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:
# Internal SPI bus ICM-20602 mpu6000 -R 8 -s -T 20602 start
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.