Removed mpu6000 and hmc5833 from px4 imu

conf/airframes/TUDELFT/tudelft_iris_indi.xml

@@ -26,7 +26,11 @@
     <subsystem name="stabilization" type="indi" />
     <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 -->
+      <define name="AHRS_ICQ_MAG_ID" value="MAG_HMC58XX_SENDER_ID" />         <!-- Meaning the external hmc-->
+
+      <configure name="USE_MAGNETOMETER" value="TRUE"/>
+      <define name="AHRS_USE_GPS_HEADING" value="FALSE"/>
+
     </subsystem>
     <subsystem name="ins" type="extended" />
     <subsystem name="current_sensor">
@@ -80,23 +84,33 @@
     <load name="air_data.xml" />
     <load name="send_imu_mag_current.xml" />
     <load name="gps_ubx_ucenter.xml" />
+    <load name="mag_hmc58xx.xml">
+      <configure name="MAG_HMC58XX_I2C_DEV" value="i2c1"/>
+      <define name="MODULE_HMC58XX_UPDATE_AHRS" value="TRUE"/>
+    </load>
     <!--  <load name="spektrum_soft_bind.xml"/>-->
   </modules>
+
   <section name="MISC">
     <define name="MilliAmpereOfAdc(adc)" value="((float)adc) * (3.3f / 4096.0f) * (90.0f / 5.0f)" />
     <!-- 100Amp = 2Volt -> 2482,42 tick/100Amp"(0.0402832*adc)" -->
   </section>
   <section name="IMU" prefix="IMU_">
     <!-- replace this with your own calibration -->
-    <define name="MAG_X_NEUTRAL" value="14" />
-    <define name="MAG_Y_NEUTRAL" value="116" />
-    <define name="MAG_Z_NEUTRAL" value="119" />
-    <define name="MAG_X_SENS" value="5.09245681612" integer="16" />
-    <define name="MAG_Y_SENS" value="5.29702744632" integer="16" />
-    <define name="MAG_Z_SENS" value="5.65287938992" integer="16" />
-    <define name="BODY_TO_IMU_PHI" value="180." unit="deg" />
-    <define name="BODY_TO_IMU_THETA" value="180." unit="deg" />
-    <define name="BODY_TO_IMU_PSI" value="90." unit="deg" />
+    <define name="ACCEL_X_NEUTRAL" value="274"/>
+    <define name="ACCEL_Y_NEUTRAL" value="-43"/>
+    <define name="ACCEL_Z_NEUTRAL" value="1112"/>
+    <define name="ACCEL_X_SENS" value="0.625515268183" integer="16"/>
+    <define name="ACCEL_Y_SENS" value="0.609477051286" integer="16"/>
+    <define name="ACCEL_Z_SENS" value="0.62150684522" integer="16"/>
+
+    <define name="MAG_X_NEUTRAL" value="-151"/>
+    <define name="MAG_Y_NEUTRAL" value="-288"/>
+    <define name="MAG_Z_NEUTRAL" value="-3949"/>
+    <define name="MAG_X_SENS" value="0.420984584445" integer="16"/>
+    <define name="MAG_Y_SENS" value="0.447747800597" integer="16"/>
+    <define name="MAG_Z_SENS" value="0.431245648647" integer="16"/>
+
   </section>
   <commands>
     <axis name="PITCH" failsafe_value="0" />

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

@@ -2,7 +2,7 @@
 #
 # PX4 Pixhawk IMUconsists of two (internal) IMU's and one internal magneto. Also an optional external magneto
 #
-#MPU6000 +  L3GD20 +  LSM303D + HMC5883
+# L3GD20 +  LSM303D
 
 include $(CFG_SHARED)/spi_master.makefile
 
@@ -11,19 +11,12 @@ 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 ($(TARGET), ap)
   IMU_CFLAGS  += -DUSE_IMU
@@ -37,11 +30,6 @@ IMU_SPI_DEV_LOWER=$(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=$(IMU_L3G_SPI_SLAVE_IDX)
@@ -52,15 +40,6 @@ IMU_LSM_SPI_SLAVE_IDX ?= SPI_SLAVE1
 IMU_CFLAGS += -DIMU_LSM_SPI_SLAVE_IDX=$(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)