686 and BMI088
+* On-board barometer
+* On-board compass support
+* FRAM for parameter storage
+* microSD card slot
+* RGB status LED
+* Safety switch support
+* IMU heater support
+* 5 UARTs plus USB
+* 12 PWM outputs, with bi-directional DShot support on outputs 1 to 8
+* I2C support
+* 1 CAN bus
+
+Pinout
+======
+
+.. image:: ../../../images/VUAV-TinyV7-Connectors.png
+    :target: ../_images/VUAV-TinyV7-Connectors.png
+
+.. image:: ../../../images/VUAV-TinyV7-Pinouts.png
+    :target: ../_images/VUAV-TinyV7-Pinouts.png
+
+UART Mapping
+============
+
+The default serial port mapping is:
+
+* SERIAL0 -> USB (MAVLink2)
+* SERIAL1 -> USART2 (MAVLink2, Telem1, DMA-enabled)
+* SERIAL2 -> UART5 (MAVLink2, Telem2, DMA-enabled)
+* SERIAL3 -> USART1 (GPS1, DMA-enabled)
+* SERIAL4 -> USART3 (GPS2, DMA-enabled)
+* SERIAL5 -> UART7 (USER, Telem3, DMA-enabled)
+* SERIAL6 -> USB OTG2 (SLCAN)
+
+The TELEM1 port includes RTS/CTS. The other exposed UARTs do not.
+
+RC Input
+========
+
+The dedicated RC input is on the RCIN pin and supports all unidirectional RC protocols.
+For bi-directional protocols such as CRSF/ELRS, any suitable serial port can be configured with ``SERIALn_PROTOCOL = 23`` and the receiver connected to that port's TX/RX pins.
+See `RC control systems <https://ardupilot.org/rover/docs/common-rc-systems.html>`__ for protocol-specific setup details.
+
+PWM Output
+==========
+
+The VUAV-TinyV7 supports up to 12 PWM outputs.
+Outputs 1 to 8 support bi-directional DShot.
+
+The outputs are grouped as follows:
+
+* PWM 1 to 4 in group 1
+* PWM 5 to 8 in group 2
+* PWM 9 to 10 in group 3
+* PWM 11 to 12 in group 4
+
+Channels within the same group must use the same output rate.
+If any channel in a group uses DShot, then all channels in that group must use DShot.
+
+GPIOs
+=====
+
+All PWM outputs can also be used as GPIOs for relays, RPM sensors, buttons, and similar functions.
+
+The GPIO numbers for the PWM outputs are:
+
+==============  ===
+PWM Output      GPIO
+==============  ===
+PWM1             50
+PWM2             51
+PWM3             52
+PWM4             53
+PWM5             54
+PWM6             55
+PWM7             56
+PWM8             57
+PWM9             58
+PWM10            59
+PWM11            60
+PWM12            61
+==============  ===
+
+Analog Inputs
+=============
+
+The board exposes several ADC inputs, including:
+
+* Primary battery voltage
+* Primary battery current
+* Secondary battery voltage
+* Two spare ADC inputs
+* 5V rail sensing
+* Servo rail voltage sensing
+
+Battery Monitoring
+==================
+
+The board includes built-in battery monitor defaults for the primary power input:
+
+- :ref:`BATT_MONITOR<BATT_MONITOR>` = 4
+- :ref:`BATT_VOLT_PIN<BATT_VOLT_PIN__AP_BattMonitor_Analog>` 4
+- :ref:`BATT_CURR_PIN<BATT_CURR_PIN__AP_BattMonitor_Analog>` 8
+- :ref:`BATT_VOLT_MULT<BATT_VOLT_MULT__AP_BattMonitor_Analog>` 20.0
+- :ref:`BATT_AMP_PERVLT<BATT_AMP_PERVLT__AP_BattMonitor_Analog>` 24.0
+
+A secondary voltage-only monitor can also be enabled for the ESC power input:
+
+- :ref:`BATT2_MONITOR<BATT2_MONITOR>` = 3    to enable
+
+Preset defaults:
+
+- :ref:`BATT2_VOLT_PIN<BATT2_VOLT_PIN__AP_BattMonitor_Analog>` = 10
+- :ref:`BATT2_VOLT_MULT<BATT2_VOLT_MULT__AP_BattMonitor_Analog>` = 10.09
+
+Compass
+=======
+
+The hardware definition includes on-board compass support.
+As with most compact autopilots, users operating near high-current wiring or power electronics may still get better magnetic performance from an external compass mounted away from the flight controller, while disabling the internal compass.
+
+Loading Firmware
+================
+
+Firmware for the board can be found on the `ArduPilot Firmware Server <https://firmware.ardupilot.org>`__ in the folders named "VUAV-TinyV7" for each vehicle type.
+
+The board includes an ArduPilot-compatible bootloader, so firmware can be loaded with any compatible ground station using the "\.apj" files.
+
+Where to Buy
+============
+
+`V-UAV <http://www.v-uav.com/>`__