I have a PX4-v2 based ardupilot and am running arduplane 3.7 with some custom code/flight modes etc. I do not want to switch to 3.8 or higher because it would likely break the aforementioned custom code due to the significant config changes between 3.7 and 3.8.
How can I add support for the MPU9250 IMU/compass over SPI?
I have already tried changing:
’#define HAL_INS_DEFAULT HAL_INS_PX4’
’#define HAL_BARO_DEFAULT HAL_BARO_PX4’
’#define HAL_COMPASS_DEFAULT HAL_COMPASS_PX4’
to:
’#define HAL_INS_DEFAULT HAL_INS_MPU9250_SPI’
’#define HAL_BARO_DEFAULT HAL_BARO_PX4’
’#define HAL_COMPASS_DEFAULT HAL_COMPASS_AK8963_MPU9250 '
Thank you.