From 000a3c10e2d96fb3781accca0f393b38b46d0a53 Mon Sep 17 00:00:00 2001
From: alexklimaj <alex@arkelectron.com>
Date: Fri, 5 May 2023 14:23:06 -0600
Subject: [PATCH] Add ADIS16507 params

---
 ROMFS/px4fmu_common/init.d/rc.sensors         |  6 +++
 .../analog_devices/adis16507/ADIS16507.hpp    |  1 +
 .../imu/analog_devices/adis16507/parameters.c | 41 +++++++++++++++++++
 3 files changed, 48 insertions(+)
 create mode 100644 src/drivers/imu/analog_devices/adis16507/parameters.c

diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 458b9a7878..dd7a1d6bf2 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -132,6 +132,12 @@ then
 	fi
 fi
 
+# ADIS16507 spi external IMU
+if param greater -s SENS_EN_ADIS165X 0
+then
+	adis16507 -S start
+fi
+
 # Eagle Tree airspeed sensor external I2C
 if param compare -s SENS_EN_ETSASPD 1
 then
diff --git a/src/drivers/imu/analog_devices/adis16507/ADIS16507.hpp b/src/drivers/imu/analog_devices/adis16507/ADIS16507.hpp
index 3032b6a74f..6b83d1e796 100644
--- a/src/drivers/imu/analog_devices/adis16507/ADIS16507.hpp
+++ b/src/drivers/imu/analog_devices/adis16507/ADIS16507.hpp
@@ -47,6 +47,7 @@
 #include <lib/drivers/device/spi.h>
 #include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
 #include <lib/geo/geo.h>
+#include <lib/parameters/param.h>
 #include <lib/perf/perf_counter.h>
 #include <px4_platform_common/atomic.h>
 #include <px4_platform_common/i2c_spi_buses.h>
diff --git a/src/drivers/imu/analog_devices/adis16507/parameters.c b/src/drivers/imu/analog_devices/adis16507/parameters.c
new file mode 100644
index 0000000000..aa2dcb148d
--- /dev/null
+++ b/src/drivers/imu/analog_devices/adis16507/parameters.c
@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Analog Devices ADIS16507 IMU (external SPI)
+ *
+ * @group Sensors
+ * @boolean
+ * @reboot_required true
+  */
+PARAM_DEFINE_INT32(SENS_EN_ADIS165X, 0);