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12884 Commits

Author SHA1 Message Date
Andrew Tridgell 8d19808152 AP_InertialSensor: fixed missing checked register goto 
thanks to Francisco for spotting
 2016-11-11 08:08:56 +11:00
Andrew Tridgell 49856c37f2 AP_InertialSensor: reduce checked register count 
thanks to Francisco for spotting this
 2016-11-11 08:08:56 +11:00
Andrew Tridgell 4be8f05ad4 AP_InertialSensor: added register checking for LSM9DS0 2016-11-11 08:08:56 +11:00
Andrew Tridgell 77a83c091a AP_InertialSensor: added register checking for MPU6000/ICM20608 2016-11-11 08:08:56 +11:00
Andrew Tridgell 95a849f472 AP_InertialSensor: added register checking for MPU9250 2016-11-11 08:08:56 +11:00
Andrew Tridgell 3289e90134 AP_InertialSensor: added error count increments in drivers 2016-11-11 08:08:55 +11:00
Andrew Tridgell bc614de4b3 AP_HAL: added checked registers interface 
allow drivers to easily monitor and correct critical registers
 2016-11-11 08:08:55 +11:00
Andrew Tridgell 4ebf3309f7 AP_InertialSensor: auto-handle invensense sensor changes 
some boards swap out MPU6000 for MPU9250 or ICM20608
 2016-11-11 08:08:55 +11:00
Andrew Tridgell 8e61b15384 HAL_PX4: added ICM20608_EXT SPI device 2016-11-11 08:08:55 +11:00
Andrew Tridgell e4454c5056 AP_Compass: setup for new PX4 board IDs 2016-11-11 08:08:55 +11:00
Andrew Tridgell 41b132e576 AP_Baro: setup for new board PX4 IDs 2016-11-11 08:08:55 +11:00
Andrew Tridgell 4f50d67790 AP_BoardConfig: added board type auto-detection 
using SPI probing
 2016-11-11 08:08:55 +11:00
Andrew Tridgell c565c9df35 AP_HAL: added ICM20608 external SPI name 2016-11-11 08:08:55 +11:00
Andrew Tridgell af0ec41652 AP_InertialSensor: fixed accel clip detection with fast sampling 
we need to check on every sample at the full rate
 2016-11-10 13:39:17 +11:00
Andrew Tridgell 0eac781559 AP_Compass: don't run the AK8963 on the external MPU9250 
this saves us one mag slot for another external mag, and leaves the
primary MPU9250 undisturbed by the mag traffic on the bus
 2016-11-10 13:05:22 +11:00
Andrew Tridgell 70c27a85de AP_InertialSensor: on PH2 run the first MPU9250 at 8kHz 2016-11-10 13:04:15 +11:00
Andrew Tridgell 73122adb78 AP_BoardConfig: removed unused startup functions for Pixracer 2016-11-10 12:55:22 +11:00
Andrew Tridgell 3d5c57c5dc AP_Compass: fixed orientation of PH2 in-tree compass drivers 2016-11-10 11:44:52 +11:00
Andrew Tridgell 4ba00720aa AP_Compass: make init() private 
not called from frontend
 2016-11-10 11:44:52 +11:00
Andrew Tridgell 1ea4c6938c AP_InertialSensor: allow auxiliary bus with fast sampling 2016-11-10 11:44:52 +11:00
Andrew Tridgell 8da42b7a8b AP_InertialSensor: fixed temperature for fast sampling case 2016-11-10 11:44:52 +11:00
Andrew Tridgell cb70bae167 AP_InertialSensor: use in-tree drivers for PH2SLIM 2016-11-10 11:44:52 +11:00
Andrew Tridgell c68a6451cb AP_Compass: use in-tree drivers for PH2SLIM 2016-11-10 11:44:52 +11:00
Andrew Tridgell d716bbedee AP_Baro: use in-tree drivers for PH2SLIM 2016-11-10 11:44:52 +11:00
Andrew Tridgell e7a9de9b41 AP_BoardConfig: use in-tree drivers for PH2SLIM 2016-11-10 11:44:52 +11:00
Andrew Tridgell fea7040aff AP_Baro: don't panic when we can't find MS5611 
this makes booting a PH2 without its sensor hat on much easier
 2016-11-10 11:44:51 +11:00
Andrew Tridgell e27a76e460 AP_InertialSensor: fixed auxiliary bus with FIFO enabled 
make sure fifo reset doesn't check I2C master enable
 2016-11-10 11:44:51 +11:00
Andrew Tridgell 46785e8ecf AP_InertialSensor: improved method for FIFO integrity checking 
check temperature every 255 samples against FIFO data
 2016-11-10 11:44:51 +11:00
Andrew Tridgell 8a3f6a8902 AP_InertialSensor: use FIFO and implement fast sampling for MPU9250 2016-11-10 11:44:51 +11:00
Andrew Tridgell f94e4b4375 Filter: allow 1P LowPassFilter to work without alpha recalc per sample 
this makes the 1P filter optionally syntax compatible with the 2P
filter and much more CPU efficient.
