fly316/PX4-Autopilot
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switch remaining boards to new InvenSense IMU drivers

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This commit is contained in:
Daniel Agar 2020-03-25 01:07:33 -04:00
parent 7b12a21565
commit 7aa7f0ed95
66 changed files with 206 additions and 206 deletions
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4
ROMFS/px4fmu_common/init.d/airframes/4250_teal
View File

@ -47,7 +47,6 @@ then
param set BAT_V_OFFS_CURR -0.0045
# sensor calibration
param set CAL_MAG0_ROT 0
param set CAL_MAG_SIDES 63
param set SENS_BOARD_ROT 0
param set COM_ARM_MAG_ANG -1
@ -197,10 +196,7 @@ then
#mpu6500
param set CAL_GYRO_PRIME 2360330
param set CAL_MAG0_EN 1
param set CAL_MAG1_EN 0
param set CAL_MAG_PRIME 265738
fi
# Logger mode. Default(1) + estimator replay(2) + thermal calibration(4)

5
ROMFS/px4fmu_common/init.d/airframes/6002_draco_r
View File

@ -140,10 +140,5 @@ then
param set MAV_1_FORWARD 1
param set MAV_1_RATE 800000
param set SER_TEL2_BAUD 921600
# Disable internal magnetometer sensor
param set CAL_MAG0_EN 0
# Enable external magnetometer sensor
param set CAL_MAG1_EN 1
fi

3
boards/aerotenna/ocpoc/default.cmake
View File

@ -27,8 +27,7 @@ px4_add_board(
differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers
gps
#imu # all available imu drivers
imu/mpu9250
imu/invensense/mpu9250
lights/rgbled
linux_pwm_out
#magnetometer # all available magnetometer drivers

2
boards/atlflight/eagle/qurt.cmake
View File

@ -46,7 +46,7 @@ px4_add_board(
DRIVERS
barometer/bmp280
gps
imu/mpu9250
imu/invensense/mpu9250
#magnetometer/hmc5883
qshell/qurt
snapdragon_pwm_out

2
boards/atlflight/excelsior/qurt.cmake
View File

@ -46,7 +46,7 @@ px4_add_board(
DRIVERS
barometer/bmp280
gps
imu/mpu9250
imu/invensense/mpu9250
magnetometer/hmc5883
qshell/qurt
snapdragon_pwm_out

2
boards/emlid/navio2/default.cmake
View File

@ -21,7 +21,7 @@ px4_add_board(
distance_sensor # all available distance sensor drivers
gps
#imu # all available imu drivers
imu/mpu9250
imu/invensense/mpu9250
imu/st/lsm9ds1
linux_pwm_out
#magnetometer # all available magnetometer drivers

1
boards/holybro/durandal-v1/default.cmake
View File

@ -33,7 +33,6 @@ px4_add_board(
imu/adis16497
imu/bmi088
imu/invensense/icm20689
imu/mpu6000
irlock
lights/blinkm
lights/rgbled

3
boards/holybro/durandal-v1/init/rc.board_sensors
View File

@ -5,8 +5,7 @@
adc start
# Internal SPI bus ICM-20689
mpu6000 -R 8 -s -T 20689 start
#icm20689 -R 2 -s start
icm20689 -R 2 -s start
# Internal SPI bus BMI088 accel
bmi088 -A -R 10 -s start

5
boards/holybro/durandal-v1/stackcheck.cmake
View File

@ -32,9 +32,8 @@ px4_add_board(
#imu/adis16448
#imu/adis16477
#imu/adis16497
imu/bmi088
#imu/invensense/icm20689
#imu/mpu6000
#imu/bmi088
imu/invensense/icm20689
#irlock
#lights/blinkm
#lights/rgbled

3
boards/holybro/kakutef7/default.cmake
View File

@ -19,7 +19,8 @@ px4_add_board(
barometer/bmp280
dshot
gps
imu/mpu6000
imu/invensense/icm20689
imu/invensense/mpu6000
magnetometer
optical_flow/px4flow
osd

4
boards/holybro/kakutef7/init/rc.board_sensors
View File

@ -6,9 +6,9 @@
adc start
# The default IMU is an ICM20689, but there might also be an MPU6000
if ! mpu6000 -R 12 -s start
if ! mpu6000 -R 6 -s start
then
mpu6000 -R 12 -s -T 20689 start
icm20689 -R 6 -s start
fi
# Onboard Baro

2
boards/intel/aerofc-v1/default.cmake
View File

@ -17,7 +17,7 @@ px4_add_board(
#differential_pressure # all available differential pressure drivers
distance_sensor
gps
imu/mpu9250
imu/invensense/mpu9250
#irlock
#magnetometer # all available magnetometer drivers
magnetometer/hmc5883

