Carbonix Custom Hardware Def

Tools/AP_Periph/AP_Periph.cpp

@@ -24,6 +24,7 @@
 #include <AP_HAL/AP_HAL_Boards.h>
 #include "AP_Periph.h"
 #include <stdio.h>
+#include <dronecan_msgs.h>
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 #include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>

Tools/AP_Periph/AP_Periph.h

@@ -266,6 +266,9 @@ class AP_Periph_FW {
 
 #if HAL_GCS_ENABLED
     GCS_Periph _gcs;
+#endif
+#ifdef HAL_PERIPH_ARM_MONITORING_ENABLE
+    bool arm_update_status;
 #endif
     // setup the var_info table
     AP_Param param_loader{var_info};

Tools/AP_Periph/Parameters.h

@@ -153,6 +153,10 @@ class Parameters {
     AP_Int16 sysid_this_mav;
 #endif
 
+#ifdef HAL_PERIPH_ARM_MONITORING_ENABLE
+    AP_Int32 disarm_delay;
+#endif
+
 #ifdef HAL_PERIPH_ENABLE_EFI
     AP_Int32 efi_baudrate;
     AP_Int8 efi_port;

Tools/AP_Periph/esc_apd_telem.cpp

@@ -48,7 +48,8 @@ bool ESC_APD_Telem::update() {
                     // valid packet, copy the data we need and reset length
                     decoded.voltage = le16toh(received.packet.voltage) * 1e-2f;
                     decoded.temperature = convert_temperature(le16toh(received.packet.temperature));
-                    decoded.current = le16toh(received.packet.bus_current) * (1 / 12.5f);
+                    int16_t temp_current = le16toh(received.packet.bus_current);
+                    decoded.current = temp_current * (1 / 12.5f);
                     decoded.rpm = le32toh(received.packet.erpm) / pole_count;
                     decoded.power_rating_pct = le16toh(received.packet.motor_duty) * 1e-2f;
                     ret = true;

Tools/Carbonix_scripts/carbonix_waf_build.sh

@@ -0,0 +1,43 @@
+#!/bin/bash
+
+# Exit if any command fails
+set -e
+
+# Check unstaged changes
+if [[ $(git status --porcelain) ]]; then
+    echo "Error: There are unstaged changes in the repository."
+    exit 1
+fi
+
+# Check outdated submodules
+# git submodule update --remote --quiet
+# outdated_submodules=$(git submodule status | grep -e '-[[:alnum:]]' | awk '{print $2}')
+# if [[ -n $outdated_submodules ]]; then
+#     echo "The following submodules are not updated:"
+#     echo "$outdated_submodules"
+#     exit 1
+# fi
+
+echo "Running distclean..."
+./waf distclean
+
+main_boards=("CarbonixCubeOrange" "CubeOrange" "sitl")
+
+for board in "${main_boards[@]}"; do
+  echo "Compiling Plane for $board..."
+  ./Tools/scripts/build_bootloaders.py "$board"
+  ./waf configure --board "$board"
+  ./waf plane
+done
+
+periph_boards=("CarbonixF405" "Volanti-M1" "Volanti-M2" "Volanti-M3" "Volanti-M4" "Volanti-M5" "Volanti-LWing" "Volanti-RWing" "Volanti-LTail" "Volanti-RTail" "Ottano-M1" "Ottano-M2" "Ottano-M3" "Ottano-M4" "Ottano-M5" "Ottano-LWing" "Ottano-RWing" "Ottano-LTail" "Ottano-RTail")
+
+for board in "${periph_boards[@]}"; do
+  echo "Compiling AP_Periph for $board..."
+  ./Tools/scripts/build_bootloaders.py "$board"
+  ./waf configure --board "$board"
+  ./waf AP_Periph
+done
+
+
+echo "Script completed successfully."