From 7aa7f0ed95c28a718182eea4dc1f10966bf81cf4 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 25 Mar 2020 01:07:33 -0400 Subject: [PATCH] switch remaining boards to new InvenSense IMU drivers --- .../px4fmu_common/init.d/airframes/4250_teal | 4 -- .../init.d/airframes/6002_draco_r | 5 -- boards/aerotenna/ocpoc/default.cmake | 3 +- boards/atlflight/eagle/qurt.cmake | 2 +- boards/atlflight/excelsior/qurt.cmake | 2 +- boards/emlid/navio2/default.cmake | 2 +- boards/holybro/durandal-v1/default.cmake | 1 - .../holybro/durandal-v1/init/rc.board_sensors | 3 +- boards/holybro/durandal-v1/stackcheck.cmake | 5 +- boards/holybro/kakutef7/default.cmake | 3 +- boards/holybro/kakutef7/init/rc.board_sensors | 4 +- boards/intel/aerofc-v1/default.cmake | 2 +- boards/intel/aerofc-v1/init/rc.board_sensors | 3 +- boards/intel/aerofc-v1/rtps.cmake | 2 +- boards/modalai/fc-v1/default.cmake | 1 - boards/modalai/fc-v1/init/rc.board_sensors | 2 +- boards/mro/ctrl-zero-f7/default.cmake | 2 +- boards/mro/ctrl-zero-f7/init/rc.board_sensors | 13 ++-- boards/mro/ctrl-zero-f7/src/spi.cpp | 3 +- boards/mro/x21-777/default.cmake | 5 +- boards/mro/x21-777/init/rc.board_sensors | 16 ++--- boards/mro/x21/default.cmake | 5 +- boards/mro/x21/init/rc.board_sensors | 12 ++-- boards/nxp/fmuk66-v3/default.cmake | 3 - boards/nxp/fmurt1062-v1/init/rc.board_sensors | 12 +--- boards/px4/fmu-v2/default.cmake | 10 ++- boards/px4/fmu-v2/fixedwing.cmake | 8 ++- boards/px4/fmu-v2/init/rc.board_sensors | 65 +++++++++++-------- boards/px4/fmu-v2/lpe.cmake | 3 +- boards/px4/fmu-v2/multicopter.cmake | 2 +- boards/px4/fmu-v2/rover.cmake | 4 +- boards/px4/fmu-v2/test.cmake | 4 +- boards/px4/fmu-v3/default.cmake | 5 +- boards/px4/fmu-v3/init/rc.board_sensors | 58 +++++++++-------- boards/px4/fmu-v3/rtps.cmake | 5 +- boards/px4/fmu-v3/stackcheck.cmake | 5 +- boards/px4/fmu-v4/cannode.cmake | 7 +- boards/px4/fmu-v4/default.cmake | 5 +- boards/px4/fmu-v4/init/rc.board_sensors | 10 +-- boards/px4/fmu-v4/optimized.cmake | 5 +- boards/px4/fmu-v4/rtps.cmake | 6 +- boards/px4/fmu-v4/stackcheck.cmake | 4 +- boards/px4/fmu-v4pro/default.cmake | 4 +- boards/px4/fmu-v4pro/init/rc.board_sensors | 2 +- boards/px4/fmu-v4pro/rtps.cmake | 4 +- boards/px4/fmu-v5/critmonitor.cmake | 4 +- boards/px4/fmu-v5/default.cmake | 2 +- boards/px4/fmu-v5/fixedwing.cmake | 4 +- boards/px4/fmu-v5/init/rc.board_sensors | 10 +-- boards/px4/fmu-v5/irqmonitor.cmake | 5 +- boards/px4/fmu-v5/multicopter.cmake | 4 +- boards/px4/fmu-v5/optimized.cmake | 2 +- boards/px4/fmu-v5/rover.cmake | 4 +- boards/px4/fmu-v5/rtps.cmake | 5 +- boards/px4/fmu-v5/stackcheck.cmake | 4 +- boards/px4/fmu-v5x/default.cmake | 2 +- boards/px4/fmu-v5x/init/rc.board_sensors | 2 +- .../px4/fmu-v5x/p2_base_phy_LAN8742Ai.cmake | 2 +- boards/px4/raspberrypi/default.cmake | 2 +- boards/uvify/core/default.cmake | 5 +- boards/uvify/core/init/rc.board_sensors | 12 ++-- .../uvify/core/nuttx-config/include/board.h | 1 + posix-configs/ocpoc/px4.config | 2 +- posix-configs/rpi/px4.config | 3 +- posix-configs/rpi/px4_fw.config | 3 +- posix-configs/rpi/px4_test.config | 3 +- 66 files changed, 206 insertions(+), 206 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/airframes/4250_teal b/ROMFS/px4fmu_common/init.d/airframes/4250_teal index e898dda5fb..0abcf9df68 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/4250_teal +++ b/ROMFS/px4fmu_common/init.d/airframes/4250_teal @@ -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) diff --git a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r index 12c891639f..2b0b3f4ade 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r +++ b/ROMFS/px4fmu_common/init.d/airframes/6002_draco_r @@ -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 diff --git a/boards/aerotenna/ocpoc/default.cmake b/boards/aerotenna/ocpoc/default.cmake index 08fa7f8cca..ef77f1800d 100644 --- a/boards/aerotenna/ocpoc/default.cmake +++ b/boards/aerotenna/ocpoc/default.cmake @@ -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 diff --git a/boards/atlflight/eagle/qurt.cmake b/boards/atlflight/eagle/qurt.cmake index 81a0a0166b..945d70cdfc 100644 --- a/boards/atlflight/eagle/qurt.cmake +++ b/boards/atlflight/eagle/qurt.cmake @@ -46,7 +46,7 @@ px4_add_board( DRIVERS barometer/bmp280 gps - imu/mpu9250 + imu/invensense/mpu9250 #magnetometer/hmc5883 qshell/qurt snapdragon_pwm_out diff --git a/boards/atlflight/excelsior/qurt.cmake b/boards/atlflight/excelsior/qurt.cmake index 07f8c75d04..256647c135 100644 --- a/boards/atlflight/excelsior/qurt.cmake +++ b/boards/atlflight/excelsior/qurt.cmake @@ -46,7 +46,7 @@ px4_add_board( DRIVERS barometer/bmp280 gps - imu/mpu9250 + imu/invensense/mpu9250 magnetometer/hmc5883 qshell/qurt snapdragon_pwm_out diff --git a/boards/emlid/navio2/default.cmake b/boards/emlid/navio2/default.cmake index 81278aff30..5e1264fc1a 100644 --- a/boards/emlid/navio2/default.cmake +++ b/boards/emlid/navio2/default.cmake @@ -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 diff --git a/boards/holybro/durandal-v1/default.cmake b/boards/holybro/durandal-v1/default.cmake index 5768c047aa..3b39146dfa 100644 --- a/boards/holybro/durandal-v1/default.cmake +++ b/boards/holybro/durandal-v1/default.cmake @@ -33,7 +33,6 @@ px4_add_board( imu/adis16497 imu/bmi088 imu/invensense/icm20689 - imu/mpu6000 irlock lights/blinkm lights/rgbled diff --git a/boards/holybro/durandal-v1/init/rc.board_sensors b/boards/holybro/durandal-v1/init/rc.board_sensors index c242d8e432..32d20c1fa6 100644 --- a/boards/holybro/durandal-v1/init/rc.board_sensors +++ b/boards/holybro/durandal-v1/init/rc.board_sensors @@ -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 diff --git a/boards/holybro/durandal-v1/stackcheck.cmake b/boards/holybro/durandal-v1/stackcheck.cmake index 852d67888c..5512fd9fb8 100644 --- a/boards/holybro/durandal-v1/stackcheck.cmake +++ b/boards/holybro/durandal-v1/stackcheck.cmake @@ -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 diff --git a/boards/holybro/kakutef7/default.cmake b/boards/holybro/kakutef7/default.cmake index bad2aa6f5e..713de40a43 100644 --- a/boards/holybro/kakutef7/default.cmake +++ b/boards/holybro/kakutef7/default.cmake @@ -19,7 +19,8 @@ px4_add_board( barometer/bmp280 dshot gps - imu/mpu6000 + imu/invensense/icm20689 + imu/invensense/mpu6000 magnetometer optical_flow/px4flow osd diff --git a/boards/holybro/kakutef7/init/rc.board_sensors b/boards/holybro/kakutef7/init/rc.board_sensors index 0838ccb0bb..326b0ee081 100644 --- a/boards/holybro/kakutef7/init/rc.board_sensors +++ b/boards/holybro/kakutef7/init/rc.board_sensors @@ -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 diff --git a/boards/intel/aerofc-v1/default.cmake b/boards/intel/aerofc-v1/default.cmake index dbcde66b37..7cb63c4299 100644 --- a/boards/intel/aerofc-v1/default.cmake +++ b/boards/intel/aerofc-v1/default.cmake @@ -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 diff --git a/boards/intel/aerofc-v1/init/rc.board_sensors b/boards/intel/aerofc-v1/init/rc.board_sensors index c468d0adae..e6ec97e668 100644 --- a/boards/intel/aerofc-v1/init/rc.board_sensors +++ b/boards/intel/aerofc-v1/init/rc.board_sensors @@ -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 diff --git a/boards/intel/aerofc-v1/rtps.cmake b/boards/intel/aerofc-v1/rtps.cmake index caa1cfde60..4c66dfbe7c 100644 --- a/boards/intel/aerofc-v1/rtps.cmake +++ b/boards/intel/aerofc-v1/rtps.cmake @@ -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 diff --git a/boards/modalai/fc-v1/default.cmake b/boards/modalai/fc-v1/default.cmake index 2a55fabab1..58bb16fad5 100644 --- a/boards/modalai/fc-v1/default.cmake +++ b/boards/modalai/fc-v1/default.cmake @@ -27,7 +27,6 @@ px4_add_board( imu/bmi088 imu/invensense/icm20602 imu/invensense/icm42688p - imu/mpu6000 irlock lights/blinkm lights/rgbled diff --git a/boards/modalai/fc-v1/init/rc.board_sensors b/boards/modalai/fc-v1/init/rc.board_sensors index 8046bd510e..4db1232d20 100644 --- a/boards/modalai/fc-v1/init/rc.board_sensors +++ b/boards/modalai/fc-v1/init/rc.board_sensors @@ -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 diff --git a/boards/mro/ctrl-zero-f7/default.cmake b/boards/mro/ctrl-zero-f7/default.cmake index 95e58e98f2..db575e057e 100644 --- a/boards/mro/ctrl-zero-f7/default.cmake +++ b/boards/mro/ctrl-zero-f7/default.cmake @@ -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 diff --git a/boards/mro/ctrl-zero-f7/init/rc.board_sensors b/boards/mro/ctrl-zero-f7/init/rc.board_sensors index df198548ca..178f820cbc 100644 --- a/boards/mro/ctrl-zero-f7/init/rc.board_sensors +++ b/boards/mro/ctrl-zero-f7/init/rc.board_sensors @@ -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 diff --git a/boards/mro/ctrl-zero-f7/src/spi.cpp b/boards/mro/ctrl-zero-f7/src/spi.cpp index 81677528bd..82ae643767 100644 --- a/boards/mro/ctrl-zero-f7/src/spi.cpp +++ b/boards/mro/ctrl-zero-f7/src/spi.cpp @@ -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}), diff --git a/boards/mro/x21-777/default.cmake b/boards/mro/x21-777/default.cmake index 17bcbf212c..895e8d7768 100644 --- a/boards/mro/x21-777/default.cmake +++ b/boards/mro/x21-777/default.cmake @@ -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 diff --git