# Emlid NaviO

# IMUs:
IMU Invensense SPI:mpu9250 ROTATION_NONE
define INS_MAX_INSTANCES 3

// Compasses:
COMPASS AK8963:probe_mpu9250 0 ROTATION_NONE
define HAL_PROBE_EXTERNAL_I2C_COMPASSES 1

define AP_NOTIFY_GPIO_LED_3_ENABLED 1
define HAL_GPIO_A_LED_PIN 0
define HAL_GPIO_B_LED_PIN 1
define HAL_GPIO_C_LED_PIN 2
define HAL_GPIO_LED_ON 1

#            NAME      BUS SUBDEV MODE       BPW CS_PIN         LOWSPD HIGHSPD
LINUX_SPIDEV "mpu9250" 0   1      SPI_MODE_0 8   SPI_CS_KERNEL  1*MHZ  11*MHZ
LINUX_SPIDEV "ublox"   0   0      SPI_MODE_0 8   SPI_CS_KERNEL  5*MHZ  5*MHZ

define HAL_LINUX_GPIO_NAVIO_ENABLED 1

define DEFAULT_NTF_LED_TYPES (Notify_LED_Board | I2C_LEDS | Notify_LED_PCA9685LED_I2C_External)

define HAL_BATT_VOLT_PIN                  2
define HAL_BATT_CURR_PIN                  3
define HAL_BATT_VOLT_SCALE                11.3f
define HAL_BATT_CURR_SCALE                17.0f

define UBLOX_SPEED_CHANGE  1