 2016-11-10 11:43:29 +11:00
murata f9add59b58 Global: Aggregate the same definitions. 
Global: Aggregate the same definitions.
 2016-11-09 11:46:55 -03:00
Lucas De Marchi c1647b13eb AP_HAL_Linux: fix leaking strings 2016-11-09 11:44:05 -03:00
Andrew Tridgell e25a391a8f AP_InertialSensor: fixed typo 2016-11-09 17:08:15 +11:00
Andrew Tridgell d2f6a514b9 AP_InertialSensor: catch FIFO alignment errors using temperature reading 
Two cases of what seems to be FIFO alignment errors have been seen on
a Pixracer-beta board with a ICM-20608. At a cost of 2 extra bytes per
transfer we can catch these by looking for sudden temperature changes
caused by bad data in the temperature registers.
 2016-11-09 17:08:15 +11:00
Andrew Tridgell 4602b4d679 AP_Compass: improve init and calibration of hmc5843 2016-11-09 17:08:15 +11:00
Andrew Tridgell d248b33104 AP_InertialSensor: simplify config of MPU6000 
use zero sample rate divider on both MPU6000 and ICM20608
 2016-11-09 17:08:14 +11:00
Andrew Tridgell 7137d5c6f2 AP_InertialSensor: switch pixracer to always use in-tree drivers 2016-11-09 17:08:14 +11:00
Andrew Tridgell 3d48a72f59 AP_C0mpass: switch pixracer to always use in-tree drivers 2016-11-09 17:08:14 +11:00
Andrew Tridgell b8c789cf35 AP_Baro: switch pixracer to always use in-tree drivers 2016-11-09 17:08:14 +11:00
Andrew Tridgell b0b93f8928 AP_BoardConfig: switch pixracer to always use in-tree drivers 2016-11-09 17:08:14 +11:00
Andrew Tridgell 84c3e29891 AP_InertialSensor: use AP_HAL rotations for MPU6000 2016-11-09 17:08:14 +11:00
Andrew Tridgell fd8955a737 AP_HAL: define default rotations for mpu6000 based boards 2016-11-09 17:08:14 +11:00
Andrew Tridgell 2f01dfe81c AP_InertialSensor: fixed from review by Lucas 2016-11-09 17:08:13 +11:00
Andrew Tridgell 81b933d9d0 AP_InertialSensor: use int32_t summation for fast sampling 
very slightly faster
 2016-11-09 17:08:13 +11:00
Andrew Tridgell b00fd95725 AP_Math: define Vector3l for += op 2016-11-09 17:08:13 +11:00
Andrew Tridgell 565f1986e0 AP_Baro: fixed FMUv1 baro and enable in-tree driver for PHMINI 2016-11-09 17:08:13 +11:00
Andrew Tridgell fcf0a4ea59 AP_BoardConfig: use in-tree drivers for PHMINI 2016-11-09 17:08:13 +11:00
Andrew Tridgell b363a65c2e AP_Compass: enable in-tree drivers for PHMINI 2016-11-09 17:08:13 +11:00
Andrew Tridgell 03b7bc9e65 AP_InertialSensor: use internal drivers for PHMINI 
this gets us fast sampling
 2016-11-09 17:08:12 +11:00
Andrew Tridgell af1c5fd6d3 AP_InertialSensor: always use FIFO on MPU6000 
and enable fast sampling on ICM20608 if on SPI
 2016-11-09 17:08:12 +11:00
Andrew Tridgell 96e42696b7 HAL_PX4: added icm20608-am SPI device 2016-11-09 17:08:12 +11:00
Andrew Tridgell d778ee2db0 AP_HAL: define device for icm20608 on ACCEL_MAG CS line on px4 
for PHMINI
 2016-11-09 17:08:12 +11:00
Andrew Tridgell b34ab2956b HAL_PX4: added access to external SPI connector on FMUv2 2016-11-09 17:08:12 +11:00
Andrew Tridgell fde80a9408 AP_InertialSensor: modify LSM303D settings to match PX4 driver 
this allows existing accel calibration to be used
 2016-11-09 17:08:12 +11:00
Andrew Tridgell 875fa60452 AP_Compass: fixed external I2C HMC5983 rotation on pixhawk 2016-11-09 17:08:11 +11:00
Andrew Tridgell 01fadb6e90 HAL_PX4: added per-device perf counter for I2C devices 2016-11-09 17:08:11 +11:00
