feat(boards): add DAKEFPV H743, H743 Pro and H743 Slim flight controllers

boards/dakefpv/h743/bootloader.px4board

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+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT=""

boards/dakefpv/h743/default.px4board

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+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_GOERTEK_SPL06=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_COMMON_BAROMETERS=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_OSD_ATXXXX=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_ESC_BATTERY=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/dakefpv/h743/firmware.prototype

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+{
+    "board_id": 1193,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the DAKEFPV H743 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "DAKEFPV H743",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1835008,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/dakefpv/h743/init/rc.board_defaults

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+#!/bin/sh
+#
+# DAKEFPV H743 board-specific parameter defaults
+#------------------------------------------------------------------------------
+
+# IMU mounting offsets are applied per-sensor in rc.board_sensors
+# (icm42688p -R); SENS_BOARD_ROT stays at the default (none).
+
+# No internal compass — external optional (e.g. Foxeer M10Q on I2C2)
+param set-default SYS_HAS_MAG 0
+param set-default EKF2_MAG_TYPE 5
+
+# No power module connector — disable supply voltage check
+param set-default CBRK_SUPPLY_CHK 894281
+
+# Battery monitoring (PC1 voltage, PC0 current — from board hardware)
+param set-default BAT1_V_DIV 16.0
+param set-default BAT1_A_PER_V 83.3
+
+# GPS on USART1 (ttyS0) — already set via CONFIG_BOARD_SERIAL_GPS1
+# If no GPS connected PX4 will skip GPS fusion silently
+
+# Use RAM backend for dataman (no SD card slot; W25Q128 used for logging only)
+param set-default SYS_DM_BACKEND 1
+
+# Digital FPV camera / MSP DisplayPort OSD on TELEM3 (ttyS3)
+param set-default MSP_OSD_CONFIG 103
+# msp_osd forces this port to 115200 from the driver (cfsetspeed in
+# msp_osd.cpp), so make the parameter match rather than leave it reporting the
+# 57600 default. It also gives the right speed if TELEM3 is repurposed for
+# MAVLink, which does honour the parameter.
+param set-default SER_TEL3_BAUD 115200
+# Analog OSD (AT7456E) is fitted on all variants; 2 = PAL, 1 = NTSC, 0 = disabled
+param set-default OSD_ATXXXX_CFG 2
+
+# Logging goes to the onboard SPI NOR flash: there is no SD card on this board.
+# NOR must erase before it can write, and littlefs periodically compacts blocks,
+# so the write path stalls for seconds at a time. Measured on H743 Pro hardware
+# at the default logging profile (~31 KiB/s), dropouts over a 45 s run were:
+#
+#    64 KiB buffer (the tree-wide default)   65 dropouts
+#   128 KiB                                  36 dropouts
+#   256 KiB                                  27 dropouts
+#
+# Larger still keeps helping but leaves no heap: a 512 KiB request was clamped
+# to the 451 KiB of free memory, i.e. all of it. 256 KiB peaked at 169 KiB used
+# and leaves room for everything else.
+set LOGGER_BUF 256
+
+# A single log file cannot exceed the 16 MB part. The 1024 MiB default makes the
+# logger's cleanup threshold unreachable, so it runs its free-space path on every
+# start and reports "14 MiB free, threshold 1025 MiB".
+param set-default SDLOG_MAX_SIZE 12

boards/dakefpv/h743/init/rc.board_extras

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+#!/bin/sh
+#
+# DAKEFPV H743 board extras
+#
+# Ensure /fs/microsd/etc/ exists and seed an empty extras.txt the first time,
+# so the user startup script is present and discoverable on the onboard flash.
+# PX4 runs /fs/microsd/etc/extras.txt at every boot (FEXTRAS in rcS); add your
+# startup commands there.
+#
+
+mkdir -p /fs/microsd/etc
+
+if [ ! -f /fs/microsd/etc/extras.txt ]
+then
+	echo "# DAKEFPV user startup commands - run at every boot" > /fs/microsd/etc/extras.txt
+fi
+
+if ! param compare OSD_ATXXXX_CFG 0
+then
+	atxxxx start -s
+fi

boards/dakefpv/h743/init/rc.board_sensors

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+#!/bin/sh
+#
+# board specific sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# IMU rotations verified on hardware (accel gravity vector, board flat, arrow
+# forward). ArduPilot's hwdef lists ROLL_180 / PITCH_180, but PX4's icm42688p
+# driver already flips Y/Z to a z-down frame, so the PX4 values are those
+# rotations composed with ROLL_180: NONE and YAW_180.
+
+# Internal SPI bus ICM-42688P (SPI1), no rotation (0)
+icm42688p -s -b 1 start
+
+# Internal SPI bus ICM-42688P (SPI4), YAW_180 (4)
+icm42688p -s -b 4 -R 4 start
+
+# Internal baro SPL06 on I2C2
+spl06 start -I -b 2

boards/dakefpv/h743/nuttx-config/bootloader/defconfig

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+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DEV_CONSOLE is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_SPI_EXCHANGE is not set
+# CONFIG_STM32H7_SYSCFG is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/dakefpv/h743/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743VI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_INITTHREAD_PRIORITY=254
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x5740
+CONFIG_CDCACM_PRODUCTSTR="DAKEFPVH743-BL"
+CONFIG_CDCACM_RXBUFSIZE=6000
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x1209
+CONFIG_CDCACM_VENDORSTR="DakeFPV"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SPI=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_SYSTEMTICK_HOOK=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGINT_CHAR=0x03
+CONFIG_TTY_SIGTSTP=y
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000