3
boards/intel/aerofc-v1/init/rc.board_sensors
View File

@ -9,7 +9,8 @@ if ! ms5611 -T 5607 start
then
ms5611 start
fi
mpu9250 -s -R 14 start
mpu9250 -s -R 0 start
# Possible external compasses
hmc5883 -X start

2
boards/intel/aerofc-v1/rtps.cmake
View File

@ -17,7 +17,7 @@ px4_add_board(
#differential_pressure # all available differential pressure drivers
distance_sensor
gps
imu/mpu9250
imu/invensense/mpu9250
#irlock
#magnetometer # all available magnetometer drivers
magnetometer/hmc5883

1
boards/modalai/fc-v1/default.cmake
View File

@ -27,7 +27,6 @@ px4_add_board(
imu/bmi088
imu/invensense/icm20602
imu/invensense/icm42688p
imu/mpu6000
irlock
lights/blinkm
lights/rgbled

2
boards/modalai/fc-v1/init/rc.board_sensors
View File

@ -10,7 +10,7 @@ voxlpm -X -b 3 -T VBATT start
voxlpm -X -b 3 -T P5VDC start
# Internal SPI bus ICM-20602
mpu6000 -R 6 -s -T 20602 start
icm20602 -R 12 -s start
# Internal SPI bus ICM-42688
icm42688p -R 12 -s start

2
boards/mro/ctrl-zero-f7/default.cmake
View File

@ -30,7 +30,7 @@ px4_add_board(
#heater
#imu # all available imu drivers
imu/bmi088
imu/mpu6000
imu/invensense/icm20602
imu/icm20948
irlock
lights/blinkm

13
boards/mro/ctrl-zero-f7/init/rc.board_sensors
View File

@ -6,17 +6,15 @@
adc start
# Internal ICM-20602
mpu6000 -R 10 -s -T 20602 start
icm20602 -s -R 4 start
# Internal ICM-20689
#icm20689 -s -R 10 start
# Internal SPI bus BMI088 accel
# Internal SPI bus BMI088 accel & gyro
bmi088 -A -R 10 -s start
# Internal SPI bus BMI088 gyro
bmi088 -G -R 10 -s start
# Internal ICM-20948
icm20948 -s -R 10 start
# Interal DPS310 (barometer)
dps310 -s start
@ -25,3 +23,4 @@ ist8310 -X start
hmc5883 -T -X start
qmc5883 -X start
lis3mdl -X start
rm3100 -X start

3
boards/mro/ctrl-zero-f7/src/spi.cpp
View File

@ -38,8 +38,7 @@
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
// ICM-20948
initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
}, {GPIO::PortE, GPIO::Pin3}),
initSPIBus(SPI::Bus::SPI2, {
initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),

5
boards/mro/x21-777/default.cmake
View File

@ -25,8 +25,9 @@ px4_add_board(
#dshot
gps
#imu # all available imu drivers
imu/mpu6000
imu/mpu9250
imu/invensense/icm20602
imu/invensense/icm20608g
imu/invensense/mpu9250
irlock
lights/blinkm
lights/rgbled

16
boards/mro/x21-777/init/rc.board_sensors
View File

@ -5,18 +5,14 @@
adc start
# External I2C bus
hmc5883 -T -X start
lis3mdl -X start
# Internal SPI bus ICM-20608-G
icm20608g -s -R 8 start
# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
mpu6000 -s -R 2 -T 20608 start
# Internal SPI bus ICM-20602
icm20602 -s -R 8 start
# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
mpu6000 -s -R 2 -T 20602 start
# Internal SPI bus mpu9250 is rotated 90 deg yaw
mpu9250 -s -R 2 start
# Internal SPI bus mpu9250
mpu9250 -s -R 8 start
# Possible external compasses
ist8310 -X start

5
boards/mro/x21/default.cmake
View File

@ -26,8 +26,9 @@ px4_add_board(
gps
#heater
#imu # all available imu drivers
imu/mpu6000
imu/mpu9250
imu/invensense/icm20602
imu/invensense/icm20608g
imu/invensense/mpu9250
irlock
lights/blinkm
lights/rgbled

12
boards/mro/x21/init/rc.board_sensors
View File

@ -11,14 +11,14 @@ lis3mdl -X start
ist8310 -X start
qmc5883 -X start
# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
mpu6000 -s -R 2 -T 20608 start
# Internal SPI bus ICM-20608-G
icm20608g -s -R 8 start
# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
mpu6000 -s -R 2 -T 20602 start
# Internal SPI bus ICM-20602
icm20602 -s -R 8 start
# Internal SPI bus mpu9250 is rotated 90 deg yaw
mpu9250 -s -R 2 start
# Internal SPI bus mpu9250
mpu9250 -s -R 8 start
# Internal SPI
ms5611 -s start

