mirror of https://github.com/ArduPilot/ardupilot
61 lines
2.0 KiB
Plaintext
61 lines
2.0 KiB
Plaintext
# hw definition file for processing by chibios_hwdef.py
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# for stock Pixhawk 2 cube, or the hex CUBE Black in a 3DR Solo
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# this is based on the FMUv3 hwdef, with Solo's required parameter defaults
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# do not use this hwdef for any other vehicle or configuration
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include ../fmuv3/hwdef.dat
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define HAL_CHIBIOS_ARCH_CUBE 1
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env OPTIMIZE -O2
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SPIDEV icm20948_ext SPI4 DEVID1 MPU_EXT_CS MODE3 4*MHZ 8*MHZ
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SPIDEV icm20602_ext SPI4 DEVID3 GYRO_EXT_CS MODE3 4*MHZ 8*MHZ
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# pull Solo's default parameters from /Tools/Frame_params
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# these are parameters the Solo requires for proper operation that are different from the copter defaults.
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env DEFAULT_PARAMETERS 'Tools/Frame_params/Solo_Copter-4.param'
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# three IMUs, but allow for different variants. First two IMUs are
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# isolated, 3rd isn't
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IMU Invensense SPI:mpu9250_ext ROTATION_PITCH_180
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# the 3 rotations for the LSM9DS0 driver are for the accel, the gyro
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# and the H variant of the gyro
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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
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# 3rd non-isolated IMU
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IMU Invensense SPI:mpu9250 ROTATION_YAW_270
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# alternative IMU set for newer cubes
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IMU Invensense SPI:icm20602_ext ROTATION_ROLL_180_YAW_270
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IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180
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IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270
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define HAL_DEFAULT_INS_FAST_SAMPLE 1
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# two baros
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BARO MS56XX SPI:ms5611_ext
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BARO MS56XX SPI:ms5611
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# two compasses. First is in the LSM303D
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COMPASS LSM303D SPI:lsm9ds0_ext_am ROTATION_YAW_270
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# 2nd compass is part of the 2nd invensense IMU
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COMPASS AK8963:probe_mpu9250 1 ROTATION_YAW_270
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# compass as part of ICM20948 on newer cubes
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COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90
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# also probe for external compasses
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define HAL_PROBE_EXTERNAL_I2C_COMPASSES
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undef HAL_OREO_LED_ENABLED
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define HAL_OREO_LED_ENABLED 1
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define HAL_IMU_TEMP_MARGIN_LOW_DEFAULT 5
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undef HAL_SOLO_GIMBAL_ENABLED
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define HAL_SOLO_GIMBAL_ENABLED HAL_MOUNT_ENABLED
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AUTOBUILD_TARGETS Copter
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