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Merge pull request #5100 from iNavFlight/dzikuvx-bno055-secondary-imu

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BNO055 Secondary IMU
This commit is contained in:
Paweł Spychalski 2021-04-04 20:39:54 +02:00 • committed by GitHub
commit 340cad9c44
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83 changed files with 855 additions and 25 deletions
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15
docs/Settings.md
View file

@ -165,6 +165,21 @@
| i2c_speed | 400KHZ | This setting controls the clock speed of I2C bus. 400KHZ is the default that most setups are able to use. Some noise-free setups may be overclocked to 800KHZ. Some sensor chips or setups with long wires may work unreliably at 400KHZ - user can try lowering the clock speed to 200KHZ or even 100KHZ. User need to bear in mind that lower clock speeds might require higher looptimes (lower looptime rate) |
| ibus_telemetry_type | 0 | Type compatibility ibus telemetry for transmitters. See Telemetry.md label IBUS for details. |
| idle_power | 0 | Power draw at zero throttle used for remaining flight time/distance estimation in 0.01W unit |
| imu2_align_pitch | 0 | Pitch alignment for Secondary IMU. 1/10 of a degree |
| imu2_align_roll | 0 | Roll alignment for Secondary IMU. 1/10 of a degree |
| imu2_align_yaw | 0 | Yaw alignment for Secondary IMU. 1/10 of a degree |
| imu2_gain_acc_x | 0 | Secondary IMU ACC calibration data |
| imu2_gain_acc_y | 0 | Secondary IMU ACC calibration data |
| imu2_gain_acc_z | 0 | Secondary IMU ACC calibration data |
| imu2_gain_mag_x | 0 | Secondary IMU MAG calibration data |
| imu2_gain_mag_y | 0 | Secondary IMU MAG calibration data |
| imu2_gain_mag_z | 0 | Secondary IMU MAG calibration data |
| imu2_hardware | NONE | Selection of a Secondary IMU hardware type. NONE disables this functionality |
| imu2_radius_acc | 0 | Secondary IMU MAG calibration data |
| imu2_radius_mag | 0 | Secondary IMU MAG calibration data |
| imu2_use_for_osd_ahi | OFF | If set to ON, Secondary IMU data will be used for Analog OSD Artificial Horizon |
| imu2_use_for_osd_heading | OFF | If set to ON, Secondary IMU data will be used for Analog OSD heading |
| imu2_use_for_stabilized | OFF | If set to ON, Secondary IMU data will be used for Angle, Horizon and all other modes that control attitude (PosHold, WP, RTH) |
| imu_acc_ignore_rate | 0 | Total gyro rotation rate threshold [deg/s] to consider accelerometer trustworthy on airplanes |
| imu_acc_ignore_slope | 0 | Half-width of the interval to gradually reduce accelerometer weight. Centered at `imu_acc_ignore_rate` (exactly 50% weight) |
| imu_dcm_ki | 50 | Inertial Measurement Unit KI Gain for accelerometer measurements |

4
src/main/CMakeLists.txt
View file

@ -103,6 +103,8 @@ main_sources(COMMON_SRC
drivers/accgyro/accgyro_mpu6500.h
drivers/accgyro/accgyro_mpu9250.c
drivers/accgyro/accgyro_mpu9250.h
drivers/accgyro/accgyro_bno055.c
drivers/accgyro/accgyro_bno055.h
drivers/adc.c
drivers/adc.h
@ -333,6 +335,8 @@ main_sources(COMMON_SRC
flight/dynamic_gyro_notch.h
flight/dynamic_lpf.c
flight/dynamic_lpf.h
flight/secondary_imu.c
flight/secondary_imu.h
io/beeper.c
io/beeper.h

1
src/main/build/debug.h
View file

@ -81,5 +81,6 @@ typedef enum {
DEBUG_PCF8574,
DEBUG_DYNAMIC_GYRO_LPF,
DEBUG_FW_D,
DEBUG_IMU2,
DEBUG_COUNT
} debugType_e;

3
src/main/config/parameter_group_ids.h
View file

@ -116,7 +116,8 @@
#define PG_SAFE_HOME_CONFIG 1026
#define PG_DJI_OSD_CONFIG 1027
#define PG_PROGRAMMING_PID 1028
#define PG_INAV_END 1028
#define PG_SECONDARY_IMU 1029
#define PG_INAV_END 1029
// OSD configuration (subject to change)
//#define PG_OSD_FONT_CONFIG 2047

