Added second PX4 IMU, made it the primary one.

conf/airframes/TUDELFT/tudelft_iris_indi.xml

@@ -3,8 +3,8 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!-- this is a quadrotor frame equiped with
 * Autopilot:   3dr Pixhawk 2.4
-* IMU:         MPU6000 +  L3GD20 +  LSM303D
-* Actuators:   PWM motor controllers?
+* IMU:         L3GD20 +  LSM303D + MPU6000 + external HMC58XX
+* Actuators:   PWM motor controllers
 * GPS:         Ublox                  http://wiki.paparazziuav.org/wiki/Subsystem/gps
 * RC:          PPM
 -->
@@ -21,14 +21,13 @@
       <subsystem name="udp" />
     </target>
     <subsystem name="telemetry" type="transparent" />
-<!--    <subsystem name="imu" type="px4fmu_v2.4">-->
-    <subsystem name="imu" type="mpu6000">
-      <configure name="IMU_MPU_SPI_DEV" value="spi1" />
-      <configure name="IMU_MPU_SPI_SLAVE_IDX" value="SPI_SLAVE2" />
-    </subsystem>
+    <subsystem name="imu" type="px4fmu_v2.4"/>
     <subsystem name="gps" type="ublox" />
     <subsystem name="stabilization" type="indi" />
-    <subsystem name="ahrs" type="int_cmpl_quat" />
+    <subsystem name="ahrs" type="int_cmpl_quat" >
+      <define name="AHRS_ICQ_IMU_ID" value="IMU_PX4_ID" />         <!-- Meaning the lsm303 and l3g -->
+      <define name="AHRS_ICQ_MAG_ID" value="IMU_MPU6000_HMC_ID" /> <!-- Meaning the external magnetometer -->
+    </subsystem>
     <subsystem name="ins" type="extended" />
     <subsystem name="current_sensor">
       <configure name="ADC_CURRENT_SENSOR" value="ADC_3" />

conf/firmwares/subsystems/shared/imu_px4fmu_v2.4.makefile

@@ -0,0 +1,73 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# PX4 Pixhawk IMUconsists of two (internal) IMU's and one internal magneto. Also an optional external magneto
+#
+#MPU6000 +  L3GD20 +  LSM303D + HMC5883
+
+include $(CFG_SHARED)/spi_master.makefile
+
+IMU_PX4FMU_CFLAGS += -DIMU_TYPE_H=\"imu/imu_px4fmu_v2.4.h\"
+IMU_CFLAGS  = -DIMU_TYPE_H=\"imu/imu_px4fmu_v2.4.h\"
+IMU_SRCS    = $(SRC_SUBSYSTEMS)/imu.c
+IMU_SRCS   += $(SRC_SUBSYSTEMS)/imu/imu_px4fmu_v2.4.c
+
+# MPU
+IMU_SRCS   += peripherals/mpu60x0.c
+IMU_SRCS   += peripherals/mpu60x0_spi.c
+
+#L3GD20 gyro
+IMU_SRCS   += peripherals/l3gd20_spi.c
+
+#LSM303D accelero + magneto
+IMU_SRCS   += peripherals/lsm303dlhc_spi.c
+
+# Magnetometer
+IMU_SRCS   += peripherals/hmc58xx.c
+
+# for fixedwing firmware and ap only
+ifeq ($(TARGET), ap)
+  IMU_CFLAGS  += -DUSE_IMU
+endif
+
+# set default SPI device
+IMU_SPI_DEV ?= spi1
+# convert spix to upper/lower case
+IMU_SPI_DEV_UPPER=$(shell echo $(IMU_SPI_DEV) | tr a-z A-Z)
+IMU_SPI_DEV_LOWER=$(shell echo $(IMU_SPI_DEV) | tr A-Z a-z)
+IMU_CFLAGS += -DIMU_SPI_DEV=$(IMU_SPI_DEV_LOWER)
+IMU_CFLAGS += -DUSE_$(IMU_SPI_DEV_UPPER)
+
+#********** MPU6000 ***********
+IMU_MPU_SPI_SLAVE_IDX ?= SPI_SLAVE2
+IMU_CFLAGS += -DIMU_MPU_SPI_SLAVE_IDX=$(IMU_MPU_SPI_SLAVE_IDX)
+IMU_CFLAGS += -DUSE_$(IMU_MPU_SPI_SLAVE_IDX)
+
+#********** L3GD20 ***********
+IMU_L3G_SPI_SLAVE_IDX ?= SPI_SLAVE0
+IMU_CFLAGS += -DIMU_L3G_SPI_SLAVE_IDX=$(IMU_L3G_SPI_SLAVE_IDX)
+IMU_CFLAGS += -DUSE_$(IMU_L3G_SPI_SLAVE_IDX)
+
+#********** LSM303dlhc ***********
+IMU_LSM_SPI_SLAVE_IDX ?= SPI_SLAVE1
+IMU_CFLAGS += -DIMU_LSM_SPI_SLAVE_IDX=$(IMU_LSM_SPI_SLAVE_IDX)
+IMU_CFLAGS += -DUSE_$(IMU_LSM_SPI_SLAVE_IDX)
+
+#********** HMC5883 ***********
+IMU_HMC_I2C_DEV ?= i2c1
+
+# convert i2cx to upper/lower case
+IMU_HMC_I2C_DEV_UPPER=$(shell echo $(IMU_HMC_I2C_DEV) | tr a-z A-Z)
+IMU_HMC_I2C_DEV_LOWER=$(shell echo $(IMU_HMC_I2C_DEV) | tr A-Z a-z)
+IMU_CFLAGS += -DIMU_HMC_I2C_DEV=$(IMU_HMC_I2C_DEV_LOWER)
+IMU_CFLAGS += -DUSE_$(IMU_HMC_I2C_DEV_UPPER)
+
+# add it for all targets except sim, fbw and nps
+ifeq (,$(findstring $(TARGET),sim fbw nps))
+$(TARGET).CFLAGS += $(IMU_CFLAGS)
+$(TARGET).srcs += $(IMU_SRCS)
+endif
+
+#
+# NPS simulator
+#
+include $(CFG_SHARED)/imu_nps.makefile