From c89d3bfc071e67e94c2d175e1a8f10966e844ba4 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 23 Jul 2022 18:37:43 +1000 Subject: [PATCH] hwdef: fixed rotation of bmi088 on Holybro6X --- libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat index 611599dd54..f7d148c723 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat @@ -302,7 +302,7 @@ SPIDEV ramtron SPI5 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ # Holybro6X 3 IMUs IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X) -IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_NONE BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X) +IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X) IMU Invensensev2 SPI:icm20649 ROTATION_YAW_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X) # alternative to BMI088 IMU Invensensev3 SPI:icm42670 ROTATION_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X)