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
5 years ago · 779ba0fda5
7 changed files with 9 additions and 13 deletions
--- a/boards/px4/fmu-v4/default.cmake
+++ b/boards/px4/fmu-v4/default.cmake
@ -31,7 +31,7 @@ px4_add_board(
				@@ -31,7 +31,7 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
 		#imu/invensense/mpu9250
-		imu/mpu6000
+		#imu/mpu6000 # legacy icm20602/icm20608g driver
 		imu/mpu9250
 		irlock
 		lights/blinkm
--- a/boards/px4/fmu-v4/init/rc.board_sensors
+++ b/boards/px4/fmu-v4/init/rc.board_sensors
@ -43,15 +43,11 @@ fi
				@@ -43,15 +43,11 @@ fi
 # will prevent the incorrect driver from a successful initialization.

 # 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
 	# ICM20608 internal SPI bus ICM-20602-G is rotated 90 deg yaw
-	mpu6000 -R 2 -T 20608 start
+	icm20608g -R 8 start
 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 -R 2 start
--- a/boards/px4/fmu-v4/rtps.cmake
+++ b/boards/px4/fmu-v4/rtps.cmake
@ -31,7 +31,7 @@ px4_add_board(
				@@ -31,7 +31,7 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
 		#imu/invensense/mpu9250
-		imu/mpu6000
+		#imu/mpu6000 # legacy icm20602/icm20608g driver
 		imu/mpu9250
 		irlock
 		lights/blinkm
--- a/boards/px4/fmu-v4/stackcheck.cmake
+++ b/boards/px4/fmu-v4/stackcheck.cmake
@ -31,7 +31,7 @@ px4_add_board(
				@@ -31,7 +31,7 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
 		#imu/invensense/mpu9250
-		imu/mpu6000
+		#imu/mpu6000 # legacy icm20602/icm20608g driver
 		imu/mpu9250
 		irlock
 		lights/blinkm
--- a/boards/px4/fmu-v4pro/default.cmake
+++ b/boards/px4/fmu-v4pro/default.cmake
@ -31,7 +31,7 @@ px4_add_board(
				@@ -31,7 +31,7 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
 		#imu/invensense/mpu9250
-		imu/mpu6000
+		#imu/mpu6000 # legacy icm20602/icm20608g driver
 		imu/mpu9250
 		irlock
 		lights/blinkm
--- a/boards/px4/fmu-v4pro/init/rc.board_sensors
+++ b/boards/px4/fmu-v4pro/init/rc.board_sensors
@ -6,10 +6,10 @@
				@@ -6,10 +6,10 @@
 adc start

 # Internal SPI bus ICM-20608-G
-mpu6000 -R 2 -T 20608 start
+icm20608g -R 8 start

 # Internal SPI bus ICM-20602
-mpu6000 -R 2 -T 20602 start
+icm20602 -R 8 start

 # Internal SPI bus mpu9250
 mpu9250 -R 2 start
--- a/boards/px4/fmu-v4pro/rtps.cmake
+++ b/boards/px4/fmu-v4pro/rtps.cmake
@ -31,7 +31,7 @@ px4_add_board(
				@@ -31,7 +31,7 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
 		#imu/invensense/mpu9250
-		imu/mpu6000
+		#imu/mpu6000 # legacy icm20602/icm20608g driver
 		imu/mpu9250
 		irlock
 		lights/blinkm