3
boards/nxp/fmuk66-v3/default.cmake
View File

@ -27,9 +27,6 @@ px4_add_board(
#imu # all available imu drivers
imu/fxas21002c
imu/fxos8701cq
imu/l3gd20
imu/mpu6000
imu/mpu9250
irlock
lights/blinkm
lights/rgbled

12
boards/nxp/fmurt1062-v1/init/rc.board_sensors
View File

@ -18,10 +18,10 @@
adc start
# Internal SPI bus ICM-20602
mpu6000 -R 8 -s -T 20602 start
icm20602 -R 2 -s start
# Internal SPI bus ICM-20689
mpu6000 -R 8 -s -T 20689 start
icm20689 -R 2 -s start
# Internal SPI bus BMI055 accel
bmi055 -A -R 10 -s start
@ -47,11 +47,3 @@ ist8310 -I start
# Baro on internal SPI
ms5611 -s start
# External RM3100
rm3100 -X start
# Possible pmw3901 optical flow sensor
pmw3901 -S start
px4flow start -X

10
boards/px4/fmu-v2/default.cmake
View File

@ -36,11 +36,13 @@ px4_add_board(
#imu/adis16448
#imu/adis16477
#imu/adis16497
#imu/invensense/mpu6000 # WIP
imu/l3gd20
imu/lsm303d
imu/mpu6000
#imu/mpu9250
#imu/invensense/icm20608g
imu/invensense/mpu6000
#imu/invensense/mpu9250
#imu/icm20948
#imu/mpu6000 # legacy mpu6000
#iridiumsbd
#irlock
#lights/blinkm
@ -52,6 +54,7 @@ px4_add_board(
#optical_flow/px4flow
#osd
#pca9685
#power_monitor/ina226
#protocol_splitter
#pwm_input
#pwm_out_sim
@ -85,6 +88,7 @@ px4_add_board(
mc_hover_thrust_estimator
mc_pos_control
mc_rate_control
#micrortps_bridge
navigator
rc_update
#rover_pos_control

8
boards/px4/fmu-v2/fixedwing.cmake
View File

@ -24,12 +24,14 @@ px4_add_board(
camera_capture
camera_trigger
differential_pressure # all available differential pressure drivers
distance_sensor # all available distance sensor drivers
#distance_sensor # all available distance sensor drivers
distance_sensor/ll40ls
distance_sensor/sf0x
gps
imu/l3gd20
imu/lsm303d
imu/mpu6000
#imu/mpu9250
imu/invensense/mpu6000
#imu/invensense/mpu9250
lights/rgbled
#magnetometer # all available magnetometer drivers
magnetometer/hmc5883

