AP_HAL_ChibiOS: hwdef: ARK_FPV board support

[dakejahl]

Adds board support for the ARK FPV.
https://arkelectron.com/product/ark-fpv-flight-controller/

Testing Checklist

From https://ardupilot.org/dev/docs/porting.html

• the board boots and connects to a GCS via USB (Mission Planner, QGC, MAVProxy,etc.)
• the GPS and Compass is recognized.
• the RC is recognized and RC input follows the TX
• the pitch and roll reports (ie HUD horizon) follows autopilot movement correctly (ie IMU is oriented properly and working). test each IMU individually using the INSx_USE parameters.
• the board arms with default arming checks (may need to force arm if GPS is indoors)
• attach a battery either directly if onboard power sensors or via external power module and make sure voltage is correctly displayed and current indication present
• attach a test servo to each output after setting the output to a normal function like elevator, and exercise each one with TX while in MANUAL mode to check output functionality. Bdshot capable outputs should be tested with a BLHeli32 esc for passthrough mode communication (non-IOMCU outputs).
• move the GPS to each UART output after setting all other UART protocols to NONE and the tested UART to GPS to assure the UART is functioning.
• UARTs with CTS/RTS lines should use a telemetry radio with those connected to be sure they function with BRD_SERx__CTSRTS=1

From my own notes

• FW upload on USB
• FW upload on serial port (GPS)
• Flash based params functional
• Telem port test (mavlink)
• GPS port test (mavlink)
• RCIN port test (SBUS)
• PWM 1-4 test (Bidir-DSHOT)
• ESC Telem test
• Analog current measurement (ESC pin CURR_IN)
• CAN port test (DroneCAN via MAVCAN over USB)
• VTX OSD port test (MSP Displayport)
• PWM AUX (5 - 9) port test
  • Servo9 doesn't go back to 0 when disabled, it stays at the disarmed PWM value
• SPI port test (SCH16T IMU AP_InertialSensor: Murata SCH16T IMU  #26876)
• 12V ADC measurement

Requires

IIS2MDC compass driver PR
#28602

[dakejahl]

I want to reduce the clock speed to 320MHz to reduce heat but adding MCU_CLOCKRATE_MHZ 320 to the hwdef causes the build to fail. Any ideas?

From Andy

The only value supported is 480 on H7, its a way of raising the clockrate from the default of 400. bit of history the rev X&Y versions of the H7 had silicon bugs which meant they would only work at 400MHz, that's why its an option - and should only be used with rev V

[AlexKlimaj]

Just built and flashed. Looks like it is working.

[dakejahl]

Good practice to set an IMU temp low margin? Or just pre-arm annoyance?

[dakejahl]

ESC Bidir DShot passthrough works using BIDIR on Channels 1 - 4

[Hwurzburg]

@dakejahl readme will need images of board with connectors labeled

[dakejahl]

@dakejahl readme will need images of board with connectors labeled

@Hwurzburg I've added top/bottom images of the silkscreen which has the pin 1 indicator next to each connector

[Hwurzburg]

@dakejahl ping me when testing is complete and I will reveiw

[dakejahl]

@Hwurzburg testing is complete. I've uploaded a log of a flight test here.
https://drive.google.com/file/d/1FsKDafLm5o2UE7yZUbidiRbH3OhbslD0/view?usp=sharing

[Hwurzburg]

you should consider adding SD card to bootloader for SD card firmware updating

[Hwurzburg]

@dakejahl I have made a few tweaks to the readme and squashed and library split into the form we need for merging...marked for devcall....still needs @andyp1per to give approval.

[dakejahl]

@Hwurzburg Thanks for that. Appreciate all of the help so far