224
src/main/drivers/accgyro/accgyro_bno055.c Normal file
View file

@ -0,0 +1,224 @@
/*
* This file is part of INAV.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this file,
* You can obtain one at http://mozilla.org/MPL/2.0/.
*
* Alternatively, the contents of this file may be used under the terms
* of the GNU General Public License Version 3, as described below:
*
* This file is free software: you may copy, redistribute and/or modify
* it under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or (at your
* option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see http://www.gnu.org/licenses/.
*/
#include <stdbool.h>
#include <stdint.h>
#include "drivers/bus.h"
#include "drivers/time.h"
#include "build/debug.h"
#include "common/vector.h"
#include "drivers/accgyro/accgyro_bno055.h"
#ifdef USE_IMU_BNO055
#define BNO055_ADDR_PWR_MODE 0x3E
#define BNO055_ADDR_OPR_MODE 0x3D
#define BNO055_ADDR_CALIB_STAT 0x35
#define BNO055_PWR_MODE_NORMAL 0x00
#define BNO055_OPR_MODE_CONFIG 0x00
#define BNO055_OPR_MODE_NDOF 0x0C
#define BNO055_ADDR_EUL_YAW_LSB 0x1A
#define BNO055_ADDR_EUL_YAW_MSB 0x1B
#define BNO055_ADDR_EUL_ROLL_LSB 0x1C
#define BNO055_ADDR_EUL_ROLL_MSB 0x1D
#define BNO055_ADDR_EUL_PITCH_LSB 0x1E
#define BNO055_ADDR_EUL_PITCH_MSB 0x1F
#define BNO055_ADDR_MAG_RADIUS_MSB 0x6A
#define BNO055_ADDR_MAG_RADIUS_LSB 0x69
#define BNO055_ADDR_ACC_RADIUS_MSB 0x68
#define BNO055_ADDR_ACC_RADIUS_LSB 0x67
#define BNO055_ADDR_GYR_OFFSET_Z_MSB 0x66
#define BNO055_ADDR_GYR_OFFSET_Z_LSB 0x65
#define BNO055_ADDR_GYR_OFFSET_Y_MSB 0x64
#define BNO055_ADDR_GYR_OFFSET_Y_LSB 0x63
#define BNO055_ADDR_GYR_OFFSET_X_MSB 0x62
#define BNO055_ADDR_GYR_OFFSET_X_LSB 0x61
#define BNO055_ADDR_MAG_OFFSET_Z_MSB 0x60
#define BNO055_ADDR_MAG_OFFSET_Z_LSB 0x5F
#define BNO055_ADDR_MAG_OFFSET_Y_MSB 0x5E
#define BNO055_ADDR_MAG_OFFSET_Y_LSB 0x5D
#define BNO055_ADDR_MAG_OFFSET_X_MSB 0x5C
#define BNO055_ADDR_MAG_OFFSET_X_LSB 0x5B
#define BNO055_ADDR_ACC_OFFSET_Z_MSB 0x5A
#define BNO055_ADDR_ACC_OFFSET_Z_LSB 0x59
#define BNO055_ADDR_ACC_OFFSET_Y_MSB 0x58
#define BNO055_ADDR_ACC_OFFSET_Y_LSB 0x57
#define BNO055_ADDR_ACC_OFFSET_X_MSB 0x56
#define BNO055_ADDR_ACC_OFFSET_X_LSB 0x55
static busDevice_t *busDev;
static bool deviceDetect(busDevice_t *busDev)
{
for (int retry = 0; retry < 5; retry++)
{
uint8_t sig;
delay(150);
bool ack = busRead(busDev, 0x00, &sig);
if (ack)
{
return true;
}
};
return false;
}
static void bno055SetMode(uint8_t mode)
{
busWrite(busDev, BNO055_ADDR_OPR_MODE, mode);
delay(25);
}
bool bno055Init(bno055CalibrationData_t calibrationData, bool setCalibration)
{
busDev = busDeviceInit(BUSTYPE_I2C, DEVHW_BNO055, 0, 0);
if (busDev == NULL)
{
DEBUG_SET(DEBUG_IMU2, 2, 1);
return false;
}
if (!deviceDetect(busDev))
{
DEBUG_SET(DEBUG_IMU2, 2, 2);
busDeviceDeInit(busDev);
return false;
}
busWrite(busDev, BNO055_ADDR_PWR_MODE, BNO055_PWR_MODE_NORMAL); //Set power mode NORMAL
delay(25);
if (setCalibration) {
bno055SetMode(BNO055_OPR_MODE_CONFIG);
bno055SetCalibrationData(calibrationData);
}
bno055SetMode(BNO055_OPR_MODE_NDOF);
return true;
}
void bno055FetchEulerAngles(int16_t *buffer)
{
uint8_t buf[6];
busReadBuf(busDev, BNO055_ADDR_EUL_YAW_LSB, buf, 6);
buffer[0] = ((int16_t)((buf[3] << 8) | buf[2])) / 1.6f;
buffer[1] = ((int16_t)((buf[5] << 8) | buf[4])) / -1.6f; //Pitch has to be reversed to match INAV notation
buffer[2] = ((int16_t)((buf[1] << 8) | buf[0])) / 1.6f;
}
fpVector3_t bno055GetEurlerAngles(void)
{
fpVector3_t eurlerAngles;
uint8_t buf[6];
busReadBuf(busDev, BNO055_ADDR_EUL_YAW_LSB, buf, 6);
eurlerAngles.x = ((int16_t)((buf[3] << 8) | buf[2])) / 16;
eurlerAngles.y = ((int16_t)((buf[5] << 8) | buf[4])) / 16;
eurlerAngles.z = ((int16_t)((buf[1] << 8) | buf[0])) / 16;
return eurlerAngles;
}
bno055CalibStat_t bno055GetCalibStat(void)
{
bno055CalibStat_t stats;
uint8_t buf;
busRead(busDev, BNO055_ADDR_CALIB_STAT, &buf);
stats.mag = buf & 0b00000011;
stats.acc = (buf >> 2) & 0b00000011;
stats.gyr = (buf >> 4) & 0b00000011;
stats.sys = (buf >> 6) & 0b00000011;
return stats;
}
bno055CalibrationData_t bno055GetCalibrationData(void)
{
bno055CalibrationData_t data;
uint8_t buf[22];
bno055SetMode(BNO055_OPR_MODE_CONFIG);
busReadBuf(busDev, BNO055_ADDR_ACC_OFFSET_X_LSB, buf, 22);
bno055SetMode(BNO055_OPR_MODE_NDOF);
uint8_t bufferBit = 0;
for (uint8_t sensorIndex = 0; sensorIndex < 3; sensorIndex++)
{
for (uint8_t axisIndex = 0; axisIndex < 3; axisIndex++)
{
data.offset[sensorIndex][axisIndex] = (int16_t)((buf[bufferBit + 1] << 8) | buf[bufferBit]);
bufferBit += 2;
}
}
data.radius[ACC] = (int16_t)((buf[19] << 8) | buf[18]);
data.radius[MAG] = (int16_t)((buf[21] << 8) | buf[20]);
return data;
}
void bno055SetCalibrationData(bno055CalibrationData_t data)
{
uint8_t buf[12];
//Prepare gains
//We do not restore gyro offsets, they are quickly calibrated at startup
uint8_t bufferBit = 0;
for (uint8_t sensorIndex = 0; sensorIndex < 2; sensorIndex++)
{
for (uint8_t axisIndex = 0; axisIndex < 3; axisIndex++)
{
buf[bufferBit] = (uint8_t)(data.offset[sensorIndex][axisIndex] & 0xff);
buf[bufferBit + 1] = (uint8_t)((data.offset[sensorIndex][axisIndex] >> 8 ) & 0xff);
bufferBit += 2;
}
}
busWriteBuf(busDev, BNO055_ADDR_ACC_OFFSET_X_LSB, buf, 12);
//Prepare radius
buf[0] = (uint8_t)(data.radius[ACC] & 0xff);
buf[1] = (uint8_t)((data.radius[ACC] >> 8 ) & 0xff);
buf[2] = (uint8_t)(data.radius[MAG] & 0xff);
buf[3] = (uint8_t)((data.radius[MAG] >> 8 ) & 0xff);
//Write to the device
busWriteBuf(busDev, BNO055_ADDR_ACC_RADIUS_LSB, buf, 4);
}
#endif

51
src/main/drivers/accgyro/accgyro_bno055.h Normal file
View file

@ -0,0 +1,51 @@
/*
* This file is part of INAV.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this file,
* You can obtain one at http://mozilla.org/MPL/2.0/.
*
* Alternatively, the contents of this file may be used under the terms
* of the GNU General Public License Version 3, as described below:
*
* This file is free software: you may copy, redistribute and/or modify
* it under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or (at your
* option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see http://www.gnu.org/licenses/.
*/
#pragma once
#include "common/vector.h"
typedef struct {
uint8_t sys;
uint8_t gyr;
uint8_t acc;
uint8_t mag;
} bno055CalibStat_t;
typedef enum {
ACC = 0,
MAG = 1,
GYRO = 2
} bno055Sensor_e;
typedef struct {
int16_t radius[2];
int16_t offset[3][3];
} bno055CalibrationData_t;
bool bno055Init(bno055CalibrationData_t calibrationData, bool setCalibration);
fpVector3_t bno055GetEurlerAngles(void);
void bno055FetchEulerAngles(int16_t * buffer);
bno055CalibStat_t bno055GetCalibStat(void);
bno055CalibrationData_t bno055GetCalibrationData(void);
void bno055SetCalibrationData(bno055CalibrationData_t data);

