switch remaining boards to new InvenSense IMU drivers

ROMFS/px4fmu_common/init.d/airframes/4250_teal

@@ -47,7 +47,6 @@ then
 	param set BAT_V_OFFS_CURR -0.0045
 
 	# sensor calibration
-	param set CAL_MAG0_ROT 0
 	param set CAL_MAG_SIDES 63
 	param set SENS_BOARD_ROT 0
 	param set COM_ARM_MAG_ANG -1
@@ -197,10 +196,7 @@ then
 	#mpu6500
 	param set CAL_GYRO_PRIME 2360330
 
-	param set CAL_MAG0_EN 1
-	param set CAL_MAG1_EN 0
 	param set CAL_MAG_PRIME 265738
-
 fi
 
 # Logger mode. Default(1) + estimator replay(2) + thermal calibration(4)

ROMFS/px4fmu_common/init.d/airframes/6002_draco_r

@@ -140,10 +140,5 @@ then
 	param set MAV_1_FORWARD 1
 	param set MAV_1_RATE 800000
 	param set SER_TEL2_BAUD 921600
-
-	# Disable internal magnetometer sensor
-	param set CAL_MAG0_EN 0
-	# Enable external magnetometer sensor
-	param set CAL_MAG1_EN 1
 fi
 

boards/aerotenna/ocpoc/default.cmake

@@ -27,8 +27,7 @@ px4_add_board(
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
 		gps
-		#imu # all available imu drivers
+		imu/invensense/mpu9250
-		imu/mpu9250
 		lights/rgbled
 		linux_pwm_out
 		#magnetometer # all available magnetometer drivers

boards/atlflight/eagle/qurt.cmake

@@ -46,7 +46,7 @@ px4_add_board(
 	DRIVERS
 		barometer/bmp280
 		gps
-		imu/mpu9250
+		imu/invensense/mpu9250
 		#magnetometer/hmc5883
 		qshell/qurt
 		snapdragon_pwm_out

boards/atlflight/excelsior/qurt.cmake

@@ -46,7 +46,7 @@ px4_add_board(
 	DRIVERS
 		barometer/bmp280
 		gps
-		imu/mpu9250
+		imu/invensense/mpu9250
 		magnetometer/hmc5883
 		qshell/qurt
 		snapdragon_pwm_out

boards/emlid/navio2/default.cmake

@@ -21,7 +21,7 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		gps
 		#imu # all available imu drivers
-		imu/mpu9250
+		imu/invensense/mpu9250
 		imu/st/lsm9ds1
 		linux_pwm_out
 		#magnetometer # all available magnetometer drivers

boards/holybro/durandal-v1/default.cmake

@@ -33,7 +33,6 @@ px4_add_board(
 		imu/adis16497
 		imu/bmi088
 		imu/invensense/icm20689
-		imu/mpu6000
 		irlock
 		lights/blinkm
 		lights/rgbled

boards/holybro/durandal-v1/init/rc.board_sensors

@@ -5,8 +5,7 @@
 adc start
 
 # Internal SPI bus ICM-20689
-mpu6000 -R 8 -s -T 20689 start
+icm20689 -R 2 -s start
-#icm20689 -R 2 -s start
 
 # Internal SPI bus BMI088 accel
 bmi088 -A -R 10 -s start

boards/holybro/durandal-v1/stackcheck.cmake

@@ -32,9 +32,8 @@ px4_add_board(
 		#imu/adis16448
 		#imu/adis16477
 		#imu/adis16497
-		imu/bmi088
+		#imu/bmi088
-		#imu/invensense/icm20689
+		imu/invensense/icm20689
-		#imu/mpu6000
 		#irlock
 		#lights/blinkm
 		#lights/rgbled

boards/holybro/kakutef7/default.cmake

@@ -19,7 +19,8 @@ px4_add_board(
 		barometer/bmp280
 		dshot
 		gps
-		imu/mpu6000
+		imu/invensense/icm20689
+		imu/invensense/mpu6000
 		magnetometer
 		optical_flow/px4flow
 		osd

boards/holybro/kakutef7/init/rc.board_sensors

@@ -6,9 +6,9 @@
 adc start
 
 # The default IMU is an ICM20689, but there might also be an MPU6000
-if ! mpu6000 -R 12 -s start
+if ! mpu6000 -R 6 -s start
 then
-	mpu6000 -R 12 -s -T 20689 start
+	icm20689 -R 6 -s start
 fi
 
 # Onboard Baro

boards/intel/aerofc-v1/default.cmake

@@ -17,7 +17,7 @@ px4_add_board(
 		#differential_pressure # all available differential pressure drivers
 		distance_sensor
 		gps
-		imu/mpu9250
+		imu/invensense/mpu9250
 		#irlock
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883

boards/intel/aerofc-v1/init/rc.board_sensors

@@ -9,7 +9,8 @@ if ! ms5611 -T 5607 start
 then
 	ms5611 start
 fi
-mpu9250 -s -R 14 start
+
+mpu9250 -s -R 0 start
 