a/boards/mro/x21-777/init/rc.board_sensors b/boards/mro/x21-777/init/rc.board_sensors index 4a43aef12c..02e26db95b 100644 --- a/boards/mro/x21-777/init/rc.board_sensors +++ b/boards/mro/x21-777/init/rc.board_sensors @@ -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 diff --git a/boards/mro/x21/default.cmake b/boards/mro/x21/default.cmake index c24fa34f28..0b83ec652f 100644 --- a/boards/mro/x21/default.cmake +++ b/boards/mro/x21/default.cmake @@ -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 diff --git a/boards/mro/x21/init/rc.board_sensors b/boards/mro/x21/init/rc.board_sensors index 5fcee1c1c6..dc78662a46 100644 --- a/boards/mro/x21/init/rc.board_sensors +++ b/boards/mro/x21/init/rc.board_sensors @@ -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 diff --git a/boards/nxp/fmuk66-v3/default.cmake b/boards/nxp/fmuk66-v3/default.cmake index 351a35dcb7..2c8c2d724a 100644 --- a/boards/nxp/fmuk66-v3/default.cmake +++ b/boards/nxp/fmuk66-v3/default.cmake @@ -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 diff --git a/boards/nxp/fmurt1062-v1/init/rc.board_sensors b/boards/nxp/fmurt1062-v1/init/rc.board_sensors index 375270ae31..3b6d1d68a3 100644 --- a/boards/nxp/fmurt1062-v1/init/rc.board_sensors +++ b/boards/nxp/fmurt1062-v1/init/rc.board_sensors @@ -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 diff --git a/boards/px4/fmu-v2/default.cmake b/boards/px4/fmu-v2/default.cmake index aa4187300a..eb1870704e 100644 --- a/boards/px4/fmu-v2/default.cmake +++ b/boards/px4/fmu-v2/default.cmake @@ -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 diff --git a/boards/px4/fmu-v2/fixedwing.cmake b/boards/px4/fmu-v2/fixedwing.cmake index 5f4a416b58..10e9ab2107 100644 --- a/boards/px4/fmu-v2/fixedwing.cmake +++ b/boards/px4/fmu-v2/fixedwing.cmake @@ -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 diff --git a/boards/px4/fmu-v2/init/rc.board_sensors b/boards/px4/fmu-v2/init/rc.board_sensors index d9c1fb3a2a..3e7fa0b400 100644 --- a/boards/px4/fmu-v2/init/rc.board_sensors +++ b/boards/px4/fmu-v2/init/rc.board_sensors @@ -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 diff --git a/boards/px4/fmu-v2/lpe.cmake b/boards/px4/fmu-v2/lpe.cmake index deffd4ce11..f62e1df08e 100644 --- a/boards/px4/fmu-v2/lpe.cmake +++ b/boards/px4/fmu-v2/lpe.cmake @@ -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 diff --git a/boards/px4/fmu-v2/multicopter.cmake b/boards/px4/fmu-v2/multicopter.cmake index 5115db6954..7bda7d2f2b 100644 --- a/boards/px4/fmu-v2/multicopter.cmake +++ b/boards/px4/fmu-v2/multicopter.cmake @@ -26,7 +26,7 @@ px4_add_board( imu/l3gd20 imu/lsm303d imu/mpu6000 - #imu/mpu9250 + #imu/invensense/mpu9250 irlock lights/rgbled magnetometer/hmc5883 diff --git a/boards/px4/fmu-v2/rover.cmake b/boards/px4/fmu-v2/rover.cmake index 8e331004a3..0d21c0f4cd 100644 --- a/boards/px4/fmu-v2/rover.cmake +++ b/boards/px4/fmu-v2/rover.cmake @@ -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 diff --git a/boards/px4/fmu-v2/test.cmake b/boards/px4/fmu-v2/test.cmake index defebefaeb..1d99a04e64 