AP_InertialSensor: added support for ICM-20608-D sensor

3 years ago · 65563ece66
2 changed files with 4 additions and 2 deletions
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense.cpp
@ -911,7 +911,8 @@ bool AP_InertialSensor_Invensense::_check_whoami(void)
				@@ -911,7 +911,8 @@ bool AP_InertialSensor_Invensense::_check_whoami(void)
    case MPU_WHOAMI_MPU9255:
        _mpu_type = Invensense_MPU9250;
        return true;
-    case MPU_WHOAMI_20608:
+    case MPU_WHOAMI_20608D:    
+    case MPU_WHOAMI_20608G:
        _mpu_type = Invensense_ICM20608;
        return true;
    case MPU_WHOAMI_20602:
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Invensense_registers.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Invensense_registers.h
@ -178,7 +178,8 @@
				@@ -178,7 +178,8 @@

 // WHOAMI values
 #define MPU_WHOAMI_6000			0x68
-#define MPU_WHOAMI_20608		0xaf
+#define MPU_WHOAMI_20608D		0xae
+#define MPU_WHOAMI_20608G		0xaf
 #define MPU_WHOAMI_20602		0x12
 #define MPU_WHOAMI_20601		0xac
 #define MPU_WHOAMI_6500			0x70