CRIUS V2 HeXacopter

[trodort]

Hi,

I am using CRIUS AIOP PRO V2 with ArduCopter-3.2.1_I2C branch (from URUS8).

I have done the following modification to drive my Hexacopter (X frame) using CRIUS V2 :

#define CONFIG_HAL_BOARD HAL_BOARD_MPNG (in config.h)

#define CONFIG_HAL_BOARD HAL_BOARD_APM2 (in AP_HAL_Boards.h)

and also declared HEXA_FRAME (in APM_Config.h)

I can compile and download it successfully but the thing is I have only 4x motors running out of 6 . ( d2, d3, d5, d6 but not d7 & d8). I thought that it was due to difference in motor mapping for APM2 versus CRIUS but in fact not (I have tried d11 and d12 as well). The board is OK since it drives correctly the 6 motors if I returned back to Official Megapirate Release 3.1.5 ...

Do you have an idea ?

Do I have to create an HAL for the CRIUS V2 ?

Thanks a lot for your help .

Rgds,

Guillaume

[hiro2233]

Hello @trodort

Sorry about the delay with the reply at this time, i'm doing the best for the community now, i'm developing from 12 month old a new structure HAL on this repo https://github.com/UrusTeam/URUS not only to work with CRIUS, this will work with others boards too. This new structure will use your CRIUS as a cape attached to a Raspberry (maybe with android smartphone and tablets) externally to work with the lastest Ardupilot realease version.

I'm developing it alone, it's will good if someone can help on the development.

Thank you very much for your patience.
Hiroshi Takey.