in px4/Firmware/src/lib/DriverFramework/framework/include/ImuSensor.hpp
the macro definetion should be fixed as follow line ,otherwise the mpu9250 driver can not be started correctlly
because in raspberry pi , if you use spi mode to access mpu9250, the device should be /dev/spidev0.0 or
/dev/spidev0.1,useually,we use /dev/spidev0.0
The IMU_DEVICE_ACC_GYRO and IMU_DEVICE_MAG should be same as IMU_DEVICE_PATH
#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
in px4/Firmware/src/lib/DriverFramework/drivers/mpu9250/MPU9250.hpp
MPU_WHOAMI_9250 should be 0x73