Added mag support to the DriverFramework mpu9250 driver. Shortened parameter names for legacy drivers. Added temporary ifdef's in the calibration code for Snapdragon Flight builds.

Signed-off-by: jwilson <jwilson@qti.qualcomm.com>
2026-05-22 01:12:31 +00:00 · 2016-05-26 21:21:37 -07:00
parent d9422e0296
commit c6250657eb
13 changed files with 202 additions and 230 deletions
--- a/posix-configs/eagle/200qx/px4-calib.config
+++ b/posix-configs/eagle/200qx/px4-calib.config
@@ -59,9 +59,9 @@ param set MC_ROLLRATE_D 0.0001
 param set ATT_W_MAG 0.00
 param set PE_MAG_NOISE 1.0f
 param set SENS_BOARD_ROT 0
-param set MPU_GYRO_LPF_ENM 4
-param set MPU_ACC_LPF_ENM 4
-param set MPU_SAMPLE_R_ENM 2
+param set MPU_GYR_LPF_ENUM 4
+param set MPU_ACC_LPF_ENUM 4
+param set MPU_SMPRATE_ENUM 2
 sleep 1
 mpu9x50 start -D /dev/spi-1
 uart_esc start -D /dev/tty-2
--- a/posix-configs/eagle/200qx/px4-flight-v1-board.config
+++ b/posix-configs/eagle/200qx/px4-flight-v1-board.config
@@ -51,15 +51,15 @@ param set RC6_REV 1
 param set ATT_W_MAG 0.00
 param set PE_MAG_NOISE 1.0f
 param set SENS_BOARD_ROT 6
-param set MPU_GYRO_LPF_ENM 4
-param set MPU_ACC_LPF_ENM 4
-param set MPU_SAMPLE_R_ENM 2
+param set MPU_GYR_LPF_ENUM 4
+param set MPU_ACC_LPF_ENUM 4
+param set MPU_SMPRATE_ENUM 2
 param set UART_ESC_MODEL 0
-param set UART_ESC_BAUD 250000
-param set UART_ESC_MOTOR1 2
-param set UART_ESC_MOTOR2 4
-param set UART_ESC_MOTOR3 1
-param set UART_ESC_MOTOR4 3
+param set UART_ESC_BAUDRAT 250000
+param set UART_ESC_PX4MOT1 2
+param set UART_ESC_PX4MOT2 4
+param set UART_ESC_PX4MOT3 1
+param set UART_ESC_PX4MOT4 3
 sleep 1
 commander start
 rc_receiver start -D /dev/tty-1
--- a/posix-configs/eagle/200qx/px4-flight-v2-board.config
+++ b/posix-configs/eagle/200qx/px4-flight-v2-board.config
@@ -51,15 +51,15 @@ param set RC6_REV 1
 param set ATT_W_MAG 0.00
 param set PE_MAG_NOISE 1.0f
 param set SENS_BOARD_ROT 0
-param set MPU_GYRO_LPF_ENM 4
-param set MPU_ACC_LPF_ENM 4
-param set MPU_SAMPLE_R_ENM 2
+param set MPU_GYR_LPF_ENUM 4
+param set MPU_ACC_LPF_ENUM 4
+param set MPU_SMPRATE_ENUM 2
 param set UART_ESC_MODEL 0
-param set UART_ESC_BAUD 250000
-param set UART_ESC_MOTOR1 2
-param set UART_ESC_MOTOR2 4
-param set UART_ESC_MOTOR3 1
-param set UART_ESC_MOTOR4 3
+param set UART_ESC_BAUDRAT 250000
+param set UART_ESC_PX4MOT1 2
+param set UART_ESC_PX4MOT2 4
+param set UART_ESC_PX4MOT3 1
+param set UART_ESC_PX4MOT4 3
 sleep 1
 commander start
 rc_receiver start -D /dev/tty-1
--- a/posix-configs/eagle/210qc/mainapp-calib.config