100644 --- a/boards/px4/fmu-v2/test.cmake +++ b/boards/px4/fmu-v2/test.cmake @@ -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 diff --git a/boards/px4/fmu-v3/default.cmake b/boards/px4/fmu-v3/default.cmake index 02d38a85c9..e0ce3810a9 100644 --- a/boards/px4/fmu-v3/default.cmake +++ b/boards/px4/fmu-v3/default.cmake @@ -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 diff --git a/boards/px4/fmu-v3/init/rc.board_sensors b/boards/px4/fmu-v3/init/rc.board_sensors index 68d3c3ad38..459331466a 100644 --- a/boards/px4/fmu-v3/init/rc.board_sensors +++ b/boards/px4/fmu-v3/init/rc.board_sensors @@ -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 diff --git a/boards/px4/fmu-v3/rtps.cmake b/boards/px4/fmu-v3/rtps.cmake index e448b1c44a..38d14bbf54 100644 --- a/boards/px4/fmu-v3/rtps.cmake +++ b/boards/px4/fmu-v3/rtps.cmake @@ -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 diff --git a/boards/px4/fmu-v3/stackcheck.cmake b/boards/px4/fmu-v3/stackcheck.cmake index 2b03d15d72..60cdd62445 100644 --- a/boards/px4/fmu-v3/stackcheck.cmake +++ b/boards/px4/fmu-v3/stackcheck.cmake @@ -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 diff --git a/boards/px4/fmu-v4/cannode.cmake b/boards/px4/fmu-v4/cannode.cmake index d345d61c57..12328e1747 100644 --- a/boards/px4/fmu-v4/cannode.cmake +++ b/boards/px4/fmu-v4/cannode.cmake @@ -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 diff --git a/boards/px4/fmu-v4/default.cmake b/boards/px4/fmu-v4/default.cmake index 0983d3d55f..d3ecad9a4e 100644 --- a/boards/px4/fmu-v4/default.cmake +++ b/boards/px4/fmu-v4/default.cmake @@ -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 diff --git a/boards/px4/fmu-v4/init/rc.board_sensors b/boards/px4/fmu-v4/init/rc.board_sensors index 6e397f2e37..7bd416e871 100644 --- a/boards/px4/fmu-v4/init/rc.board_sensors +++ b/boards/px4/fmu-v4/init/rc.board_sensors @@ -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 diff --git a/boards/px4/fmu-v4/optimized.cmake b/boards/px4/fmu-v4/optimized.cmake index c99124da2a..42a0750074 100644 --- a/boards/px4/fmu-v4/optimized.cmake +++ b/boards/px4/fmu-v4/optimized.cmake @@ -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 diff --git a/boards/px4/fmu-v4/rtps.cmake b/boards/px4/fmu-v4/rtps.cmake index 20fbff94d6..494d65afb7 100644 --- a/boards/px4/fmu-v4/rtps.cmake +++ b/boards/px4/fmu-v4/rtps.cmake @@ -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 diff --git a/boards/px4/fmu-v4/stackcheck.cmake b/boards/px4/fmu-v4/stackcheck.cmake index 477ec86260..fde2d9324c 100644 --- a/boards/px4/fmu-v4/stackcheck.cmake +++ b/boards/px4/fmu-v4/stackcheck.cmake @@ -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 diff --git a/boards/px4/fmu-v4pro/default.cmake b/boards/px4/fmu-v4pro/default.cmake index 46abd7edcb..6adfd96413 100644 --- a/boards/px4/fmu-v4pro/default.cmake +++ b/boards/px4/fmu-v4pro/default.cmake @@ -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 diff --git a/boards/px4/fmu-v4pro/init/rc.board_sensors b/boards/px4/fmu-v4pro/init/rc.board_sensors index 