mirror of
https://github.com/ArduPilot/ardupilot
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27 lines
983 B
Plaintext
27 lines
983 B
Plaintext
# BlueRobotics Navigator
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# IMUs:
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IMU Invensense SPI:icm20602 ROTATION_ROLL_180_YAW_270
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define INS_MAX_INSTANCES 3
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# I2C6 is the only i2c one exposed on a header
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define HAL_LINUX_I2C_EXTERNAL_BUS_MASK 1 << 6
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# We don't want any probing on the internal buses
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define HAL_LINUX_I2C_INTERNAL_BUS_MASK 0
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define AP_NOTIFY_NAVIGATOR_LED_ENABLED 1
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# NAME BUS SUBDEV MODE BPW CS_PIN LOWSPD HIGHSPD
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LINUX_SPIDEV "led" 0 0 SPI_MODE_0 8 SPI_CS_KERNEL 6*MHZ 6*MHZ
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LINUX_SPIDEV "icm20602" 1 2 SPI_MODE_0 8 SPI_CS_KERNEL 4*MHZ 10*MHZ
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LINUX_SPIDEV "mmc5983" 1 1 SPI_MODE_0 8 SPI_CS_KERNEL 4*MHZ 10*MHZ
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define HAL_LINUX_GPIO_RPI_ENABLED 1
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define HAL_LINUX_GPIO_NAVIGATOR_ENABLED 1
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define HAL_BATT_VOLT_PIN 5
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define HAL_BATT_CURR_PIN 4
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define HAL_BATT_VOLT_SCALE 11.0f
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define HAL_BATT_CURR_SCALE 37.8788f
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define AP_BATT_CURR_AMP_OFFSET_DEFAULT 0.330f
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