Andrew Tridgell a9a5e50bd1 AP_InertialSensor: removed timer callback for MPU6000 
Thanks to Lucas for pointing out this is not needed
 2016-11-09 17:08:11 +11:00
Andrew Tridgell 42f242a07b HAL_PX4: fixed build on PX4-v1 2016-11-09 17:08:11 +11:00
Andrew Tridgell bd8867be38 AP_Compass: cope with NULL dev pointer in driver probe functions 2016-11-09 17:08:11 +11:00
Andrew Tridgell ba9b475782 AP_HAL: added MS5611 on I2C for px4-v1 2016-11-09 17:08:11 +11:00
Andrew Tridgell 4cf6dd1818 HAL_Linux: removed panic on bad SPI device 2016-11-09 17:08:11 +11:00
Andrew Tridgell 20cd165476 HAL_PX4: allow for missing SPIDevice table entries 
removed panic
 2016-11-09 17:08:10 +11:00
Andrew Tridgell bd84e592f8 AP_InertialSensor: check for NULL device pointer in probe() 
handle missing devices
 2016-11-09 17:08:10 +11:00
Andrew Tridgell 3b53caad87 AP_Compass: keep old hmc5843 ID 
prevent re-use. thanks to Lucas
 2016-11-09 17:08:10 +11:00
Andrew Tridgell 02c2ba1331 AP_Compass: fixed dup semaphore bug 
thanks to Lucas for spotting this!
 2016-11-09 17:08:10 +11:00
Andrew Tridgell f31a017ace AP_Compass: changes to HMC5843 driver 
this makes the HMC5843 use single-shot mode, which makes it more
robust to bus resets. It also adds WHOAMI checking and enables
automatic temperature compensation.

Unfortunately this makes existing calibration values incompatible, so
a re-cal is required. The device ID has been changed to reflect the
driver change.
 2016-11-09 17:08:10 +11:00
Andrew Tridgell f62851f780 GCS_MAVLink: added remote device operations 
this makes debugging devices much easier. You can even write a
primitive SPI or I2C device driver over mavlink.

Support for this is in the devop MAVProxy module
 2016-11-09 17:08:10 +11:00
Andrew Tridgell 922d5a74f7 HAL_PX4: print msg when I2C device is closed 2016-11-09 17:08:09 +11:00
Andrew Tridgell da7ed73051 GCS_MAVLlink: added handle_common_message() 
this will make it easier to add common functions for mavlink messages
without having to do a commit for each vehicle
 2016-11-09 17:08:09 +11:00
Andrew Tridgell e5a4dd4e56 HAL_PX4: added perf counter on SPI devices 2016-11-09 17:08:09 +11:00
Andrew Tridgell 8bca8545a2 HAL_PX4: removed unused devname field in SPIDevice 2016-11-09 17:08:08 +11:00
Andrew Tridgell 05769640d1 AP_Compass: support rotations on AK8963 2016-11-09 17:08:08 +11:00
Andrew Tridgell 2716ab8408 AP_Compass: added support for per-instance rotations 2016-11-09 17:08:08 +11:00
Andrew Tridgell fac895b0e6 AP_Compass: setup read flag for SPI transfers 2016-11-09 17:08:08 +11:00
Andrew Tridgell 18df213069 HAL_PX4: fixed initial SPI bus speed and report new SPI instances 2016-11-09 17:08:08 +11:00
Andrew Tridgell 3d7d773883 AP_InertialSensor: added support for ICM20608 on Pixracer 2016-11-09 17:08:08 +11:00
Andrew Tridgell 4dc5dc87b5 HAL_PX4: added ICM20608 to SPI table 2016-11-09 17:08:08 +11:00
Andrew Tridgell ea74f8c12c AP_HAL: added ICM20608 INS name 2016-11-09 17:08:07 +11:00
Andrew Tridgell 2c1e9024f1 AP_InertialSensor: detect missing accels or gyros 2016-11-09 17:08:07 +11:00
Andrew Tridgell 106a91c64c AP_InertialSensor: use init_gyro() on startup 
this saves the calibration parameters which should be done on
calibration
 2016-11-09 17:08:07 +11:00
Andrew Tridgell 408593465f AP_InertialSensor: fixed rotation for mpu9250 on pixracer 2016-11-09 17:08:07 +11:00
