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949 lines
25 KiB
Markdown
949 lines
25 KiB
Markdown
# Modules Reference: Imu (Драйвер)
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## adis16448
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Source: [drivers/imu/analog_devices/adis16448](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/analog_devices/adis16448)
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### Usage {#adis16448_usage}
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```
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adis16448 <command> [arguments...]
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Commands:
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start
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[-s] Internal SPI bus(es)
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[-S] External SPI bus(es)
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[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
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(default=1))
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[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
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[-m <val>] SPI mode
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[-f <val>] bus frequency in kHz
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[-q] quiet startup (no message if no device found)
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[-R <val>] Rotation
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default: 0
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stop
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status print status info
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```
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## adis16470
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Source: [drivers/imu/analog_devices/adis16470](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/analog_devices/adis16470)
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### Usage {#adis16470_usage}
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```
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adis16470 <command> [arguments...]
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Commands:
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start
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[-s] Internal SPI bus(es)
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[-S] External SPI bus(es)
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[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
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(default=1))
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[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
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[-m <val>] SPI mode
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[-f <val>] bus frequency in kHz
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[-q] quiet startup (no message if no device found)
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[-R <val>] Rotation
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default: 0
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stop
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status print status info
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```
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## adis16477
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Source: [drivers/imu/analog_devices/adis16477](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/analog_devices/adis16477)
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### Usage {#adis16477_usage}
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```
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adis16477 <command> [arguments...]
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Commands:
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start
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[-s] Internal SPI bus(es)
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[-S] External SPI bus(es)
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[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
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(default=1))
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[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
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[-m <val>] SPI mode
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[-f <val>] bus frequency in kHz
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[-q] quiet startup (no message if no device found)
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[-R <val>] Rotation
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default: 0
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stop
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status print status info
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```
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## adis16497
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Source: [drivers/imu/analog_devices/adis16497](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/analog_devices/adis16497)
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### Usage {#adis16497_usage}
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```
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adis16497 <command> [arguments...]
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Commands:
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start
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[-s] Internal SPI bus(es)
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[-S] External SPI bus(es)
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[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
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(default=1))
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[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
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[-m <val>] SPI mode
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[-f <val>] bus frequency in kHz
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[-q] quiet startup (no message if no device found)
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[-R <val>] Rotation
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default: 0
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stop
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status print status info
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```
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## adis16507
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Source: [drivers/imu/analog_devices/adis16507](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/analog_devices/adis16507)
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### Usage {#adis16507_usage}
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```
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adis16507 <command> [arguments...]
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Commands:
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start
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[-s] Internal SPI bus(es)
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[-S] External SPI bus(es)
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[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
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(default=1))
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[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
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[-m <val>] SPI mode
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[-f <val>] bus frequency in kHz
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[-q] quiet startup (no message if no device found)
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[-R <val>] Rotation
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default: 0
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stop
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status print status info
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```
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## adis16607
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Source: [drivers/imu/analog_devices/adis16607](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/analog_devices/adis16607)
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### Usage {#adis16607_usage}
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```
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adis16607 <command> [arguments...]
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Commands:
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start
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[-s] Internal SPI bus(es)
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[-S] External SPI bus(es)
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[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
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(default=1))
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[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
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[-m <val>] SPI mode
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[-f <val>] bus frequency in kHz
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[-q] quiet startup (no message if no device found)
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[-R <val>] Rotation
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default: 0
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stop
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status print status info
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```
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## bmi055
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Source: [drivers/imu/bosch/bmi055](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi055)
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### Usage {#bmi055_usage}
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```
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bmi055 <command> [arguments...]
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Commands:
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start
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[-A] Accel
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[-G] Gyro
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[-s] Internal SPI bus(es)
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[-S] External SPI bus(es)
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[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
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(default=1))
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[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
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[-m <val>] SPI mode
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[-f <val>] bus frequency in kHz
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[-q] quiet startup (no message if no device found)
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[-R <val>] Rotation
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default: 0
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stop
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status print status info
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```
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## bmi085
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Source: [drivers/imu/bosch/bmi085](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi085)
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### Usage {#bmi085_usage}
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```
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bmi085 <command> [arguments...]
