From ef109721fe8492fff9bf479cfbbd803d6a5b12ea Mon Sep 17 00:00:00 2001 From: honglang Date: Tue, 13 Jul 2021 01:19:20 +0000 Subject: [PATCH] AP_HAL_ChibiOS: hwdef: reorder CUAV-X7 IMUs adjust the sequence of IMU sensors to have good performance. --- libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/hwdef.dat | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/hwdef.dat index 3a11f0b3c1..c05e87a5b9 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/CUAV-X7/hwdef.dat @@ -251,9 +251,9 @@ BARO MS56XX SPI:ms5611_board # three IMUs, only one of ICM20689 and ADIS16470 will be included IMU ADIS1647x SPI:adis16470 ROTATION_PITCH_180_YAW_270 ADIS_DRDY_PIN +IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270 IMU Invensense SPI:icm20689 ROTATION_NONE IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180_YAW_270 -IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_270 IMU Invensensev2 SPI:icm20649 ROTATION_NONE IMU Invensense SPI:icm20689_board ROTATION_NONE