From ff07d06f3701e3076cd5feefd200ec6fc38c2b2c Mon Sep 17 00:00:00 2001
From: Travis Bottalico <travis@modalai.com>
Date: Wed, 4 Dec 2019 11:36:35 -0800
Subject: [PATCH] Add support for ModalAI FC v1 FW Update

---
 src/VehicleSetup/Bootloader.h                 |  1 +
 src/VehicleSetup/FirmwareUpgradeController.cc | 17 +++++++++++++++++
 src/VehicleSetup/FirmwareUpgradeController.h  |  1 +
 src/comm/USBBoardInfo.json                    |  1 +
 4 files changed, 20 insertions(+)

diff --git a/src/VehicleSetup/Bootloader.h b/src/VehicleSetup/Bootloader.h
index 7a175f170..10f0082ec 100644
--- a/src/VehicleSetup/Bootloader.h
+++ b/src/VehicleSetup/Bootloader.h
@@ -78,6 +78,7 @@ public:
     static const int boardIDFMUK66V3 = 28;      ///< FMUK66V3 board, as from USB PID
     static const int boardIDKakuteF7 = 123;     ///< Holybro KakuteF7 board, as from USB PID
     static const int boardIDDurandalV1 = 139;   ///< Holybro Durandal-v1 board, as from USB PID
+    static const int boardIDModalFCV1 = 41775;  ///< ModalAI FC V1 board, as from USB PID
 
     /// Simulated board id for V3 which is a V2 board which supports larger flash space
     /// IMPORTANT: Make sure this id does not conflict with any newly added real board ids
diff --git a/src/VehicleSetup/FirmwareUpgradeController.cc b/src/VehicleSetup/FirmwareUpgradeController.cc
index 5f6c39a7a..3cb948676 100644
--- a/src/VehicleSetup/FirmwareUpgradeController.cc
+++ b/src/VehicleSetup/FirmwareUpgradeController.cc
@@ -325,6 +325,14 @@ void FirmwareUpgradeController::_initFirmwareHash()
         { AutoPilotStackPX4, BetaFirmware,      DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/holybro_durandal-v1_default.px4"},
         { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/holybro_durandal-v1_default.px4"},
     };
+
+    //////////////////////////////////// ModalAI FC v1 firmwares //////////////////////////////////////////////////
+    FirmwareToUrlElement_t rgModalFCV1FirmwareArray[] = {
+        { AutoPilotStackPX4, StableFirmware,    DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/stable/modalai_fc-v1_default.px4"},
+        { AutoPilotStackPX4, BetaFirmware,      DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/beta/modalai_fc-v1_default.px4"},
+        { AutoPilotStackPX4, DeveloperFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Firmware/master/modalai_fc-v1_default.px4"},
+    };
+
     /////////////////////////////// px4flow firmwares ///////////////////////////////////////
     FirmwareToUrlElement_t rgPX4FLowFirmwareArray[] = {
         { PX4FlowPX4, StableFirmware, DefaultVehicleFirmware, "http://px4-travis.s3.amazonaws.com/Flow/master/px4flow.px4" },
@@ -424,6 +432,12 @@ void FirmwareUpgradeController::_initFirmwareHash()
         _rgFMUK66V3Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
     }
 
+    size = sizeof(rgModalFCV1FirmwareArray)/sizeof(rgModalFCV1FirmwareArray[0]);
+    for (int i = 0; i < size; i++) {
+        const FirmwareToUrlElement_t& element = rgModalFCV1FirmwareArray[i];
+        _rgModalFCV1Firmware.insert(FirmwareIdentifier(element.stackType, element.firmwareType, element.vehicleType), element.url);
+    }
+
     size = sizeof(rgPX4FLowFirmwareArray)/sizeof(rgPX4FLowFirmwareArray[0]);
     for (int i = 0; i < size; i++) {
         const FirmwareToUrlElement_t& element = rgPX4FLowFirmwareArray[i];
@@ -504,6 +518,9 @@ QHash<FirmwareUpgradeController::FirmwareIdentifier, QString>* FirmwareUpgradeCo
     case Bootloader::boardIDFMUK66V3:
         _rgFirmwareDynamic = _rgFMUK66V3Firmware;
         break;
+    case Bootloader::boardIDModalFCV1:
+        _rgFirmwareDynamic = _rgModalFCV1Firmware;
+        break;
     case Bootloader::boardID3DRRadio:
         _rgFirmwareDynamic = _rg3DRRadioFirmware;
         break;
diff --git a/src/VehicleSetup/FirmwareUpgradeController.h b/src/VehicleSetup/FirmwareUpgradeController.h
index 5327010c9..04c4452b4 100644
--- a/src/VehicleSetup/FirmwareUpgradeController.h
+++ b/src/VehicleSetup/FirmwareUpgradeController.h
@@ -220,6 +220,7 @@ private:
     QHash<FirmwareIdentifier, QString> _rgKakuteF7Firmware;
     QHash<FirmwareIdentifier, QString> _rgDurandalV1Firmware;
     QHash<FirmwareIdentifier, QString> _rgFMUK66V3Firmware;
+    QHash<FirmwareIdentifier, QString> _rgModalFCV1Firmware;
     QHash<FirmwareIdentifier, QString> _rgPX4FLowFirmware;
     QHash<FirmwareIdentifier, QString> _rg3DRRadioFirmware;
 
diff --git a/src/comm/USBBoardInfo.json b/src/comm/USBBoardInfo.json
index dabcef325..c58602b74 100644
--- a/src/comm/USBBoardInfo.json
+++ b/src/comm/USBBoardInfo.json
@@ -20,6 +20,7 @@
         { "vendorID": 9900, "productID": 22,        "boardClass": "Pixhawk",    "name": "Crazyflie 2" },
         { "vendorID": 9900, "productID": 1,         "boardClass": "Pixhawk",    "name": "Omnibus F4 SD" },
         { "vendorID": 8137, "productID": 28,        "boardClass": "Pixhawk",    "name": "PX4 FMUK66 v3.x" },
+        { "vendorID": 1155, "productID": 41775,     "boardClass": "Pixhawk",    "name": "PX4 FMU ModalAI FCv1" },
 
         { "vendorID": 1155, "productID": 22336,     "boardClass": "Pixhawk",    "name": "ArduPilot ChibiOS" },
         { "vendorID": 4617, "productID": 22336,     "boardClass": "Pixhawk",    "name": "ArduPilot ChibiOS" },
-- 
2.22.0