Porting PX4 to a non-PX4 supported STM32H743 FC

PX4 Autopilot
1

Hi,

I would like to upload the PX4 firmware on the Sequre V2 STM32H743 flight controller - SequreH743 — Copter documentation

I am currently using the Holybro KakuteH7 as reference board. I have remapped the pins in the px4 project, successfully built the project and flashed the firmware (both main and bootloader). I can calibrate the sensors in QGroundControl and was able to read the measurements using MAVlink cli. But I keep getting these timeout errors:

QGroundControlErrors
QGroundControlErrors1139×1007 109 KB

I suspect it has something to do with the Sequre FC using the M25P16 flash memory and KakuteH7 using an SD card. Does anybody have any experience porting over the M25P16 code from let’s say BetaFlight or similar firmware to the PX4 project? If so, some guidance would be greatly appreciated! Or does NuttX already have driver support for that flash memory part? If so, could someone with experience please explain how to configure the driver to support the flash memory?

I also used “claude.ai” to troubleshoot it, and it says NuttX supports M25P16, and the driver code is found in platform\nuttx\NuttX\nuttx\drivers\mtd , which it does exist and its called ‘m25px.c’. I also used “claude.ai” to generate code that use the flash instead of SD, but to no avail. It then suggested to use the internal flash of STM32H743 for guaranteed operation, but again that did not work.

I have included a google drive link to the files related to the board in a compressed format: https://drive.google.com/file/d/1dnhMPk_SPWLEoFxSLnMT7S4TF2h2KLLN/view?usp=drive_link. The code from “claude.ai” can be found by searching From “CLAUDE”. Any help would be appreciated! I have also added the error outputs after issuing the “dmesg” command in MAVlink.

There are two other abnormal board behaviors that I would like to seek help with:

  1. The “reboot” command in MAVlink will brick the FC. Had to do a mass chip erase and re-upload the bootloader and application code to get the FC back again.
  2. Inability to upgrade the existing custom px4 firmware through ‘Vehicle Configuration’>’Firmware’. Nothing will show up unless there’s only bootloader on it. So had to do a mass chip erase and re-upload the bootloader and app code everytime changes have been made to the code.

Thanks.