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Change boot order to make sure the adis mag is the priority one

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This commit is contained in:
Florian Achermann
2021-07-27 13:57:46 +02:00
parent 117150979e
commit 9424d17164
1 changed files with 17 additions and 13 deletions
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ROMFS/px4fmu_common/init.d/rc.sensors
+17 -13
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@@ -21,6 +21,23 @@ fi
# Begin Optional drivers #
###############################################################################
# ADIS16448 spi external IMU
if param compare -s SENS_EN_ADIS164X 1
then
if param compare -s SENS_OR_ADIS164X 0
then
adis16448 -S start
fi
if param compare -s SENS_OR_ADIS164X 4
then
adis16448 -S start -R 4
fi
# add a sleep to make sure the mag is the priority one
usleep 1000000
fi
if param compare -s SENS_EN_BATT 1
then
batt_smbus start -X
@@ -108,19 +125,6 @@ then
vl53l1x start -X
fi
# ADIS16448 spi external IMU
if param compare -s SENS_EN_ADIS164X 1
then
if param compare -s SENS_OR_ADIS164X 0
then
adis16448 -S start
fi
if param compare -s SENS_OR_ADIS164X 4
then
adis16448 -S start -R 4
fi
fi
# Hall effect sensors si7210
# Potentially remove the -k option if possible and improve the startup if possible
if param greater CAL_AV_AOA_ID -1