65
boards/px4/fmu-v2/init/rc.board_sensors
View File

@ -17,14 +17,10 @@ rm3100 -X start
# Internal I2C bus
hmc5883 -T -I -R 4 start
# Internal SPI bus ICM-20608-G
mpu6000 -s -T 20608 start
# Internal SPI (auto detect ms5611 or ms5607)
if ! ms5611 -T 5607 -s start
if ! ms5611 -T 5607 -s -b 1 start
then
ms5611 -s start
ms5611 -s -b 1 start
fi
set BOARD_FMUV3 0
@ -32,15 +28,15 @@ set BOARD_FMUV3 0
# V3 build hwtypecmp supports V2|V2M|V30
if ver hwtypecmp V30
then
# Check for Pixhawk 2.0 cube
# MPU6K is rotated 180 degrees yaw
if mpu6000 -s -R 4 start
# Check for Pixhawk 2.0 cube (isolated IMU on SPI4)
# mpu6000 on v2.0, mpu9250 on v2.1
if mpu6000 -s -b 4 -R 10 start
then
set BOARD_FMUV3 20
else
# Check for Pixhawk 2.1 cube
# (external) MPU9250 is rotated 180 degrees yaw
if mpu9250 -s -R 4 start
# isolated/external mpu9250 (SPI4)
if mpu9250 -s -b 4 -R 10 start
then
set BOARD_FMUV3 21
fi
@ -50,17 +46,20 @@ fi
# Check if a Pixhack (which reports as V2M) is present
if ver hwtypecmp V2M
then
# Internal SPI bus ICM-20608-G
icm20608g -s -b 1 -R 14 start
# Pixhawk Mini doesn't have these sensors,
# so if they are found we know its a Pixhack
# MPU6K is rotated 180 degrees yaw
if mpu6000 -s -R 4 start
# mppu6000 internal (SPI1)
if mpu6000 -s -b 1 -R 10 start
then
set BOARD_FMUV3 20
else
# Check for Pixhack 3.1
# (external) MPU9250 is rotated 180 degrees yaw
if mpu9250 -s -R 4 start
# mpu9250 external (SPI4)
if mpu9250 -s -b 1 -R 10 start
then
set BOARD_FMUV3 21
fi
@ -72,43 +71,53 @@ then
# sensor heating is available, but we disable it for now
param set SENS_EN_THERMAL 0
# (external) L3GD20H is rotated 180 degrees yaw
l3gd20 -s -R 4 start
# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
if ! icm20948 -X -R 6 start
then
# external emulated AK09916 (Here2) is rotated 270 degrees yaw
ak09916 -X -R 6 start
fi
# (external) LSM303D is rotated 270 degrees yaw
lsm303d -s -R 6 start
# l3gd20 (external/isolated SPI4)
l3gd20 -s -b 4 -R 4 start
# lsm303d (external/isolated SPI4)
lsm303d -s -b 4 -R 6 start
# ms5611 (external/isolated SPI4)
ms5611 -s -b 4 start
if [ $BOARD_FMUV3 = 20 ]
then
# v2.0 internal MPU6000 is rotated 180 deg roll, 270 deg yaw
mpu6000 -s -R 14 start
# v2.0 internal mpu6000
mpu6000 -s -b 1 start
# v2.0 Has internal hmc5883 on SPI1
hmc5883 -T -S -R 8 start
hmc5883 -T -s -b 1 -R 8 start
fi
if [ $BOARD_FMUV3 = 21 ]
then
# v2.1 internal MPU9250 is rotated 180 deg roll, 270 deg yaw
mpu9250 -s -R 14 start
# v2.1 mpu9250 on SPI1
mpu9250 -s -b 1 start
fi
else
# $BOARD_FMUV3 = 0 -> FMUv2
mpu6000 -s start
mpu6000 -s -b 1 -R 14 start
# As we will use the external mag and the ICM-20608-G
# V2 build hwtypecmp is always false
# V3 build hwtypecmp supports V2|V2M|V30
if ! ver hwtypecmp V2M
then
mpu9250 -s start
mpu9250 -s -b 1 -R 14 start
# else: On the PixhawkMini the mpu9250 has been disabled due to HW errata
fi
l3gd20 -s start
lsm303d -s start
l3gd20 -s -b 1 start
lsm303d -s -b 1 start
fi
unset BOARD_FMUV3

3
boards/px4/fmu-v2/lpe.cmake
View File

@ -35,8 +35,7 @@ px4_add_board(
#imu # all available imu drivers
imu/l3gd20
imu/lsm303d
imu/mpu6000
#imu/mpu9250
imu/invensense/mpu6000
#iridiumsbd
irlock
#lights/blinkm

2
boards/px4/fmu-v2/multicopter.cmake
View File

@ -26,7 +26,7 @@ px4_add_board(
imu/l3gd20
imu/lsm303d
imu/mpu6000
#imu/mpu9250
#imu/invensense/mpu9250
irlock
lights/rgbled
magnetometer/hmc5883

4
boards/px4/fmu-v2/rover.cmake
View File

@ -26,8 +26,8 @@ px4_add_board(
gps
imu/l3gd20
imu/lsm303d
imu/mpu6000
#imu/mpu9250
imu/invensense/mpu6000
#imu/invensense/mpu9250
lights/rgbled
magnetometer/hmc5883
optical_flow/px4flow

4
boards/px4/fmu-v2/test.cmake
View File

@ -37,8 +37,8 @@ px4_add_board(
#imu/adis16497
imu/l3gd20
imu/lsm303d
imu/mpu6000
#imu/mpu9250
imu/invensense/mpu6000
#imu/invensense/mpu9250
#iridiumsbd
#irlock
#lights/blinkm

5
boards/px4/fmu-v3/default.cmake
View File

@ -34,8 +34,9 @@ px4_add_board(
imu/adis16497
imu/l3gd20
imu/lsm303d
imu/mpu6000
imu/mpu9250
imu/invensense/icm20608g
imu/invensense/mpu6000
imu/invensense/mpu9250
imu/icm20948
irlock
lights/blinkm

