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https://gitee.com/xiaohuolufeihua/bizhang_-obav.git
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b399698306
- it does nothing useful - increases boot time by 2 seconds on pixhawk 4 due to a poll timeout: IST8310 on I2C bus 3 at 0x0e (bus: 100 KHz, max: 400 KHz) WARN [ist8310] ERROR: TIMEOUT 2
42 lines
819 B
Bash
42 lines
819 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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mpu6000 -R 8 -s -T 20602 start
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# Internal SPI bus ICM-20689
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mpu6000 -R 8 -z -T 20689 start
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# Internal SPI bus BMI055 accel
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bmi055 -A -R 10 start
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# Internal SPI bus BMI055 gyro
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bmi055 -G -R 10 start
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# Possible external compasses
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ist8310 -b 1 start
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ist8310 -b 2 start
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hmc5883 -C -T -X start
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qmc5883 -X start
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lis3mdl -X start
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# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
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if ! icm20948 -X -M -R 6 start
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then
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# external emulated AK09916 (Here2) is rotated 270 degrees yaw
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ak09916 -X -R 6 start
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fi
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# Possible internal compass
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ist8310 -b 5 start
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# Baro on internal SPI
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ms5611 -s start
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# External RM3100 (I2C or SPI)
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rm3100 start
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