hwdef: Modify the contents of the README section and the hwdef parame…

…ters

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/README.md

@@ -30,57 +30,52 @@ The AEROFOX-H7 is a flight controller produced by AEROFOX(http://aerofox.cn)
         4x ADC input
 
     FPC connector
-        The conneimgctor includes an SPI, an I2C, an PWM IMU heating control pin. Firmware
-        already includes drivers for ADIS16470, ICM45686, IMU heating, RM3100. It is
-        automatically identify after installation。
+        The connector includes an SPI, an I2C, an PWM IMU heating control pin.
 
 ## Pinout
 <img src="AEROFOX-H7_pinout.png" alt="" width="800">
 
 ## UART Mapping
 
-- SERIAL0 -> USB
-- SERIAL1 -> UART7
-- SERIAL2 -> UART4
-- SERIAL3 -> UART5
-- SERIAL4 -> USART2
-- SERIAL5 -> USART1 GPS
-- SERIAL6 -> UART8 TELEM
-- SERIAL7 -> USART3 RCIN
+All UARTs, except UART1, are DMA enabled. UART corresponding to each SERIAL port, and its default protocol, are shown below:
+- SERIAL0 -> USB (MAVLink2)
+- SERIAL1 -> UART7 (ESC Telemetry)
+- SERIAL2 -> UART4 (User configured)
+- SERIAL3 -> UART5 (User configured)
+- SERIAL4 -> USART2 (User configured)
+- SERIAL5 -> USART1 (GPS)
+- SERIAL6 -> UART8 (MAVLink2)
+- SERIAL7 -> USART3 (RCIN)
 
 ## RC Input
 
-No special interface for RCIN is designed because any SERIAL interface can be used as
-an RC input.
+SERIAL 7 is configured for RC input by default and is compatible with all ArduPilot supported protocols except PPM. For protocols requiring half-duplex serial to transmit telemetry (such as FPort) you should set SERAIL7_OPTIONS = 4 (Half-Duplex)
 
 ## PWM Output
 
-The AEROFOXH7 support up to 16PWM outputs. All pins support Dshot. Outputs 1-8
-supports STM32 native encoder mode and can input 4 groups of AB encoder signals simultaneously.
-
-- PWM1 TIM2_CH1 encoder mode
-- PWM2 TIM2_CH2 encoder mode
-- PWM3 TIM1_CH1 encoder mode
-- PWM4 TIM1_CH2 encoder mode
-- PWM5 TIM4_CH1 encoder mode
-- PWM6 TIM4_CH2 encoder mode
-- PWM7 TIM3_CH1 encoder mode
-- PWM8 TIM3_CH2 encoder mode
-- PWM9 TIM15_CH1
-- PWM10 TIM15_CH2
-- PWM11 TIM14_CH1
-- PWM12 TIM13_CH1
-- PWM13 TIM8_CH4
-- PWM14 TIM8_CH3
-- PWM15 TIM12_CH2
-- PWM16 TIM12_CH1
+The AEROFOXH7 support up to 16PWM outputs. All pins support DShot. Outputs 1-8 support bi-directional DShot.
+
+The 16 PWM outputs are in 9 groups:
+
+- PWM 1,2 in group1
+- PWM 3,4  in group2
+- PWM 5,6  in group3
+- PWM 7,8 in group4
+- PWM 9,10  in group5
+- PWM 11  in group6
+- PWM 12 in group7
+- PWM 13,14 in group8
+- PWM 15,16 in group9
+
+Channels within the same group need to use the same output rate. If any channel in a group uses DShot, then all channels in that group need to use DShot.
 
 ## Battery Monitoring
 
 The board has a builting voltage and current sensor. The voltage sensor can handle up
 to 12S LiPo batteries.
 