 # Possible external compasses
 hmc5883 -X start

boards/intel/aerofc-v1/rtps.cmake

@@ -17,7 +17,7 @@ px4_add_board(
 		#differential_pressure # all available differential pressure drivers
 		distance_sensor
 		gps
-		imu/mpu9250
+		imu/invensense/mpu9250
 		#irlock
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883

boards/modalai/fc-v1/default.cmake

@@ -27,7 +27,6 @@ px4_add_board(
 		imu/bmi088
 		imu/invensense/icm20602
 		imu/invensense/icm42688p
-		imu/mpu6000
 		irlock
 		lights/blinkm
 		lights/rgbled

boards/modalai/fc-v1/init/rc.board_sensors

@@ -10,7 +10,7 @@ voxlpm -X -b 3 -T VBATT start
 voxlpm -X -b 3 -T P5VDC start
 
 # Internal SPI bus ICM-20602
-mpu6000 -R 6 -s -T 20602 start
+icm20602 -R 12 -s start
 
 # Internal SPI bus ICM-42688
 icm42688p -R 12 -s start

boards/mro/ctrl-zero-f7/default.cmake

@@ -30,7 +30,7 @@ px4_add_board(
 		#heater
 		#imu # all available imu drivers
 		imu/bmi088
-		imu/mpu6000
+		imu/invensense/icm20602
 		imu/icm20948
 		irlock
 		lights/blinkm

boards/mro/ctrl-zero-f7/init/rc.board_sensors

@@ -6,17 +6,15 @@
 adc start
 
 # Internal ICM-20602
-mpu6000 -R 10 -s -T 20602 start
+icm20602 -s -R 4 start
 
-# Internal ICM-20689
+# Internal SPI bus BMI088 accel & gyro
-#icm20689 -s -R 10 start
-
-# Internal SPI bus BMI088 accel
 bmi088 -A -R 10 -s start
-
-# Internal SPI bus BMI088 gyro
 bmi088 -G -R 10 -s start
 
+# Internal ICM-20948
+icm20948 -s -R 10 start
+
 # Interal DPS310 (barometer)
 dps310 -s start
 
@@ -25,3 +23,4 @@ ist8310 -X start
 hmc5883 -T -X start
 qmc5883 -X start
 lis3mdl -X start
+rm3100 -X start

boards/mro/ctrl-zero-f7/src/spi.cpp

@@ -38,8 +38,7 @@
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
-		// ICM-20948
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
-		initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
 	}, {GPIO::PortE, GPIO::Pin3}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),

boards/mro/x21-777/default.cmake

@@ -25,8 +25,9 @@ px4_add_board(
 		#dshot
 		gps
 		#imu # all available imu drivers
-		imu/mpu6000
+		imu/invensense/icm20602
-		imu/mpu9250
+		imu/invensense/icm20608g
+		imu/invensense/mpu9250
 		irlock
 		lights/blinkm
 		lights/rgbled

boards/mro/x21-777/init/rc.board_sensors

@@ -5,18 +5,14 @@
 
 adc start
 
-# External I2C bus
+# Internal SPI bus ICM-20608-G
-hmc5883 -T -X start
+icm20608g -s -R 8 start
-lis3mdl -X start
 
-# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
+# Internal SPI bus ICM-20602
-mpu6000 -s -R 2 -T 20608 start
+icm20602 -s -R 8 start
 
-# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
+# Internal SPI bus mpu9250
-mpu6000 -s -R 2 -T 20602 start
+mpu9250 -s -R 8 start
-
-# Internal SPI bus mpu9250 is rotated 90 deg yaw
-mpu9250 -s -R 2 start
 
 # Possible external compasses
 ist8310 -X start

boards/mro/x21/default.cmake

@@ -26,8 +26,9 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
-		imu/mpu6000
+		imu/invensense/icm20602
-		imu/mpu9250
+		imu/invensense/icm20608g
+		imu/invensense/mpu9250
 		irlock
 		lights/blinkm
 		lights/rgbled

boards/mro/x21/init/rc.board_sensors

@@ -11,14 +11,14 @@ lis3mdl -X start
 ist8310 -X start
 qmc5883 -X start
 
-# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
+# Internal SPI bus ICM-20608-G
-mpu6000 -s -R 2 -T 20608 start
+icm20608g -s -R 8 start
 
-# Internal SPI bus ICM-20602-G is rotated 90 deg yaw
+# Internal SPI bus ICM-20602
-mpu6000 -s -R 2 -T 20602 start
+icm20602 -s -R 8 start
 
-# Internal SPI bus mpu9250 is rotated 90 deg yaw
+# Internal SPI bus mpu9250
-mpu9250 -s -R 2 start
+mpu9250 -s -R 8 start
 