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Commands:
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start
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[-A] Accel
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[-G] Gyro
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[-s] Internal SPI bus(es)
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[-S] External SPI bus(es)
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[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
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(default=1))
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[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
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[-m <val>] SPI mode
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[-f <val>] bus frequency in kHz
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[-q] quiet startup (no message if no device found)
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[-R <val>] Rotation
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default: 0
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stop
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status print status info
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```
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## bmi088
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Source: [drivers/imu/bosch/bmi088](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi088)
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### Usage {#bmi088_usage}
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```
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bmi088 <command> [arguments...]
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Commands:
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start
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[-A] Accel
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[-G] Gyro
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[-s] Internal SPI bus(es)
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[-S] External SPI bus(es)
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[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
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(default=1))
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[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
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[-m <val>] SPI mode
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[-f <val>] bus frequency in kHz
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[-q] quiet startup (no message if no device found)
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[-R <val>] Rotation
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default: 0
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stop
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status print status info
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```
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## bmi088_i2c
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Source: [drivers/imu/bosch/bmi088_i2c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi088_i2c)
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### Usage {#bmi088_i2c_usage}
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```
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bmi088_i2c <command> [arguments...]
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Commands:
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start
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[-A] Accel
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[-G] Gyro
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[-I] Internal I2C bus(es)
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[-X] External I2C bus(es)
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[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
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(default=1))
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[-f <val>] bus frequency in kHz
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[-q] quiet startup (no message if no device found)
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[-a <val>] I2C address
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default: 24
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[-R <val>] Rotation
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default: 0
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stop
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status print status info
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```
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## bmi270
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Source: [drivers/imu/bosch/bmi270](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/bosch/bmi270)
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### Usage {#bmi270_usage}
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```
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bmi270 <command> [arguments...]
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Commands:
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start
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[-s] Internal SPI bus(es)
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[-S] External SPI bus(es)
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[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
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(default=1))
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[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
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[-m <val>] SPI mode
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[-f <val>] bus frequency in kHz
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[-q] quiet startup (no message if no device found)
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[-R <val>] Rotation
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default: 0
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stop
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status print status info
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```
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## fxas21002c
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Source: [drivers/imu/nxp/fxas21002c](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/nxp/fxas21002c)
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### Usage {#fxas21002c_usage}
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```
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fxas21002c <command> [arguments...]
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Commands:
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start
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[-I] Internal I2C bus(es)
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[-X] External I2C bus(es)
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[-s] Internal SPI bus(es)
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[-S] External SPI bus(es)
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[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
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(default=1))
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[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
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[-m <val>] SPI mode
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[-f <val>] bus frequency in kHz
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[-q] quiet startup (no message if no device found)
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[-a <val>] I2C address
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default: 32
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[-R <val>] Rotation
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default: 0
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regdump
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testerror
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stop
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status print status info
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```
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## fxos8701cq
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Source: [drivers/imu/nxp/fxos8701cq](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/nxp/fxos8701cq)
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### Usage {#fxos8701cq_usage}
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```
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fxos8701cq <command> [arguments...]
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Commands:
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start
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[-I] Internal I2C bus(es)
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[-X] External I2C bus(es)
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[-s] Internal SPI bus(es)
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[-S] External SPI bus(es)
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[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
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(default=1))
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[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
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[-m <val>] SPI mode
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[-f <val>] bus frequency in kHz
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[-q] quiet startup (no message if no device found)
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[-a <val>] I2C address
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default: 30
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[-R <val>] Rotation
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default: 0
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regdump
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testerror
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stop
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status print status info
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```
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## iam20680hp
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Source: [drivers/imu/invensense/iam20680hp](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/iam20680hp)
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### Usage {#iam20680hp_usage}
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```
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iam20680hp <command> [arguments...]
