Re: [Paparazzi-devel] Changes in module imu_mpu6000_hmc5883.xml

[Felix Ruess]

Hi Helge,

I don't remember the reason why you didn't end up using the "normal" imu_aspirin_v2.1 subsystem/module (where the mag is a slave of the MPU)...

In any case with the conversion from subsystems to modules [1] we decided to not provide different defaults for LPC and STM based boards anymore, as that was causing quite a bit of confusion.

So now we only have one default (See http://docs.paparazziuav.org/v5.10/module__imu_mpu6000_hmc5883.html), in that case the default IMU_MPU_SPI_SLAVE_IDX is now SPI_SLAVE0 for all boards (where formerly it was SPI_SLAVE2 only for STM boards).

And as SPI_SLAVE2 doesn't exist on all boards, SLAVE0 was a better default...

And you don't have to change the module xml file, you can configure it from your airframe file:
<module name="imu_mpu6000_hmc5883">
  <configure name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE2"/>

</module>

[1] https://github.com/paparazzi/paparazzi/pull/1788

Cheers, Felix

On Sat, Jan 7, 2017 at 2:50 PM, Helge Walle <address@hidden> wrote:

Hi,

Back a couple of years Felix kindly helped me getting data from the onboard baro on Aspirin IMU 2.1 r1. To achieve this the subsystem mpu6000_hmc5883 was created.

Everything has worked fine up to, and including v5.8. Now when switching to v5.10 I couldn't get data from the IMU anymore. I'm on Ubuntu 16.04 LTS.

After scratching my head a bit I changed SPI_SLAVE0 to SPI_SLAVE2 in line 44 of conf/modules/imu_mpu6000_hmc5883.xml. Then I got data from the IMU again.

Note that I have removed two pullups and added two jumpers on the Aspirin to connect baro and mag directly to I2C2 on Lisa/M.

I am not sure if others use this subsystem. If this is the correct way to fix it, could it be made permanent in v5.10 onwards?

Thanks,

Helge.

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