 # Internal SPI
 ms5611 -s start

boards/nxp/fmuk66-v3/default.cmake

@@ -27,9 +27,6 @@ px4_add_board(
 		#imu # all available imu drivers
 		imu/fxas21002c
 		imu/fxos8701cq
-		imu/l3gd20
-		imu/mpu6000
-		imu/mpu9250
 		irlock
 		lights/blinkm
 		lights/rgbled

boards/nxp/fmurt1062-v1/init/rc.board_sensors

@@ -18,10 +18,10 @@
 adc start
 
 # Internal SPI bus ICM-20602
-mpu6000 -R 8 -s -T 20602 start
+icm20602 -R 2 -s start
 
 # Internal SPI bus ICM-20689
-mpu6000 -R 8 -s -T 20689 start
+icm20689 -R 2 -s start
 
 # Internal SPI bus BMI055 accel
 bmi055 -A -R 10 -s start
@@ -47,11 +47,3 @@ ist8310 -I start
 
 # Baro on internal SPI
 ms5611 -s start
-
-# External RM3100
-rm3100 -X start
-
-# Possible pmw3901 optical flow sensor
-pmw3901 -S start
-
-px4flow start -X

boards/px4/fmu-v2/default.cmake

@@ -36,11 +36,13 @@ px4_add_board(
 		#imu/adis16448
 		#imu/adis16477
 		#imu/adis16497
-		#imu/invensense/mpu6000 # WIP
 		imu/l3gd20
 		imu/lsm303d
-		imu/mpu6000
+		#imu/invensense/icm20608g
-		#imu/mpu9250
+		imu/invensense/mpu6000
+		#imu/invensense/mpu9250
+		#imu/icm20948
+		#imu/mpu6000 # legacy mpu6000
 		#iridiumsbd
 		#irlock
 		#lights/blinkm
@@ -52,6 +54,7 @@ px4_add_board(
 		#optical_flow/px4flow
 		#osd
 		#pca9685
+		#power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
 		#pwm_out_sim
@@ -85,6 +88,7 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		#rover_pos_control

boards/px4/fmu-v2/fixedwing.cmake

@@ -24,12 +24,14 @@ px4_add_board(
 		camera_capture
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
+		#distance_sensor # all available distance sensor drivers
+		distance_sensor/ll40ls
+		distance_sensor/sf0x
 		gps
 		imu/l3gd20
 		imu/lsm303d
-		imu/mpu6000
+		imu/invensense/mpu6000
-		#imu/mpu9250
+		#imu/invensense/mpu9250
 		lights/rgbled
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883

boards/px4/fmu-v2/init/rc.board_sensors

@@ -17,14 +17,10 @@ rm3100 -X start
 # Internal I2C bus
 hmc5883 -T -I -R 4 start
 
-# Internal SPI bus ICM-20608-G
-mpu6000 -s -T 20608 start
-
-
 # Internal SPI (auto detect ms5611 or ms5607)
-if ! ms5611 -T 5607 -s start
+if ! ms5611 -T 5607 -s -b 1 start
 then
-	ms5611 -s start
+	ms5611 -s -b 1 start
 fi
 
 set BOARD_FMUV3 0
@@ -32,15 +28,15 @@ set BOARD_FMUV3 0
 # V3 build hwtypecmp supports V2|V2M|V30
 if ver hwtypecmp V30
 then
-	# Check for Pixhawk 2.0 cube
+	# Check for Pixhawk 2.0 cube (isolated IMU on SPI4)
-	# MPU6K is rotated 180 degrees yaw
+	#  mpu6000 on v2.0, mpu9250 on v2.1
-	if mpu6000 -s -R 4 start
+	if mpu6000 -s -b 4 -R 10 start
 	then
 		set BOARD_FMUV3 20
 	else
 		# Check for Pixhawk 2.1 cube
-		# (external) MPU9250 is rotated 180 degrees yaw
+		# isolated/external mpu9250 (SPI4)
-		if mpu9250 -s -R 4 start
+		if mpu9250 -s -b 4 -R 10 start
 		then
 			set BOARD_FMUV3 21
 		fi
@@ -50,17 +46,20 @@ fi
 # Check if a Pixhack (which reports as V2M) is present
 if ver hwtypecmp V2M
 then
+	# Internal SPI bus ICM-20608-G
+	icm20608g -s -b 1 -R 14 start
+
 	# Pixhawk Mini doesn't have these sensors,
 	# so if they are found we know its a Pixhack
 
-	# MPU6K is rotated 180 degrees yaw
+	# mppu6000 internal (SPI1)
-	if mpu6000 -s -R 4 start
+	if mpu6000 -s -b 1 -R 10 start
 	then
 		set BOARD_FMUV3 20
 	else
 		# Check for Pixhack 3.1
-		# (external) MPU9250 is rotated 180 degrees yaw
+		#  mpu9250 external (SPI4)
-		if mpu9250 -s -R 4 start
+		if mpu9250 -s -b 1 -R 10 start
 		then
 			set BOARD_FMUV3 21
 		fi
@@ -72,43 +71,53 @@ then
 	# sensor heating is available, but we disable it for now
 	param set SENS_EN_THERMAL 0
 
