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AP_HAL_ChibiOS: update hwdef for Holybro Pixhawk6X Rev8

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Use the Rev8 board type for the pin-compatible ICM45686 and LSM6DSV-family IMUs that share the same buses, chip selects, and rotations.
This commit is contained in:
Brown
2026-09-15 16:59:33 +10:00
committed by Peter Barker
parent 7cc52a61a3
commit 4b84bc3bb3
1 changed files with 8 additions and 9 deletions
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libraries/AP_HAL_ChibiOS/hwdef/Pixhawk6X/hwdef.dat
+8 -9
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@@ -331,12 +331,11 @@ SPIDEV adis16470 SPI3 DEVID1 SP3_CS1 MODE3 1*MHZ 2*MHZ
SPIDEV iim42652 SPI2 DEVID1 SP2_CS1 MODE3 2*MHZ 8*MHZ
SPIDEV icm45686 SPI1 DEVID1 SP1_CS1 MODE3 2*MHZ 8*MHZ
# IMU devices for Holybro6X-45686 version
# IMU devices for Holybro6X-Rev8 boards with ICM45686 or compatible LSM6DSV-family sensors
SPIDEV icm45686-3 SPI3 DEVID1 SP3_CS1 MODE3 2*MHZ 8*MHZ
SPIDEV icm45686-2 SPI2 DEVID1 SP2_CS1 MODE3 2*MHZ 8*MHZ
SPIDEV icm45686-1 SPI1 DEVID1 SP1_CS1 MODE3 2*MHZ 8*MHZ
# IMU devices for Holybro6X 45686-compatible LSM6DSV family boards
SPIDEV lsm6dsv-3 SPI3 DEVID2 SP3_CS1 MODE3 2*MHZ 8*MHZ
SPIDEV lsm6dsv-2 SPI2 DEVID2 SP2_CS1 MODE3 2*MHZ 8*MHZ
SPIDEV lsm6dsv-1 SPI1 DEVID2 SP1_CS1 MODE3 2*MHZ 8*MHZ
@@ -357,14 +356,14 @@ IMU ADIS1647x SPI:adis16470 ROTATION_ROLL_180 SP3_DRDY2 BOARD_MATCH(FMUV6_BOA
IMU Invensensev3 SPI:iim42652 ROTATION_ROLL_180_YAW_270 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV6)
IMU Invensensev3 SPI:icm45686 ROTATION_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV6)
# Holybro6X-45686 compatible 3 IMUs. For each slot, try ICM45686 first,
# Holybro6X-Rev8 3 IMUs. For each slot, try ICM45686 first,
# then fall back to the LSM6DSV family on the same bus/cs.
IMU Invensensev3 SPI:icm45686-2 ROTATION_ROLL_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_45686)
IMU LSM6DSV SPI:lsm6dsv-2 ROTATION_ROLL_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_45686)
IMU Invensensev3 SPI:icm45686-3 ROTATION_ROLL_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_45686)
IMU LSM6DSV SPI:lsm6dsv-3 ROTATION_ROLL_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_45686)
IMU Invensensev3 SPI:icm45686-1 ROTATION_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_45686)
IMU LSM6DSV SPI:lsm6dsv-1 ROTATION_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_45686)
IMU Invensensev3 SPI:icm45686-2 ROTATION_ROLL_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV8)
IMU LSM6DSV SPI:lsm6dsv-2 ROTATION_ROLL_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV8)
IMU Invensensev3 SPI:icm45686-3 ROTATION_ROLL_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV8)
IMU LSM6DSV SPI:lsm6dsv-3 ROTATION_ROLL_180 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV8)
IMU Invensensev3 SPI:icm45686-1 ROTATION_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV8)
IMU LSM6DSV SPI:lsm6dsv-1 ROTATION_YAW_90 BOARD_MATCH(FMUV6_BOARD_HOLYBRO_6X_REV8)
define HAL_INS_HIGHRES_SAMPLE 7
define HAL_DEFAULT_INS_FAST_SAMPLE 7