From cca8f8219a45cb89a38e967e4d53be7443ee91cd Mon Sep 17 00:00:00 2001 From: Andy Piper Date: Sun, 3 Dec 2023 15:35:52 +0000 Subject: [PATCH] hwdef: new variant of KakuteH7 using ICM42688 --- libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef.dat | 2 ++ 1 file changed, 2 insertions(+) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef.dat index fed99f38f4..f0009c0402 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7/hwdef.dat @@ -129,6 +129,7 @@ DMA_NOSHARE SPI1* # spi devices SPIDEV mpu6000 SPI4 DEVID1 mpu6000_CS MODE3 1*MHZ 4*MHZ +SPIDEV icm42688 SPI4 DEVID1 mpu6000_CS MODE3 1*MHZ 16*MHZ SPIDEV sdcard SPI1 DEVID1 SDCARD_CS MODE0 400*KHZ 25*MHZ SPIDEV osd SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ @@ -145,6 +146,7 @@ define HAL_COMPASS_AUTO_ROT_DEFAULT 2 # one IMU IMU Invensense SPI:mpu6000 ROTATION_YAW_180 +IMU Invensensev3 SPI:icm42688 ROTATION_ROLL_180_YAW_270 # one BARO BARO BMP280 I2C:0:0x76