58
boards/px4/fmu-v3/init/rc.board_sensors
View File

@ -17,14 +17,10 @@ rm3100 -X start
# Internal I2C bus
hmc5883 -T -I -R 4 start
# Internal SPI bus ICM-20608-G
mpu6000 -s -T 20608 start
# Internal SPI (auto detect ms5611 or ms5607)
if ! ms5611 -T 5607 -s start
if ! ms5611 -T 5607 -s -b 1 start
then
ms5611 -s start
ms5611 -s -b 1 start
fi
set BOARD_FMUV3 0
@ -32,15 +28,15 @@ set BOARD_FMUV3 0
# V3 build hwtypecmp supports V2|V2M|V30
if ver hwtypecmp V30
then
# Check for Pixhawk 2.0 cube
# MPU6K is rotated 180 degrees yaw
if mpu6000 -s -R 4 start
# Check for Pixhawk 2.0 cube (isolated IMU on SPI4)
# mpu6000 on v2.0, mpu9250 on v2.1
if mpu6000 -s -b 4 -R 10 start
then
set BOARD_FMUV3 20
else
# Check for Pixhawk 2.1 cube
# (external) MPU9250 is rotated 180 degrees yaw
if mpu9250 -s -R 4 start
# isolated/external mpu9250 (SPI4)
if mpu9250 -s -b 4 -R 10 start
then
set BOARD_FMUV3 21
fi
@ -50,17 +46,20 @@ fi
# Check if a Pixhack (which reports as V2M) is present
if ver hwtypecmp V2M
then
# Internal SPI bus ICM-20608-G
icm20608g -s -b 1 -R 14 start
# Pixhawk Mini doesn't have these sensors,
# so if they are found we know its a Pixhack
# MPU6K is rotated 180 degrees yaw
if mpu6000 -s -R 4 start
# mppu6000 internal (SPI1)
if mpu6000 -s -b 1 -R 10 start
then
set BOARD_FMUV3 20
else
# Check for Pixhack 3.1
# (external) MPU9250 is rotated 180 degrees yaw
if mpu9250 -s -R 4 start
# mpu9250 external (SPI4)
if mpu9250 -s -b 1 -R 10 start
then
set BOARD_FMUV3 21
fi
@ -79,43 +78,46 @@ then
ak09916 -X -R 6 start
fi
# (external) L3GD20H is rotated 180 degrees yaw
l3gd20 -s -R 4 start
# l3gd20 (external/isolated SPI4)
l3gd20 -s -b 4 -R 4 start
# (external) LSM303D is rotated 270 degrees yaw
lsm303d -s -R 6 start
# lsm303d (external/isolated SPI4)
lsm303d -s -b 4 -R 6 start
# ms5611 (external/isolated SPI4)
ms5611 -s -b 4 start
if [ $BOARD_FMUV3 = 20 ]
then
# v2.0 internal MPU6000 is rotated 180 deg roll, 270 deg yaw
mpu6000 -s -R 14 start
# v2.0 internal mpu6000
mpu6000 -s -b 1 start
# v2.0 Has internal hmc5883 on SPI1
hmc5883 -T -S -R 8 start
hmc5883 -T -s -b 1 -R 8 start
fi
if [ $BOARD_FMUV3 = 21 ]
then
# v2.1 internal MPU9250 is rotated 180 deg roll, 270 deg yaw
mpu9250 -s -R 14 start
# v2.1 mpu9250 on SPI1
mpu9250 -s -b 1 start
fi
else
# $BOARD_FMUV3 = 0 -> FMUv2
mpu6000 -s start
mpu6000 -s -b 1 -R 14 start
# As we will use the external mag and the ICM-20608-G
# V2 build hwtypecmp is always false
# V3 build hwtypecmp supports V2|V2M|V30
if ! ver hwtypecmp V2M
then
mpu9250 -s start
mpu9250 -s -b 1 -R 14 start
# else: On the PixhawkMini the mpu9250 has been disabled due to HW errata
fi
l3gd20 -s start
lsm303d -s start
l3gd20 -s -b 1 start
lsm303d -s -b 1 start
fi
unset BOARD_FMUV3

5
boards/px4/fmu-v3/rtps.cmake
View File

@ -34,8 +34,9 @@ px4_add_board(
imu/adis16497
imu/l3gd20
imu/lsm303d
imu/mpu6000
imu/mpu9250
imu/invensense/icm20608g
imu/invensense/mpu6000
imu/invensense/mpu9250
imu/icm20948
irlock
lights/blinkm

5
boards/px4/fmu-v3/stackcheck.cmake
View File

@ -33,8 +33,9 @@ px4_add_board(
#imu # all available imu drivers
imu/l3gd20
imu/lsm303d
imu/mpu6000
imu/mpu9250
imu/invensense/icm20608g
imu/invensense/mpu6000
imu/invensense/mpu9250
irlock
lights/blinkm
lights/rgbled

