hwdef: Add icm42688 support for KakuteH7Mini

ArduPilot · Oct 25, 2024 · 42f8738 · 42f8738
1 parent c3affa4
commit 42f8738
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Mini/hwdef.dat b/libraries/AP_HAL_ChibiOS/hwdef/KakuteH7Mini/hwdef.dat
@@ -136,6 +136,7 @@ DMA_NOSHARE SPI1* SPI4*
 
 # spi devices
 SPIDEV mpu6000   SPI4 DEVID1 MPU6000_CS MODE3  1*MHZ  4*MHZ
+SPIDEV icm42688  SPI4 DEVID1 MPU6000_CS MODE3  2*MHZ  16*MHZ
 SPIDEV dataflash SPI1 DEVID1 FLASH_CS   MODE3 32*MHZ 32*MHZ
 SPIDEV osd       SPI2 DEVID4 MAX7456_CS MODE0 10*MHZ 10*MHZ
 
@@ -146,8 +147,9 @@ define HAL_PROBE_EXTERNAL_I2C_COMPASSES
 define HAL_I2C_INTERNAL_MASK 0
 define HAL_COMPASS_AUTO_ROT_DEFAULT 2
 
-# one IMU
+# one IMU v1.1 mpu6000, v1.5 icm42688
 IMU Invensense SPI:mpu6000 ROTATION_YAW_180
+IMU Invensensev3 SPI:icm42688 ROTATION_PITCH_180_YAW_90
 
 # one BARO
 BARO BMP280 I2C:0:0x76