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[imu] backward compat for single imu calibration

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- old airframe with single imu configuration will continue to work, ABI
id is automatically found
- mag modules require @imu to guarantee init order, multiple calls of
imu_init is no longer needed
- ABI_BROADCAST id is used by default and then replaced by correct ID
- imu_set_default_config will override user conf if params are not NULL
This commit is contained in:
Gautier Hattenberger
2022-09-20 14:37:58 +02:00
committed by Freek van Tienen
parent 7d0692fff1
commit 00766ee4d5
8 changed files with 71 additions and 50 deletions
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conf/airframes/ENAC/fixed-wing/apogee.xml
+3
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@@ -102,6 +102,9 @@
<define name="ACCEL_X_NEUTRAL" value="0"/>
<define name="ACCEL_Y_NEUTRAL" value="0"/>
<define name="ACCEL_Z_NEUTRAL" value="0"/>
<define name="ACCEL_X_SENS" value="2.45166329295" integer="16"/>
<define name="ACCEL_Y_SENS" value="2.45072320868" integer="16"/>
<define name="ACCEL_Z_SENS" value="2.44974997157" integer="16"/>
<define name="BODY_TO_IMU_PHI" value="0"/>
<define name="BODY_TO_IMU_THETA" value="0"/>
conf/modules/mag_hmc5843.xml
+1 -1
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@@ -6,7 +6,7 @@
<configure name="HMC5843_I2C_DEV" value="i2cX" description="select which i2c peripheral to use (default i2c0)"/>
</doc>
<dep>
<depends>i2c</depends>
<depends>i2c,@imu</depends>
<provides>mag</provides>
</dep>
<header>
conf/modules/mag_hmc58xx.xml
+1 -1
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@@ -23,7 +23,7 @@
</section>
</doc>
<dep>
<depends>i2c</depends>
<depends>i2c,@imu</depends>
<provides>mag</provides>
</dep>
<header>
conf/modules/mag_ist8310.xml
+1 -1
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@@ -21,7 +21,7 @@
</section>
</doc>
<dep>
<depends>i2c</depends>
<depends>i2c,@imu</depends>
<provides>mag</provides>
</dep>
<header>
conf/modules/mag_lis3mdl.xml
+1 -1
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@@ -21,7 +21,7 @@
</section>
</doc>
<dep>
<depends>i2c</depends>
<depends>i2c,@imu</depends>
<provides>mag</provides>
</dep>
<header>
conf/modules/mag_pitot_uart.xml
+1 -1
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@@ -10,7 +10,7 @@
<define name="IMU_TO_MAG_PSI" value="0" description="rotation of magneto compared to the magneto in yaw axis"/>
</doc>
<dep>
<depends>uart</depends>
<depends>uart,@imu</depends>
<provides>mag</provides>
</dep>
<header>
conf/modules/mag_rm3100.xml
+1 -1
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@@ -23,7 +23,7 @@
</section>
</doc>
<dep>
<depends>i2c</depends>
<depends>i2c,@imu</depends>
<provides>mag</provides>
</dep>
<header>
sw/airborne/modules/imu/imu.c
+62 -44
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