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feat(boards/px4_fmu-v6c): add RM3100 fallback for internal compass (#27299)

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zebulon-86
2026-05-10 10:16:34 +08:00
committed by GitHub
parent a202e81a27
commit f3f2606d68
2 changed files with 16 additions and 1 deletions
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boards/px4/fmu-v6c/init/rc.board_sensors
+5 -1
View File
@@ -25,7 +25,11 @@ fi
ms5611 -X -b 4 -a 0x77 start
# Internal compass on IMU I2C4 (The same bus is also exposed externally, and therefore marked as external)
ist8310 -X -b 4 -a 0xc start
# Standard FMUv6C uses IST8310; the variant board falls back to RM3100.
if ! ist8310 -X -b 4 -a 0xc -q start
then
rm3100 -X -b 4 -R 8 start
fi
# External compass on GPS/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
ist8310 -X -b 1 -R 10 start
boards/px4/fmu-v6c/src/i2c.cpp
+11
View File
@@ -71,6 +71,17 @@ bool px4_i2c_device_external(const uint32_t device_id)
if (device_id_mag.devid == device_id) {
return false;
}
// device_id: RM3100 on I2C4 address 0x20
device::Device::DeviceId device_id_rm3100{};
device_id_rm3100.devid_s.bus_type = device::Device::DeviceBusType_I2C;
device_id_rm3100.devid_s.bus = 4;
device_id_rm3100.devid_s.address = 0x20;
device_id_rm3100.devid_s.devtype = DRV_MAG_DEVTYPE_RM3100;
if (device_id_rm3100.devid == device_id) {
return false;
}
}
device::Device::DeviceId dev_id{};