/*
setup sensors for Pixhawk2-slim
*/
void AP_BoardConfig::px4_start_pixhawk2slim_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
printf("Starting PH2SLIM sensors\n");
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -T -I -R 4 start")) {
printf("Have internal hmc5883\n");
} else {
printf("No internal hmc5883\n");
}
if (px4_start_driver(mpu9250_main, "mpu9250", "-R 14 start")) {
printf("Found MPU9250 internal\n");
} else if (px4_start_driver(mpu6000_main, "mpu6000", "-R 14 -T 20608 start")) {
printf("Found ICM20608 internal\n");
} else if (px4_start_driver(mpu6000_main, "mpu6000", "-R 14 start")) {
printf("Found MPU6000 internal\n");
} else {
px4_sensor_error("No MPU9250 or ICM20608 or MPU6000");
}
// on Pixhawk2 default IMU temperature to 60
_imu_target_temperature.set_default(60);
printf("PH2SLIM sensors started\n");
#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
}
void AP_BoardConfig::vrx_start_core10_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_VRCORE_V10)
if (px4_start_driver(mpu9250_main, "mpu9250", "-R 4 start")) {
printf("MPU9250 Internal started OK\n");
} else {
px4_sensor_error("MPU9250 Internal start failed");
}
#endif
}
void AP_BoardConfig::vrx_start_ubrain52_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_VRUBRAIN_V52)
if (px4_start_driver(mpu6000_main, "mpu6000", "-R 12 start")) {
printf("MPU6000 Internal started OK\n");
} else {
px4_sensor_error("MPU6000 Internal start failed");
}
#endif
}
/*
setup sensors for PHMINI
*/
void AP_BoardConfig::px4_start_phmini_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
printf("Starting PHMINI sensors\n");
// ICM20608 on SPI
if (px4_start_driver(mpu6000_main, "mpu6000", "-S 2 -T 20608 start")) {
printf("Found ICM20608 internal\n");
} else {
px4_sensor_error("No ICM20608 found");
}
if (px4_start_driver(mpu9250_main, "mpu9250", "start")) {
printf("Found mpu9260\n");
} else {
px4_sensor_error("No MPU9250 found");
}
printf("PHMINI sensors started\n");
#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
}
/*
setup common sensors
*/
void AP_BoardConfig::px4_start_common_sensors(void)
{
if (px4_start_driver(ms5611_main, "ms5611", "start")) {
printf("ms5611 started OK\n");
} else {
px4_sensor_error("no ms5611 found");
}
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -T -X start")) {
printf("Have external hmc5883\n");
} else {
printf("No external hmc5883\n");
}
}
/*
setup common sensors
*/
void AP_BoardConfig::vrx_start_common_sensors(void)
{
if (px4_start_driver(ms5611_main, "ms5611", "-s start")) {
printf("MS5611 Internal started OK\n");
} else {
px4_sensor_error("MS5611 Internal start failed");
}
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -X start")) {
printf("HMC5883 External GPS started OK\n");
} else {
printf("HMC5883 External GPS start failed\n");
}
}
void AP_BoardConfig::vrx_start_brain54_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V54)
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -R 12 -I start")) {
printf("HMC5883 Internal GPS started OK\n");
} else {
printf("HMC5883 Internal GPS start failed\n");
}
if (px4_start_driver(mpu6000_main, "mpu6000", "-R 12 start")) {
printf("MPU6000 Internal started OK\n");
} else {
px4_sensor_error("MPU6000 Internal start failed");
}
#endif
}
/*
setup sensors for PX4v1
*/
void AP_BoardConfig::px4_start_fmuv1_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V1)
printf("Starting FMUv1 sensors\n");