-	# (external) L3GD20H is rotated 180 degrees yaw
+	# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
-	l3gd20 -s -R 4 start
+	if ! icm20948 -X -R 6 start
+	then
+		# external emulated AK09916 (Here2) is rotated 270 degrees yaw
+		ak09916 -X -R 6 start
+	fi
 
-	# (external) LSM303D is rotated 270 degrees yaw
+	# l3gd20 (external/isolated SPI4)
-	lsm303d -s -R 6 start
+	l3gd20 -s -b 4 -R 4 start
+
+	# lsm303d (external/isolated SPI4)
+	lsm303d -s -b 4 -R 6 start
+
+	# ms5611 (external/isolated SPI4)
+	ms5611 -s -b 4 start
 
 	if [ $BOARD_FMUV3 = 20 ]
 	then
-		# v2.0 internal MPU6000 is rotated 180 deg roll, 270 deg yaw
+		# v2.0 internal mpu6000
-		mpu6000 -s -R 14 start
+		mpu6000 -s -b 1 start
 
 		# v2.0 Has internal hmc5883 on SPI1
-		hmc5883 -T -S -R 8 start
+		hmc5883 -T -s -b 1 -R 8 start
 	fi
 
 	if [ $BOARD_FMUV3 = 21 ]
 	then
-		# v2.1 internal MPU9250 is rotated 180 deg roll, 270 deg yaw
+		# v2.1 mpu9250 on SPI1
-		mpu9250 -s -R 14 start
+		mpu9250 -s -b 1 start
 	fi
 
 else
 	# $BOARD_FMUV3 = 0 -> FMUv2
 
-	mpu6000 -s start
+	mpu6000 -s -b 1 -R 14 start
 
 	# As we will use the external mag and the ICM-20608-G
 	# V2 build hwtypecmp is always false
 	# V3 build hwtypecmp supports V2|V2M|V30
 	if ! ver hwtypecmp V2M
 	then
-		mpu9250 -s start
+		mpu9250 -s -b 1 -R 14 start
 	# else: On the PixhawkMini the mpu9250 has been disabled due to HW errata
 	fi
 
-	l3gd20 -s start
+	l3gd20 -s -b 1 start
-	lsm303d -s start
+	lsm303d -s -b 1 start
 fi
 
 unset BOARD_FMUV3

boards/px4/fmu-v2/lpe.cmake

@@ -35,8 +35,7 @@ px4_add_board(
 		#imu # all available imu drivers
 		imu/l3gd20
 		imu/lsm303d
-		imu/mpu6000
+		imu/invensense/mpu6000
-		#imu/mpu9250
 		#iridiumsbd
 		irlock
 		#lights/blinkm

boards/px4/fmu-v2/multicopter.cmake

@@ -26,7 +26,7 @@ px4_add_board(
 		imu/l3gd20
 		imu/lsm303d
 		imu/mpu6000
-		#imu/mpu9250
+		#imu/invensense/mpu9250
 		irlock
 		lights/rgbled
 		magnetometer/hmc5883

boards/px4/fmu-v2/rover.cmake

@@ -26,8 +26,8 @@ px4_add_board(
 		gps
 		imu/l3gd20
 		imu/lsm303d
-		imu/mpu6000
+		imu/invensense/mpu6000
-		#imu/mpu9250
+		#imu/invensense/mpu9250
 		lights/rgbled
 		magnetometer/hmc5883
 		optical_flow/px4flow

boards/px4/fmu-v2/test.cmake

@@ -37,8 +37,8 @@ px4_add_board(
 		#imu/adis16497
 		imu/l3gd20
 		imu/lsm303d
-		imu/mpu6000
+		imu/invensense/mpu6000
-		#imu/mpu9250
+		#imu/invensense/mpu9250
 		#iridiumsbd
 		#irlock
 		#lights/blinkm

boards/px4/fmu-v3/default.cmake

@@ -34,8 +34,9 @@ px4_add_board(
 		imu/adis16497
 		imu/l3gd20
 		imu/lsm303d
-		imu/mpu6000
+		imu/invensense/icm20608g
-		imu/mpu9250
+		imu/invensense/mpu6000
+		imu/invensense/mpu9250
 		imu/icm20948
 		irlock
 		lights/blinkm

boards/px4/fmu-v3/init/rc.board_sensors

@@ -17,14 +17,10 @@ rm3100 -X start
 # Internal I2C bus
 hmc5883 -T -I -R 4 start
 
