mirror of https://github.com/ArduPilot/ardupilot
60 lines
1.8 KiB
Plaintext
60 lines
1.8 KiB
Plaintext
# 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
|
|
|
|
define HAL_CHIBIOS_ARCH_CUBE 1
|
|
|
|
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
|
|
|
|
# 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
|
|
|
|
undef AP_NOTIFY_OREOLED_ENABLED
|
|
define AP_NOTIFY_OREOLED_ENABLED 1
|
|
|
|
define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5
|
|
|
|
undef HAL_SOLO_GIMBAL_ENABLED
|
|
define HAL_SOLO_GIMBAL_ENABLED HAL_MOUNT_ENABLED
|
|
|
|
undef AP_BATTERY_SMBUS_SOLO_ENABLED
|
|
define AP_BATTERY_SMBUS_SOLO_ENABLED AP_BATTERY_SMBUS_ENABLED
|
|
|
|
AUTOBUILD_TARGETS Copter
|