2625a07b27..1c5ed3822c 100644 --- a/boards/px4/fmu-v4pro/init/rc.board_sensors +++ b/boards/px4/fmu-v4pro/init/rc.board_sensors @@ -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 diff --git a/boards/px4/fmu-v4pro/rtps.cmake b/boards/px4/fmu-v4pro/rtps.cmake index ffd03ce62c..00c66057d7 100644 --- a/boards/px4/fmu-v4pro/rtps.cmake +++ b/boards/px4/fmu-v4pro/rtps.cmake @@ -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 diff --git a/boards/px4/fmu-v5/critmonitor.cmake b/boards/px4/fmu-v5/critmonitor.cmake index fdcc94df04..7112494d5b 100644 --- a/boards/px4/fmu-v5/critmonitor.cmake +++ b/boards/px4/fmu-v5/critmonitor.cmake @@ -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 diff --git a/boards/px4/fmu-v5/default.cmake b/boards/px4/fmu-v5/default.cmake index 269c2c926b..7408e3256b 100644 --- a/boards/px4/fmu-v5/default.cmake +++ b/boards/px4/fmu-v5/default.cmake @@ -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 diff --git a/boards/px4/fmu-v5/fixedwing.cmake b/boards/px4/fmu-v5/fixedwing.cmake index ac309b82c4..8946e20068 100644 --- a/boards/px4/fmu-v5/fixedwing.cmake +++ b/boards/px4/fmu-v5/fixedwing.cmake @@ -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 diff --git a/boards/px4/fmu-v5/init/rc.board_sensors b/boards/px4/fmu-v5/init/rc.board_sensors index 8977ed2330..873854bd74 100644 --- a/boards/px4/fmu-v5/init/rc.board_sensors +++ b/boards/px4/fmu-v5/init/rc.board_sensors @@ -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 diff --git a/boards/px4/fmu-v5/irqmonitor.cmake b/boards/px4/fmu-v5/irqmonitor.cmake index c435d510ab..83b1d65be8 100644 --- a/boards/px4/fmu-v5/irqmonitor.cmake +++ b/boards/px4/fmu-v5/irqmonitor.cmake @@ -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 diff --git a/boards/px4/fmu-v5/multicopter.cmake b/boards/px4/fmu-v5/multicopter.cmake index 02de57b66c..e296762a37 100644 --- a/boards/px4/fmu-v5/multicopter.cmake +++ b/boards/px4/fmu-v5/multicopter.cmake @@ -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 diff --git a/boards/px4/fmu-v5/optimized.cmake b/boards/px4/fmu-v5/optimized.cmake index 22bc269221..b1c3ed3981 100644 --- a/boards/px4/fmu-v5/optimized.cmake +++ b/boards/px4/fmu-v5/optimized.cmake @@ -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 diff --git a/boards/px4/fmu-v5/rover.cmake b/boards/px4/fmu-v5/rover.cmake index 1c25c9a0d8..52a6de4bd5 100644 --- a/boards/px4/fmu-v5/rover.cmake +++ b/boards/px4/fmu-v5/rover.cmake @@ -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 diff --git a/boards/px4/fmu-v5/rtps.cmake b/boards/px4/fmu-v5/rtps.cmake index e3058ae9f3..42a4ab0cb7 100644 --- a/boards/px4/fmu-v5/rtps.cmake +++ b/boards/px4/fmu-v5/rtps.cmake @@ -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 diff --git a/boards/px4/fmu-v5/stackcheck.cmake b/boards/px4/fmu-v5/stackcheck.cmake index 6af0b0cd99..45a09fd58b 100644 --- a/boards/px4/fmu-v5/stackcheck.cmake +++ b/boards/px4/fmu-v5/stackcheck.cmake @@ -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 diff --git a/boards/px4/fmu-v5x/default.cmake b/boards/px4/fmu-v5x/default.cmake