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Flight Core v2 Onboard Sensors

Table of contents

  1. Summary
  2. How to Configure
  3. IMUs
    1. Hardware
    2. Software
  4. Barometers
    1. Hardware
    2. Software
  5. Magnetometer
    1. Hardware
    2. Software
    3. How to Enable to Run on Bootup

Summary

Flight Core v2

How to Configure

Locate boards/modalai/fc-v2/init/rc.board_sensors, modify and rebuild.

IMUs

Hardware

  • IMU1 - ICM-42688p (U14, SPI1)
  • IMU2 - ICM-42688p (U11, SPI2)

Software

See src/drivers/imu/invensense/icm42688p

Barometers

Hardware

  • BARO1 - BMP388 (U5, I2C4, 0x76) - disabled by default
  • BARO2 - ICP-20100 (U17, I2C4, 0x63) - default

Software

See src/drivers/barometer/bmp388

Note: ICP-20100 not ported from VOXL2 yet.

Magnetometer

Hardware

  • MAG1 - BMM150 (U13, I2C4, 0x10) - disabled by default

Software

See src/drivers/magnetometer/bosch/bmm150

How to Enable to Run on Bootup

The v1.13.2-0.1.1 release was optimized for m500 use case and has the magnetometer disabled by default. To enable on bootup, create a file on the SD Card at /etc/extras.txt with bmm150 -I start as contents.

As an example, here’s using an SD Card reader on Ubuntu:

 travis@travis-18 > / > cd media/travis 
 travis@travis-18 > /media/travis > ls
3266-3639
 travis@travis-18 > /media/travis > cd 3266-3639 
 travis@travis-18 > /media/travis/3266-3639 > ls
dataman  log  uavcan.db  ufw
 travis@travis-18 > /media/travis/3266-3639 > mkdir etc
 travis@travis-18 > /media/travis/3266-3639 > cd etc 
 travis@travis-18 > /media/travis/3266-3639/etc > echo "bmm150 -I start" > extras.txt