7
boards/px4/fmu-v4/cannode.cmake
View File

@ -44,10 +44,9 @@ px4_add_board(
#imu/adis16448
#imu/adis16477
#imu/adis16497
#imu/invensense/icm20602
#imu/invensense/icm20608-g
imu/mpu6000
imu/mpu9250
imu/invensense/icm20602
imu/invensense/icm20608g
imu/invensense/mpu9250
#lights/rgbled
#lights/rgbled_ncp5623c
#magnetometer # all available magnetometer drivers

5
boards/px4/fmu-v4/default.cmake
View File

@ -31,9 +31,8 @@ px4_add_board(
imu/invensense/icm20602
imu/invensense/icm20608g
imu/invensense/icm40609d
#imu/invensense/mpu9250
#imu/mpu6000 # legacy icm20602/icm20608g driver
imu/mpu9250
imu/invensense/mpu6500
imu/invensense/mpu9250
irlock
lights/blinkm
lights/rgbled

10
boards/px4/fmu-v4/init/rc.board_sensors
View File

@ -35,18 +35,18 @@ fi
# chip select pin. There are different boards with either one of them and the WHO_AM_I register
# will prevent the incorrect driver from a successful initialization.
# ICM20602 internal SPI bus ICM-20608-G is rotated 90 deg yaw
# ICM20602 internal SPI bus ICM-20608-G
if ! icm20602 -s -R 8 start
then
# ICM20608 internal SPI bus ICM-20602-G is rotated 90 deg yaw
# ICM20608 internal SPI bus ICM-20602-G
icm20608g -s -R 8 start
fi
# For Teal One airframe
if param compare SYS_AUTOSTART 4250
then
mpu9250 -s -R 14 start
mpu6500 -s -R 0 start
else
# mpu9250 internal SPI bus mpu9250 is rotated 90 deg yaw
mpu9250 -s -R 2 start
# mpu9250 internal SPI bus mpu9250
mpu9250 -s -R 8 start
fi

5
boards/px4/fmu-v4/optimized.cmake
View File

@ -35,9 +35,8 @@ px4_add_board(
imu/invensense/icm20602
imu/invensense/icm20608g
#imu/invensense/icm40609d
#imu/invensense/mpu9250
#imu/mpu6000 # legacy icm20602/icm20608g driver
imu/mpu9250
#imu/invensense/mpu6500
imu/invensense/mpu9250
irlock
lights/blinkm
lights/rgbled

6
boards/px4/fmu-v4/rtps.cmake
View File

@ -30,9 +30,9 @@ px4_add_board(
imu/adis16497
imu/invensense/icm20602
imu/invensense/icm20608g
#imu/invensense/mpu9250
#imu/mpu6000 # legacy icm20602/icm20608g driver
imu/mpu9250
imu/invensense/icm40609d
imu/invensense/mpu6500
imu/invensense/mpu9250
irlock
lights/blinkm
lights/rgbled

4
boards/px4/fmu-v4/stackcheck.cmake
View File

@ -30,9 +30,9 @@ px4_add_board(
#imu/adis16497
imu/invensense/icm20602
imu/invensense/icm20608g
#imu/invensense/icm40609d
#imu/invensense/mpu6500
#imu/invensense/mpu9250
#imu/mpu6000 # legacy icm20602/icm20608g driver
imu/mpu9250
irlock
lights/blinkm
lights/rgbled

4
boards/px4/fmu-v4pro/default.cmake
View File

@ -30,9 +30,7 @@ px4_add_board(
#imu # all available imu drivers
imu/invensense/icm20602
imu/invensense/icm20608g
#imu/invensense/mpu9250
#imu/mpu6000 # legacy icm20602/icm20608g driver
imu/mpu9250
imu/invensense/mpu9250
irlock
lights/blinkm
lights/rgbled

2
boards/px4/fmu-v4pro/init/rc.board_sensors
View File

@ -14,7 +14,7 @@ icm20608g -s -R 8 start
icm20602 -s -R 8 start
# Internal SPI bus mpu9250
mpu9250 -s -R 2 start
mpu9250 -s -R 8 start
# Internal SPI bus
lis3mdl -s -R 0 start

4
boards/px4/fmu-v4pro/rtps.cmake
View File

@ -30,9 +30,7 @@ px4_add_board(
#imu # all available imu drivers
imu/invensense/icm20602
imu/invensense/icm20608g
#imu/invensense/mpu9250
#imu/mpu6000 # legacy icm20602/icm20608g driver
imu/mpu9250
imu/invensense/mpu9250
irlock
lights/blinkm
lights/rgbled

