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7569722821
- simple state machine to reset, configure, etc
- checked register mechanism (sensor will reset itself on configuration error)
- configured in 16 bit mode (1320 LSB/Gauss instead of 330 LSB/Gauss)
- adjusted orientation handling in driver to match datasheet as closely as possible
- in many external compass units the rotation was wrong and very difficult to actual determine how to set correctly
26 lines
602 B
Bash
26 lines
602 B
Bash
#!/bin/sh
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#
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# PX4 FMUv5 specific board sensors init
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#------------------------------------------------------------------------------
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adc start
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# Internal SPI bus ICM-20602
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icm20602 -s -R 2 -q start
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# Internal SPI bus ICM-20689
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icm20689 -s -R 2 start
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# Internal SPI bus BMI055 accel/gyro
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bmi055 -A -R 2 -s start
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bmi055 -G -R 2 -s start
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# Baro on internal SPI
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ms5611 -s start
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# internal compass
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ist8310 -I -R 10 start
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# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
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ist8310 -X -b 3 -R 10 start
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