HAL_ChibiOS: convert crazyflie2 to new config

6 years ago · 1b0bf88c8f
1 changed files with 5 additions and 9 deletions
--- a/libraries/AP_HAL_ChibiOS/hwdef/crazyflie2/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/crazyflie2/hwdef.dat
@ -103,15 +103,11 @@ define STORAGE_FLASH_PAGE 1
				@@ -103,15 +103,11 @@ define STORAGE_FLASH_PAGE 1
 # reserve 32k for bootloader and 32k for flash storage
 FLASH_RESERVE_START_KB 64

-define HAL_INS_DEFAULT HAL_INS_MPU60XX_I2C
-define HAL_INS_DEFAULT_ROTATION ROTATION_YAW_180
-define HAL_INS_MPU60x0_I2C_BUS 0
-define HAL_INS_MPU60x0_I2C_ADDR 0x69
-
-define HAL_BARO_DEFAULT HAL_BARO_LPS25H_IMU_I2C
-define HAL_BARO_LPS25H_I2C_BUS 0
-define HAL_BARO_LPS25H_I2C_ADDR 0x5D
-define HAL_BARO_LPS25H_I2C_IMU_ADDR HAL_INS_MPU60x0_I2C_ADDR
+# one IMU
+IMU Invensense I2C:0:0x69 ROTATION_YAW_180
+
+# one baro, attached via I2C on IMU
+BARO LPS2XH:probe_InvensenseIMU I2C:0:0x5D 0x69

 # no built-in compass, but probe the i2c bus for all possible
 # external compass types