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36 lines
895 B
36 lines
895 B
#!/bin/sh |
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# |
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# PX4 FMUv4 specific board sensors init |
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#------------------------------------------------------------------------------ |
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board_adc start |
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# Internal SPI |
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ms5611 -s start |
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# hmc5883 internal SPI bus is rotated 90 deg yaw |
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if ! hmc5883 -T -s -R 2 -q start |
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then |
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# lis3mdl internal SPI bus is rotated 90 deg yaw |
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lis3mdl -s start |
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fi |
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# Start either ICM2060X. They are both connected to the same SPI bus and use the same |
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# chip select pin. There are different boards with either one of them and the WHO_AM_I register |
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# will prevent the incorrect driver from a successful initialization. |
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# ICM20602 internal SPI bus ICM-20608-G |
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if ! icm20602 -s -R 8 start |
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then |
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# ICM20608 internal SPI bus ICM-20602-G |
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icm20608g -s -R 8 start |
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fi |
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# For Teal One airframe |
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if param compare SYS_AUTOSTART 4250 |
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then |
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mpu6500 -s -R 0 start |
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else |
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# mpu9250 internal SPI bus mpu9250 |
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mpu9250 -s -R 8 -M start |
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fi
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