mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-28 06:53:33 +08:00
53 lines
1.1 KiB
Plaintext
53 lines
1.1 KiB
Plaintext
#!nsh
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#
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# PX4 FMUv5 specific board init
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#
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#------------------------------------------------------------------------------
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#
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# UART mapping on FMUv5:
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#
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# UART1 /dev/ttyS0 GPS
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# USART2 /dev/ttyS1 TELEM1 (flow control)
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# USART3 /dev/ttyS2 TELEM2 (flow control)
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# UART4 /dev/ttyS3 TELEM4
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# USART6 /dev/ttyS4 TELEM3 (flow control)
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# UART7 /dev/ttyS5
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# UART8 /dev/ttyS6 CONSOLE
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#
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#------------------------------------------------------------------------------
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#
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if [ $AUTOCNF = yes ]
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then
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param set SYS_FMU_TASK 1
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fi
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set LOGGER_BUF 64
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# Internal SPI bus ICM-20602
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mpu6000 -R 8 -s -T 20602 start
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# Internal SPI bus ICM-20689
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mpu6000 -R 8 -z -T 20689 start
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# Internal SPI bus BMI055 accel
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bmi055 -A -R 10 start
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# Internal SPI bus BMI055 gyro
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bmi055 -G -R 10 start
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# Possible external compasses
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hmc5883 -C -T -X start
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# Possible external compasses
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ist8310 -C -b 1 start
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ist8310 -C -b 2 start
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# Possible internal compass
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ist8310 -C -b 5 start
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# Possible pmw3901 optical flow sensor
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pmw3901 start
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px4flow start &
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