From ed0f602ce8d8c75613c0a07f2de38c3de3f521c0 Mon Sep 17 00:00:00 2001 From: tanja Date: Wed, 7 Dec 2022 12:18:21 +0100 Subject: [PATCH] v6x: Adapt sensor set for board 0x010 upstream --- boards/px4/fmu-v6x/init/rc.board_sensors | 32 ++++++++++++++++++------ 1 file changed, 24 insertions(+), 8 deletions(-) diff --git a/boards/px4/fmu-v6x/init/rc.board_sensors b/boards/px4/fmu-v6x/init/rc.board_sensors index 826b26c2e6..dc0ef48937 100644 --- a/boards/px4/fmu-v6x/init/rc.board_sensors +++ b/boards/px4/fmu-v6x/init/rc.board_sensors @@ -4,7 +4,7 @@ #------------------------------------------------------------------------------ set HAVE_PM2 yes -if ver hwtypecmp V6X005000 V6X005001 V6X005003 V6X005004 +if ver hwtypecmp V6X005000 V6X005001 V6X005003 V6X005004 V6X009010 V6X010010 then set HAVE_PM2 no fi @@ -52,21 +52,37 @@ then # Internal SPI bus ICM20649 icm20649 -s -R 6 start else -# Internal SPI BMI088 - bmi088 -A -R 4 -s start - bmi088 -G -R 4 -s start + # Internal SPI BMI088 + if ver V6X009010 V6X010010 + then + bmi088 -A -R 2 -s start + bmi088 -G -R 2 -s start + else + bmi088 -A -R 4 -s start + bmi088 -G -R 4 -s start + fi fi # Internal SPI bus ICM42688p -icm42688p -R 6 -s start +if ver V6X009010 V6X010010 +then + icm42688p -R 4 -s start +else + icm42688p -R 6 -s start +fi if ver hwtypecmp V6X000003 V6X001003 V6X003003 V6X000004 V6X001004 V6X004003 V6X004004 V6X005003 V6X005004 then # Internal SPI bus ICM-42670-P (hard-mounted) icm42670p -R 10 -s start else - # Internal SPI bus ICM-20649 (hard-mounted) - icm20649 -R 14 -s start + if ver V6X009010 V6X010010 + then + icm20602 -R 8 -s start + else + # Internal SPI bus ICM-20649 (hard-mounted) + icm20649 -R 14 -s start + fi fi # Internal magnetometer on I2c @@ -74,7 +90,7 @@ if ver hwtypecmp V6X002001 then rm3100 -I -b 4 start else - bmm150 -I start + bmm150 -I -R 6 start fi # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)