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Adding AK09916 driver to support the Here2 GNSS emulated mag (I2C) (#11837)

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* drivers, magnetometer: added ak09916 driver to support the mag driver emulated by the Here2 gps
* boards: set yaw 270 rotation for external ak09916 driver and only start it for the PH21
* drivers: only start ak09916 when icm20948 is not available on a ph21 setup
This commit is contained in:
Andreas Daniel Antener
2019-04-11 18:43:50 +02:00
committed by Daniel Agar
parent 5a50f96bcf
commit 95a0803b14
5 changed files with 980 additions and 1 deletions
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boards/px4/fmu-v3/init/rc.board_sensors
+5 -1
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@@ -60,7 +60,11 @@ then
param set SENS_EN_THERMAL 0
# ICM20948 as external magnetometer on I2C (e.g. Here GPS)
icm20948 -X -M -R 6 start
if ! icm20948 -X -M -R 6 start
then
# external emulated AK09916 (Here2) is rotated 270 degrees yaw
ak09916 -X -R 6 start
fi
# external L3GD20H is rotated 180 degrees yaw
l3gd20 -X -R 4 start