forked from Archive/PX4-Autopilot
109 lines
2.2 KiB
Bash
109 lines
2.2 KiB
Bash
#!/bin/sh
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#
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# PX4 FMUv3 specific board sensors init
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#------------------------------------------------------------------------------
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# External I2C bus
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hmc5883 -C -T -X start
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lis3mdl -X start
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ist8310 -C start
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# Internal I2C bus
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hmc5883 -C -T -I -R 4 start
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# Internal SPI bus ICM-20608-G
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mpu6000 -T 20608 start
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set BOARD_FMUV3 0
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# V3 build hwtypecmp supports V2|V2M|V30
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if ver hwtypecmp V30
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then
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# Check for Pixhawk 2.0 cube
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# external MPU6K is rotated 180 degrees yaw
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if mpu6000 -S -R 4 start
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then
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set BOARD_FMUV3 20
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else
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# Check for Pixhawk 2.1 cube
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# external MPU9250 is rotated 180 degrees yaw
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if mpu9250 -S -R 4 start
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then
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set BOARD_FMUV3 21
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fi
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fi
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fi
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# Check if a Pixhack (which reports as V2M) is present
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if ver hwtypecmp V2M
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then
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# Pixhawk Mini doesn't have these sensors,
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# so if they are found we know its a Pixhack
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# external MPU6K is rotated 180 degrees yaw
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if mpu6000 -S -R 4 start
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then
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set BOARD_FMUV3 20
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else
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# Check for Pixhack 3.1
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# external MPU9250 is rotated 180 degrees yaw
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if mpu9250 -S -R 4 start
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then
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set BOARD_FMUV3 21
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fi
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fi
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fi
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if [ $BOARD_FMUV3 != 0 ]
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then
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# sensor heating is available, but we disable it for now
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param set SENS_EN_THERMAL 0
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# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
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if ! icm20948 -X -M -R 6 start
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then
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# external emulated AK09916 (Here2) is rotated 270 degrees yaw
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ak09916 -X -R 6 start
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fi
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# external L3GD20H is rotated 180 degrees yaw
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l3gd20 -X -R 4 start
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# external LSM303D is rotated 270 degrees yaw
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lsm303d -X -R 6 start
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if [ $BOARD_FMUV3 = 20 ]
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then
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# v2.0 internal MPU6000 is rotated 180 deg roll, 270 deg yaw
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mpu6000 -R 14 start
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# v2.0 Has internal hmc5883 on SPI1
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hmc5883 -C -T -S -R 8 start
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fi
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if [ $BOARD_FMUV3 = 21 ]
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then
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# v2.1 internal MPU9250 is rotated 180 deg roll, 270 deg yaw
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mpu9250 -s -R 14 start
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fi
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else
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# $BOARD_FMUV3 = 0 -> FMUv2
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mpu6000 start
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# As we will use the external mag and the ICM-20608-G
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# V2 build hwtypecmp is always false
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# V3 build hwtypecmp supports V2|V2M|V30
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if ! ver hwtypecmp V2M
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then
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mpu9250 start
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# else: On the PixhawkMini the mpu9250 has been disabled due to HW errata
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fi
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l3gd20 start
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lsm303d start
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fi
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unset BOARD_FMUV3
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