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hwdef: enable IMU in HolybroG4_GPS 

IMU rate zero by default
This commit is contained in:
Andrew Tridgell 2024-11-30 17:37:14 +11:00
parent 60f6a9deec
commit 7759bc7662
1 changed files with 10 additions and 3 deletions
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13
libraries/AP_HAL_ChibiOS/hwdef/HolybroG4_GPS/hwdef.dat
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@ -74,9 +74,9 @@ define HAL_I2C_INTERNAL_MASK 3
I2C_ORDER I2C1 I2C2
# one SPI bus (for IMU, unused)
#PA5 SPI1_SCK SPI1
#PA6 SPI1_MISO SPI1
#PA7 SPI1_MOSI SPI1
PA5 SPI1_SCK SPI1
PA6 SPI1_MISO SPI1
PA7 SPI1_MOSI SPI1
# SPI CS
PC4 GYR_CS CS
@ -134,10 +134,17 @@ DMA_NOSHARE USART3*
# add support for moving baseline yaw
define GPS_MOVING_BASELINE 1
SPIDEV icm42688 SPI1 DEVID1 ICM_CS MODE0 24*MHZ 24*MHZ
IMU Invensensev3 SPI:icm42688 ROTATION_YAW_180
define HAL_PERIPH_ENABLE_IMU
# GPS+MAG+LEDs
define HAL_PERIPH_ENABLE_GPS
define HAL_PERIPH_ENABLE_MAG
define HAL_PERIPH_ENABLE_BARO
define HAL_PERIPH_ENABLE_IMU
define HAL_PERIPH_ENABLE_NOTIFY
define HAL_PERIPH_ENABLE_RC_OUT