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HAL_ChibiOS: convert Pixracer to use new sensor config

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This commit is contained in:
Andrew Tridgell 2019-05-29 21:00:34 +10:00
parent e198d552a8
commit 5eb488303c
2 changed files with 22 additions and 2 deletions
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8
libraries/AP_HAL_ChibiOS/hwdef/fmuv4-beta/hwdef.dat
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@ -11,5 +11,9 @@ PB13 SPI2_SCK SPI2
# note that PC13 (SBUS invert) is active low on this board
# baro is on main sensors bus
define HAL_BARO_MS5611_SPI_INT_NAME "ms5611_int2"
SPIDEV ms5611_int2 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
undef BARO
SPIDEV ms5611_int2 SPI1 DEVID3 BARO_CS MODE3 20*MHZ 20*MHZ
BARO MS56XX SPI:ms5611_int2

16
libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat
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@ -219,3 +219,19 @@ define HAL_SERIAL5_BAUD 921600
# 6 PWM available by default
define BOARD_PWM_COUNT_DEFAULT 6
# two IMUs
IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90
IMU Invensense SPI:mpu9250 ROTATION_ROLL_180_YAW_90
define HAL_DEFAULT_INS_FAST_SAMPLE 1
# 2 compasses. R15 has LIS3MDL instead of HMC5843
COMPASS HMC5843 SPI:hmc5843 false ROTATION_PITCH_180
COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_90
# also probe all types of external I2C compasses
define HAL_PROBE_EXTERNAL_I2C_COMPASSES
# one barometer
BARO MS56XX SPI:ms5611_int