Andrew Tridgell 790dd4769b AP_InertialSensor: simplify rotations for MPU9250 2016-11-09 17:08:07 +11:00
Andrew Tridgell 38a1f51b53 AP_HAL: define rotations for the MPU9250 in board/linux.h 2016-11-09 17:08:07 +11:00
Andrew Tridgell 147b253e65 AP_Compass: make device IDs match PX4 drivers 
match in-tree drivers to PX4Firmware drivers
 2016-11-09 17:08:06 +11:00
Andrew Tridgell aa4025bdf9 AP_InertialSensor: make INS sensor IDs match for PX4 
in-tree driver IDs now match PX4Firmware driver IDs on Pixhawk2
 2016-11-09 17:08:06 +11:00
Andrew Tridgell 76b2759317 AP_OpticalFlow: fixed shadowed variable build warning 2016-11-09 17:08:06 +11:00
Andrew Tridgell 9e7e1b2f01 AP_InertialSensor: fixed merge conflicts with patches from Lucas 2016-11-09 17:08:06 +11:00
Andrew Tridgell 1990aa96e1 AP_HAL: added get_bus_id_devtype() 
used to do versioning on device types
 2016-11-09 17:08:06 +11:00
Lucas De Marchi 104e29acf2 AP_InertialSensor: MPU6000: change accel scale to 16G 
Also change the ID of MPU6000 so previous calibration values are not
considered valid.
 2016-11-09 17:08:06 +11:00
Lucas De Marchi dc09661b9e AP_InertialSensor: MPU6000: save driver version 
When registering accel and gyro we use the upper 16bits of the id to
store the driver version. When changing the driver behavior in
non-compatible ways, changing this version will trigger a request for
calibration.
 2016-11-09 17:08:06 +11:00
Lucas De Marchi 0d3adef8b2 AP_InertialSensor: MPU6000: remove TODO leftover 
This will never be done as blindly changing speed is not the way to fix
communication issues.
 2016-11-09 17:08:05 +11:00
Andrew Tridgell 0a1616cc71 AP_InertialSensor: use correct device IDs on PX4 driver 2016-11-09 17:08:05 +11:00
Lucas De Marchi 469efb00f6 AP_InertialSensor: save id for gyro and accel instances 
This allows each sensor to be uniquely identified in the system by using
either the index inside the backend or for those that use the Device
interface, to use the bus type, location, and device id.

We leave 16-bit for each sensor to be able to change its own
identification in future, which allows them to be changed in an
incompatible manner forcing a re-calibration.
 2016-11-09 17:08:05 +11:00
Lucas De Marchi bbb9bfa95e AP_InertialSensor: save only gyro calibration 
When we are initializing the gyro and then saving the calibration we are
also saving the calibration values for the accelerometers. Right now
this is non-problematic, but we want to check that the ID of the
accelerometer corresponds to the ID of the sensor detected. If we also
save accel calibrations we would actually override the ID of the
accelerometer.

Rename the method to _save_gyro_calibration() and save only on gyro
values.
 2016-11-09 17:08:05 +11:00
Lucas De Marchi f81dba2100 AP_InertialSensor: add doc to get_id() of backend 
This is different from get_id() of Device and ultimately from each
sensor this this is identifying the backend, not the sensor.
 2016-11-09 17:08:05 +11:00
Lucas De Marchi 6b88f3367b AP_Common: remove AP_PRODUCT_ID_* macros 
These are not used anymore.
 2016-11-09 17:08:05 +11:00
Lucas De Marchi ace61087a1 AP_InertialSensor: remove product_id 
We only leave the parameter there for backward-compatibility. However
product id on the inertial sensor is not much useful since it's only
kept for the first instance.

