From 5eb488303c362e9d55aa332e212ae71001297e26 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 29 May 2019 21:00:34 +1000 Subject: [PATCH] HAL_ChibiOS: convert Pixracer to use new sensor config --- .../AP_HAL_ChibiOS/hwdef/fmuv4-beta/hwdef.dat | 8 ++++++-- libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat | 16 ++++++++++++++++ 2 files changed, 22 insertions(+), 2 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4-beta/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv4-beta/hwdef.dat index d371cbae76..058f828681 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4-beta/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv4-beta/hwdef.dat @@ -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 + + + diff --git a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat index 7ece626539..ce2460f707 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/fmuv4/hwdef.dat @@ -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