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Make imu model and pins configurable using parameters

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Oleg Kalachev
2026-07-16 23:09:07 +03:00
parent d48b71fb1a
commit 1203a3ae8f
4 changed files with 39 additions and 11 deletions
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docs/usage.md
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@@ -71,15 +71,6 @@ See other available Make commands in [Makefile](../Makefile).
## Before first flight
### Choose the IMU model
In case if using different IMU model than MPU9250, change `imu` variable declaration in the `imu.ino`:
```cpp
ICM20948 imu(SPI); // For ICM-20948
MPU6050 imu(Wire); // For MPU-6050
```
### Connect using QGroundControl
QGroundControl is a ground control station software that can be used to monitor and control the drone.
@@ -120,6 +111,19 @@ The drone is configured using parameters. To access and modify them, go to the Q
You can also work with parameters using `p` command in the console. Parameter names are case-insensitive.
### Configure the IMU
1. Configure the following parameters for the used IMU:
* `IMU_MODEL` — IMU model (0 for disabled, 1 for MPU-9250/MPU-6500¹, 2 for ICM-20948, 3 for MPU-6050, 4 for ICM-40609-D).
* `IMU_BUS` — communication bus (0 for SPI, 1 for I²C).
* `IMU_PIN_SCK`, `IMU_PIN_MISO`, `IMU_PIN_MOSI`, `IMU_PIN_CS` — SPI pin numbers.
* `IMU_PIN_SCL`, `IMU_PIN_SDA` — I²C pin numbers.
* `IMU_PIN_INT` — IMU data ready pin number (-1 if not used).
2. Reboot the drone.
3. Check the IMU is working using `imu` command in the console (see details below).
¹ — not to be confused with MPU-6050.
### Define IMU orientation
The IMU orientation (relative to the drone's axes) is defined using the parameters: `IMU_ROT_ROLL`, `IMU_ROT_PITCH`, and `IMU_ROT_YAW`.