From b8759c8d1bdf894d621da3dcbff91d7bb75b21da Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Tue, 6 Aug 2024 14:47:41 +0100 Subject: [PATCH] AP_HAL_ChibiOS: fix TMotor H743 with BMI270 --- libraries/AP_HAL_ChibiOS/hwdef/TMotorH743/hwdef.dat | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/TMotorH743/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/TMotorH743/hwdef.dat index 211d73b8e5..c6df75e578 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/TMotorH743/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/TMotorH743/hwdef.dat @@ -146,9 +146,9 @@ ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin # IMU setup SPIDEV icm42688 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 16*MHZ -SPIDEV bmi270 SPI4 DEVID1 GYRO2_CS MODE3 1*MHZ 8*MHZ +SPIDEV bmi270 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 8*MHZ -IMU BMI270 SPI:bmi270 ROTATION_PITCH_180_YAW_90 +IMU BMI270 SPI:bmi270 ROTATION_PITCH_180 IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90 DMA_NOSHARE TIM5_UP TIM3_UP TIM8_UP SPI1* SPI4*