From 70b48dd41c75d1b33379e5fc887e5cc80cdee74e Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Mon, 4 Sep 2023 15:20:01 +1200 Subject: [PATCH] cubepilot: Add support for 4. variant of Orange+ This adds support for the 4. hardware variant of the CubeOrange+ featuring 3 ICM45686. Signed-off-by: Julian Oes --- .../cubepilot/cubeorangeplus/init/rc.board_sensors | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/boards/cubepilot/cubeorangeplus/init/rc.board_sensors b/boards/cubepilot/cubeorangeplus/init/rc.board_sensors index 61a3fbf138..d4a1052f92 100644 --- a/boards/cubepilot/cubeorangeplus/init/rc.board_sensors +++ b/boards/cubepilot/cubeorangeplus/init/rc.board_sensors @@ -8,16 +8,21 @@ board_adc start # 1. Isolated {ICM42688p, ICM20948(with mag)}, body-fixed {ICM20649} # 2. Isolated {ICM42688p, ICM42688p}, body-fixed {ICM20649, ICM45686, AK09918} # 3. Isolated {ICM42688p, ICM42688p}, body-fixed {ICM45686, AK09918} +# 4. Isolated {ICM45686, ICM45686}, body-fixed {ICM45686, AK09918} # SPI4 is isolated, SPI1 is body-fixed # SPI4, isolated ms5611 -s -b 4 start -icm42688p -s -b 4 -R 10 start -c 15 -if ! icm20948 -s -b 4 -R 10 -M -q start -then - icm42688p -s -b 4 -R 6 start -c 13 +if icm42688p -s -b 4 -R 10 -q start -c 15 + if ! icm20948 -s -b 4 -R 10 -M -q start + then + icm42688p -s -b 4 -R 6 start -c 13 + fi +else + icm45686 -s -b 4 -R 10 start -c 15 + icm45686 -s -b 4 -R 6 start -c 13 fi # SPI1, body-fixed