From cfe03532ddf76635418dd4bdb787bb1e240c8275 Mon Sep 17 00:00:00 2001 From: rishabsingh3003 Date: Wed, 1 Jan 2025 00:46:29 -0500 Subject: [PATCH] hwdef: fix IMU orientation --- libraries/AP_HAL_ChibiOS/hwdef/FlysparkF4/hwdef.dat | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_HAL_ChibiOS/hwdef/FlysparkF4/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/FlysparkF4/hwdef.dat index e5f206eeab..e2d4cf0ea3 100644 --- a/libraries/AP_HAL_ChibiOS/hwdef/FlysparkF4/hwdef.dat +++ b/libraries/AP_HAL_ChibiOS/hwdef/FlysparkF4/hwdef.dat @@ -148,7 +148,7 @@ SPIDEV imu1 SPI1 DEVID1 GYRO1_CS MODE3 1*MHZ 8*MHZ # SDCard SPIDEV sdcard SPI3 DEVID1 SDCARD1_CS MODE0 400*KHZ 25*MHZ -IMU Invensensev3 SPI:imu1 ROTATION_NONE +IMU Invensensev3 SPI:imu1 ROTATION_ROLL_180_YAW_90 DMA_NOSHARE TIM3_UP TIM8_UP TIM2_UP SPI1* DMA_PRIORITY TIM3_UP TIM8_UP TIM2_UP SPI1* @@ -158,7 +158,7 @@ define ALLOW_ARM_NO_COMPASS define HAL_PROBE_EXTERNAL_I2C_COMPASSES define HAL_I2C_INTERNAL_MASK 0 define HAL_COMPASS_AUTO_ROT_DEFAULT 2 -define HAL_DEFAULT_INS_FAST_SAMPLE 3 +define HAL_DEFAULT_INS_FAST_SAMPLE 1 # Motor order implies Betaflight/X for standard ESCs define HAL_FRAME_TYPE_DEFAULT 12