1
src/main/drivers/bus.h
View file

@ -150,6 +150,7 @@ typedef enum {
DEVHW_SDCARD, // Generic SD-Card
DEVHW_IRLOCK, // IR-Lock visual positioning hardware
DEVHW_PCF8574, // 8-bit I/O expander
DEVHW_BNO055, // BNO055 IMU
} devHardwareType_e;
typedef enum {

53
src/main/fc/cli.c
View file

@ -85,6 +85,7 @@ uint8_t cliMode = 0;
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/servos.h"
#include "flight/secondary_imu.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/beeper.h"
@ -2918,6 +2919,55 @@ static void cliBatch(char *cmdline)
}
#endif
#ifdef USE_SECONDARY_IMU
static void printImu2Status(void)
{
cliPrintLinef("Secondary IMU active: %d", secondaryImuState.active);
cliPrintLine("Calibration status:");
cliPrintLinef("Sys: %d", secondaryImuState.calibrationStatus.sys);
cliPrintLinef("Gyro: %d", secondaryImuState.calibrationStatus.gyr);
cliPrintLinef("Acc: %d", secondaryImuState.calibrationStatus.acc);
cliPrintLinef("Mag: %d", secondaryImuState.calibrationStatus.mag);
cliPrintLine("Calibration gains:");
cliPrintLinef(
"Gyro: %d %d %d",
secondaryImuConfig()->calibrationOffsetGyro[X],
secondaryImuConfig()->calibrationOffsetGyro[Y],
secondaryImuConfig()->calibrationOffsetGyro[Z]
);
cliPrintLinef(
"Acc: %d %d %d",
secondaryImuConfig()->calibrationOffsetAcc[X],
secondaryImuConfig()->calibrationOffsetAcc[Y],
secondaryImuConfig()->calibrationOffsetAcc[Z]
);
cliPrintLinef(
"Mag: %d %d %d",
secondaryImuConfig()->calibrationOffsetMag[X],
secondaryImuConfig()->calibrationOffsetMag[Y],
secondaryImuConfig()->calibrationOffsetMag[Z]
);
cliPrintLinef(
"Radius: %d %d",
secondaryImuConfig()->calibrationRadiusAcc,
secondaryImuConfig()->calibrationRadiusMag
);
}
static void cliImu2(char *cmdline)
{
if (sl_strcasecmp(cmdline, "fetch") == 0) {
secondaryImuFetchCalibration();
printImu2Status();
} else {
printImu2Status();
}
}
#endif
static void cliSave(char *cmdline)
{
UNUSED(cmdline);
@ -3666,6 +3716,9 @@ const clicmd_t cmdTable[] = {
CLI_COMMAND_DEF("resource", "view currently used resources", NULL, cliResource),
#endif
CLI_COMMAND_DEF("rxrange", "configure rx channel ranges", NULL, cliRxRange),
#ifdef USE_SECONDARY_IMU
CLI_COMMAND_DEF("imu2", "Secondary IMU", NULL, cliImu2),
#endif
#if defined(USE_SAFE_HOME)
CLI_COMMAND_DEF("safehome", "safe home list", NULL, cliSafeHomes),
#endif

2
src/main/fc/fc_core.c
View file

@ -38,6 +38,7 @@ FILE_COMPILE_FOR_SPEED
#include "drivers/time.h"
#include "drivers/system.h"
#include "drivers/pwm_output.h"
#include "drivers/accgyro/accgyro_bno055.h"
#include "sensors/sensors.h"
#include "sensors/diagnostics.h"
@ -89,6 +90,7 @@ FILE_COMPILE_FOR_SPEED
#include "flight/failsafe.h"
#include "config/feature.h"
#include "common/vector.h"
#include "programming/pid.h"
// June 2013 V2.2-dev

2
src/main/fc/fc_core.h
View file

@ -45,4 +45,4 @@ void emergencyArmingUpdate(bool armingSwitchIsOn);
bool isCalibrating(void);
float getFlightTime(void);
void fcReboot(bool bootLoader);
void fcReboot(bool bootLoader);

5
src/main/fc/fc_init.c
View file

@ -99,6 +99,7 @@
#include "flight/pid.h"
#include "flight/servos.h"
#include "flight/rpm_filter.h"
#include "flight/secondary_imu.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/beeper.h"
@ -680,6 +681,10 @@ void init(void)
// Latch active features AGAIN since some may be modified by init().
latchActiveFeatures();
motorControlEnable = true;
#ifdef USE_SECONDARY_IMU
secondaryImuInit();
#endif
fcTasksInit();
#ifdef USE_OSD

12
src/main/fc/fc_tasks.c
View file

@ -47,6 +47,7 @@
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/wind_estimator.h"
#include "flight/secondary_imu.h"
#include "flight/rpm_filter.h"
#include "flight/servos.h"
#include "flight/dynamic_lpf.h"
@ -375,6 +376,9 @@ void fcTasksInit(void)
#if defined(USE_SMARTPORT_MASTER)
setTaskEnabled(TASK_SMARTPORT_MASTER, true);
#endif
#ifdef USE_SECONDARY_IMU
setTaskEnabled(TASK_SECONDARY_IMU, secondaryImuConfig()->hardwareType != SECONDARY_IMU_NONE && secondaryImuState.active);
#endif
}
cfTask_t cfTasks[TASK_COUNT] = {
@ -597,6 +601,14 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_IDLE,
},
#endif
#ifdef USE_SECONDARY_IMU
[TASK_SECONDARY_IMU] = {
.taskName = "IMU2",
.taskFunc = taskSecondaryImu,
.desiredPeriod = TASK_PERIOD_HZ(10), // 10Hz @100msec
.staticPriority = TASK_PRIORITY_IDLE,
},
#endif
#ifdef USE_RPM_FILTER
[TASK_RPM_FILTER] = {
.taskName = "RPM",