+++ b/posix-configs/eagle/210qc/mainapp-calib.config
@@ -1,8 +0,0 @@
-uorb start
-muorb start
-mavlink start -u 14556
-sleep 1
-mavlink stream -u 14556 -s HIGHRES_IMU -r 50
-mavlink stream -u 14556 -s ATTITUDE -r 50
-mavlink boot_complete
-commander start
--- a/posix-configs/eagle/210qc/mainapp-flight.config
+++ b/posix-configs/eagle/210qc/mainapp-flight.config
@@ -1,7 +0,0 @@
-uorb start
-muorb start
-mavlink start -u 14556
-sleep 1
-mavlink stream -u 14556 -s HIGHRES_IMU -r 50
-mavlink stream -u 14556 -s ATTITUDE -r 50
-mavlink boot_complete
--- a/posix-configs/eagle/210qc/px4-calib.config
+++ b/posix-configs/eagle/210qc/px4-calib.config
@@ -1,72 +0,0 @@
-uorb start
-param set CAL_GYRO0_ID 2293760
-param set CAL_ACC0_ID 1310720
-param set CAL_ACC1_ID 1376256
-param set CAL_MAG0_ID 196608
-param set RC_RECEIVER_TYPE 1
-rc_receiver start -D /dev/tty-1
-attitude_estimator_q start
-position_estimator_inav start
-mc_pos_control start
-mc_att_control start
-sleep 1
-param set SYS_AUTOSTART 4001
-param set SYS_AUTOCONFIG 1
-param set MAV_TYPE 2
-param set RC_MAP_THROTTLE 1
-param set RC_MAP_ROLL 2
-param set RC_MAP_PITCH 3
-param set RC_MAP_YAW 4
-param set RC_MAP_MODE_SW 5
-param set RC_MAP_POSCTL_SW 6
-param set RC1_MAX 1900
-param set RC1_MIN 1099
-param set RC1_TRIM 1099
-param set RC1_REV 1
-param set RC2_MAX 1900
-param set RC2_MIN 1099
-param set RC2_TRIM 1500
-param set RC2_REV -1
-param set RC3_MAX 1900
-param set RC3_MIN 1099
-param set RC3_TRIM 1500
-param set RC3_REV 1
-param set RC4_MAX 1900
-param set RC4_MIN 1099
-param set RC4_TRIM 1500
-param set RC4_REV -1
-param set RC5_MAX 1900
-param set RC5_MIN 1099
-param set RC5_TRIM 1500
-param set RC5_REV 1
-param set RC6_MAX 1900
-param set RC6_MIN 1099
-param set RC6_TRIM 1099
-param set RC6_REV 1
-sensors start
-param set MC_YAW_P 7.0
-param set MC_YAWRATE_P 0.08
-param set MC_YAWRATE_I 0.0
-param set MC_YAWRATE_D 0
-param set MC_PITCH_P 7.0
-param set MC_PITCHRATE_P 0.08
-param set MC_PITCHRATE_I 0.0
-param set MC_PITCHRATE_D 0.0001
-param set MC_ROLL_P 7.0
-param set MC_ROLLRATE_P 0.08
-param set MC_ROLLRATE_I 0.0
-param set MC_ROLLRATE_D 0.0001
-param set ATT_W_MAG 0.00
-param set PE_MAG_NOISE 1.0f
-param set SENS_BOARD_ROT 0
-param set MPU_GYRO_LPF_ENM 4
-param set MPU_ACC_LPF_ENM 4
-param set MPU_SAMPLE_R_ENM 2
-sleep 1
-mpu9x50 start -D /dev/spi-1
-uart_esc start -D /dev/tty-2
-csr_gps start -D /dev/tty-3
-list_devices
-list_files
-list_tasks
-list_topics
--- a/posix-configs/eagle/210qc/px4-flight.config
+++ b/posix-configs/eagle/210qc/px4-flight.config
