Please change macro definition to fix native build on raspberry pi

[crossa]

px4/Firmware/src/lib/DriverFramework/framework/include/

on raspberry pi b+ ,mpu9250 spi device 0 is /dev/spidev0.0 and mag should be /dev/spidev0.0

`#if defined(__IMU_USE_I2C)

include "I2CDevObj.hpp"

else

include "SPIDevObj.hpp"

endif

if defined(__DF_QURT)

include "dev_fs_lib_spi.h"

define IMU_DEVICE_PATH "/dev/spi-1"

elif defined(__DF_BEBOP)

define IMU_DEVICE_PATH "/dev/i2c-mpu6050"

elif (defined(__DF_RPI) && !defined(__IMU_USE_I2C))

define IMU_DEVICE_PATH "/dev/spidev0.0"

elif (defined(__DF_RPI) && defined(__IMU_USE_I2C))

define IMU_DEVICE_PATH "/dev/i2c-1"

elif defined(__DF_EDISON)

define IMU_DEVICE_PATH "/dev/spidev5.1"

else

define IMU_DEVICE_PATH "/dev/spidev0.0"

endif

if (defined(__DF_RPI) && !defined(__IMU_USE_I2C))

include <linux/spi/spidev.h>

define IMU_DEVICE_ACC_GYRO "/dev/spidev0.0"

define IMU_DEVICE_MAG "/dev/spidev0.0"

elif (defined(__DF_RPI) && defined(__IMU_USE_I2C))

include <linux/i2c-dev.h>

define IMU_DEVICE_ACC_GYRO "/dev/i2c-1"

define IMU_DEVICE_MAG "/dev/i2c-1"

else

define IMU_DEVICE_ACC_GYRO ""

define IMU_DEVICE_MAG ""

endif

define IMU_CLASS_PATH "/dev/imu"`

[dagar]

@crossa could you submit a pull request?

PX4 DriverFramework is here - https://github.com/PX4/DriverFramework

[bkueng]

@crossa according to upstream Navio2 [0], the devices are correct. Are you using an older Navio board?

Also, Navio2 only supports RPi 2+3 [1].

[0] https://github.com/emlid/Navio2/blob/navio2/C++/Navio/LSM9DS1.cpp#L7 [1] https://docs.emlid.com/navio2/Navio-APM/hardware-setup/

[crossa]

OK，I had fix it without any change。I try to build a coptor without navio or pxfmini

I’ll submit a pull request when I finish it

[bkueng]

Ok, good, closing this then.