Board support : Pixhawk Pro #6473
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| @@ -63,6 +63,7 @@ class AP_BoardConfig { | |||
| PX4_BOARD_PIXRACER = 4, | |||
| PX4_BOARD_PHMINI = 5, | |||
| PX4_BOARD_PH2SLIM = 6, | |||
| PX4_BOARD_PIXHAWK_PRO = 7, | |||
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I thought 7 was used somewhere hidden which is why AEROFC moved up to 13? Need to double-check this.
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Yes, 7 to 12 is occupied with VRBrain boards.
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That is now corrected, thanks!
libraries/AP_Compass/AP_Compass.cpp
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| AP_Compass_AK8963::name, false); | ||
| // ADD_BACKEND(AP_Compass_LIS3MDL::probe(*this, hal.spi->get_device(HAL_COMPASS_LIS3MDL_NAME), | ||
| // false, ROTATION_PITCH_180), | ||
| // AP_Compass_LIS3MDL::name, false); |
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as a rule, we don't like to add code that is commented out
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Thank you very much for this, you've saved me a lot of time!
I haven't tried external i2c or any other peripherals yet. Great start though, thanks! |
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we should also add this to travis |
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Thanks!
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@tridge There was an issue with DMA configuration that is now solved. LIS3MDL now gives correct output. Right now the SPI bus is used at 1 MHz, we could go up to 10 MHz according to the datasheet, I haven't tested yet. |
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LIS3MDL now works correctly, I had to decrease SPI speed down to 500 KHz, otherwise there are constant communication errors on the first bit of OUT_XXX_L registers. The LIS3MDL sensor has an intrinsic bigger offset on Z axis, hence the MAX_OFFSET modification. Should we make this change specific to this sensor or let the modification for all compasses? |
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I don't mind increasing that default to 850. |
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I've done some commit msg cleanup to follow our coding guidelines, plus pushed the PX4Firmware and PX4NuttX changes |
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looks like it breaks the build for px4-v1: error ARMV7M_PERIPHERAL_INTERRUPTS must be defined to the number of I/O interrupts to be supported |
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I've updated your PR branch with a patch to PX4Firmware that fixes the FMUv1 build. Note that I only fixed the build, I haven't yet tested the build and run on FMUv1, FMUv2 and FMUv4. We'll need to carefully test all boards before merging. |
disable lis3mdl for now
Add SPI prescalers for 180 MHz and decrease LIS3MDL SPI speed
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I've now done basic testing on FMUv1, FMUv2, FMUv4 and the v4pro |
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I have found the bug with px4io on fmuv1. It is an existing bug, not related to this PR. It is caused by the way px4io update uses a uart instead of i2c for the update, and that uart is already registered in HAL_PX4. That is unique to the v1 boards. |
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this PR fixes the FMUv1 problem: |
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this has now been merged into master |
This pull request brings changes in order to use ArduPilot on Pixhawk Pro hardware. As this board uses a different processor (with more flash and RAM, but also different register definitions), it also needs subsequent changes in PX4NuttX and PX4Firmware : these two pull requests should be tested and validated before considering merging :
ArduPilot/archived-PX4NuttX#11
ArduPilot/archived-PX4Firmware#76