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AP_HAL_ChibiOS: Added support for Bitcraze Crazyflie 2.1

This commit is contained in:
duccan 2020-06-05 12:52:37 +02:00 committed by Andrew Tridgell
parent 9f26bd0a67
commit 0d96c7f7a5
2 changed files with 5 additions and 6 deletions
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4
libraries/AP_HAL_ChibiOS/hwdef/crazyflie2/hwdef.dat
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@ -99,10 +99,10 @@ define STORAGE_FLASH_PAGE 1
FLASH_RESERVE_START_KB 64
# one IMU
IMU Invensense I2C:0:0x69 ROTATION_YAW_180
IMU BMI088 I2C:0:0x18 I2C:0:0x69 ROTATION_ROLL_180
# one baro, attached via I2C on IMU
BARO LPS2XH:probe_InvensenseIMU I2C:0:0x5D 0x69
BARO BMP388 I2C:0:0x77
# no built-in compass, but probe the i2c bus for all possible
# external compass types

7
libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp
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@ -223,10 +223,9 @@ bool AP_InertialSensor_BMI088::gyro_init()
return false;
}
if (!dev_gyro->write_register(REGG_BGW_SOFTRESET, 0xB6)) {
return false;
}
hal.scheduler->delay(10);
// Soft-reset gyro
dev_gyro->write_register(REGG_BGW_SOFTRESET, 0xB6);
hal.scheduler->delay(30);
dev_gyro->setup_checked_registers(5, 20);