mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-03-01 11:13:58 -04:00
56 lines
1.7 KiB
Plaintext
56 lines
1.7 KiB
Plaintext
# Emlid Edge board
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# IMUs:
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IMU Invensense SPI:mpu60x0 ROTATION_YAW_90
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IMU Invensense SPI:mpu60x0ext ROTATION_YAW_90
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define INS_MAX_INSTANCES 3
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# Compasses:
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// only external compasses
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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define HAL_BOARD_LOG_DIRECTORY "/edge/ardupilot/logs"
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define HAL_BOARD_TERRAIN_DIRECTORY "/edge/ardupilot/terrain"
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define HAL_BOARD_STORAGE_DIRECTORY "/edge/ardupilot"
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define HAL_NUM_CAN_IFACES 1
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# heater support
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define HAL_IMU_TEMP_DEFAULT 55
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define HAL_HAVE_IMU_HEATER 1
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define HAL_UTILS_HEAT HAL_LINUX_HEAT_PWM
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define HAL_LINUX_HEAT_PWM_NUM 15
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define HAL_LINUX_HEAT_KP 20000
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define HAL_LINUX_HEAT_KI 6
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define HAL_LINUX_HEAT_PERIOD_NS 2040816
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# default to DroneCAN GPS:
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define HAL_GPS1_TYPE_DEFAULT 9
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define HAL_CAN_DRIVER_DEFAULT 1
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# this looks suspect:
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define AP_NOTIFY_RCOUTPUTRGBLEDINVERTED_LED_ENABLED 1
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define AP_RCPROTOCOL_EMLID_RCIO_ENABLED 1
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# NAME BUS SUBDEV MODE BPW CS_PIN LOWSPD HIGHSPD
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LINUX_SPIDEV "mpu60x0" 0 1 SPI_MODE_0 8 SPI_CS_KERNEL 1*MHZ 11*MHZ
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LINUX_SPIDEV "mpu60x0ext" 0 2 SPI_MODE_0 8 SPI_CS_KERNEL 1*MHZ 11*MHZ
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LINUX_SPIDEV "ms5611" 0 0 SPI_MODE_0 8 SPI_CS_KERNEL 10*MHZ 10*MHZ
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define HAL_LINUX_GPIO_EDGE_ENABLED 1
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define DEFAULT_NTF_LED_TYPES (Notify_LED_Board | I2C_LEDS | DRONECAN_LEDS)
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define HAL_BATT_VOLT_PIN 3
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define HAL_BATT_CURR_PIN 2
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define HAL_BATT_VOLT_SCALE 18.62
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define HAL_BATT_CURR_SCALE 62.98f
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define AP_BATT2_VOLT_PIN 5
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define AP_BATT2_CURR_PIN 4
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define AP_BATT2_VOLTDIVIDER_DEFAULT 18.62
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define AP_BATT2_CURR_AMP_PERVOLT_DEFAULT 62.98f
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