index eaead5d246..22af18a707 100644 --- a/boards/px4/fmu-v5x/default.cmake +++ b/boards/px4/fmu-v5x/default.cmake @@ -32,7 +32,7 @@ px4_add_board( imu/adis16477 imu/adis16497 imu/bmi088 - imu/mpu6000 + imu/invensense/icm20602 imu/st/ism330dlc irlock lights/blinkm diff --git a/boards/px4/fmu-v5x/init/rc.board_sensors b/boards/px4/fmu-v5x/init/rc.board_sensors index 90552c4fff..a65fe8117b 100644 --- a/boards/px4/fmu-v5x/init/rc.board_sensors +++ b/boards/px4/fmu-v5x/init/rc.board_sensors @@ -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 diff --git a/boards/px4/fmu-v5x/p2_base_phy_LAN8742Ai.cmake b/boards/px4/fmu-v5x/p2_base_phy_LAN8742Ai.cmake index f0e2ef2baa..3c1f204900 100644 --- a/boards/px4/fmu-v5x/p2_base_phy_LAN8742Ai.cmake +++ b/boards/px4/fmu-v5x/p2_base_phy_LAN8742Ai.cmake @@ -32,7 +32,7 @@ px4_add_board( imu/adis16477 imu/adis16497 imu/bmi088 - imu/mpu6000 + imu/invensense/icm20602 imu/st/ism330dlc irlock lights/blinkm diff --git a/boards/px4/raspberrypi/default.cmake b/boards/px4/raspberrypi/default.cmake index 6e5d778a2e..b8ea6a209b 100644 --- a/boards/px4/raspberrypi/default.cmake +++ b/boards/px4/raspberrypi/default.cmake @@ -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 diff --git a/boards/uvify/core/default.cmake b/boards/uvify/core/default.cmake index 495de91816..602c09a121 100644 --- a/boards/uvify/core/default.cmake +++ b/boards/uvify/core/default.cmake @@ -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 diff --git a/boards/uvify/core/init/rc.board_sensors b/boards/uvify/core/init/rc.board_sensors index be3d9544dd..9771bcce7b 100644 --- a/boards/uvify/core/init/rc.board_sensors +++ b/boards/uvify/core/init/rc.board_sensors @@ -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 diff --git a/boards/uvify/core/nuttx-config/include/board.h b/boards/uvify/core/nuttx-config/include/board.h index 166a31723a..c3d69129c8 100644 --- a/boards/uvify/core/nuttx-config/include/board.h +++ b/boards/uvify/core/nuttx-config/include/board.h @@ -225,6 +225,7 @@ /* UART8 has no alternate pin config */ + /* * CAN * diff --git a/posix-configs/ocpoc/px4.config b/posix-configs/ocpoc/px4.config index e8058f0db2..6a270fa94b 100644 --- a/posix-configs/ocpoc/px4.config +++ b/posix-configs/ocpoc/px4.config @@ -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 diff --git a/posix-configs/rpi/px4.config b/posix-configs/rpi/px4.config index 0792152875..94cfc08e0a 100644 --- a/posix-configs/rpi/px4.config +++ b/posix-configs/rpi/px4.config @@ -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 diff --git a/posix-configs/rpi/px4_fw.config b/posix-configs/rpi/px4_fw.config index 52dd94f3dc..bfac321a0a 100644 --- a/posix-configs/rpi/px4_fw.config +++ b/posix-configs/rpi/px4_fw.config @@ -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 diff --git a/posix-configs/rpi/px4_test.config b/posix-configs/rpi/px4_test.config index c48a4a048a..ddc630ea31 100644 --- a/posix-configs/rpi/px4_test.config +++ b/posix-configs/rpi/px4_test.config @@ -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