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FIX diatone_mamba-f405-mk2 - mpu6500 #24760

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FIX diatone_mamba-f405-mk2 - mpu6500 #24760

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1 change: 1 addition & 0 deletions boards/diatone/mamba-f405-mk2/default.px4board
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@ CONFIG_DRIVERS_DSHOT=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
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5 changes: 4 additions & 1 deletion boards/diatone/mamba-f405-mk2/init/rc.board_sensors
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Expand Up @@ -5,7 +5,10 @@

board_adc start

if ! mpu6000 -R 6 -s start
# fixme rotation
mpu6500 -R 6 -s start
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this needed yaw270 autopilot rotation to compensate. afterwards IMU works fine


if ! mpu6500 -R 6 -s start
then
# some boards such as the Hobbywing XRotor F4 G2 use the ICM-20602
icm20602 -s -R 6 start
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1 change: 1 addition & 0 deletions boards/diatone/mamba-f405-mk2/src/spi.cpp
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Expand Up @@ -38,6 +38,7 @@
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
initSPIBus(SPI::Bus::SPI1, {
initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortA, GPIO::Pin4}),
initSPIDevice(DRV_IMU_DEVTYPE_MPU6500, SPI::CS{GPIO::PortA, GPIO::Pin4}),
initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortA, GPIO::Pin4}),
}),
initSPIBus(SPI::Bus::SPI2, {
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