I’m trying to understand how to add a new SPI sensor to my PX4 UAV running fmu-v5. Its an mpu9250, so all the drivers are already present. I just need to tell the system about the device and where to find it. I can then use it’s data in my (yet to be written) custom code.
I can’t find much information about adding a new SPI device. I think I just need to add a line to rc.board_sensors in /…/boards/px4/fmu-v5/init. E.g. For one of the internal IMU sensors the file states:
I’m guessing I can do something similar for my IMU, but I can’t find the documentation that defines these switches. I assume they set things like the SPI bus number, CS, etc??
Grateful for any help. This feels like it should be simple, but I can’t find the information I need.
I should have defined my environment in the first post: fmu-v5 for PX4.
I added ‘mpu92500 -R 8 -S start’ to rc.board_sensors as that seems to be the file that controls sensor activation. (I don’t know if 8 for the rotation is correct, but don’t care right now. I just want to see data flowing.) I also added imu/mpu9250 to the DRIVERS section in multicopter.cmake to actually load the packaged driver for my sensor with the build.
There are still a few dots I’m trying to join up, like how do I know which SPI bus this device gets assigned too? The ‘-S’ is just a switch that says use the external SPI bus. Which one is that, 5 or 6?
I was kinda hoping I could just load the driver and add the start commend into the board_sensors file and boom. Nope! (sigh…)
I looked at the Pixhawk 4 resources everywhere and could not actually figure out which external SPI port is the one broken out through the connector and case.
Hi I am trying to add a new SPI airspeed sensor onto PX4, i dont have a driver for the same. Is there any documents i can refer for making driver for SPI air speed sensors.?
Thanks in advance