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Commands:
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start
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[-s] Internal SPI bus(es)
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[-S] External SPI bus(es)
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[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
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(default=1))
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[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
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[-m <val>] SPI mode
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[-f <val>] bus frequency in kHz
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[-q] quiet startup (no message if no device found)
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[-R <val>] Rotation
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default: 0
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stop
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status print status info
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```
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## icm20602
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Source: [drivers/imu/invensense/icm20602](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20602)
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### Usage {#icm20602_usage}
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```
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icm20602 <command> [arguments...]
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Commands:
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start
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[-s] Internal SPI bus(es)
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[-S] External SPI bus(es)
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[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
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(default=1))
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[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
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[-m <val>] SPI mode
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[-f <val>] bus frequency in kHz
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[-q] quiet startup (no message if no device found)
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[-R <val>] Rotation
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default: 0
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stop
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status print status info
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```
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## icm20608g
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Source: [drivers/imu/invensense/icm20608g](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20608g)
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### Usage {#icm20608g_usage}
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```
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icm20608g <command> [arguments...]
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Commands:
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start
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[-s] Internal SPI bus(es)
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[-S] External SPI bus(es)
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[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
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(default=1))
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[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
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[-m <val>] SPI mode
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[-f <val>] bus frequency in kHz
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[-q] quiet startup (no message if no device found)
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[-R <val>] Rotation
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default: 0
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stop
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status print status info
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```
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## icm20649
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Source: [drivers/imu/invensense/icm20649](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20649)
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### Usage {#icm20649_usage}
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```
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icm20649 <command> [arguments...]
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Commands:
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start
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[-s] Internal SPI bus(es)
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[-S] External SPI bus(es)
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[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
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(default=1))
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[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
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[-m <val>] SPI mode
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[-f <val>] bus frequency in kHz
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[-q] quiet startup (no message if no device found)
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[-R <val>] Rotation
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default: 0
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stop
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status print status info
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```
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## icm20689
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Source: [drivers/imu/invensense/icm20689](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20689)
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### Usage {#icm20689_usage}
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```
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icm20689 <command> [arguments...]
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Commands:
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start
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[-s] Internal SPI bus(es)
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[-S] External SPI bus(es)
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[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
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(default=1))
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[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
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[-m <val>] SPI mode
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[-f <val>] bus frequency in kHz
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[-q] quiet startup (no message if no device found)
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[-R <val>] Rotation
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default: 0
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stop
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status print status info
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```
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## icm20948
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Source: [drivers/imu/invensense/icm20948](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20948)
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### Usage {#icm20948_usage}
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```
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icm20948 <command> [arguments...]
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Commands:
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start
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[-s] Internal SPI bus(es)
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[-S] External SPI bus(es)
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[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
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(default=1))
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[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
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[-m <val>] SPI mode
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[-f <val>] bus frequency in kHz
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[-q] quiet startup (no message if no device found)
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[-M] Enable Magnetometer (AK8963)
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[-R <val>] Rotation
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default: 0
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stop
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status print status info
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```
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## icm20948_i2c_passthrough
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Source: [drivers/imu/invensense/icm20948](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm20948)
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### Usage {#icm20948_i2c_passthrough_usage}
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```
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icm20948_i2c_passthrough <command> [arguments...]
|
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Commands:
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start
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[-I] Internal I2C bus(es)
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[-X] External I2C bus(es)
|
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[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
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(default=1))
|
|
[-f <val>] bus frequency in kHz
|
|
[-q] quiet startup (no message if no device found)
|
|
[-a <val>] I2C address
|
|
default: 105
|
|
|
|
stop
|
|
|
|
status print status info
|
|
```
|
|
|
|
## icm40609d
|
|
|
|
Source: [drivers/imu/invensense/icm40609d](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm40609d)
|
|
|
|
### Usage {#icm40609d_usage}
|
|
|
|
```
|
|
icm40609d <command> [arguments...]
