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Specify orientaiton of ADIS16448 IMU for EZG from autostart script

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Specify orientaiton of ADIS16448 IMU for EZG from autostart script
This commit is contained in:
Jaeyoung-Lim 2021-06-28 11:50:23 +02:00 committed by JaeyoungLim
parent 0f4eaec6c1
commit 4a590c5fd6
3 changed files with 21 additions and 1 deletions
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1
ROMFS/px4fmu_common/init.d/airframes/22000_asl_easyglider
View File

@ -45,6 +45,7 @@ then
param set PWM_DISARMED 1000
param set-default SENS_EN_ADIS164X 1
param set SENS_EN_ADIS164X 4
fi
set MIXER asl_easyglider

9
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -111,7 +111,14 @@ fi
# ADIS16448 spi external IMU
if param compare -s SENS_EN_ADIS164X 1
then
adis16448 -S start
if param compare -s SENS_OR_ADIS164X 0
then
adis16448 -S start
fi
if param compare -s SENS_OR_ADIS164X 4
then
adis16448 -S start -R 4
fi
fi
# Hall effect sensors si7210

12
src/drivers/imu/analog_devices/adis16448/parameters.c
View File

@ -42,3 +42,15 @@
* @value 1 Enabled
*/
PARAM_DEFINE_INT32(SENS_EN_ADIS164X, 0);
/**
* Analog Devices ADIS16448 IMU Orientation(external SPI)
*
* @reboot_required true
* @min 0
* @max 101
* @group Sensors
* @value 0 ROTATION_NONE
* @value 4 ROTATION_YAW_180
*/
PARAM_DEFINE_INT32(SENS_OR_ADIS164X, 0);