A better implementation per-gyro and per-accel is needed in order to
avoid problems with sensors taking the offsets configured for another
sensor.
 2016-11-09 17:08:05 +11:00
Andrew Tridgell a6ac02b61f HAL_Linux: implement device IDs for I2C and SPI 2016-11-09 17:08:04 +11:00
Andrew Tridgell de7913e8e9 AP_Compass: implement device IDs for compass drivers 2016-11-09 17:08:04 +11:00
Andrew Tridgell 64a5d3938c AP_InertialSensor: implement device IDs for MPU6000 and MPU9250 AuxilaryBus 2016-11-09 17:08:04 +11:00
Andrew Tridgell ac2c25539b AP_InertialSensor: implement device IDs for AuxilaryBus 2016-11-09 17:08:04 +11:00
Andrew Tridgell 16489d2a13 HAL_PX4: implement device IDs for I2C and SPI 2016-11-09 17:08:04 +11:00
Andrew Tridgell 3d48b6bb3a AP_HAL: added device id tuples to Device class 
this allows a bus connection and device type tuple to be identifed as
a 24 bit number for use in user visible device IDs. Every bus
connection has a unique device ID.
 2016-11-09 17:08:04 +11:00
Andrew Tridgell 4ef92b5e39 AP_InertialSensor: enable all 3 IMUs on PH2 2016-11-09 17:08:04 +11:00
Andrew Tridgell e08babb7df HAL_PX4: added new SPI devices for PH2 2016-11-09 17:08:03 +11:00
Andrew Tridgell 26ca2dd392 AP_HAL: added more px4 SPI device names 2016-11-09 17:08:03 +11:00
Andrew Tridgell ac0ea12b42 AP_Compass: enable HMC5843 on SPI for PH2 2016-11-09 17:08:03 +11:00
Andrew Tridgell 88e24dd8bd AP_BoardConfig: added board type 103 
for PH2 in-tree drivers
 2016-11-09 17:08:03 +11:00
Andrew Tridgell 66026100c3 AP_Baro: enable dual baro on PH2 2016-11-09 17:08:03 +11:00
Andrew Tridgell 4df9b093c3 AP_Baro: fixed missed samples in ms5611 driver 2016-11-09 17:08:03 +11:00
Andrew Tridgell 7c36e14524 AP_ADC: fixed thread usage in AP_ADC_ADS1115 2016-11-09 17:08:03 +11:00
Andrew Tridgell dbd192971f AP_Notify: fixed threading on toshibaled i2c 2016-11-09 17:08:02 +11:00
Andrew Tridgell a9cb03ad74 AP_Notify: fixed threading in two notify backends 2016-11-09 17:08:02 +11:00
Andrew Tridgell 6e2fbf1988 AP_OpticalFlow: fixed threading in opticalflow for linux 2016-11-09 17:08:02 +11:00
Andrew Tridgell 5cf768ced2 AP_InertialSensor: fixed missing return 2016-11-09 17:08:02 +11:00
Andrew Tridgell 4f231f9355 AP_BattMonitor: fixed thread usage for SMBus_I2C 2016-11-09 17:08:02 +11:00
Andrew Tridgell e88519364f AP_RangeFinder: fixed maxbotix I2C semaphore and bus usage 2016-11-09 17:08:02 +11:00
Andrew Tridgell bedee31f61 AP_Baro: fixed semaphore and thread usage in baro drivers 2016-11-09 17:08:02 +11:00
Andrew Tridgell 38ff8b3536 AP_InertialSensor: removed unused product_id function in L3G4200D 2016-11-09 17:08:01 +11:00
Andrew Tridgell 1c631ea037 AP_Compass: cleanup use of backend semaphores 
fixed drivers that didn't protect accumulation counters
 2016-11-09 17:08:01 +11:00
Andrew Tridgell 9afd51350e AP_Compass: use thread per bus in more drivers 
and removed use of timer suspend
 2016-11-09 17:08:01 +11:00
Andrew Tridgell 974827aa82 AP_Compass: enabled AK8963 on PX4 2016-11-09 17:08:01 +11:00
Andrew Tridgell a06137bb68 AP_HAL: define 9250 devices 2016-11-09 17:08:01 +11:00
