AP Periph

Contains information relevant to using AP periph on the micro node system

We support AP_Periph based firmware's for our CAN node. The Nodes ship with a generic AP_periph firmware by default.

Default firmware features

• 4 PWMs/GPIOs

  • PA8 - PWM 1 - GPIO 50

  • PA9 - PWM 2 - GPIO 51

  • PA10 - PWM 3 - GPIO 52

  • PA11 - PWM 4 - GPIO 53

• Serial UBLOX/NMEA GPS (Serial 3 by default)

• Barometers

• Airspeed

• Battery (any, but ADC PA0 voltage and PA1 Current enabled by default)

• Relay

Firmware files and flashing

If there is no AP periph bootloader present on the node (you've been using Arduino DroneCAN for example) then AP_Periph_with_bl.hex needs flashing with STM cube Programmer using STLINK or UART.

If the AP periph bootloader is present, the .bin file can be used in the usual way through mission planner.

We've working on merging our hwdef file into Ardupilot repository

636KB

AP_Periph_with_bl.hex

Open

For use with STM Cube Programmer

191KB

AP_Periph.bin

Open

If the AP periph booloader is present on the node, this file can be used to program the firmware through mission planner.