-# Internal SPI bus ICM-20608-G
-mpu6000 -s -T 20608 start
-
-
 # Internal SPI (auto detect ms5611 or ms5607)
-if ! ms5611 -T 5607 -s start
+if ! ms5611 -T 5607 -s -b 1 start
 then
-	ms5611 -s start
+	ms5611 -s -b 1 start
 fi
 
 set BOARD_FMUV3 0
@@ -32,15 +28,15 @@ set BOARD_FMUV3 0
 # V3 build hwtypecmp supports V2|V2M|V30
 if ver hwtypecmp V30
 then
-	# Check for Pixhawk 2.0 cube
+	# Check for Pixhawk 2.0 cube (isolated IMU on SPI4)
-	# MPU6K is rotated 180 degrees yaw
+	#  mpu6000 on v2.0, mpu9250 on v2.1
-	if mpu6000 -s -R 4 start
+	if mpu6000 -s -b 4 -R 10 start
 	then
 		set BOARD_FMUV3 20
 	else
 		# Check for Pixhawk 2.1 cube
-		# (external) MPU9250 is rotated 180 degrees yaw
+		# isolated/external mpu9250 (SPI4)
-		if mpu9250 -s -R 4 start
+		if mpu9250 -s -b 4 -R 10 start
 		then
 			set BOARD_FMUV3 21
 		fi
@@ -50,17 +46,20 @@ fi
 # Check if a Pixhack (which reports as V2M) is present
 if ver hwtypecmp V2M
 then
+	# Internal SPI bus ICM-20608-G
+	icm20608g -s -b 1 -R 14 start
+
 	# Pixhawk Mini doesn't have these sensors,
 	# so if they are found we know its a Pixhack
 
-	# MPU6K is rotated 180 degrees yaw
+	# mppu6000 internal (SPI1)
-	if mpu6000 -s -R 4 start
+	if mpu6000 -s -b 1 -R 10 start
 	then
 		set BOARD_FMUV3 20
 	else
 		# Check for Pixhack 3.1
-		# (external) MPU9250 is rotated 180 degrees yaw
+		#  mpu9250 external (SPI4)
-		if mpu9250 -s -R 4 start
+		if mpu9250 -s -b 1 -R 10 start
 		then
 			set BOARD_FMUV3 21
 		fi
@@ -79,43 +78,46 @@ then
 		ak09916 -X -R 6 start
 	fi
 
-	# (external) L3GD20H is rotated 180 degrees yaw
+	# l3gd20 (external/isolated SPI4)
-	l3gd20 -s -R 4 start
+	l3gd20 -s -b 4 -R 4 start
 
-	# (external) LSM303D is rotated 270 degrees yaw
+	# lsm303d (external/isolated SPI4)
-	lsm303d -s -R 6 start
+	lsm303d -s -b 4 -R 6 start
+
+	# ms5611 (external/isolated SPI4)
+	ms5611 -s -b 4 start
 
 	if [ $BOARD_FMUV3 = 20 ]
 	then
-		# v2.0 internal MPU6000 is rotated 180 deg roll, 270 deg yaw
+		# v2.0 internal mpu6000
-		mpu6000 -s -R 14 start
+		mpu6000 -s -b 1 start
 
 		# v2.0 Has internal hmc5883 on SPI1
-		hmc5883 -T -S -R 8 start
+		hmc5883 -T -s -b 1 -R 8 start
 	fi
 
 	if [ $BOARD_FMUV3 = 21 ]
 	then
-		# v2.1 internal MPU9250 is rotated 180 deg roll, 270 deg yaw
+		# v2.1 mpu9250 on SPI1
-		mpu9250 -s -R 14 start
+		mpu9250 -s -b 1 start
 	fi
 
 else
 	# $BOARD_FMUV3 = 0 -> FMUv2
 
-	mpu6000 -s start
+	mpu6000 -s -b 1 -R 14 start
 
 	# As we will use the external mag and the ICM-20608-G
 	# V2 build hwtypecmp is always false
 	# V3 build hwtypecmp supports V2|V2M|V30
 	if ! ver hwtypecmp V2M
 	then
-		mpu9250 -s start
+		mpu9250 -s -b 1 -R 14 start
 	# else: On the PixhawkMini the mpu9250 has been disabled due to HW errata
 	fi
 
-	l3gd20 -s start
+	l3gd20 -s -b 1 start
-	lsm303d -s start
+	lsm303d -s -b 1 start
 fi
 
 unset BOARD_FMUV3

boards/px4/fmu-v3/rtps.cmake

@@ -34,8 +34,9 @@ px4_add_board(
 		imu/adis16497
 		imu/l3gd20
 		imu/lsm303d
-		imu/mpu6000
+		imu/invensense/icm20608g
-		imu/mpu9250
+		imu/invensense/mpu6000
+		imu/invensense/mpu9250
 		imu/icm20948
 		irlock
 		lights/blinkm

