Advanced Guide: Hardware Definition & ESP32 Bridge

This section is for those who wish to modify the hardware or optimize the data transmission system for maximum performance.

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🛠️ Editing hwdef.dat (Hardware Definition)

The hwdef.dat file is the blueprint that tells THAP which AT32 pins are connected to what. You can find it at: libraries/AP_HAL_ChibiOS/hwdef/THAP_AT32_ROVER/hwdef.dat

Key Options:

• SERIAL_ORDER: Defines the sequence of ports (first port is Console, subsequent are Telemetry/GPS).
  • Example: SERIAL_ORDER OTG1 USART1 USART2
• I2C_ORDER: Defines the sequence of I2C Bus for reading the compass and barometer.
• ADC: Defines pins for reading Battery Voltage and Current.

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📡 ESP32 Bridge Configuration

The Bridge acts as an "intermediary" between radio/WiFi frequencies and the Serial line.

Editing WiFi SSID/Password

In the Tools/esp32_bridge/THAP_Bridge.ino file, you can change the WiFi credentials at:

const char* ssid = "THAP_AP";
const char* password = "password123";

Optimizing WebSocket Speed

If the dashboard feels slow or laggy, adjust the delay in loop():

void loop() {
    processMAVLink();
    broadcastData();
    ws.cleanupClients();
    delay(50); // Change from 100 to 50 for 20Hz (2x smoother)
}

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🔗 Wiring Diagram

Device	Port	Pin (AT32)	Note
ESP32 Bridge	Serial 1	PA9 (TX), PA10 (RX)	Used for the Dashboard interface
GPS Module	Serial 2	PA2 (TX), PA3 (RX)	Match Baudrate with GPS settings
Compass	I2C 1	PB6 (SCL), PB7 (SDA)	Compatible with GY-87 or HMC5883L

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[!TIP] Tip: To add a 3rd Serial port, add USART3 to hwdef.dat and select unused pins (e.g., PB10, PB11).