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -T -I start")) {
printf("Have internal hmc5883\n");
} else {
printf("No internal hmc5883\n");
}
if (px4_start_driver(mpu6000_main, "mpu6000", "start")) {
printf("mpu6000 started OK\n");
} else {
px4_sensor_error("mpu6000");
}
px4.board_type.set_and_notify(PX4_BOARD_PX4V1);
#endif // CONFIG_ARCH_BOARD_PX4FMU_V1
}
/*
setup common sensors
*/
void AP_BoardConfig::px4_start_common_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V4)
/*
this works around an issue with some FMUv4 hardware (eg. copies
of the Pixracer) which have incorrect components leading to
sensor brownout on boot
*/
if (px4_start_driver(fmu_main, "fmu", "sensor_reset 20")) {
printf("FMUv4 sensor reset complete\n");
}
#endif
if (px4_start_driver(ms5611_main, "ms5611", "start")) {
printf("ms5611 started OK\n");
} else {
px4_sensor_error("no ms5611 found");
}
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -T -X start")) {
printf("Have external hmc5883\n");
} else {
printf("No external hmc5883\n");
}
}
/*
setup sensors for PX4v2
*/
void AP_BoardConfig::px4_start_fmuv2_sensors(void)
{
#if defined(CONFIG_ARCH_BOARD_PX4FMU_V2)
bool have_FMUV3 = false;
printf("Starting FMUv2 sensors\n");
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -T -I -R 4 start")) {
printf("Have internal hmc5883\n");
} else {
printf("No internal hmc5883\n");
}
// external MPU6000 is rotated YAW_180 from standard
if (px4_start_driver(mpu6000_main, "mpu6000", "-X -R 4 start")) {
printf("Found MPU6000 external\n");
have_FMUV3 = true;
} else {
if (px4_start_driver(mpu9250_main, "mpu9250", "-X -R 4 start")) {
printf("Found MPU9250 external\n");
have_FMUV3 = true;
} else {
printf("No MPU6000 or MPU9250 external\n");
}
}
if (have_FMUV3) {
// external L3GD20 is rotated YAW_180 from standard
if (px4_start_driver(l3gd20_main, "l3gd20", "-X -R 4 start")) {
printf("l3gd20 external started OK\n");
} else {
px4_sensor_error("No l3gd20");
}
// external LSM303D is rotated YAW_270 from standard
if (px4_start_driver(lsm303d_main, "lsm303d", "-a 16 -X -R 6 start")) {
printf("lsm303d external started OK\n");
} else {
px4_sensor_error("No lsm303d");
}
// internal MPU6000 is rotated ROLL_180_YAW_270 from standard
if (px4_start_driver(mpu6000_main, "mpu6000", "-R 14 start")) {
printf("Found MPU6000 internal\n");
} else {
if (px4_start_driver(mpu9250_main, "mpu9250", "-R 14 start")) {
printf("Found MPU9250 internal\n");
} else {
px4_sensor_error("No MPU6000 or MPU9250");
}
}
if (px4_start_driver(hmc5883_main, "hmc5883", "-C -T -S -R 8 start")) {
printf("Found SPI hmc5883\n");
}
} else {
// not FMUV3 (ie. not a pixhawk2)
if (px4_start_driver(mpu6000_main, "mpu6000", "start")) {
printf("Found MPU6000\n");
} else {
if (px4_start_driver(mpu9250_main, "mpu9250", "start")) {
printf("Found MPU9250\n");
} else {
printf("No MPU6000 or MPU9250\n");
}
}
if (px4_start_driver(l3gd20_main, "l3gd20", "start")) {
printf("l3gd20 started OK\n");
} else {
px4_sensor_error("no l3gd20 found");
}
if (px4_start_driver(lsm303d_main, "lsm303d", "-a 16 start")) {
printf("lsm303d started OK\n");
} else {
px4_sensor_error("no lsm303d found");
}
}
if (have_FMUV3) {
// on Pixhawk2 default IMU temperature to 60
_imu_target_temperature.set_default(60);
px4.board_type.set_and_notify(PX4_BOARD_PIXHAWK2);
} else {
px4.board_type.set_and_notify(PX4_BOARD_PIXHAWK);
}
printf("FMUv2 sensors started\n");
#endif // CONFIG_ARCH_BOARD_PX4FMU_V2
}
