From e4f4868d9b003b81c507106cbbc9b25a0610d331 Mon Sep 17 00:00:00 2001
From: QioTek <71515778+QioTek@users.noreply.github.com>
Date: Sun, 25 Oct 2020 21:27:05 +0800
Subject: [PATCH] HAL_ChibiOS: add QMC5883L on QioTekZealotF427

add QMC5883L on QioTekZealotF427
---
 .../AP_HAL_ChibiOS/hwdef/QioTekZealotF427/README.md  |  4 ++--
 .../AP_HAL_ChibiOS/hwdef/QioTekZealotF427/hwdef.dat  | 12 ++++++++----
 2 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotF427/README.md b/libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotF427/README.md
index 8e91038854..bfb4a7aebf 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotF427/README.md
+++ b/libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotF427/README.md
@@ -5,7 +5,7 @@ The QioTek Zealot F427 flight controller is sold by a range of resellers listed
 ## Features
 •	STM32F427VIT6 microcontroller
 
-•	Three IMUs, one ICM20689(SPI), one ICM20608(SPI), one BMI055(SPI)
+•	Three IMUs, one ICM20689(SPI), one ICM20602(SPI), one BMI088(SPI)
 
 •	internal heater for IMUs temperature control
 
@@ -13,7 +13,7 @@ The QioTek Zealot F427 flight controller is sold by a range of resellers listed
 
 •	Two barometers, one DPS310(SPI), one MS5611(interna I2C)
 
-•	builtin SPI IST8310 magnetometer(interna I2C)
+•	builtin IST8310 or QMC5883L magnetometer(interna I2C)
 
 •	builtin analog OSD(SPI)
 
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotF427/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotF427/hwdef.dat
index bb4c58e8ff..34421200a5 100644
--- a/libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotF427/hwdef.dat
+++ b/libraries/AP_HAL_ChibiOS/hwdef/QioTekZealotF427/hwdef.dat
@@ -129,16 +129,16 @@ define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
 
 # define the order that I2C buses 
 I2C_ORDER I2C2 I2C1
-define HAL_I2C_INTERNAL_MASK 1
 PB8 I2C1_SCL I2C1 
 PB9 I2C1_SDA I2C1 
 PB10 I2C2_SCL I2C2
 PB11 I2C2_SDA I2C2
 
 # look for I2C compass
-COMPASS IST8310 I2C:0:0x0E false ROTATION_YAW_270
+COMPASS IST8310 I2C:0:0x0E false ROTATION_ROLL_180_YAW_270
+COMPASS QMC5883L I2C:0:0x0D false ROTATION_ROLL_180_YAW_270
 define HAL_PROBE_EXTERNAL_I2C_COMPASSES
-
+define HAL_I2C_INTERNAL_MASK 1
 
 # PWM out pins
 PA0 TIM2_CH1 TIM2 PWM(1) GPIO(50)
@@ -200,12 +200,16 @@ define HAL_BATT_VOLT_PIN 13
 define HAL_BATT_CURR_PIN 12
 define HAL_BATT2_VOLT_PIN 9
 define HAL_BATT2_CURR_PIN 8
-define HAL_BATT_VOLT_SCALE 10.7
+define HAL_BATT_VOLT_SCALE 17.5
 define HAL_BATT_CURR_SCALE 17
+define HAL_BATT2_VOLT_SCALE 17.5
+define HAL_BATT2_CURR_SCALE 17
+
 
 define HAL_HAVE_IMU_HEATER 1
 PE12 HEATER_EN OUTPUT LOW GPIO(5)
 define HAL_HEATER_GPIO_PIN 5
+define HAL_IMU_TEMP_DEFAULT 45
 
 define HAL_HAVE_SAFETY_SWITCH 1 
 PE7 LED_SAFETY OUTPUT