97
src/main/fc/settings.yaml
View file

@ -9,6 +9,9 @@ tables:
- name: rangefinder_hardware
values: ["NONE", "HCSR04", "SRF10", "INAV_I2C", "VL53L0X", "MSP", "UNUSED", "BENEWAKE", "VL53L1X"]
enum: rangefinderType_e
- name: secondary_imu_hardware
values: ["NONE", "BNO055"]
enum: secondaryImuType_e
- name: mag_hardware
values: ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", FAKE"]
enum: magSensor_e
@ -84,7 +87,7 @@ tables:
"FLOW", "SBUS", "FPORT", "ALWAYS", "SAG_COMP_VOLTAGE",
"VIBE", "CRUISE", "REM_FLIGHT_TIME", "SMARTAUDIO", "ACC",
"ERPM", "RPM_FILTER", "RPM_FREQ", "NAV_YAW", "DYNAMIC_FILTER", "DYNAMIC_FILTER_FREQUENCY",
"IRLOCK", "CD", "KALMAN_GAIN", "PID_MEASUREMENT", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574", "DYN_GYRO_LPF", "FW_D"]
"IRLOCK", "CD", "KALMAN_GAIN", "PID_MEASUREMENT", "SPM_CELLS", "SPM_VS600", "SPM_VARIO", "PCF8574", "DYN_GYRO_LPF", "FW_D", "IMU2"]
- name: async_mode
values: ["NONE", "GYRO", "ALL"]
- name: aux_operator
@ -404,6 +407,98 @@ groups:
type: uint8_t
table: alignment
- name: PG_SECONDARY_IMU
type: secondaryImuConfig_t
headers: ["flight/secondary_imu.h"]
condition: USE_SECONDARY_IMU
members:
- name: imu2_hardware
description: "Selection of a Secondary IMU hardware type. NONE disables this functionality"
default_value: "NONE"
field: hardwareType
table: secondary_imu_hardware
- name: imu2_use_for_osd_heading
description: "If set to ON, Secondary IMU data will be used for Analog OSD heading"
default_value: "OFF"
field: useForOsdHeading
type: bool
- name: imu2_use_for_osd_ahi
description: "If set to ON, Secondary IMU data will be used for Analog OSD Artificial Horizon"
field: useForOsdAHI
default_value: "OFF"
type: bool
- name: imu2_use_for_stabilized
description: "If set to ON, Secondary IMU data will be used for Angle, Horizon and all other modes that control attitude (PosHold, WP, RTH)"
field: useForStabilized
default_value: "OFF"
type: bool
- name: imu2_align_roll
description: "Roll alignment for Secondary IMU. 1/10 of a degree"
field: rollDeciDegrees
default_value: "0"
min: -1800
max: 3600
- name: imu2_align_pitch
description: "Pitch alignment for Secondary IMU. 1/10 of a degree"
field: pitchDeciDegrees
default_value: "0"
min: -1800
max: 3600
- name: imu2_align_yaw
description: "Yaw alignment for Secondary IMU. 1/10 of a degree"
field: yawDeciDegrees
default_value: "0"
min: -1800
max: 3600
- name: imu2_gain_acc_x
description: "Secondary IMU ACC calibration data"
field: calibrationOffsetAcc[X]
default_value: "0"
min: INT16_MIN
max: INT16_MAX
- name: imu2_gain_acc_y
field: calibrationOffsetAcc[Y]
description: "Secondary IMU ACC calibration data"
default_value: "0"
min: INT16_MIN
max: INT16_MAX
- name: imu2_gain_acc_z
field: calibrationOffsetAcc[Z]
description: "Secondary IMU ACC calibration data"
default_value: "0"
min: INT16_MIN
max: INT16_MAX
- name: imu2_gain_mag_x
field: calibrationOffsetMag[X]
description: "Secondary IMU MAG calibration data"
default_value: "0"
min: INT16_MIN
max: INT16_MAX
- name: imu2_gain_mag_y
field: calibrationOffsetMag[Y]
description: "Secondary IMU MAG calibration data"
default_value: "0"
min: INT16_MIN
max: INT16_MAX
- name: imu2_gain_mag_z
field: calibrationOffsetMag[Z]
description: "Secondary IMU MAG calibration data"
default_value: "0"
min: INT16_MIN
max: INT16_MAX
- name: imu2_radius_acc
field: calibrationRadiusAcc
description: "Secondary IMU MAG calibration data"
default_value: "0"
min: INT16_MIN
max: INT16_MAX
- name: imu2_radius_mag
field: calibrationRadiusMag
description: "Secondary IMU MAG calibration data"
default_value: "0"
min: INT16_MIN
max: INT16_MAX
- name: PG_COMPASS_CONFIG
type: compassConfig_t
headers: ["sensors/compass.h"]

19
src/main/flight/pid.c
View file

@ -45,6 +45,7 @@ FILE_COMPILE_FOR_SPEED
#include "flight/imu.h"
#include "flight/mixer.h"
#include "flight/rpm_filter.h"
#include "flight/secondary_imu.h"
#include "flight/kalman.h"
#include "io/gps.h"
@ -538,8 +539,7 @@ static void pidLevel(pidState_t *pidState, flight_dynamics_index_t axis, float h
if ((axis == FD_PITCH) && STATE(AIRPLANE) && FLIGHT_MODE(ANGLE_MODE) && !navigationIsControllingThrottle())
angleTarget += scaleRange(MAX(0, navConfig()->fw.cruise_throttle - rcCommand[THROTTLE]), 0, navConfig()->fw.cruise_throttle - PWM_RANGE_MIN, 0, mixerConfig()->fwMinThrottleDownPitchAngle);
//PITCH trim applied by a AutoLevel flight mode and manual pitch trimming
//PITCH trim applied by a AutoLevel flight mode and manual pitch trimming
if (axis == FD_PITCH && STATE(AIRPLANE)) {
/*
* fixedWingLevelTrim has opposite sign to rcCommand.
@ -553,7 +553,22 @@ static void pidLevel(pidState_t *pidState, flight_dynamics_index_t axis, float h
angleTarget -= DEGREES_TO_DECIDEGREES(fixedWingLevelTrim);
}
#ifdef USE_SECONDARY_IMU
float actual;
if (secondaryImuState.active && secondaryImuConfig()->useForStabilized) {
if (axis == FD_ROLL) {
actual = secondaryImuState.eulerAngles.values.roll;
} else {
actual = secondaryImuState.eulerAngles.values.pitch;
}
} else {
actual = attitude.raw[axis];
}
const float angleErrorDeg = DECIDEGREES_TO_DEGREES(angleTarget - actual);
#else
const float angleErrorDeg = DECIDEGREES_TO_DEGREES(angleTarget - attitude.raw[axis]);
#endif
float angleRateTarget = constrainf(angleErrorDeg * (pidBank()->pid[PID_LEVEL].P / FP_PID_LEVEL_P_MULTIPLIER), -currentControlRateProfile->stabilized.rates[axis] * 10.0f, currentControlRateProfile->stabilized.rates[axis] * 10.0f);

