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32 lines
840 B
32 lines
840 B
#!/bin/sh
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#
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# board specific sensors init
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#------------------------------------------------------------------------------
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board_adc start
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# Different board versions have different IMUs, so we try all known options
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# Internal SPI bus ICM-42688P (SPI1) on V3 board, PITCH180 orientation
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if ! icm42688p -s -b 1 -R 12 start
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then
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# Internal SPI bus MPU-6000 on V1.0 and V1.5 boards
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mpu6000 -s -b 1 -R 12 start
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fi
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# Internal SPI bus ICM-42688P (SPI4) on V3 board, PITCH180_YAW90 orientation
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if ! icm42688p -s -b 4 -R 26 start
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then
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# Internal SPI bus ICM-42605 on V1.5 board, ROTATION_ROLL_180_YAW_270 orientation
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if ! icm42605 -s -b 4 -R 14 start
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then
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# Internal SPI bus ICM-20602 on V1.0 board, PITCH180 orientation
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icm20602 -s -b 4 -R 12 start
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fi
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fi
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# Internal baro
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dps310 -I start -a 118
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# External mag
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qmc5883l -X start -a 13
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