boards/px4/fmu-v3/stackcheck.cmake

@@ -33,8 +33,9 @@ px4_add_board(
 		#imu # all available imu drivers
 		imu/l3gd20
 		imu/lsm303d
-		imu/mpu6000
+		imu/invensense/icm20608g
-		imu/mpu9250
+		imu/invensense/mpu6000
+		imu/invensense/mpu9250
 		irlock
 		lights/blinkm
 		lights/rgbled

boards/px4/fmu-v4/cannode.cmake

@@ -44,10 +44,9 @@ px4_add_board(
 		#imu/adis16448
 		#imu/adis16477
 		#imu/adis16497
-		#imu/invensense/icm20602
+		imu/invensense/icm20602
-		#imu/invensense/icm20608-g
+		imu/invensense/icm20608g
-		imu/mpu6000
+		imu/invensense/mpu9250
-		imu/mpu9250
 		#lights/rgbled
 		#lights/rgbled_ncp5623c
 		#magnetometer # all available magnetometer drivers

boards/px4/fmu-v4/default.cmake

@@ -31,9 +31,8 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
 		imu/invensense/icm40609d
-		#imu/invensense/mpu9250
+		imu/invensense/mpu6500
-		#imu/mpu6000 # legacy icm20602/icm20608g driver
+		imu/invensense/mpu9250
-		imu/mpu9250
 		irlock
 		lights/blinkm
 		lights/rgbled

boards/px4/fmu-v4/init/rc.board_sensors

@@ -35,18 +35,18 @@ fi
 # 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.
 
-# ICM20602 internal SPI bus ICM-20608-G is rotated 90 deg yaw
+# ICM20602 internal SPI bus ICM-20608-G
 if ! icm20602 -s -R 8 start
 then
-	# ICM20608 internal SPI bus ICM-20602-G is rotated 90 deg yaw
+	# ICM20608 internal SPI bus ICM-20602-G
 	icm20608g -s -R 8 start
 fi
 
 # For Teal One airframe
 if param compare SYS_AUTOSTART 4250
 then
-	mpu9250 -s -R 14 start
+	mpu6500 -s -R 0 start
 else
-	# mpu9250 internal SPI bus mpu9250 is rotated 90 deg yaw
+	# mpu9250 internal SPI bus mpu9250
-	mpu9250 -s -R 2 start
+	mpu9250 -s -R 8 start
 fi

boards/px4/fmu-v4/optimized.cmake

@@ -35,9 +35,8 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
 		#imu/invensense/icm40609d
-		#imu/invensense/mpu9250
+		#imu/invensense/mpu6500
-		#imu/mpu6000 # legacy icm20602/icm20608g driver
+		imu/invensense/mpu9250
-		imu/mpu9250
 		irlock
 		lights/blinkm
 		lights/rgbled

boards/px4/fmu-v4/rtps.cmake

@@ -30,9 +30,9 @@ px4_add_board(
 		imu/adis16497
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
-		#imu/invensense/mpu9250
+		imu/invensense/icm40609d
-		#imu/mpu6000 # legacy icm20602/icm20608g driver
+		imu/invensense/mpu6500
-		imu/mpu9250
+		imu/invensense/mpu9250
 		irlock
 		lights/blinkm
 		lights/rgbled

boards/px4/fmu-v4/stackcheck.cmake

@@ -30,9 +30,9 @@ px4_add_board(
 		#imu/adis16497
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
+		#imu/invensense/icm40609d
+		#imu/invensense/mpu6500
 		#imu/invensense/mpu9250
-		#imu/mpu6000 # legacy icm20602/icm20608g driver
-		imu/mpu9250
 		irlock
 		lights/blinkm
 		lights/rgbled

boards/px4/fmu-v4pro/default.cmake

@@ -30,9 +30,7 @@ px4_add_board(
 		#imu # all available imu drivers
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
-		#imu/invensense/mpu9250
+		imu/invensense/mpu9250
-		#imu/mpu6000 # legacy icm20602/icm20608g driver
-		imu/mpu9250
 		irlock
 		lights/blinkm
 		lights/rgbled

boards/px4/fmu-v4pro/init/rc.board_sensors

@@ -14,7 +14,7 @@ icm20608g -s -R 8 start
 icm20602 -s -R 8 start
 
 # Internal SPI bus mpu9250
-mpu9250 -s -R 2 start
+mpu9250 -s -R 8 start
 
 # Internal SPI bus
 lis3mdl -s -R 0 start

boards/px4/fmu-v4pro/rtps.cmake

@@ -30,9 +30,7 @@ px4_add_board(
 		#imu # all available imu drivers
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
-		#imu/invensense/mpu9250
+		imu/invensense/mpu9250
-		#imu/mpu6000 # legacy icm20602/icm20608g driver
-		imu/mpu9250
 		irlock
 		lights/blinkm
 		lights/rgbled