174
src/main/flight/secondary_imu.c Normal file
View file

@ -0,0 +1,174 @@
/*
* This file is part of INAV.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this file,
* You can obtain one at http://mozilla.org/MPL/2.0/.
*
* Alternatively, the contents of this file may be used under the terms
* of the GNU General Public License Version 3, as described below:
*
* This file is free software: you may copy, redistribute and/or modify
* it under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or (at your
* option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see http://www.gnu.org/licenses/.
*/
#include "stdint.h"
#include "common/utils.h"
#include "common/axis.h"
#include "flight/secondary_imu.h"
#include "config/parameter_group_ids.h"
#include "sensors/boardalignment.h"
#include "sensors/compass.h"
#include "build/debug.h"
#include "drivers/sensor.h"
#include "drivers/accgyro/accgyro_bno055.h"
PG_REGISTER_WITH_RESET_FN(secondaryImuConfig_t, secondaryImuConfig, PG_SECONDARY_IMU, 1);
EXTENDED_FASTRAM secondaryImuState_t secondaryImuState;
void pgResetFn_secondaryImuConfig(secondaryImuConfig_t *instance)
{
instance->hardwareType = SECONDARY_IMU_NONE,
instance->rollDeciDegrees = 0;
instance->pitchDeciDegrees = 0;
instance->yawDeciDegrees = 0;
instance->useForOsdHeading = 0;
instance->useForOsdAHI = 0;
instance->useForStabilized = 0;
for (uint8_t i = 0; i < 3; i++)
{
instance->calibrationOffsetGyro[i] = 0;
instance->calibrationOffsetMag[i] = 0;
instance->calibrationOffsetAcc[i] = 0;
}
instance->calibrationRadiusAcc = 0;
instance->calibrationRadiusMag = 0;
}
void secondaryImuInit(void)
{
secondaryImuState.active = false;
// Create magnetic declination matrix
const int deg = compassConfig()->mag_declination / 100;
const int min = compassConfig()->mag_declination % 100;
secondaryImuSetMagneticDeclination(deg + min / 60.0f);
bno055CalibrationData_t calibrationData;
calibrationData.offset[ACC][X] = secondaryImuConfig()->calibrationOffsetAcc[X];
calibrationData.offset[ACC][Y] = secondaryImuConfig()->calibrationOffsetAcc[Y];
calibrationData.offset[ACC][Z] = secondaryImuConfig()->calibrationOffsetAcc[Z];
calibrationData.offset[MAG][X] = secondaryImuConfig()->calibrationOffsetMag[X];
calibrationData.offset[MAG][Y] = secondaryImuConfig()->calibrationOffsetMag[Y];
calibrationData.offset[MAG][Z] = secondaryImuConfig()->calibrationOffsetMag[Z];
calibrationData.offset[GYRO][X] = secondaryImuConfig()->calibrationOffsetGyro[X];
calibrationData.offset[GYRO][Y] = secondaryImuConfig()->calibrationOffsetGyro[Y];
calibrationData.offset[GYRO][Z] = secondaryImuConfig()->calibrationOffsetGyro[Z];
calibrationData.radius[ACC] = secondaryImuConfig()->calibrationRadiusAcc;
calibrationData.radius[MAG] = secondaryImuConfig()->calibrationRadiusMag;
if (secondaryImuConfig()->hardwareType == SECONDARY_IMU_BNO055) {
secondaryImuState.active = bno055Init(calibrationData, (secondaryImuConfig()->calibrationRadiusAcc && secondaryImuConfig()->calibrationRadiusMag));
}
if (!secondaryImuState.active) {
secondaryImuConfigMutable()->hardwareType = SECONDARY_IMU_NONE;
}
}
void taskSecondaryImu(timeUs_t currentTimeUs)
{
if (!secondaryImuState.active)
{
return;
}
/*
* Secondary IMU works in decidegrees
*/
UNUSED(currentTimeUs);
bno055FetchEulerAngles(secondaryImuState.eulerAngles.raw);
//Apply mag declination
secondaryImuState.eulerAngles.raw[2] += secondaryImuState.magDeclination;
//TODO this way of rotating a vector makes no sense, something simpler have to be developed
const fpVector3_t v = {
.x = secondaryImuState.eulerAngles.raw[0],
.y = secondaryImuState.eulerAngles.raw[1],
.z = secondaryImuState.eulerAngles.raw[2],
};
fpVector3_t rotated;
fp_angles_t imuAngles = {
.angles.roll = DECIDEGREES_TO_RADIANS(secondaryImuConfig()->rollDeciDegrees),
.angles.pitch = DECIDEGREES_TO_RADIANS(secondaryImuConfig()->pitchDeciDegrees),
.angles.yaw = DECIDEGREES_TO_RADIANS(secondaryImuConfig()->yawDeciDegrees),
};
fpMat3_t rotationMatrix;
rotationMatrixFromAngles(&rotationMatrix, &imuAngles);
rotationMatrixRotateVector(&rotated, &v, &rotationMatrix);
rotated.z = ((int32_t)(rotated.z + secondaryImuConfig()->yawDeciDegrees)) % 3600;
secondaryImuState.eulerAngles.values.roll = rotated.x;
secondaryImuState.eulerAngles.values.pitch = rotated.y;
secondaryImuState.eulerAngles.values.yaw = rotated.z;
/*
* Every 10 cycles fetch current calibration state
*/
static uint8_t tick = 0;
tick++;
if (tick == 10)
{
secondaryImuState.calibrationStatus = bno055GetCalibStat();
tick = 0;
}
DEBUG_SET(DEBUG_IMU2, 0, secondaryImuState.eulerAngles.values.roll);
DEBUG_SET(DEBUG_IMU2, 1, secondaryImuState.eulerAngles.values.pitch);
DEBUG_SET(DEBUG_IMU2, 2, secondaryImuState.eulerAngles.values.yaw);
DEBUG_SET(DEBUG_IMU2, 3, secondaryImuState.calibrationStatus.mag);
DEBUG_SET(DEBUG_IMU2, 4, secondaryImuState.calibrationStatus.gyr);
DEBUG_SET(DEBUG_IMU2, 5, secondaryImuState.calibrationStatus.acc);
DEBUG_SET(DEBUG_IMU2, 6, secondaryImuState.magDeclination);
}
void secondaryImuFetchCalibration(void) {
bno055CalibrationData_t calibrationData = bno055GetCalibrationData();
secondaryImuConfigMutable()->calibrationOffsetAcc[X] = calibrationData.offset[ACC][X];
secondaryImuConfigMutable()->calibrationOffsetAcc[Y] = calibrationData.offset[ACC][Y];
secondaryImuConfigMutable()->calibrationOffsetAcc[Z] = calibrationData.offset[ACC][Z];
secondaryImuConfigMutable()->calibrationOffsetMag[X] = calibrationData.offset[MAG][X];
secondaryImuConfigMutable()->calibrationOffsetMag[Y] = calibrationData.offset[MAG][Y];
secondaryImuConfigMutable()->calibrationOffsetMag[Z] = calibrationData.offset[MAG][Z];
secondaryImuConfigMutable()->calibrationOffsetGyro[X] = calibrationData.offset[GYRO][X];
secondaryImuConfigMutable()->calibrationOffsetGyro[Y] = calibrationData.offset[GYRO][Y];
secondaryImuConfigMutable()->calibrationOffsetGyro[Z] = calibrationData.offset[GYRO][Z];
secondaryImuConfigMutable()->calibrationRadiusAcc = calibrationData.radius[ACC];
secondaryImuConfigMutable()->calibrationRadiusMag = calibrationData.radius[MAG];
}
void secondaryImuSetMagneticDeclination(float declination) { //Incoming units are degrees
secondaryImuState.magDeclination = declination * 10.0f; //Internally declination is stored in decidegrees
}

