Has PX4 firmware fully supported CUAV X7Pro?

saengphet · October 6, 2020, 9:04am

Hello, I’m planning to use CUAV X7Pro which integrated the industrial-grade IMU “ADIS16470” and compass “rm3100”. I found that AUX ports (FMU) are not supported (pull#15110) for now as well as ADIS16470 (look at comment out a line rc.board_sensors#L8 and spi.cpp#L40). Have anyone experienced using CUAV X7Pro before?

Reference

github.com

PX4/PX4-Autopilot/blob/main/boards/cuav/x7pro/init/rc.board_sensors#L8


      
          #!/bin/sh
          #
          # board specific sensors init
          #------------------------------------------------------------------------------
          board_adc start
          
          # SPI1
          if ! icm20689 -s -b 1 -R 2 -q start
          then
          	adis16470 -s -b 1 -R 2 start
          fi
          
          # SPI2
          rm3100 -s -b 2 start
          
          # SPI4
          bmi088 -s -b 4 -A -R 2 start
          if ! bmi088 -s -b 4 -G -R 2 start

github.com

PX4/PX4-Autopilot/blob/main/boards/cuav/x7pro/src/spi.cpp#L40


      
          * POSSIBILITY OF SUCH DAMAGE.
          *
          ****************************************************************************/
          
          #include <px4_arch/spi_hw_description.h>
          #include <drivers/drv_sensor.h>
          #include <nuttx/spi/spi.h>
          
          constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
          	initSPIBus(SPI::Bus::SPI1, {
          		initSPIDevice(DRV_IMU_DEVTYPE_ADIS16470, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortE, GPIO::Pin7}),
          		initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortG, GPIO::Pin6}, SPI::DRDY{GPIO::PortJ, GPIO::Pin0}),
          	}, {GPIO::PortE, GPIO::Pin3}),
          	initSPIBus(SPI::Bus::SPI2, {
          		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortF, GPIO::Pin5}),
          		initSPIDevice(DRV_MAG_DEVTYPE_RM3100, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortE, GPIO::Pin4}),
          	}),
          	initSPIBus(SPI::Bus::SPI4, {
          		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin3}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
          		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
          		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),

http://doc.cuav.net/flight-controller/x7/en/firmware.html#px4-firmware

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Has PX4 firmware fully supported CUAV X7Pro?

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