|
|
Commands:
|
|
start
|
|
[-s] Internal SPI bus(es)
|
|
[-S] External SPI bus(es)
|
|
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
|
(default=1))
|
|
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
|
[-m <val>] SPI mode
|
|
[-f <val>] bus frequency in kHz
|
|
[-q] quiet startup (no message if no device found)
|
|
[-R <val>] Rotation
|
|
default: 0
|
|
|
|
stop
|
|
|
|
status print status info
|
|
```
|
|
|
|
## icm42605
|
|
|
|
Source: [drivers/imu/invensense/icm42605](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm42605)
|
|
|
|
### Usage {#icm42605_usage}
|
|
|
|
```
|
|
icm42605 <command> [arguments...]
|
|
Commands:
|
|
start
|
|
[-s] Internal SPI bus(es)
|
|
[-S] External SPI bus(es)
|
|
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
|
(default=1))
|
|
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
|
[-m <val>] SPI mode
|
|
[-f <val>] bus frequency in kHz
|
|
[-q] quiet startup (no message if no device found)
|
|
[-R <val>] Rotation
|
|
default: 0
|
|
|
|
stop
|
|
|
|
status print status info
|
|
```
|
|
|
|
## icm42670p
|
|
|
|
Source: [drivers/imu/invensense/icm42670p](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm42670p)
|
|
|
|
### Usage {#icm42670p_usage}
|
|
|
|
```
|
|
icm42670p <command> [arguments...]
|
|
Commands:
|
|
start
|
|
[-s] Internal SPI bus(es)
|
|
[-S] External SPI bus(es)
|
|
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
|
(default=1))
|
|
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
|
[-m <val>] SPI mode
|
|
[-f <val>] bus frequency in kHz
|
|
[-q] quiet startup (no message if no device found)
|
|
[-R <val>] Rotation
|
|
default: 0
|
|
|
|
stop
|
|
|
|
status print status info
|
|
```
|
|
|
|
## icm42688p
|
|
|
|
Source: [drivers/imu/invensense/icm42688p](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm42688p)
|
|
|
|
### Usage {#icm42688p_usage}
|
|
|
|
```
|
|
icm42688p <command> [arguments...]
|
|
Commands:
|
|
start
|
|
[-s] Internal SPI bus(es)
|
|
[-S] External SPI bus(es)
|
|
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
|
(default=1))
|
|
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
|
[-m <val>] SPI mode
|
|
[-f <val>] bus frequency in kHz
|
|
[-q] quiet startup (no message if no device found)
|
|
[-R <val>] Rotation
|
|
default: 0
|
|
[-C <val>] Input clock frequency (Hz)
|
|
default: 0
|
|
[-6] Drive ICM-42686
|
|
|
|
stop
|
|
|
|
status print status info
|
|
```
|
|
|
|
## icm45686
|
|
|
|
Source: [drivers/imu/invensense/icm45686](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/icm45686)
|
|
|
|
### Usage {#icm45686_usage}
|
|
|
|
```
|
|
icm45686 <command> [arguments...]
|
|
Commands:
|
|
start
|
|
[-s] Internal SPI bus(es)
|
|
[-S] External SPI bus(es)
|
|
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
|
(default=1))
|
|
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
|
[-m <val>] SPI mode
|
|
[-f <val>] bus frequency in kHz
|
|
[-q] quiet startup (no message if no device found)
|
|
[-R <val>] Rotation
|
|
default: 0
|
|
[-C <val>] Input clock frequency (Hz)
|
|
default: 0
|
|
|
|
stop
|
|
|
|
status print status info
|
|
```
|
|
|
|
## iim42652
|
|
|
|
Source: [drivers/imu/invensense/iim42652](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/iim42652)
|
|
|
|
### Usage {#iim42652_usage}
|
|
|
|
```
|
|
iim42652 <command> [arguments...]
