mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.1 KiB
Plaintext
56 lines
1.1 KiB
Plaintext
include ../MatekL431/hwdef.inc
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define CAN_APP_NODE_NAME "org.ardupilot.MatekL431-GPS"
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# enable GPS and compass
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define HAL_PERIPH_ENABLE_GPS
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define GPS_MAX_RATE_MS 200
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define GPS_MAX_RECEIVERS 1
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define GPS_MAX_INSTANCES 1
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define HAL_PERIPH_GPS_PORT_DEFAULT 2
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# allow for F9P GPS modules with moving baseline
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define GPS_MOVING_BASELINE 1
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define HAL_PERIPH_ENABLE_MAG
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define HAL_COMPASS_MAX_SENSORS 1
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SPIDEV rm3100 SPI1 DEVID1 MAG_CS MODE0 1*MHZ 1*MHZ
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COMPASS RM3100 SPI:rm3100 false ROTATION_PITCH_180
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# QMC5883L for different board varients
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COMPASS QMC5883L I2C:0:0xd false ROTATION_PITCH_180_YAW_90
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# disable USART1
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undef PB6
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undef PB7
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# disable USART2
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undef PA2
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undef PA3
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# enable GPS port with DMA
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undef PB10
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undef PB11
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PB10 USART3_TX USART3 SPEED_HIGH
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PB11 USART3_RX USART3 SPEED_HIGH
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# no ADC pins
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define HAL_USE_ADC FALSE
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# disable unnecessary threads
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define HAL_NO_MONITOR_THREAD
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define HAL_NO_RCIN_THREAD
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define HAL_NO_RCOUT_THREAD
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define HAL_NO_TIMER_THREAD
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# maintain GPS port number compatibility with MatekL431-Periph
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SERIAL_ORDER EMPTY EMPTY USART3
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# larger CAN pool for RTCM data
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undef HAL_CAN_POOL_SIZE
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define HAL_CAN_POOL_SIZE 12000
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