HAL_ChibiOS: convert DrotekP3Pro

6 years ago · 288d5d6fe6
1 changed files with 13 additions and 0 deletions
--- a/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/DrotekP3Pro/hwdef.dat
@ -212,6 +212,19 @@ SPIDEV icm20608    SPI1 DEVID6  20608_CS   MODE3   2*MHZ   8*MHZ
				@@ -212,6 +212,19 @@ SPIDEV icm20608    SPI1 DEVID6  20608_CS   MODE3   2*MHZ   8*MHZ
 SPIDEV lis3mdl     SPI1 DEVID5  MAG_CS     MODE3 500*KHZ 500*KHZ
 SPIDEV ramtron     SPI2 DEVID10 FRAM_CS    MODE3   8*MHZ   8*MHZ

+# two IMUs
+define HAL_DEFAULT_INS_FAST_SAMPLE 1
+IMU Invensense SPI:icm20608 ROTATION_ROLL_180_YAW_90
+IMU Invensense SPI:mpu9250  ROTATION_ROLL_180_YAW_90
+
+# one baro
+BARO MS56XX SPI:ms5611
+
+# two compasses
+COMPASS AK8963:probe_mpu9250 0 ROTATION_ROLL_180_YAW_90
+COMPASS LIS3MDL SPI:lis3mdl false ROTATION_NONE
+define HAL_PROBE_EXTERNAL_I2C_COMPASSES
+
 define HAL_CHIBIOS_ARCH_FMUV4PRO 1

 define HAL_BOARD_LOG_DIRECTORY "/APM/LOGS"