From 5c979f798976cd7a1710343ecc481b45217003cb Mon Sep 17 00:00:00 2001 From: duccan Date: Fri, 5 Jun 2020 12:52:37 +0200 Subject: [PATCH] AP_HAL_ChibiOS: Added support for Bitcraze Crazyflie 2.1 --- libraries/AP_HAL_ChibiOS/hwdef/crazyflie2/hwdef.dat | 4 ++-- libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp | 7 +++---- 2 files changed, 5 insertions(+), 6 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/crazyflie2/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/crazyflie2/hwdef.dat index 341c5e7532..86718488a6 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/crazyflie2/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/crazyflie2/hwdef.dat @@ -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 diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp index f1859a13e3..387140030a 100644 --- a/libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp +++ b/libraries/AP_InertialSensor/AP_InertialSensor_BMI088.cpp @@ -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);