Andrew Tridgell 4bc5b715bf HAL_PX4: define 9250 and fix SPI bus speeds 2016-11-09 17:08:01 +11:00
Andrew Tridgell a5c5e033d2 AP_InertialSensor: fixed threading and locking in remaining backends 
use a backend semaphore for shared data and use thread per bus where
available
 2016-11-09 17:08:01 +11:00
Andrew Tridgell 2e4151d14e AP_Compass: enable lsm303d mag on FMUv2 2016-11-09 17:08:00 +11:00
Andrew Tridgell 36190ba545 AP_Compass: use thread per bus for lsm303d mag 2016-11-09 17:08:00 +11:00
Andrew Tridgell b92c48548a AP_InertialSensor: added per-instance rotation for LSM9DS0 2016-11-09 17:08:00 +11:00
Andrew Tridgell 2df6ed08c2 AP_InertialSensor: added optional per-instance orientation 
this is needed for multi-sensor boards to get orientation right for
each sensor
 2016-11-09 17:08:00 +11:00
Andrew Tridgell ac2572384d AP_InertialSensor: added start() method for LSM9DS0 
needed to get sensor ordering right on multi-sensor boards
 2016-11-09 17:08:00 +11:00
Andrew Tridgell b9e1490740 AP_BoardConfig: added px4io auto-update to AP_BoardConfig 2016-11-09 17:08:00 +11:00
Andrew Tridgell 7e803df221 AP_BoardConfig: startup core peripherals for PX4 2016-11-09 17:07:59 +11:00
Andrew Tridgell 84f93439ca HAL_PX4: delay peripheral starup 
moved to AP_BoardConfig
 2016-11-09 17:07:59 +11:00
Andrew Tridgell 497b87fa65 AP_Airspeed: switched to in-tree I2C driver for all boards 2016-11-09 17:07:59 +11:00
Andrew Tridgell 0c13c73aa0 AP_BoardConfig: removed PX4 airspeed drivers 2016-11-09 17:07:59 +11:00
Andrew Tridgell 7832f1a1b6 AP_InertialSensor: allow for in-tree drivers for PX4 2016-11-09 17:07:58 +11:00
Andrew Tridgell 7bd52eb112 AP_Compass: allow for in-tree drivers for PX4 2016-11-09 17:07:58 +11:00
Andrew Tridgell 72c2e3a4d5 AP_Baro: select in-tree vs PX4 drivers at runtime 2016-11-09 17:07:58 +11:00
Andrew Tridgell ce174489c3 AP_BoardConfig: added get_board_type() for PX4 
used to decide what drivers to start
 2016-11-09 17:07:58 +11:00
Andrew Tridgell e91b1318fb HAL_PX4: reformat 2016-11-09 17:07:58 +11:00
Andrew Tridgell 1bb450c722 HAL_PX4: moved to common DeviceBus class for thread management in I2C and SPI 2016-11-09 17:07:58 +11:00
Andrew Tridgell 972f85c490 HAL_PX4: go direct to NuttX for SPI transfers 2016-11-09 17:07:58 +11:00
Andrew Tridgell bf0b0c1773 AP_HAL: fixed HAL_SEMAPHORE_BLOCK_FOREVER to be zero 
all implementations assume this
 2016-11-09 17:07:57 +11:00
Andrew Tridgell c7bef33ab7 HAL_PX4: fixed lsm303d SPI name 2016-11-09 17:07:57 +11:00
Andrew Tridgell b697c978e6 AP_HAL: fixed lsm303d SPI name 2016-11-09 17:07:57 +11:00
Andrew Tridgell 919aa61918 AP_InertialSensor: support AuxiliaryBus without register_periodic_callback() 2016-11-09 17:07:57 +11:00
Andrew Tridgell e79b4f1c11 AP_HAL: added defines for ms5611 on other SPI buses 2016-11-09 17:07:57 +11:00
Andrew Tridgell 5db65cdb6d AP_HAL: added subtype for PX4 FMUv4 2016-11-09 17:07:57 +11:00
Andrew Tridgell 254b71468c HAL_PX4: added ms5611_int SPI descriptor 2016-11-09 17:07:57 +11:00
Andrew Tridgell 0a28a3a83a HAL_PX4: run SPI priority above boost prioriity 
otherwise ins sample wait can end up waiting on blocked SPI
 2016-11-09 17:07:56 +11:00