|
|
Commands:
|
|
start
|
|
[-s] Internal SPI bus(es)
|
|
[-S] External SPI bus(es)
|
|
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
|
(default=1))
|
|
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
|
[-m <val>] SPI mode
|
|
[-f <val>] bus frequency in kHz
|
|
[-q] quiet startup (no message if no device found)
|
|
[-R <val>] Rotation
|
|
default: 0
|
|
[-C <val>] Input clock frequency (Hz)
|
|
default: 0
|
|
|
|
stop
|
|
|
|
status print status info
|
|
```
|
|
|
|
## iim42653
|
|
|
|
Source: [drivers/imu/invensense/iim42653](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/iim42653)
|
|
|
|
### Usage {#iim42653_usage}
|
|
|
|
```
|
|
iim42653 <command> [arguments...]
|
|
Commands:
|
|
start
|
|
[-s] Internal SPI bus(es)
|
|
[-S] External SPI bus(es)
|
|
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
|
(default=1))
|
|
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
|
[-m <val>] SPI mode
|
|
[-f <val>] bus frequency in kHz
|
|
[-q] quiet startup (no message if no device found)
|
|
[-R <val>] Rotation
|
|
default: 0
|
|
[-C <val>] Input clock frequency (Hz)
|
|
default: 0
|
|
|
|
stop
|
|
|
|
status print status info
|
|
```
|
|
|
|
## l3gd20
|
|
|
|
Source: [drivers/imu/st/l3gd20](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/l3gd20)
|
|
|
|
### Usage {#l3gd20_usage}
|
|
|
|
```
|
|
l3gd20 <command> [arguments...]
|
|
Commands:
|
|
start
|
|
[-s] Internal SPI bus(es)
|
|
[-S] External SPI bus(es)
|
|
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
|
(default=1))
|
|
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
|
[-m <val>] SPI mode
|
|
[-f <val>] bus frequency in kHz
|
|
[-q] quiet startup (no message if no device found)
|
|
[-R <val>] Rotation
|
|
default: 0
|
|
|
|
regdump
|
|
|
|
testerror
|
|
|
|
stop
|
|
|
|
status print status info
|
|
```
|
|
|
|
## lsm303d
|
|
|
|
Source: [drivers/imu/st/lsm303d](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/lsm303d)
|
|
|
|
### Usage {#lsm303d_usage}
|
|
|
|
```
|
|
lsm303d <command> [arguments...]
|
|
Commands:
|
|
start
|
|
[-s] Internal SPI bus(es)
|
|
[-S] External SPI bus(es)
|
|
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
|
(default=1))
|
|
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
|
[-m <val>] SPI mode
|
|
[-f <val>] bus frequency in kHz
|
|
[-q] quiet startup (no message if no device found)
|
|
[-R <val>] Rotation
|
|
default: 0
|
|
|
|
stop
|
|
|
|
status print status info
|
|
```
|
|
|
|
## lsm9ds1
|
|
|
|
Source: [drivers/imu/st/lsm9ds1](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/st/lsm9ds1)
|
|
|
|
### Usage {#lsm9ds1_usage}
|
|
|
|
```
|
|
lsm9ds1 <command> [arguments...]
|
|
Commands:
|
|
start
|
|
[-s] Internal SPI bus(es)
|
|
[-S] External SPI bus(es)
|
|
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
|
(default=1))
|
|
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
|
[-m <val>] SPI mode
|
|
[-f <val>] bus frequency in kHz
|
|
[-q] quiet startup (no message if no device found)
|
|
[-R <val>] Rotation
|
|
default: 0
|
|
|
|
stop
|
|
|
|
status print status info
|
|
```
|
|
|
|
## mpu6000
|
|
|
|
Source: [drivers/imu/invensense/mpu6000](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu6000)
|
|
|
|
### Usage {#mpu6000_usage}
|
|
|
|
```
|
|
mpu6000 <command> [arguments...]
