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px4_fmu-v6x:Rev 6 Sensors omit starting icm42688p, icm42670p, icm2069, icm20602 #22238

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Oct 19, 2023
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px4_fmu-v6x:Rev 6 Sensors omit starting icm42688p, icm42670p, icm2069, icm20602 #22238

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38 changes: 19 additions & 19 deletions boards/px4/fmu-v6x/init/rc.board_sensors
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Original file line number Diff line number Diff line change
Expand Up @@ -81,32 +81,32 @@ else
fi
fi
fi
fi

# Internal SPI bus ICM42688p
if ver hwtypecmp V6X009010 V6X010010
then
icm42688p -R 12 -s start
else
if ver hwtypecmp V6X000010
# Internal SPI bus ICM42688p
if ver hwtypecmp V6X009010 V6X010010
then
icm42688p -R 14 -s start
icm42688p -R 12 -s start
else
icm42688p -R 6 -s start
if ver hwtypecmp V6X000010
then
icm42688p -R 14 -s start
else
icm42688p -R 6 -s start
fi
fi
fi

if ver hwtypecmp V6X000003 V6X001003 V6X003003 V6X000004 V6X001004 V6X004003 V6X004004 V6X005003 V6X005004
then
# Internal SPI bus ICM-42670-P (hard-mounted)
icm42670p -R 10 -s start
else
if ver hwtypecmp V6X009010 V6X010010
if ver hwtypecmp V6X000003 V6X001003 V6X003003 V6X000004 V6X001004 V6X004003 V6X004004 V6X005003 V6X005004
then
icm20602 -R 6 -s start
# Internal SPI bus ICM-42670-P (hard-mounted)
icm42670p -R 10 -s start
else
# Internal SPI bus ICM-20649 (hard-mounted)
icm20649 -R 14 -s start
if ver hwtypecmp V6X009010 V6X010010
then
icm20602 -R 6 -s start
else
# Internal SPI bus ICM-20649 (hard-mounted)
icm20649 -R 14 -s start
fi
fi
fi

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