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px4_fmu-v4/v4pro: switch to new InvenSense icm20602/icm20608g IMU drivers 

* 8 kHz gyro, 4 kHz accel
 * DLPF disabled
 * scheduled using data ready interrupts
 * FIFO is emptied at 1 kHz by default, but can adjusted via IMU_GYRO_RATEMAX from 250 Hz - 2000 kHz.
 * On both px4_fmu-v4 and px4_fmu-v4pro the secondary IMU is an mpu9250 with the same driver
This commit is contained in:
Daniel Agar 2020-02-26 01:19:12 +01:00 committed by GitHub
parent 5bf2648c1f
commit 779ba0fda5
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GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 9 additions and 13 deletions
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2
boards/px4/fmu-v4/default.cmake
View File

@ -31,7 +31,7 @@ px4_add_board(
imu/invensense/icm20602 imu/invensense/icm20602
imu/invensense/icm20608g imu/invensense/icm20608g
#imu/invensense/mpu9250 #imu/invensense/mpu9250
imu/mpu6000 #imu/mpu6000 # legacy icm20602/icm20608g driver
imu/mpu9250 imu/mpu9250
irlock irlock
lights/blinkm lights/blinkm

8
boards/px4/fmu-v4/init/rc.board_sensors
View File

@ -43,15 +43,11 @@ fi
# will prevent the incorrect driver from a successful initialization. # will prevent the incorrect driver from a successful initialization.
# ICM20602 internal SPI bus ICM-20608-G is rotated 90 deg yaw # ICM20602 internal SPI bus ICM-20608-G is rotated 90 deg yaw
if ! mpu6000 -R 2 -T 20602 start if ! icm20602 -R 8 start
then then
# ICM20608 internal SPI bus ICM-20602-G is rotated 90 deg yaw # ICM20608 internal SPI bus ICM-20602-G is rotated 90 deg yaw
mpu6000 -R 2 -T 20608 start icm20608g -R 8 start
fi fi
# new sensor drivers (in testing)
#icm20602 -R 8 start
#icm20608g -R 8 start
# mpu9250 internal SPI bus mpu9250 is rotated 90 deg yaw # mpu9250 internal SPI bus mpu9250 is rotated 90 deg yaw
mpu9250 -R 2 start mpu9250 -R 2 start

2
boards/px4/fmu-v4/rtps.cmake
View File

@ -31,7 +31,7 @@ px4_add_board(
imu/invensense/icm20602 imu/invensense/icm20602
imu/invensense/icm20608g imu/invensense/icm20608g
#imu/invensense/mpu9250 #imu/invensense/mpu9250
imu/mpu6000 #imu/mpu6000 # legacy icm20602/icm20608g driver
imu/mpu9250 imu/mpu9250
irlock irlock
lights/blinkm lights/blinkm

2
boards/px4/fmu-v4/stackcheck.cmake
View File

@ -31,7 +31,7 @@ px4_add_board(
imu/invensense/icm20602 imu/invensense/icm20602
imu/invensense/icm20608g imu/invensense/icm20608g
#imu/invensense/mpu9250 #imu/invensense/mpu9250
imu/mpu6000 #imu/mpu6000 # legacy icm20602/icm20608g driver
imu/mpu9250 imu/mpu9250
irlock irlock
lights/blinkm lights/blinkm

2
boards/px4/fmu-v4pro/default.cmake
View File

@ -31,7 +31,7 @@ px4_add_board(
imu/invensense/icm20602 imu/invensense/icm20602
imu/invensense/icm20608g imu/invensense/icm20608g
#imu/invensense/mpu9250 #imu/invensense/mpu9250
imu/mpu6000 #imu/mpu6000 # legacy icm20602/icm20608g driver
imu/mpu9250 imu/mpu9250
irlock irlock
lights/blinkm lights/blinkm

4
boards/px4/fmu-v4pro/init/rc.board_sensors
View File

@ -6,10 +6,10 @@
adc start adc start
# Internal SPI bus ICM-20608-G # Internal SPI bus ICM-20608-G
mpu6000 -R 2 -T 20608 start icm20608g -R 8 start
# Internal SPI bus ICM-20602 # Internal SPI bus ICM-20602
mpu6000 -R 2 -T 20602 start icm20602 -R 8 start
# Internal SPI bus mpu9250 # Internal SPI bus mpu9250
mpu9250 -R 2 start mpu9250 -R 2 start

2
boards/px4/fmu-v4pro/rtps.cmake
View File

@ -31,7 +31,7 @@ px4_add_board(
imu/invensense/icm20602 imu/invensense/icm20602
imu/invensense/icm20608g imu/invensense/icm20608g
#imu/invensense/mpu9250 #imu/invensense/mpu9250
imu/mpu6000 #imu/mpu6000 # legacy icm20602/icm20608g driver
imu/mpu9250 imu/mpu9250
irlock irlock
lights/blinkm lights/blinkm