boards/px4/fmu-v5/critmonitor.cmake

@@ -31,7 +31,9 @@ px4_add_board(
 		imu/adis16477
 		imu/adis16497
 		imu/bmi055
-		imu/mpu6000
+		imu/invensense/icm20602
+		imu/invensense/icm20689
+		#imu/mpu6000 # legacy icm20602/icm20689 driver
 		irlock
 		lights/blinkm
 		lights/rgbled

boards/px4/fmu-v5/default.cmake

@@ -33,7 +33,7 @@ px4_add_board(
 		imu/bmi055
 		imu/invensense/icm20602
 		imu/invensense/icm20689
-		imu/mpu6000
+		#imu/mpu6000 # legacy icm20602/icm20689 driver
 		irlock
 		lights/blinkm
 		lights/rgbled

boards/px4/fmu-v5/fixedwing.cmake

@@ -28,7 +28,9 @@ px4_add_board(
 		imu/adis16497
 		#imu # all available imu drivers
 		imu/bmi055
-		imu/mpu6000
+		imu/invensense/icm20602
+		imu/invensense/icm20689
+		#imu/mpu6000 # legacy icm20602/icm20689 driver
 		lights/rgbled
 		lights/rgbled_ncp5623c
 		lights/rgbled_pwm

boards/px4/fmu-v5/init/rc.board_sensors

@@ -6,16 +6,10 @@
 adc start
 
 # Internal SPI bus ICM-20602
-mpu6000 -R 8 -s -T 20602 start
+icm20602 -s -R 2 start
-#icm20602 -s -R 6 start
 
 # Internal SPI bus ICM-20689
-mpu6000 -R 8 -s -T 20689 start
+icm20689 -s -R 2 start
-#icm20689 -s -R 6 start
-
-# new sensor drivers (in testing)
-#icm20602 -s start
-#icm20689 -s start
 
 # Internal SPI bus BMI055 accel
 bmi055 -A -R 10 -s start

boards/px4/fmu-v5/irqmonitor.cmake

@@ -31,7 +31,9 @@ px4_add_board(
 		imu/adis16477
 		imu/adis16497
 		imu/bmi055
-		imu/mpu6000
+		imu/invensense/icm20602
+		imu/invensense/icm20689
+		#imu/mpu6000 # legacy icm20602/icm20689 driver
 		irlock
 		lights/blinkm
 		lights/rgbled
@@ -50,6 +52,7 @@ px4_add_board(
 		px4io
 		rc_input
 		roboclaw
+		rpm
 		safety_button
 		tap_esc
 		telemetry # all available telemetry drivers

boards/px4/fmu-v5/multicopter.cmake

@@ -29,7 +29,9 @@ px4_add_board(
 		imu/adis16497
 		#imu # all available imu drivers
 		imu/bmi055
-		imu/mpu6000
+		imu/invensense/icm20602
+		imu/invensense/icm20689
+		#imu/mpu6000 # legacy icm20602/icm20689 driver
 		irlock
 		lights/blinkm
 		lights/rgbled

boards/px4/fmu-v5/optimized.cmake

@@ -33,7 +33,7 @@ px4_add_board(
 		imu/bmi055
 		imu/invensense/icm20602
 		imu/invensense/icm20689
-		imu/mpu6000
+		#imu/mpu6000 # legacy icm20602/icm20689 driver
 		irlock
 		#lights/blinkm
 		lights/rgbled

boards/px4/fmu-v5/rover.cmake

@@ -26,7 +26,9 @@ px4_add_board(
 		imu/adis16477
 		imu/adis16497
 		imu/bmi055
-		imu/mpu6000
+		imu/invensense/icm20602
+		imu/invensense/icm20689
+		#imu/mpu6000 # legacy icm20602/icm20689 driver
 		lights/rgbled
 		lights/rgbled_ncp5623c
 		lights/rgbled_pwm

boards/px4/fmu-v5/rtps.cmake

@@ -31,7 +31,9 @@ px4_add_board(
 		imu/adis16477
 		imu/adis16497
 		imu/bmi055
-		imu/mpu6000
+		imu/invensense/icm20602
+		imu/invensense/icm20689
+		#imu/mpu6000 # legacy icm20602/icm20689 driver
 		irlock
 		lights/blinkm
 		lights/rgbled
@@ -50,6 +52,7 @@ px4_add_board(
 		px4io
 		rc_input
 		roboclaw
+		rpm
 		safety_button
 		tap_esc
 		telemetry # all available telemetry drivers

boards/px4/fmu-v5/stackcheck.cmake

@@ -32,7 +32,9 @@ px4_add_board(
 		#imu/adis16477
 		#imu/adis16497
 		#imu/bmi055
-		imu/mpu6000
+		#imu/invensense/icm20602
+		imu/invensense/icm20689
+		#imu/mpu6000 # legacy icm20602/icm20689 driver
 		#irlock
 		#lights/blinkm
 		lights/rgbled

