mirror of
https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
synced 2026-05-21 01:12:11 +00:00
8ebde51648
Removes the calibration on startup, as these values were overwritten by the system calibration values anyway. So the only difference is that if all calibration scales were equal to 1, the driver startup would have failed.
54 lines
1.3 KiB
Bash
54 lines
1.3 KiB
Bash
#!/bin/sh
|
|
#
|
|
# PX4 FMUv4 specific board sensors init
|
|
#------------------------------------------------------------------------------
|
|
|
|
adc start
|
|
|
|
# We know there are sketchy boards out there
|
|
# as chinese companies produce Pixracers without
|
|
# fully understanding the critical parts of the
|
|
# schematic and BOM, leading to sensor brownouts
|
|
# on boot. Original Pixracers following the
|
|
# open hardware design do not require this.
|
|
fmu sensor_reset 50
|
|
|
|
|
|
# External I2C bus
|
|
hmc5883 -T -X start
|
|
lis3mdl -X start
|
|
ist8310 -X start
|
|
qmc5883 -X start
|
|
rm3100 start
|
|
|
|
# Internal SPI
|
|
ms5611 -s start
|
|
|
|
# For Teal One airframe
|
|
if param compare SYS_AUTOSTART 4250
|
|
then
|
|
mpu9250 -s -R 14 start
|
|
mpu9250 -t -R 14 start
|
|
fi
|
|
|
|
# hmc5883 internal SPI bus is rotated 90 deg yaw
|
|
if ! hmc5883 -T -S -R 2 start
|
|
then
|
|
# lis3mdl internal SPI bus is rotated 90 deg yaw
|
|
lis3mdl start
|
|
fi
|
|
|
|
# Start either ICM2060X. 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.
|
|
|
|
# ICM20602 internal SPI bus ICM-20608-G is rotated 90 deg yaw
|
|
if ! icm20602 -R 8 start
|
|
then
|
|
# ICM20608 internal SPI bus ICM-20602-G is rotated 90 deg yaw
|
|
icm20608g -R 8 start
|
|
fi
|
|
|
|
# mpu9250 internal SPI bus mpu9250 is rotated 90 deg yaw
|
|
mpu9250 -R 2 start
|