board_tawaki_2.0 module

Autoload several onboard sensors for the Tawaki board with proper configuration

• IMU (ICM42688)
• Baro (BMP390)
• Mag (LIS3MDL) Normal front of the board is on USB connector side Normal up of the board is on the Molex connector side

Example for airframe file

Add to your firmware section:

<module name="board_tawaki_2.0"/>

Files

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="board_tawaki_2.0" dir="boards">
  <doc>
    <description>
      Autoload several onboard sensors for the Tawaki board with proper configuration
      - IMU (ICM42688)
      - Baro (BMP390)
      - Mag (LIS3MDL)
      Normal front of the board is on USB connector side
      Normal up of the board is on the Molex connector side
    </description>
  </doc>
  <dep>
    <depends>baro_bmp3,mag_lis3mdl,imu_icm42688</depends>
  </dep>
  <makefile target="!sim|nps|fbw">
    <configure name="IMU_SPI_DEV" value="spi6" case="upper|lower"/>
    <configure name="IMU_SPI_SLAVE_IDX" value="SPI_SLAVE5"/>
    <configure name="BMP3_I2C_DEV" value="i2c4" case="upper|lower"/>
    <define name="BMP3_SLAVE_ADDR" value="BMP3_I2C_ADDR_ALT"/>
    <define name="TAWAKIV2_IMU_ROT" value=".body_to_sensor={{0,-16383,0,16383,0,0,0,0,16382}}"/>
    <define name="TAWAKIV2_MAG_ROT" value=".body_to_sensor={{2,16382,0,-16382,2,0,0,0,16382}}"/>
    <configure name="MAG_LIS3MDL_I2C_DEV" default="i2c4" case="upper|lower"/>
    <define name="MODULE_LIS3MDL_UPDATE_AHRS"/>
  </makefile>
</module>