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Include FlixPeriph header instead of MPU9250

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This simplifies choosing IMU model
This commit is contained in:
Oleg Kalachev
2025-10-07 08:41:27 +03:00
parent 96836b2e3e
commit bf9eeb90a4
3 changed files with 3 additions and 3 deletions
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2
README.md
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@@ -87,7 +87,7 @@ The simulator is implemented using Gazebo and runs the original Arduino code:
|Tape, double-sided tape||||
*² — barometer is not used for now.*<br>
*³ — change `MPU9250` to `ICM20948` in `imu.ino` file if using ICM-20948 board.*<br>
*³ — change `MPU9250` to `ICM20948` or `MPU6050` in `imu.ino` file for using the appropriate boards.*<br>
*³⁻¹ — MPU-6050 supports I²C interface only (not recommended). To use it change IMU declaration to `MPU6050 IMU(Wire)`.*<br>
*⁴ — this frame is optimized for GY-91 board, if using other, the board mount holes positions should be modified.*<br>
*⁵ — you also may use any transmitter-receiver pair with SBUS interface.*

2
docs/troubleshooting.md
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@@ -15,7 +15,7 @@ Do the following:
* **Check the battery voltage**. Use a multimeter to measure the battery voltage. It should be in range of 3.7-4.2 V.
* **Check if there are some startup errors**. Connect the ESP32 to the computer and check the Serial Monitor output. Use the Reset button to make sure you see the whole ESP32 output.
* **Check the baudrate is correct**. If you see garbage characters in the Serial Monitor, make sure the baudrate is set to 115200.
* **Make sure correct IMU model is chosen**. If using ICM-20948 board, change `MPU9250` to `ICM20948` everywhere in the `imu.ino` file.
* **Make sure correct IMU model is chosen**. If using ICM-20948/MPU-6050 board, change `MPU9250` to `ICM20948`/`MPU6050` in the `imu.ino` file.
* **Check if the CLI is working**. Perform `help` command in Serial Monitor. You should see the list of available commands. You can also access the CLI using QGroundControl (*Vehicle Setup* ⇒ *Analyze Tools* ⇒ *MAVLink Console*).
* **Configure QGroundControl correctly before connecting to the drone** if you use it to control the drone. Go to the settings and enable *Virtual Joystick*. *Auto-Center Throttle* setting **should be disabled**.
* **If QGroundControl doesn't connect**, you might need to disable the firewall and/or VPN on your computer.

2
flix/imu.ino
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@@ -4,7 +4,7 @@
// Work with the IMU sensor
#include <SPI.h>
#include <MPU9250.h>
#include <FlixPeriph.h>
#include "lpf.h"
#include "util.h"