HAL_ChibiOS: Add Lectron Pi5 and V6X board definitions

Tools/AP_Bootloader/board_types.txt

@@ -597,6 +597,10 @@ AP_HW_AEROFOX_H7                     7110
 # IDs 7120-7129 reserved for Accton Godwit
 AP_HW_Accton_Godwit_GA1        7120
 
+# IDs 7130-7139 reserved for Lectron
+AP_HW_LECTRON_FMU_CM5         7130
+AP_HW_LECTRON_V6X             7131
+
 # please fill gaps in the above ranges rather than adding past ID #7199
 
 

libraries/AP_HAL_ChibiOS/hwdef/Lectron-Pi5-H7/README.md

@@ -0,0 +1,26 @@
+# Lectron Pi5 Autopilot Flight Controller
+
+The Lectron is a flight controller produced by [Lectron](https://lectrontech.com/).
+
+The [Raspberry CM5 Board](https://lectronuser.github.io/Lectron-Doc-Center/md/raspberry/) is designed as an integrated flight control and computing platform for autonomous systems and advanced embedded applications. The hardware architecture consolidates real-time flight control and high-level computing into a single unified board.
+
+This approach simplifies system integration, reduces cabling complexity, and improves overall system reliability.
+
+## Features
+
+- Processor
+  - STM32H753 480Mhz,
+  - 2MB  flash memory
+  - 32-bit processor
+- Sensors
+  - Dual ICM42670P IMU
+  - Bosch BMI270 IMU
+  - Dual Bosch BMP390 Barometers
+  - Bosch BMM350 Magnetometer
+- Power
+  - **Input Voltage:** 12V – 25V (3S-6S LiPo)
+
+
+## See Also
+
+- [Raspberry CM5 Board](https://lectronuser.github.io/Lectron-Doc-Center/md/raspberry/) (Lectron)

libraries/AP_HAL_ChibiOS/hwdef/Lectron-Pi5-H7/defaults.parm

@@ -0,0 +1,11 @@
+ATC_RAT_PIT_D,0.0019
+ATC_RAT_PIT_I,0.049
+ATC_RAT_PIT_P,0.049
+ATC_RAT_RLL_D,0.0014
+ATC_RAT_RLL_I,0.037
+ATC_RAT_RLL_P,0.037
+ATC_RAT_YAW_D,0.0005
+ATC_RAT_YAW_I,0.026
+ATC_RAT_YAW_P,0.263
+
+BATT_MONITOR 21

libraries/AP_HAL_ChibiOS/hwdef/Lectron-Pi5-H7/hwdef-bl.dat

@@ -0,0 +1,44 @@
+# ==============================================================
+# Lectron FMU_CM5 — ArduPilot Bootloader hwdef
+# Board  : FMU BOARD ver1.0 / FMU_CM5_REV1.3
+# MCU    : STM32H753IIK6TR (BGA256)
+# ==============================================================
+
+MCU STM32H7xx STM32H753xx
+OSCILLATOR_HZ 16000000
+
+FLASH_SIZE_KB 2048
+FLASH_RESERVE_START_KB 0
+FLASH_BOOTLOADER_LOAD_KB 128
+
+APJ_BOARD_ID AP_HW_LECTRON_FMU_CM5
+
+# ============================================================
+# USB — USB-C connector
+# ============================================================
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+PA9  VBUS INPUT OPENDRAIN
+
+# ============================================================
+# SWD
+# ============================================================
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+# ============================================================
+# DEBUG UART — USART3 (FMU_DEBUG1 connector)
+# ============================================================
+PD8 USART3_TX USART3
+PD9 USART3_RX USART3
+
+SERIAL_ORDER OTG1 USART3
+
+# ============================================================
+# Bootloader LED — RED (PE3, active LOW) — same as FMU firmware
+# PE12 has no physical LED on this board
+# ============================================================
+PE3 LED_BOOTLOADER OUTPUT LOW ACTIVE_LOW
+define HAL_LED_ON 0
+
+define BOARD_NAME "Lectron-FMU-CM5"