From 00406180c44dd1acda5f90132321ba67b39e93b0 Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Sat, 7 Dec 2019 13:33:11 +0000 Subject: [PATCH] AP_HAL_ChibiOS: specify Durdanal IMUs so that ordering is correct --- libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat index 6f7c2a91e7..1977bed07c 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat @@ -284,6 +284,11 @@ SPIDEV external5m1 SPI6 DEVID2 EXT2_CS3 MODE1 2*MHZ 2*MHZ SPIDEV external5m2 SPI6 DEVID2 EXT2_CS3 MODE2 2*MHZ 2*MHZ SPIDEV external5m3 SPI6 DEVID2 EXT2_CS3 MODE3 2*MHZ 2*MHZ +# Two IMUs +IMU Invensense SPI:icm20689 ROTATION_NONE +IMU BMI088 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90 +# These are here for compatibility with pre-release boards +IMU BMI055 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90 # microSD support (disabled for now) PC8 SDMMC1_D0 SDMMC1