@@ -1,97 +0,0 @@
-uorb start
-param set CAL_GYRO0_ID 2293760
-param set CAL_ACC0_ID 1310720
-param set CAL_ACC1_ID 1376256
-param set CAL_MAG0_ID 196608
-param set MAV_TYPE 2
-param set MC_YAW_P 12
-param set MC_YAWRATE_P 0.08
-param set MC_YAWRATE_I 0.0
-param set MC_YAWRATE_D 0
-param set MC_PITCH_P 7.0
-param set MC_PITCHRATE_P 0.08
-param set MC_PITCHRATE_I 0.0
-param set MC_PITCHRATE_D 0.001
-param set MC_ROLL_P 7.0
-param set MC_ROLLRATE_P 0.08
-param set MC_ROLLRATE_I 0.0
-param set MC_ROLLRATE_D 0.001
-param set RC_MAP_THROTTLE 1
-param set RC_MAP_ROLL 2
-param set RC_MAP_PITCH 3
-param set RC_MAP_YAW 4
-param set RC_MAP_MODE_SW 5
-param set RC_MAP_POSCTL_SW 6
-param set RC1_MAX 1900
-param set RC1_MIN 1099
-param set RC1_TRIM 1099
-param set RC1_REV 1
-param set RC2_MAX 1900
-param set RC2_MIN 1099
-param set RC2_TRIM 1500
-param set RC2_REV -1
-param set RC3_MAX 1900
-param set RC3_MIN 1099
-param set RC3_TRIM 1500
-param set RC3_REV 1
-param set RC4_MAX 1900
-param set RC4_MIN 1099
-param set RC4_TRIM 1500
-param set RC4_REV -1
-param set RC5_MAX 1900
-param set RC5_MIN 1099
-param set RC5_TRIM 1500
-param set RC5_REV 1
-param set RC6_MAX 1900
-param set RC6_MIN 1099
-param set RC6_TRIM 1099
-param set RC6_REV 1
-param set ATT_W_MAG 0.00
-param set PE_MAG_NOISE 1.0f
-param set SENS_BOARD_ROT 0
-param set MPU_GYRO_LPF_ENM 4
-param set MPU_ACC_LPF_ENM 4
-param set MPU_SAMPLE_R_ENM 2
-param set GYRO0_XOFF -0.0028
-param set GYRO0_YOFF -0.0047
-param set GYRO0_ZOFF -0.0034
-param set GYRO0_XSCALE 1.0000
-param set GYRO0_YSCALE 1.0000
-param set GYRO0_ZSCALE 1.0000
-param set MAG0_XOFF 0.0000
-param set MAG0_YOFF 0.0000
-param set MAG0_ZOFF 0.0000
-param set MAG0_XSCALE 1.0000
-param set MAG0_YSCALE 1.0000
-param set MAG0_ZSCALE 1.0000
-param set ACC0_XOFF -0.0941
-param set ACC0_YOFF 0.1168
-param set ACC0_ZOFF -0.0398
-param set ACC0_XSCALE 1.0004
-param set ACC0_YSCALE 0.9974
-param set ACC0_ZSCALE 0.9951
-param set RC_RECEIVER_TYPE 1
-param set UART_ESC_MODEL 2
-param set UART_ESC_BAUD 250000
-param set UART_ESC_MOTOR1 4
-param set UART_ESC_MOTOR2 2
-param set UART_ESC_MOTOR3 1
-param set UART_ESC_MOTOR4 3
-sleep 1
-commander start
-rc_receiver start -D /dev/tty-1
-sleep 1
-mpu9x50 start -D /dev/spi-1
-df_bmp280_wrapper start
-sensors start
-attitude_estimator_q start
-position_estimator_inav start
-mc_pos_control start
-mc_att_control start
-land_detector start multicopter
-sleep 1
-uart_esc start -D /dev/tty-2
-list_devices
-list_files
-list_tasks
-list_topics