|
|
Commands:
|
|
start
|
|
[-s] Internal SPI bus(es)
|
|
[-S] External SPI bus(es)
|
|
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
|
(default=1))
|
|
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
|
[-m <val>] SPI mode
|
|
[-f <val>] bus frequency in kHz
|
|
[-q] quiet startup (no message if no device found)
|
|
[-R <val>] Rotation
|
|
default: 0
|
|
|
|
stop
|
|
|
|
status print status info
|
|
```
|
|
|
|
## mpu9250
|
|
|
|
Source: [drivers/imu/invensense/mpu9250](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu9250)
|
|
|
|
### Usage {#mpu9250_usage}
|
|
|
|
```
|
|
mpu9250 <command> [arguments...]
|
|
Commands:
|
|
start
|
|
[-s] Internal SPI bus(es)
|
|
[-S] External SPI bus(es)
|
|
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
|
(default=1))
|
|
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
|
[-m <val>] SPI mode
|
|
[-f <val>] bus frequency in kHz
|
|
[-q] quiet startup (no message if no device found)
|
|
[-M] Enable Magnetometer (AK8963)
|
|
[-R <val>] Rotation
|
|
default: 0
|
|
|
|
stop
|
|
|
|
status print status info
|
|
```
|
|
|
|
## mpu9250_i2c
|
|
|
|
Source: [drivers/imu/invensense/mpu9250](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu9250)
|
|
|
|
### Usage {#mpu9250_i2c_usage}
|
|
|
|
```
|
|
mpu9250_i2c <command> [arguments...]
|
|
Commands:
|
|
start
|
|
[-I] Internal I2C bus(es)
|
|
[-X] External I2C bus(es)
|
|
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
|
(default=1))
|
|
[-f <val>] bus frequency in kHz
|
|
[-q] quiet startup (no message if no device found)
|
|
[-a <val>] I2C address
|
|
default: 104
|
|
[-R <val>] Rotation
|
|
default: 0
|
|
|
|
stop
|
|
|
|
status print status info
|
|
```
|
|
|
|
## mpu9520
|
|
|
|
Source: [drivers/imu/invensense/mpu6500](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/invensense/mpu6500)
|
|
|
|
### Usage {#mpu9520_usage}
|
|
|
|
```
|
|
mpu9520 <command> [arguments...]
|
|
Commands:
|
|
start
|
|
[-s] Internal SPI bus(es)
|
|
[-S] External SPI bus(es)
|
|
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
|
(default=1))
|
|
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
|
[-m <val>] SPI mode
|
|
[-f <val>] bus frequency in kHz
|
|
[-q] quiet startup (no message if no device found)
|
|
[-R <val>] Rotation
|
|
default: 0
|
|
|
|
stop
|
|
|
|
status print status info
|
|
```
|
|
|
|
## sch16t
|
|
|
|
Source: [drivers/imu/murata/sch16t](https://github.com/PX4/PX4-Autopilot/tree/main/src/drivers/imu/murata/sch16t)
|
|
|
|
### Usage {#sch16t_usage}
|
|
|
|
```
|
|
sch16t <command> [arguments...]
|
|
Commands:
|
|
start
|
|
[-s] Internal SPI bus(es)
|
|
[-S] External SPI bus(es)
|
|
[-b <val>] board-specific bus (default=all) (external SPI: n-th bus
|
|
(default=1))
|
|
[-c <val>] chip-select pin (for internal SPI) or index (for external SPI)
|
|
[-m <val>] SPI mode
|
|
[-f <val>] bus frequency in kHz
|
|
[-q] quiet startup (no message if no device found)
|
|
[-R <val>] Rotation
|
|
default: 0
|
|
|
|
stop
|
|
|
|
status print status info
|
|
```
|