4
boards/px4/fmu-v5/critmonitor.cmake
View File

@ -31,7 +31,9 @@ px4_add_board(
imu/adis16477
imu/adis16497
imu/bmi055
imu/mpu6000
imu/invensense/icm20602
imu/invensense/icm20689
#imu/mpu6000 # legacy icm20602/icm20689 driver
irlock
lights/blinkm
lights/rgbled

2
boards/px4/fmu-v5/default.cmake
View File

@ -33,7 +33,7 @@ px4_add_board(
imu/bmi055
imu/invensense/icm20602
imu/invensense/icm20689
imu/mpu6000
#imu/mpu6000 # legacy icm20602/icm20689 driver
irlock
lights/blinkm
lights/rgbled

4
boards/px4/fmu-v5/fixedwing.cmake
View File

@ -28,7 +28,9 @@ px4_add_board(
imu/adis16497
#imu # all available imu drivers
imu/bmi055
imu/mpu6000
imu/invensense/icm20602
imu/invensense/icm20689
#imu/mpu6000 # legacy icm20602/icm20689 driver
lights/rgbled
lights/rgbled_ncp5623c
lights/rgbled_pwm

10
boards/px4/fmu-v5/init/rc.board_sensors
View File

@ -6,16 +6,10 @@
adc start
# Internal SPI bus ICM-20602
mpu6000 -R 8 -s -T 20602 start
#icm20602 -s -R 6 start
icm20602 -s -R 2 start
# Internal SPI bus ICM-20689
mpu6000 -R 8 -s -T 20689 start
#icm20689 -s -R 6 start
# new sensor drivers (in testing)
#icm20602 -s start
#icm20689 -s start
icm20689 -s -R 2 start
# Internal SPI bus BMI055 accel
bmi055 -A -R 10 -s start

5
boards/px4/fmu-v5/irqmonitor.cmake
View File

@ -31,7 +31,9 @@ px4_add_board(
imu/adis16477
imu/adis16497
imu/bmi055
imu/mpu6000
imu/invensense/icm20602
imu/invensense/icm20689
#imu/mpu6000 # legacy icm20602/icm20689 driver
irlock
lights/blinkm
lights/rgbled
@ -50,6 +52,7 @@ px4_add_board(
px4io
rc_input
roboclaw
rpm
safety_button
tap_esc
telemetry # all available telemetry drivers

4
boards/px4/fmu-v5/multicopter.cmake
View File

@ -29,7 +29,9 @@ px4_add_board(
imu/adis16497
#imu # all available imu drivers
imu/bmi055
imu/mpu6000
imu/invensense/icm20602
imu/invensense/icm20689
#imu/mpu6000 # legacy icm20602/icm20689 driver
irlock
lights/blinkm
lights/rgbled

2
boards/px4/fmu-v5/optimized.cmake
View File

@ -33,7 +33,7 @@ px4_add_board(
imu/bmi055
imu/invensense/icm20602
imu/invensense/icm20689
imu/mpu6000
#imu/mpu6000 # legacy icm20602/icm20689 driver
irlock
#lights/blinkm
lights/rgbled

4
boards/px4/fmu-v5/rover.cmake
View File

@ -26,7 +26,9 @@ px4_add_board(
imu/adis16477
imu/adis16497
imu/bmi055
imu/mpu6000
imu/invensense/icm20602
imu/invensense/icm20689
#imu/mpu6000 # legacy icm20602/icm20689 driver
lights/rgbled
lights/rgbled_ncp5623c
lights/rgbled_pwm

5
boards/px4/fmu-v5/rtps.cmake
View File

@ -31,7 +31,9 @@ px4_add_board(
imu/adis16477
imu/adis16497
imu/bmi055
imu/mpu6000
imu/invensense/icm20602
imu/invensense/icm20689
#imu/mpu6000 # legacy icm20602/icm20689 driver
irlock
lights/blinkm
lights/rgbled
@ -50,6 +52,7 @@ px4_add_board(
px4io
rc_input
roboclaw
rpm
safety_button
tap_esc
telemetry # all available telemetry drivers

4
boards/px4/fmu-v5/stackcheck.cmake
View File

@ -32,7 +32,9 @@ px4_add_board(
#imu/adis16477
#imu/adis16497
#imu/bmi055
imu/mpu6000
#imu/invensense/icm20602
imu/invensense/icm20689
#imu/mpu6000 # legacy icm20602/icm20689 driver
#irlock
#lights/blinkm
lights/rgbled

2
boards/px4/fmu-v5x/default.cmake
View File

@ -32,7 +32,7 @@ px4_add_board(
imu/adis16477
imu/adis16497
imu/bmi088
imu/mpu6000
imu/invensense/icm20602
imu/st/ism330dlc
irlock
lights/blinkm

