From a1a4c63881976e4a2728a41a64482d1c7e671426 Mon Sep 17 00:00:00 2001 From: Eric Date: Sun, 28 Jul 2024 14:25:53 -0700 Subject: [PATCH] hwdef: add mpu6000 to support ReaperF745 V4 FC --- libraries/AP_HAL_ChibiOS/hwdef/ReaperF745/hwdef.dat | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/ReaperF745/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/ReaperF745/hwdef.dat index 1e3560cdb8..870c162f68 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/ReaperF745/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/ReaperF745/hwdef.dat @@ -121,6 +121,7 @@ define HAL_LOGGING_DATAFLASH_ENABLED 1 # spi devices bmi270(v2) icm42688 (v3) SPIDEV bmi270 SPI3 DEVID1 GYRO_CS MODE3 1*MHZ 4*MHZ SPIDEV icm42688 SPI3 DEVID1 GYRO_CS MODE3 2*MHZ 8*MHZ +SPIDEV mpu6000 SPI3 DEVID1 GYRO_CS MODE3 1*MHZ 4*MHZ SPIDEV dataflash SPI4 DEVID1 FLASH_CS MODE3 32*MHZ 32*MHZ SPIDEV osd SPI1 DEVID1 AT7456E_CS MODE0 10*MHZ 10*MHZ @@ -129,9 +130,10 @@ define ALLOW_ARM_NO_COMPASS define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_I2C_INTERNAL_MASK 0 -# one IMU: bmi270 or icm42688 +# one IMU: bmi270 or icm42688 or mpu6000 IMU BMI270 SPI:bmi270 ROTATION_ROLL_180 IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_90 +IMU Invensense SPI:mpu6000 ROTATION_YAW_90 define HAL_DEFAULT_INS_FAST_SAMPLE 1