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AP_InertialSensor: added support for ICM-20608-D sensor

This commit is contained in:
Andrew Tridgell 2021-12-17 08:00:38 +11:00
parent 14ccee4991
commit 65563ece66
2 changed files with 4 additions and 2 deletions
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3
libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
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@ -911,7 +911,8 @@ bool AP_InertialSensor_Invensense::_check_whoami(void)
case MPU_WHOAMI_MPU9255:
_mpu_type = Invensense_MPU9250;
return true;
case MPU_WHOAMI_20608:
case MPU_WHOAMI_20608D:
case MPU_WHOAMI_20608G:
_mpu_type = Invensense_ICM20608;
return true;
case MPU_WHOAMI_20602:

3
libraries/AP_InertialSensor/AP_InertialSensor_Invensense_registers.h
View File

@ -178,7 +178,8 @@
// WHOAMI values
#define MPU_WHOAMI_6000 0x68
#define MPU_WHOAMI_20608 0xaf
#define MPU_WHOAMI_20608D 0xae
#define MPU_WHOAMI_20608G 0xaf
#define MPU_WHOAMI_20602 0x12
#define MPU_WHOAMI_20601 0xac
#define MPU_WHOAMI_6500 0x70