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refactor mpu6000: use driver base class

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This commit is contained in:
Beat Küng
2020-02-26 14:55:57 +01:00
committed by Daniel Agar
parent be0a205438
commit 969a77f889
14 changed files with 180 additions and 491 deletions
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14
boards/px4/fmu-v2/init/rc.board_sensors
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@@ -14,7 +14,7 @@ ist8310 -X start
hmc5883 -C -T -I -R 4 start
# Internal SPI bus ICM-20608-G
mpu6000 -T 20608 start
mpu6000 -s -T 20608 start
# External SPI
ms5611 -S start
@@ -28,8 +28,8 @@ set BOARD_FMUV3 0
if ver hwtypecmp V30
then
# Check for Pixhawk 2.0 cube
# external MPU6K is rotated 180 degrees yaw
if mpu6000 -S -R 4 start
# MPU6K is rotated 180 degrees yaw
if mpu6000 -s -R 4 start
then
set BOARD_FMUV3 20
else
@@ -48,8 +48,8 @@ then
# Pixhawk Mini doesn't have these sensors,
# so if they are found we know its a Pixhack
# external MPU6K is rotated 180 degrees yaw
if mpu6000 -S -R 4 start
# MPU6K is rotated 180 degrees yaw
if mpu6000 -s -R 4 start
then
set BOARD_FMUV3 20
else
@@ -79,7 +79,7 @@ then
if [ $BOARD_FMUV3 = 20 ]
then
# v2.0 internal MPU6000 is rotated 180 deg roll, 270 deg yaw
mpu6000 -R 14 start
mpu6000 -s -R 14 start
# v2.0 Has internal hmc5883 on SPI1
hmc5883 -C -T -S -R 8 start
@@ -94,7 +94,7 @@ then
else
# $BOARD_FMUV3 = 0 -> FMUv2
mpu6000 start
mpu6000 -s start
# As we will use the external mag and the ICM-20608-G
# V2 build hwtypecmp is always false