66
src/main/flight/secondary_imu.h Normal file
View file

@ -0,0 +1,66 @@
/*
* This file is part of INAV.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this file,
* You can obtain one at http://mozilla.org/MPL/2.0/.
*
* Alternatively, the contents of this file may be used under the terms
* of the GNU General Public License Version 3, as described below:
*
* This file is free software: you may copy, redistribute and/or modify
* it under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or (at your
* option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see http://www.gnu.org/licenses/.
*/
#pragma once
#include "config/parameter_group.h"
#include "common/time.h"
#include "sensors/sensors.h"
#include "drivers/accgyro/accgyro_bno055.h"
typedef enum {
SECONDARY_IMU_NONE = 0,
SECONDARY_IMU_BNO055 = 1,
} secondaryImuType_e;
typedef struct secondaryImuConfig_s {
uint8_t hardwareType;
int16_t rollDeciDegrees;
int16_t pitchDeciDegrees;
int16_t yawDeciDegrees;
uint8_t useForOsdHeading;
uint8_t useForOsdAHI;
uint8_t useForStabilized;
int16_t calibrationOffsetGyro[3];
int16_t calibrationOffsetMag[3];
int16_t calibrationOffsetAcc[3];
int16_t calibrationRadiusAcc;
int16_t calibrationRadiusMag;
} secondaryImuConfig_t;
typedef struct secondaryImuState_s {
flightDynamicsTrims_t eulerAngles;
bno055CalibStat_t calibrationStatus;
uint8_t active;
float magDeclination;
} secondaryImuState_t;
extern secondaryImuState_t secondaryImuState;
PG_DECLARE(secondaryImuConfig_t, secondaryImuConfig);
void secondaryImuInit(void);
void taskSecondaryImu(timeUs_t currentTimeUs);
void secondaryImuFetchCalibration(void);
void secondaryImuSetMagneticDeclination(float declination);

34
src/main/io/osd.c
View file

@ -87,6 +87,7 @@ FILE_COMPILE_FOR_SPEED
#include "flight/pid.h"
#include "flight/rth_estimator.h"
#include "flight/wind_estimator.h"
#include "flight/secondary_imu.h"
#include "flight/servos.h"
#include "navigation/navigation.h"
@ -940,12 +941,28 @@ static inline int32_t osdGetAltitudeMsl(void)
static bool osdIsHeadingValid(void)
{
#ifdef USE_SECONDARY_IMU
if (secondaryImuState.active && secondaryImuConfig()->useForOsdHeading) {
return true;
} else {
return isImuHeadingValid();
}
#else
return isImuHeadingValid();
#endif
}
int16_t osdGetHeading(void)
{
#ifdef USE_SECONDARY_IMU
if (secondaryImuState.active && secondaryImuConfig()->useForOsdHeading) {
return secondaryImuState.eulerAngles.values.yaw;
} else {
return attitude.values.yaw;
}
#else
return attitude.values.yaw;
#endif
}
int16_t osdPanServoHomeDirectionOffset(void)
@ -1851,8 +1868,21 @@ static bool osdDrawSingleElement(uint8_t item)
case OSD_ARTIFICIAL_HORIZON:
{
float rollAngle = DECIDEGREES_TO_RADIANS(attitude.values.roll);
float pitchAngle = DECIDEGREES_TO_RADIANS(attitude.values.pitch);
float rollAngle;
float pitchAngle;
#ifdef USE_SECONDARY_IMU
if (secondaryImuState.active && secondaryImuConfig()->useForOsdAHI) {
rollAngle = DECIDEGREES_TO_RADIANS(secondaryImuState.eulerAngles.values.roll);
pitchAngle = DECIDEGREES_TO_RADIANS(secondaryImuState.eulerAngles.values.pitch);
} else {
rollAngle = DECIDEGREES_TO_RADIANS(attitude.values.roll);
pitchAngle = DECIDEGREES_TO_RADIANS(attitude.values.pitch);
}
#else
rollAngle = DECIDEGREES_TO_RADIANS(attitude.values.roll);
pitchAngle = DECIDEGREES_TO_RADIANS(attitude.values.pitch);
#endif
if (osdConfig()->ahi_reverse_roll) {
rollAngle = -rollAngle;

7
src/main/navigation/navigation_pos_estimator.c
View file

@ -39,6 +39,7 @@
#include "fc/config.h"
#include "flight/imu.h"
#include "flight/secondary_imu.h"
#include "io/gps.h"
@ -214,7 +215,11 @@ void onNewGPSData(void)
if(STATE(GPS_FIX_HOME)){
static bool magDeclinationSet = false;
if (positionEstimationConfig()->automatic_mag_declination && !magDeclinationSet) {
imuSetMagneticDeclination(geoCalculateMagDeclination(&newLLH));
const float declination = geoCalculateMagDeclination(&newLLH);
imuSetMagneticDeclination(declination);
#ifdef USE_SECONDARY_IMU
secondaryImuSetMagneticDeclination(declination);
#endif
magDeclinationSet = true;
}
}

3
src/main/scheduler/scheduler.h
View file

@ -119,6 +119,9 @@ typedef enum {
#endif
#ifdef USE_IRLOCK
TASK_IRLOCK,
#endif
#ifdef USE_SECONDARY_IMU
TASK_SECONDARY_IMU,
#endif
/* Count of real tasks */
TASK_COUNT,

1
src/main/target/AIKONF4/target.h
View file

@ -103,6 +103,7 @@
#define TEMPERATURE_I2C_BUS DEFAULT_I2C_BUS
#define PITOT_I2C_BUS DEFAULT_I2C_BUS
#define PCA9685_I2C_BUS DEFAULT_I2C_BUS
#define BNO055_I2C_BUS DEFAULT_I2C_BUS
#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
#define SERIALRX_PROVIDER SERIALRX_SBUS

2
src/main/target/AIRBOTF4/target.h
View file

@ -64,8 +64,8 @@
#define USE_PITOT_ADC
#define PITOT_I2C_BUS BUS_I2C2
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define M25P16_CS_PIN PB3
#define M25P16_SPI_BUS BUS_SPI3

2
src/main/target/AIRBOTF7/target.h
View file

@ -79,7 +79,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define PITOT_I2C_BUS BUS_I2C1
#define USE_RANGEFINDER

1
src/main/target/ALIENFLIGHTF4/target.h
View file

@ -64,6 +64,7 @@
#define MAG_MPU9250_ALIGN CW0_DEG
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C1