 ### The power A is onboard voltage sensor
+It is enabled by default and has the following parameters set by default:
 - BATT_MONITOR 4
 - BATT_VOLT_PIN 19
 - BATT_CURR_PIN 9
@@ -92,13 +87,11 @@ to 12S LiPo batteries.
 - BATT_VOLT_PIN 10
 - BATT_CURR_PIN 11
 - BATT_VOLT_MULT 34
-- BATT_AMP_PERVLT 60
+- BATT_AMP_PERVLT should be set as required by the specific monitor used
 
 ## Compass
 
-A 5883L compass is installed inside the H7 flight control. When high current devices such
-as ESC and BEC are installed under the flight control board, the on-board compass
-needs to be disabled.
+A 5883L compass is installed inside the H7 flight control. When high current devices such as ESC and BEC are installed under the flight control board, the on-board compass is usually disabled and an external compass used mounted to minimize motor current effects.
 
 ## Loading Firmware
 The board comes pre-installed with an ArduPilot compatible bootloader, allowing the

libraries/AP_HAL_ChibiOS/hwdef/AEROFOX-H7/hwdef.dat

@@ -12,13 +12,8 @@ FLASH_SIZE_KB 2048
 # bootloader is installed at zero offset
 FLASH_RESERVE_START_KB 128
 
-# UART1 is debug
-PA9 USART1_TX USART1 NODMA
-PA10 USART1_RX USART1 NODMA
-define DEFAULT_SERIAL1_PROTOCOL SerialProtocol_ESCTelemetry
-
 PA11 OTG_FS_DM OTG1
-PA12 OTG_FS_DP OTG1# crystal frequency
+PA12 OTG_FS_DP OTG1
 
 # supports upto 8MBits/s
 CANFD_SUPPORTED 8
@@ -41,32 +36,28 @@ define DEFAULT_SERIAL1_BAUD 115200
 # serial2
 PC10 UART4_TX UART4
 PC11 UART4_RX UART4
-define DEFAULT_SERIAL2_PROTOCOL SerialProtocol_None
-define DEFAULT_SERIAL2_BAUD 115200
 
 # serial3
 PC12 UART5_TX UART5
 PD2 UART5_RX UART5
-define DEFAULT_SERIAL3_PROTOCOL SerialProtocol_None
-define DEFAULT_SERIAL3_BAUD 115200
 
 # serial4
 PD5 USART2_TX USART2
 PD6 USART2_RX USART2
-define DEFAULT_SERIAL4_PROTOCOL SerialProtocol_None
-define DEFAULT_SERIAL4_BAUD 115200
+
+# serial5
+PA9 USART1_TX USART1 NODMA
+PA10 USART1_RX USART1 NODMA
+define DEFAULT_SERIAL5_PROTOCOL SerialProtocol_GPS
 
 # serial6
 PE1 UART8_TX UART8
 PE0 UART8_RX UART8
 define DEFAULT_SERIAL6_PROTOCOL SerialProtocol_MAVLink2
-define DEFAULT_SERIAL6_BAUD 115200
 
 # serial7
 PD8 USART3_TX USART3
 PD9 USART3_RX USART3
-define DEFAULT_SERIAL7_PROTOCOL SerialProtocol_RCIN
-define DEFAULT_SERIAL7_BAUD 115200
 
 # default the 2nd interface to SLCAN
 define HAL_OTG2_PROTOCOL SerialProtocol_SLCAN
@@ -208,8 +199,6 @@ define HAL_I2C_INTERNAL_MASK 1
 PA13 JTMS-SWDIO SWD
 PA14 JTCK-SWCLK SWD
 
-#include sdcard.inc
-
 define HAL_CHIBIOS_ARCH_FMUV3 1
 
 define BOARD_TYPE_DEFAULT 3
@@ -235,4 +224,9 @@ DMA_NOSHARE SPI2* UART2* UART4* UART5*
 
 ENABLE_DFU_BOOT 1
 
-
+define HAL_BATT_MONITOR 4
+define HAL_BATT_VOLT_PIN 19
+define HAL_BATT_CURR_PIN 9
+define HAL_BATT_VOLT_SCALE 21
+define HAL_BATT_CURR_SCALE 90.9
+define HAL_CAN_P1_DRIVER 1