AP_HAL_ChibiOS: specify Durdanal IMUs so that ordering is correct

5 years ago · 16d2dd4e2d
1 changed files with 5 additions and 0 deletions
--- a/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/Durandal/hwdef.dat
@ -284,6 +284,11 @@ SPIDEV external5m1   SPI6 DEVID2  EXT2_CS3   MODE1  2*MHZ  2*MHZ
				@@ -284,6 +284,11 @@ SPIDEV external5m1   SPI6 DEVID2  EXT2_CS3   MODE1  2*MHZ  2*MHZ
 SPIDEV external5m2   SPI6 DEVID2  EXT2_CS3   MODE2  2*MHZ  2*MHZ
 SPIDEV external5m3   SPI6 DEVID2  EXT2_CS3   MODE3  2*MHZ  2*MHZ

+# Two IMUs
+IMU Invensense SPI:icm20689 ROTATION_NONE
+IMU BMI088 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90
+# These are here for compatibility with pre-release boards
+IMU BMI055 SPI:bmi055_a SPI:bmi055_g ROTATION_ROLL_180_YAW_90

 # microSD support (disabled for now)
 PC8 SDMMC1_D0 SDMMC1