1
src/main/target/ALIENFLIGHTNGF7/target.h
View file

@ -66,6 +66,7 @@
#define AK8963_SPI_BUS BUS_SPI3
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C1

1
src/main/target/ANYFC/target.h
View file

@ -53,6 +53,7 @@
#define USE_RANGEFINDER
#define RANGEFINDER_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C1

1
src/main/target/ANYFCF7/target.h
View file

@ -49,6 +49,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define USE_BARO

1
src/main/target/ANYFCM7/target.h
View file

@ -49,6 +49,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C2

1
src/main/target/ASGARD32F4/target.h
View file

@ -168,3 +168,4 @@
#define PITOT_I2C_BUS BUS_I2C2
#define PCA9685_I2C_BUS BUS_I2C2
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2

1
src/main/target/ASGARD32F7/target.h
View file

@ -172,3 +172,4 @@
#define PCA9685_I2C_BUS BUS_I2C2
#define PITOT_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2

1
src/main/target/BEEROTORF4/target.h
View file

@ -56,6 +56,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_OSD
#define USE_MAX7456

1
src/main/target/BETAFLIGHTF4/target.h
View file

@ -130,6 +130,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C2

1
src/main/target/BLUEJAYF4/target.h
View file

@ -53,6 +53,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C1

1
src/main/target/CLRACINGF4AIR/target.h
View file

@ -116,6 +116,7 @@
#define I2C2_SDA PB11
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#endif
#define USE_ADC

1
src/main/target/COLIBRI/target.h
View file

@ -56,6 +56,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C3
#define BNO055_I2C_BUS BUS_I2C3
#ifdef QUANTON
#define IMU_MPU6000_ALIGN CW90_DEG

3
src/main/target/COLIBRI_RACE/target.h
View file

@ -124,4 +124,5 @@
#define TARGET_IO_PORTD (BIT(2))
#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
#define PCA9685_I2C_BUS BUS_I2C2
#define PCA9685_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2

1
src/main/target/DALRCF405/target.h
View file

@ -96,6 +96,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_RANGEFINDER
#define USE_RANGEFINDER_HCSR04_I2C

2
src/main/target/DALRCF722DUAL/target.h
View file

@ -82,7 +82,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define PITOT_I2C_BUS BUS_I2C1
#define USE_SPI

1
src/main/target/F4BY/target.h
View file

@ -56,6 +56,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C2

3
src/main/target/FALCORE/target.h
View file

@ -135,4 +135,5 @@
#define TARGET_IO_PORTD 0xFFFF
#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
#define PCA9685_I2C_BUS BUS_I2C2
#define PCA9685_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2

1
src/main/target/FF_F35_LIGHTNING/target.h
View file

@ -127,6 +127,7 @@
#define PITOT_I2C_BUS BUS_I2C1
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define DEFAULT_FEATURES (FEATURE_TX_PROF_SEL | FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_OSD | FEATURE_GPS | FEATURE_TELEMETRY)

2
src/main/target/FIREWORKSV2/target.h
View file

@ -231,6 +231,8 @@
#if defined(OMNIBUSF4V6)
#define PCA9685_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#else
#define PCA9685_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#endif

2
src/main/target/FISHDRONEF4/target.h
View file

@ -65,6 +65,8 @@
// *************** Temperature sensor *****************
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
// *************** BARO *****************************
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C1

2
src/main/target/FLYWOOF411/target.h
View file

@ -76,6 +76,8 @@
#define USE_BARO_BMP280
#define USE_BARO_MS5611
#define BNO055_I2C_BUS BUS_I2C1
#define USE_MAG
#define MAG_I2C_BUS BUS_I2C1
#define USE_MAG_HMC5883

2
src/main/target/FLYWOOF7DUAL/target.h
View file

@ -113,6 +113,8 @@
#define USE_BARO_BMP280
#define USE_BARO_MS5611
#define BNO055_I2C_BUS BUS_I2C1
#define USE_MAG
#define MAG_I2C_BUS BUS_I2C1
#define USE_MAG_HMC5883

2
src/main/target/FOXEERF405/target.h
View file

@ -117,6 +117,8 @@
#define USE_MAG_MAG3110
#define USE_MAG_LIS3MDL
#define BNO055_I2C_BUS BUS_I2C1
/*** ADC ***/
#define USE_ADC
#define ADC_CHANNEL_1_PIN PC0

2
src/main/target/FOXEERF722DUAL/target.h
View file

@ -125,6 +125,8 @@
#define USE_MAG_MAG3110
#define USE_MAG_LIS3MDL
#define BNO055_I2C_BUS BUS_I2C1
/*** ADC ***/
#define USE_ADC
#define ADC_CHANNEL_1_PIN PC0

2
src/main/target/FRSKYPILOT/target.h
View file

@ -123,7 +123,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C3
#define BNO055_I2C_BUS BUS_I2C3
#define PITOT_I2C_BUS BUS_I2C3
#define USE_RANGEFINDER

2
src/main/target/FRSKY_ROVERF7/target.h
View file

@ -66,7 +66,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define PITOT_I2C_BUS BUS_I2C1
// *************** SPI2 Flash ***********************

1
src/main/target/FURYF4OSD/target.h
View file

@ -134,6 +134,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS DEFAULT_I2C_BUS
#define BNO055_I2C_BUS DEFAULT_I2C_BUS
#define USE_RANGEFINDER
#define USE_RANGEFINDER_MSP

2
src/main/target/HGLRCF722/target.h
View file

@ -80,7 +80,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define PITOT_I2C_BUS BUS_I2C1
#define USE_RANGEFINDER

1
src/main/target/IFLIGHTF4_SUCCEXD/target.h
View file

@ -112,6 +112,7 @@
#define PITOT_I2C_BUS BUS_I2C1
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_RANGEFINDER
#define USE_RANGEFINDER_MSP

1
src/main/target/IFLIGHTF4_TWING/target.h
View file

@ -79,6 +79,7 @@
#define RANGEFINDER_I2C_BUS BUS_I2C1
#define PCA9685_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
// *************** OSD *****************************
#define USE_SPI_DEVICE_2

1
src/main/target/IFLIGHTF7_TWING/target.h
View file

@ -80,6 +80,7 @@
#define USE_RANGEFINDER
#define RANGEFINDER_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
// *************** FLASH **************************
#define M25P16_CS_PIN PB9

1
src/main/target/KAKUTEF4/target.h
View file

@ -65,6 +65,7 @@
# define USE_MAG_LIS3MDL
# define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
# define USE_BARO
# define BARO_I2C_BUS BUS_I2C1

2
src/main/target/KAKUTEF7/target.h
View file

@ -179,3 +179,5 @@
#define TARGET_IO_PORTE 0xffff
#define MAX_PWM_OUTPUT_PORTS 6
#define BNO055_I2C_BUS BUS_I2C1

