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29 lines
915 B
Bash
29 lines
915 B
Bash
#!/bin/sh
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#
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# PX4 FMUv6C specific board sensors init
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#------------------------------------------------------------------------------
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board_adc start
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if ver hwtypecmp V6C000002 V6C002002
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then
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# Internal SPI BMI088 accel/gyro
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bmi088 -A -R 4 -s start
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bmi088 -G -R 4 -s start
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else
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# Internal SPI bus BMI055 accel/gyro
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bmi055 -A -R 4 -s start
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bmi055 -G -R 4 -s start
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fi
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# Internal SPI bus ICM42688p
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icm42688p -R 6 -s start
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# Internal barometer on I2C4 (The same bus is also exposed externally, and therefore marked as external)
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ms5611 -X -b 4 -a 0x77 start
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# Internal compass on IMU I2C4 (The same bus is also exposed externally, and therefore marked as external)
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ist8310 -X -b 4 -a 0xc start
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# External compass on GPS/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
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ist8310 -X -b 1 -R 10 start
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