HAL_ChibiOS: fixed IMU order and board ID for CubeBlack+

5 years ago · 255e769171
3 changed files with 14 additions and 0 deletions
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/defaults.parm
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/defaults.parm
@ -5,3 +5,5 @@ BATT_AMP_PERVLT 39.877
				@@ -5,3 +5,5 @@ BATT_AMP_PERVLT 39.877
 BATT_VOLT_MULT 12.02
 BATT2_AMP_PERVLT 39.877
 BATT2_VOLT_MULT 12.02
+
+INS_FAST_SAMPLE 7
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/hwdef-bl.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/hwdef-bl.dat
@ -4,6 +4,9 @@
				@@ -4,6 +4,9 @@

 include ../fmuv3/hwdef-bl.dat

+# board ID for firmware load
+APJ_BOARD_ID 1003
+
 # USB setup
 USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
 USB_PRODUCT 0x1101
--- a/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/CubeBlack+/hwdef.dat
@ -4,5 +4,14 @@
				@@ -4,5 +4,14 @@

 include ../CubeBlack/hwdef.dat

+# board ID for firmware load
+APJ_BOARD_ID 1003
+
+undef IMU
+
+IMU Invensense SPI:icm20602_ext ROTATION_ROLL_180_YAW_270
+IMU Invensensev2 SPI:icm20948_ext ROTATION_PITCH_180
+IMU Invensense SPI:mpu9250 ROTATION_YAW_270
+
 undef ROMFS
 ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_highpolh.bin