From 1b0bf88c8f8b1fadafd35d9c3f00ad94d750b4c9 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Thu, 30 May 2019 09:21:09 +1000 Subject: [PATCH] HAL_ChibiOS: convert crazyflie2 to new config --- libraries/AP_HAL_ChibiOS/hwdef/crazyflie2/hwdef.dat | 12 ++++-------- 1 file changed, 4 insertions(+), 8 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/crazyflie2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/crazyflie2/hwdef.dat index 7fdb241d91..5e747a1b6e 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/crazyflie2/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/crazyflie2/hwdef.dat @@ -103,15 +103,11 @@ define STORAGE_FLASH_PAGE 1 # reserve 32k for bootloader and 32k for flash storage FLASH_RESERVE_START_KB 64 -define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C -define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180 -define HAL_INS_MPU60x0_I2C_BUS 0 -define HAL_INS_MPU60x0_I2C_ADDR 0x69 +# one IMU +IMU Invensense I2C:0:0x69 ROTATION_YAW_180 -define HAL_BARO_DEFAULT HAL_BARO_LPS25H_IMU_I2C -define HAL_BARO_LPS25H_I2C_BUS 0 -define HAL_BARO_LPS25H_I2C_ADDR 0x5D -define HAL_BARO_LPS25H_I2C_IMU_ADDR HAL_INS_MPU60x0_I2C_ADDR +# one baro, attached via I2C on IMU +BARO LPS2XH:probe_InvensenseIMU I2C:0:0x5D 0x69 # no built-in compass, but probe the i2c bus for all possible # external compass types