boards/px4/fmu-v5x/default.cmake

@@ -32,7 +32,7 @@ px4_add_board(
 		imu/adis16477
 		imu/adis16497
 		imu/bmi088
-		imu/mpu6000
+		imu/invensense/icm20602
 		imu/st/ism330dlc
 		irlock
 		lights/blinkm

boards/px4/fmu-v5x/init/rc.board_sensors

@@ -10,7 +10,7 @@ ina226 -X -b 1 -t 1 -k start
 ina226 -X -b 2 -t 2 -k start
 
 # Internal SPI bus ICM-20602
-mpu6000 -R 8 -s -T 20602 start
+icm20602 -R 2 -s start
 
 # Internal SPI bus ISM300DLC
 ism330dlc -s start

boards/px4/fmu-v5x/p2_base_phy_LAN8742Ai.cmake

@@ -32,7 +32,7 @@ px4_add_board(
 		imu/adis16477
 		imu/adis16497
 		imu/bmi088
-		imu/mpu6000
+		imu/invensense/icm20602
 		imu/st/ism330dlc
 		irlock
 		lights/blinkm

boards/px4/raspberrypi/default.cmake

@@ -20,7 +20,7 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		gps
 		#imu # all available imu drivers
-		imu/mpu9250
+		imu/invensense/mpu9250
 		linux_pwm_out
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883

boards/uvify/core/default.cmake

@@ -22,8 +22,9 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		dshot
 		gps
-		imu/mpu6000
+		imu/invensense/icm20602
-		imu/mpu9250
+		imu/invensense/icm20608g
+		imu/invensense/mpu9250
 		irlock
 		lights/rgbled_ncp5623c
 		magnetometer/bmm150

boards/uvify/core/init/rc.board_sensors

@@ -17,8 +17,8 @@ then
 	# GPS LED
 	rgbled_ncp5623c start -X -a 0x38
 
-	#mpu6000 -s -R 4 -T 20608 start
+	#icm20608g -s -R 10 start
-	mpu9250 start -s -R 4
+	mpu9250 start -s -R 10
 
 	# Default GNSS with LIS3MDL magnetometer with external i2c.
 	lis3mdl start -R 2 -X
@@ -27,7 +27,7 @@ fi
 # Draco
 if param compare SYS_AUTOSTART 4072
 then
-	mpu9250 start -s -R 2
+	mpu9250 start -s -R 8
 fi
 
 # IFO
@@ -39,7 +39,7 @@ then
 	# IFO rgb LED
 	pca9685 -X start
 
-	mpu9250 start -s -R 2
+	mpu9250 start -s -R 8
 	lis3mdl start -R 2 -X
 fi
 
@@ -50,9 +50,9 @@ then
 	rgbled_ncp5623c start -X -a 0x38
 
 	# IMU
-	mpu9250 start -s -R 2
+	mpu9250 start -s -R 8
 	lis3mdl start -R 2 -X
 
 	# FLOW on SPI2
-	pmw3901 start -s 2
+	pmw3901 start -s -b 2
 fi

boards/uvify/core/nuttx-config/include/board.h

@@ -225,6 +225,7 @@
 
 /* UART8 has no alternate pin config */
 
+
 /*
  * CAN
  *

posix-configs/ocpoc/px4.config

@@ -15,7 +15,7 @@ param set MAV_BROADCAST 1
 param set MAV_TYPE 2
 param set MAV_SYS_ID 1
 
-mpu9250 -s -R 10 start
+mpu9250 -s -R 4 start
 hmc5883 -I start
 ms5611 -s start
 

posix-configs/rpi/px4.config

@@ -14,10 +14,11 @@ fi
 param set SYS_AUTOSTART 4001
 param set MAV_BROADCAST 1
 param set MAV_TYPE 2
+param set IMU_GYRO_RATEMAX 400
 
 dataman start
 
-mpu9250 -s -R 8 start
+mpu9250 -s -R 2 start
 lsm9ds1 -s -R 4 start
 lsm9ds1_mag -s -R 4 start
 ms5611 -X start

posix-configs/rpi/px4_fw.config

@@ -14,10 +14,11 @@ fi
 param set MAV_BROADCAST 1
 param set SYS_AUTOSTART 2100
 param set MAV_TYPE 1
+param set IMU_GYRO_RATEMAX 400
 
 dataman start
 
-mpu9250 -s -R 8 start
+mpu9250 -s -R 2 start
 lsm9ds1 -s -R 4 start
 lsm9ds1_mag -s -R 4 start
 ms5611 -X start

posix-configs/rpi/px4_test.config

@@ -14,10 +14,11 @@ fi
 param set SYS_AUTOSTART 4001
 param set MAV_BROADCAST 1
 param set MAV_TYPE 2
+param set IMU_GYRO_RATEMAX 400
 
 dataman start
 
-mpu9250 -s -R 8 start
+mpu9250 -s -R 2 start
 lsm9ds1 -s -R 4 start
 lsm9ds1_mag -s -R 4 start
 ms5611 -X start