2
boards/px4/fmu-v5x/init/rc.board_sensors
View File

@ -10,7 +10,7 @@ ina226 -X -b 1 -t 1 -k start
ina226 -X -b 2 -t 2 -k start
# Internal SPI bus ICM-20602
mpu6000 -R 8 -s -T 20602 start
icm20602 -R 2 -s start
# Internal SPI bus ISM300DLC
ism330dlc -s start

2
boards/px4/fmu-v5x/p2_base_phy_LAN8742Ai.cmake
View File

@ -32,7 +32,7 @@ px4_add_board(
imu/adis16477
imu/adis16497
imu/bmi088
imu/mpu6000
imu/invensense/icm20602
imu/st/ism330dlc
irlock
lights/blinkm

2
boards/px4/raspberrypi/default.cmake
View File

@ -20,7 +20,7 @@ px4_add_board(
distance_sensor # all available distance sensor drivers
gps
#imu # all available imu drivers
imu/mpu9250
imu/invensense/mpu9250
linux_pwm_out
#magnetometer # all available magnetometer drivers
magnetometer/hmc5883

5
boards/uvify/core/default.cmake
View File

@ -22,8 +22,9 @@ px4_add_board(
distance_sensor # all available distance sensor drivers
dshot
gps
imu/mpu6000
imu/mpu9250
imu/invensense/icm20602
imu/invensense/icm20608g
imu/invensense/mpu9250
irlock
lights/rgbled_ncp5623c
magnetometer/bmm150

12
boards/uvify/core/init/rc.board_sensors
View File

@ -17,8 +17,8 @@ then
# GPS LED
rgbled_ncp5623c start -X -a 0x38
#mpu6000 -s -R 4 -T 20608 start
mpu9250 start -s -R 4
#icm20608g -s -R 10 start
mpu9250 start -s -R 10
# Default GNSS with LIS3MDL magnetometer with external i2c.
lis3mdl start -R 2 -X
@ -27,7 +27,7 @@ fi
# Draco
if param compare SYS_AUTOSTART 4072
then
mpu9250 start -s -R 2
mpu9250 start -s -R 8
fi
# IFO
@ -39,7 +39,7 @@ then
# IFO rgb LED
pca9685 -X start
mpu9250 start -s -R 2
mpu9250 start -s -R 8
lis3mdl start -R 2 -X
fi
@ -50,9 +50,9 @@ then
rgbled_ncp5623c start -X -a 0x38
# IMU
mpu9250 start -s -R 2
mpu9250 start -s -R 8
lis3mdl start -R 2 -X
# FLOW on SPI2
pmw3901 start -s 2
pmw3901 start -s -b 2
fi

1
boards/uvify/core/nuttx-config/include/board.h
View File

@ -225,6 +225,7 @@
/* UART8 has no alternate pin config */
/*
* CAN
*

2
posix-configs/ocpoc/px4.config
View File

@ -15,7 +15,7 @@ param set MAV_BROADCAST 1
param set MAV_TYPE 2
param set MAV_SYS_ID 1
mpu9250 -s -R 10 start
mpu9250 -s -R 4 start
hmc5883 -I start
ms5611 -s start

3
posix-configs/rpi/px4.config
View File

@ -14,10 +14,11 @@ fi
param set SYS_AUTOSTART 4001
param set MAV_BROADCAST 1
param set MAV_TYPE 2
param set IMU_GYRO_RATEMAX 400
dataman start
mpu9250 -s -R 8 start
mpu9250 -s -R 2 start
lsm9ds1 -s -R 4 start
lsm9ds1_mag -s -R 4 start
ms5611 -X start

3
posix-configs/rpi/px4_fw.config
View File

@ -14,10 +14,11 @@ fi
param set MAV_BROADCAST 1
param set SYS_AUTOSTART 2100
param set MAV_TYPE 1
param set IMU_GYRO_RATEMAX 400
dataman start
mpu9250 -s -R 8 start
mpu9250 -s -R 2 start
lsm9ds1 -s -R 4 start
lsm9ds1_mag -s -R 4 start
ms5611 -X start

3
posix-configs/rpi/px4_test.config
View File

@ -14,10 +14,11 @@ fi
param set SYS_AUTOSTART 4001
param set MAV_BROADCAST 1
param set MAV_TYPE 2
param set IMU_GYRO_RATEMAX 400
dataman start
mpu9250 -s -R 8 start
mpu9250 -s -R 2 start
lsm9ds1 -s -R 4 start
lsm9ds1_mag -s -R 4 start
ms5611 -X start