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airspeed sensor startup improvements (#7903)

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This commit is contained in:
Daniel Agar
2017-10-05 14:29:44 -07:00
committed by GitHub
parent 123a0b584a
commit 38f45d1a9d
10 changed files with 124 additions and 358 deletions
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142
ROMFS/px4fmu_common/init.d/rc.sensors
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@@ -1,6 +1,6 @@
#!nsh
#
# Standard startup script for PX4FMU v2, v3, v4 onboard sensor drivers.
# Standard startup script for sensor drivers.
#
if ver hwcmp AEROFC_V1
@@ -68,8 +68,6 @@ if ver hwcmp PX4FMU_V2
then
# External I2C bus
hmc5883 -C -T -X start
# External I2C bus
lis3mdl -X start
# Internal I2C bus
@@ -117,6 +115,7 @@ then
hmc5883 -C -T -S -R 8 start
fi
if [ $BOARD_FMUV3 == 21 ]
then
# v2.1 internal MPU9250 is rotated 180 deg roll, 270 deg yaw
@@ -133,7 +132,7 @@ then
# V3 build hwtypecmp supports V2|V2M|V30
if ver hwtypecmp V2M
then
# On the PixhawkMini the mpu9250 has been disabled due to HW errata
# On the PixhawkMini the mpu9250 has been disabled due to HW errata
else
mpu9250 start
fi
@@ -156,51 +155,63 @@ if ver hwcmp PX4FMU_V4
then
# External I2C bus
hmc5883 -C -T -X start
lis3mdl -X start
bmp280 -I start
lis3mdl -R 2 start
# expansion i2c used for BMM150 rotated by 90deg
bmm150 -R 2 start
# Internal SPI bus is rotated 90 deg yaw
hmc5883 -C -T -S -R 2 start
# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
mpu6000 -R 2 -T 20608 start
# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
mpu6000 -R 2 -T 20602 start
# Start either MPU9250 or BMI160. They are both connected to the same SPI bus and use the same
# chip select pin. There are different boards with either one of them and the WHO_AM_I register
# will prevent the incorrect driver from a successful initialization.
# Internal SPI bus mpu9250 is rotated 90 deg yaw
mpu9250 -R 2 start
# Internal SPI bus BMI160
bmi160 start
if hmc5883 -C -T -S -R 2 start
then
# hmc5883 internal SPI bus is rotated 90 deg yaw
else
if lis3mdl -R 2 start
then
# lis3mdl internal SPI bus is rotated 90 deg yaw
else
# BMI055 gyro internal SPI bus
bmi055 -G start
fi
fi
# Start either ICM2060X or BMI055. They are both connected to the same SPI bus and use the same
# chip select pin. There are different boards with either one of them and the WHO_AM_I register
# will prevent the incorrect driver from a successful initialization.
# Internal SPI bus BMI055_ACC
bmi055 -A start
if mpu6000 -R 2 -T 20602 start
then
# ICM20602 internal SPI bus ICM-20608-G is rotated 90 deg yaw
else
if mpu6000 -R 2 -T 20608 start
then
# ICM20608 internal SPI bus ICM-20602-G is rotated 90 deg yaw
else
# BMI055 accel internal SPI bus
bmi055 -A start
fi
fi
# Internal SPI bus BMI055_GYR
bmi055 -G start
# Start either MPU9250 or BMI160. They are both connected to the same SPI bus and use the same
# chip select pin. There are different boards with either one of them and the WHO_AM_I register
# will prevent the incorrect driver from a successful initialization.
# expansion i2c used for BMM150 rotated by 90deg
bmm150 -R 2 start
# expansion i2c used for BMP280
bmp280 -I start
if mpu9250 -R 2 start
then
# mpu9250 internal SPI bus mpu9250 is rotated 90 deg yaw
else
# BMI160 internal SPI bus
bmi160 start
fi
fi
if ver hwcmp MINDPX_V2
then
# External I2C bus
hmc5883 -C -T -X start
# Internal I2C bus
hmc5883 -C -T -I -R 12 start
mpu6000 -s -R 8 start
mpu9250 -s -R 8 start
lsm303d -R 10 start
@@ -219,16 +230,13 @@ fi
if ver hwcmp AEROFC_V1
then
ms5611 -T 0 start
mpu9250 -s -R 14 start
# Possible external compasses
hmc5883 -X start
ist8310 -C -b 1 -R 4 start
aerofc_adc start
ll40ls start i2c
fi
@@ -287,26 +295,41 @@ fi
# Optional drivers
#
sdp3x_airspeed start
sdp3x_airspeed start -b 2
# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
# detected as MS5525 because the chip manufacturer was so
# clever to assign the same I2C address and skip a WHO_AM_I
# register.
if [ $BOARD_FMUV3 == 21 ]
if [ ${VEHICLE_TYPE} == fw -o ${VEHICLE_TYPE} == vtol ]
then
ms5525_airspeed start -b 2
else
ms5525_airspeed start
if param compare CBRK_AIRSPD_CHK 0
then
if sdp3x_airspeed start
then
else
sdp3x_airspeed start -b 2
fi
# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
# detected as MS5525 because the chip manufacturer was so
# clever to assign the same I2C address and skip a WHO_AM_I
# register.
if [ $BOARD_FMUV3 == 21 ]
then
ms5525_airspeed start -b 2
else
ms5525_airspeed start
fi
if ms4525_airspeed start
then
else
ms4525_airspeed start -b 2
fi
if ets_airspeed start
then
else
ets_airspeed start -b 1
fi
fi
fi
ms4525_airspeed start
ms4525_airspeed start -b 2
ets_airspeed start
ets_airspeed start -b 1
# Sensors on the PWM interface bank
if param compare SENS_EN_LL40LS 1
then
@@ -323,34 +346,29 @@ then
fi
# lightware serial lidar sensor
if param compare SENS_EN_SF0X 0
if param greater SENS_EN_SF0X 0
then
else
sf0x start
fi
# lightware i2c lidar sensor
if param compare SENS_EN_SF1XX 0
if param greater SENS_EN_SF1XX 0
then
else
sf1xx start
fi
# mb12xx sonar sensor
if param compare SENS_EN_MB12XX 1
if param greater SENS_EN_MB12XX 0
then
mb12xx start
fi
# teraranger one tof sensor
if param compare SENS_EN_TRANGER 0
if param greater SENS_EN_TRANGER 0
then
else
teraranger start
fi
# Wait 20 ms for sensors (because we need to wait for the HRT and work queue callbacks to fire)
usleep 20000
if sensors start
then
fi
sensors start