1
src/main/target/KAKUTEF7MINIV3/target.h
View file

@ -167,6 +167,7 @@
#define RANGEFINDER_I2C_BUS BUS_I2C1
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define PITOT_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
/*** Used pins ***/
#define TARGET_IO_PORTA 0xffff

2
src/main/target/MAMBAF405US/target.h
View file

@ -56,6 +56,8 @@
#define USE_BARO_BMP280
#define USE_BARO_MS5611
#define BNO055_I2C_BUS BUS_I2C2
//*********** Magnetometer / Compass *************
#define USE_MAG
#define MAG_I2C_BUS DEFAULT_I2C_BUS

2
src/main/target/MAMBAF722/target.h
View file

@ -56,6 +56,8 @@
#define USE_BARO_BMP280
#define USE_BARO_MS5611
#define BNO055_I2C_BUS BUS_I2C2
//*********** Magnetometer / Compass *************
#define USE_MAG
#define MAG_I2C_BUS DEFAULT_I2C_BUS

2
src/main/target/MATEKF405/target.h
View file

@ -162,6 +162,8 @@
#define TEMPERATURE_I2C_BUS DEFAULT_I2C_BUS
#define BNO055_I2C_BUS DEFAULT_I2C_BUS
#define USE_RANGEFINDER
#define USE_RANGEFINDER_MSP
#define USE_RANGEFINDER_HCSR04_I2C

1
src/main/target/MATEKF405CAN/target.h
View file

@ -75,6 +75,7 @@
#define PITOT_I2C_BUS BUS_I2C2
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define PCA9685_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
// *************** SPI2 RM3100 **************************

3
src/main/target/MATEKF405SE/target.h
View file

@ -73,10 +73,9 @@
#define USE_RANGEFINDER
#define USE_RANGEFINDER_HCSR04_I2C
#define RANGEFINDER_I2C_BUS BUS_I2C2
#define PITOT_I2C_BUS BUS_I2C2
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
// *************** SPI2 OSD ***************************

1
src/main/target/MATEKF411/target.h
View file

@ -121,6 +121,7 @@
#define USE_BARO_DPS310
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_MAG
#define MAG_I2C_BUS BUS_I2C1

1
src/main/target/MATEKF411SE/target.h
View file

@ -113,6 +113,7 @@
#define PITOT_I2C_BUS BUS_I2C1
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_RANGEFINDER
#define USE_RANGEFINDER_MSP

2
src/main/target/MATEKF722/target.h
View file

@ -159,3 +159,5 @@
#define USE_DSHOT
#define USE_ESC_SENSOR
#define USE_SERIALSHOT
#define BNO055_I2C_BUS BUS_I2C1

2
src/main/target/MATEKF722PX/target.h
View file

@ -66,7 +66,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define PITOT_I2C_BUS BUS_I2C1
#define USE_RANGEFINDER

4
src/main/target/MATEKF722SE/target.h
View file

@ -193,4 +193,6 @@
#define MAX_PWM_OUTPUT_PORTS 8
#define USE_DSHOT
#define USE_SERIALSHOT
#define USE_ESC_SENSOR
#define USE_ESC_SENSOR
#define BNO055_I2C_BUS BUS_I2C1

2
src/main/target/MATEKF765/target.h
View file

@ -86,7 +86,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define PITOT_I2C_BUS BUS_I2C2
#define USE_RANGEFINDER

2
src/main/target/MATEKH743/target.h
View file

@ -157,7 +157,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define PITOT_I2C_BUS BUS_I2C2
#define USE_RANGEFINDER

3
src/main/target/MOTOLAB/target.h
View file

@ -120,4 +120,5 @@
// !!TODO - check the following line is correct
#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4))
#define PCA9685_I2C_BUS BUS_I2C2
#define PCA9685_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2

1
src/main/target/OMNIBUSF4/target.h
View file

@ -100,6 +100,7 @@
#define USE_MAG_AK8975
#define TEMPERATURE_I2C_BUS I2C_EXT_BUS
#define BNO055_I2C_BUS I2C_EXT_BUS
#define USE_BARO

1
src/main/target/OMNIBUSF7/target.h
View file

@ -158,6 +158,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define USE_RANGEFINDER
#define USE_RANGEFINDER_HCSR04_I2C

1
src/main/target/OMNIBUSF7NXT/target.h
View file

@ -59,6 +59,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_BARO
#define USE_BARO_LPS25H

1
src/main/target/REVO/target.h
View file

@ -56,6 +56,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C1

2
src/main/target/RUSH_BLADE_F7/target.h
View file

@ -66,7 +66,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define PITOT_I2C_BUS BUS_I2C1
#define USE_RANGEFINDER

1
src/main/target/SPARKY2/target.h
View file

@ -53,6 +53,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C1

2
src/main/target/SPEEDYBEEF4/target.h
View file

@ -124,6 +124,8 @@
#define SERIAL_PORT_COUNT 6
#endif
#define BNO055_I2C_BUS BUS_I2C1
/*** BARO & MAG ***/
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C1

2
src/main/target/SPEEDYBEEF7/target.h
View file

@ -120,7 +120,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define PITOT_I2C_BUS BUS_I2C2
#define USE_RANGEFINDER

1
src/main/target/SPRACINGF4EVO/target.h
View file

@ -59,6 +59,7 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_VCP

2
src/main/target/SPRACINGF7DUAL/target.h
View file

@ -62,6 +62,8 @@
#define USE_BARO_BMP280
#define USE_BARO_MS5611
#define BNO055_I2C_BUS BUS_I2C1
#define MAG_I2C_BUS BUS_I2C1
#define USE_MAG
#define USE_MAG_HMC5883

1
src/main/target/YUPIF4/target.h
View file

@ -68,6 +68,7 @@
#define USE_MAG_QMC5883
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C2

1
src/main/target/YUPIF7/target.h
View file

@ -50,6 +50,7 @@
#define USE_MAG_QMC5883
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C1

3
src/main/target/common.h
View file

@ -149,6 +149,9 @@
#define USE_SERIALRX_GHST
#define USE_TELEMETRY_GHST
#define USE_SECONDARY_IMU
#define USE_IMU_BNO055
#else // MCU_FLASH_SIZE < 256
#define LOG_LEVEL_MAXIMUM LOG_LEVEL_ERROR
#endif

7
src/main/target/common_hardware.c
View file

@ -394,4 +394,11 @@
BUSDEV_REGISTER_I2C(busdev_pcf8574, DEVHW_PCF8574, PCF8574_I2C_BUS, 0x20, NONE, DEVFLAGS_NONE, 0);
#endif
#ifdef USE_IMU_BNO055
#ifndef BNO055_I2C_BUS
#define BNO055_I2C_BUS BUS_I2C1
#endif
BUSDEV_REGISTER_I2C(busdev_bno055, DEVHW_BNO055, BNO055_I2C_BUS, 0x29, NONE, DEVFLAGS_NONE, 0);
#endif
#endif // USE_TARGET_HARDWARE_DESCRIPTORS