ardupilot/libraries/AP_HAL_ChibiOS/hwdef/CubeSolo/hwdef.dat

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# hw definition file for processing by chibios_hwdef.py
# for stock Pixhawk 2 cube, or the hex CUBE Black in a 3DR Solo
# this is based on the FMUv3 hwdef, with Solo's required parameter defaults
# do not use this hwdef for any other vehicle or configuration
include ../fmuv3/hwdef.dat
2021-11-29 01:21:30 -04:00
define HAL_CHIBIOS_ARCH_CUBE 1
env OPTIMIZE -O2
SPIDEV icm20948_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ
SPIDEV icm20602_ext SPI4 DEVID3 GYRO_EXT_CS MODE3 4*MHZ 8*MHZ
# pull Solo's default parameters from /Tools/Frame_params
# these are parameters the Solo requires for proper operation that are different from the copter defaults.
env DEFAULT_PARAMETERS 'Tools/Frame_params/Solo_Copter-4.param'
# three IMUs, but allow for different variants. First two IMUs are
# isolated, 3rd isn't
IMU Invensense SPI:mpu9250_ext ROTATION_PITCH_180
# the 3 rotations for the LSM9DS0 driver are for the accel, the gyro
# and the H variant of the gyro
IMU LSM9DS0 SPI:lsm9ds0_ext_g SPI:lsm9ds0_ext_am ROTATION_ROLL_180_YAW_270 ROTATION_ROLL_180_YAW_90 ROTATION_ROLL_180_YAW_90
# 3rd non-isolated IMU
IMU Invensense SPI:mpu9250 ROTATION_YAW_270
# alternative IMU set for newer cubes
IMU Invensense SPI:icm20602_ext ROTATION_ROLL_180_YAW_270
IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180
IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270
define HAL_DEFAULT_INS_FAST_SAMPLE 1
# two baros
BARO MS56XX SPI:ms5611_ext
BARO MS56XX SPI:ms5611
# two compasses. First is in the LSM303D
COMPASS LSM303D SPI:lsm9ds0_ext_am ROTATION_YAW_270
# 2nd compass is part of the 2nd invensense IMU
COMPASS AK8963:probe_mpu9250 1 ROTATION_YAW_270
# compass as part of ICM20948 on newer cubes
COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90
# also probe for external compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
undef AP_NOTIFY_OREOLED_ENABLED
define AP_NOTIFY_OREOLED_ENABLED 1
define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5
undef HAL_SOLO_GIMBAL_ENABLED
define HAL_SOLO_GIMBAL_ENABLED HAL_MOUNT_ENABLED
undef AP_BATTERY_SMBUS_SOLO_ENABLED
define AP_BATTERY_SMBUS_SOLO_ENABLED AP_BATTERY_SMBUS_ENABLED
AUTOBUILD_TARGETS Copter