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PX4 / DriverFramework

Operating system and flight stack agnostic driver framework for POSIX (Linux, NuttX, Mac OS, QNX, VxWorks).
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Fix the MPU9250_WHOAMI verification AND fixed the imusensor macro definition. #183

Closed crossa closed 7 years ago

crossa commented 7 years ago

Change sensor_id verification,both 0x71 and 0x73 are valid. There are various kind of mpu9250 module in China. The WHOAMI value of the MPU9250 sensor which I used was 0x73. I don't know why there are different WHOAMI values of them. So I add the 0x73 support into the code.

I use the rpi to build the autopilot without pxfmini or navio. Pxfmini and navio was not popular in China. I can hardly to purchase it. So I use raspberry pi separately. If use raspberry pi separately and communicate with MPU9250 sensor by SPI mode both IMU_DEVICE_ACC_GYRO and IMU_DEVICE_MAG should be defined as "/dev/spidev0.1"(if you plug the sensor to spidev0.1),other wise the px4firmware can't work correctly.

LorenzMeier commented 7 years ago

Thanks! Squashed and applied.

crossa commented 7 years ago

I 'm tring to build a copter with raspberry pi these days and I've spent two months on this job. The last step is to use the pc9685 module to complete the PWM output. When I finished I'll release all the codes and makefiles. I found it easy to running px4 on linux system because many development boards support multiprocessors and these types of board can run more programs in one system at the same time such as video streaming,adbs and so on .It consume only a small amount of computing resources and we can also develop network applications for UAV