# hw definition file for processing by chibios_hwdef.py
# for stock Pixhawk 2 cube, or the hex CUBE Black in a 3DR Solo
# this is based on the FMUv3 hwdef, with Solo's required parameter defaults
# do not use this hwdef for any other vehicle or configuration

include ../fmuv3/hwdef.dat

env OPTIMIZE -O2

SPIDEV icm20948_ext   SPI4 DEVID1  MPU_EXT_CS   MODE3  4*MHZ  8*MHZ
SPIDEV icm20602_ext   SPI4 DEVID3  GYRO_EXT_CS  MODE3  4*MHZ  8*MHZ

# pull Solo's default parameters from /Tools/Frame_params
# these are parameters the Solo requires for proper operation that are different from the copter defaults.
env DEFAULT_PARAMETERS 'Tools/Frame_params/Solo_Copter-4.param'

# three IMUs, but allow for different variants. First two IMUs are
# isolated, 3rd isn't
IMU Invensense SPI:mpu9250_ext ROTATION_PITCH_180

# the 3 rotations for the LSM9DS0 driver are for the accel, the gyro
# and the H variant of the gyro
IMU LSM9DS0 SPI:lsm9ds0_ext_g SPI:lsm9ds0_ext_am ROTATION_ROLL_180_YAW_270 ROTATION_ROLL_180_YAW_90 ROTATION_ROLL_180_YAW_90

# 3rd non-isolated IMU
IMU Invensense SPI:mpu9250 ROTATION_YAW_270

# alternative IMU set for newer cubes
IMU Invensense SPI:icm20602_ext ROTATION_ROLL_180_YAW_270
IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180
IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270

define HAL_DEFAULT_INS_FAST_SAMPLE 1

# two baros
BARO MS56XX SPI:ms5611_ext
BARO MS56XX SPI:ms5611

# two compasses. First is in the LSM303D
COMPASS LSM303D SPI:lsm9ds0_ext_am ROTATION_YAW_270
# 2nd compass is part of the 2nd invensense IMU
COMPASS AK8963:probe_mpu9250 1 ROTATION_YAW_270

# compass as part of ICM20948 on newer cubes
COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90

# also probe for external compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES