ICM20602 and ICM20608-G: new standalone driver (8 kHz gyro, 4 kHz accel)

- uses the FIFO and SPI DMA - currently implemented on px4_fmu-v4 only - clip counters - new low pass filter that operates on an array of data (LowPassFilter2pArray) - new sensor messages for better visibility - sensor_{accel, gyro}_fifo: full raw data for optional logging and analysis - sensor_{accel, gyro}_status: metadata, clipping, etc - sensor_{accel, gyro}_integrated: delta angles and delta velocities - eventually these will replace the existing sensor_{accel, gyro} monolith
PX4 · Oct 22, 2019 · 4bbf41c · 4bbf41c
1 parent 35398e0
commit 4bbf41c
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Showing 94 changed files with 4,861 additions and 149 deletions.
diff --git a/boards/modalai/fc-v1/default.cmake b/boards/modalai/fc-v1/default.cmake
@@ -28,6 +28,7 @@ px4_add_board(
 		imu/bmi088
 # TODO		imu/icm42688
 		imu/mpu6000
+		imu/invensense/icm20602
 		irlock
 		lights/blinkm
 		lights/rgbled

diff --git a/boards/modalai/fc-v1/init/rc.board_sensors b/boards/modalai/fc-v1/init/rc.board_sensors
@@ -7,7 +7,7 @@
 voxlpm -R start
 
 # Internal SPI bus ICM-20602
-mpu6000 -R 2 -s -T 20602 start
+icm20602 start -R 2
 
 # Internal SPI bus ICM-42688
 # TODO

diff --git a/boards/modalai/fc-v1/nuttx-config/include/board.h b/boards/modalai/fc-v1/nuttx-config/include/board.h
@@ -391,6 +391,9 @@
 #define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_2   /* PB5  */
 #define GPIO_SPI1_SCK    GPIO_SPI1_SCK_1    /* PA5  */
 
+#define DMAMAP_SPI1_RX DMAMAP_SPI1_RX_1
+#define DMAMAP_SPI1_TX DMAMAP_SPI1_TX_2
+
 #define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3   /* PI2  */
 #define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_3   /* PI3  */
 #define GPIO_SPI2_SCK    GPIO_SPI2_SCK_5    /* PI1  */

diff --git a/boards/modalai/fc-v1/nuttx-config/nsh/defconfig b/boards/modalai/fc-v1/nuttx-config/nsh/defconfig
@@ -95,7 +95,7 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
-CONFIG_NFILE_DESCRIPTORS=54
+CONFIG_NFILE_DESCRIPTORS=20
 CONFIG_NFILE_STREAMS=8
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
@@ -139,11 +139,11 @@ CONFIG_RTC_DATETIME=y
 CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1024
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1280
+CONFIG_SCHED_LPWORKSTACKSIZE=1536
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SEM_NNESTPRIO=8
@@ -185,11 +185,11 @@ CONFIG_STM32F7_SDMMC_DMA=y
 CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32F7_SPI1=y
+CONFIG_STM32F7_SPI1_DMA=y
 CONFIG_STM32F7_SPI2=y
-CONFIG_STM32F7_SPI3=n
-CONFIG_STM32F7_SPI4=n
 CONFIG_STM32F7_SPI5=y
 CONFIG_STM32F7_SPI6=y
+CONFIG_STM32F7_SPI_DMA=y
 CONFIG_STM32F7_TIM10=y
 CONFIG_STM32F7_TIM11=y
 CONFIG_STM32F7_TIM3=y

diff --git a/boards/modalai/fc-v1/src/spi.cpp b/boards/modalai/fc-v1/src/spi.cpp
@@ -332,9 +332,7 @@ __EXPORT void board_spi_reset(int mask_ms)
 		stm32_configgpio(GPIO_SPI1_SCK_OFF);
 		stm32_configgpio(GPIO_SPI1_MISO_OFF);
 		stm32_configgpio(GPIO_SPI1_MOSI_OFF);
-#if BOARD_USE_DRDY
 		stm32_configgpio(GPIO_DRDY_OFF_SPI1_DRDY1_ICM20602);
-#endif
 
 		/* set the sensor rail off */
 
@@ -427,10 +425,7 @@ __EXPORT void board_spi_reset(int mask_ms)
 		stm32_configgpio(GPIO_SPI1_SCK);
 		stm32_configgpio(GPIO_SPI1_MISO);
 		stm32_configgpio(GPIO_SPI1_MOSI);
-#if BOARD_USE_DRDY
 		stm32_configgpio(GPIO_SPI1_DRDY1_ICM20602);
-#endif
-
 	}
 
 #endif

diff --git a/boards/mro/ctrl-zero-f7/default.cmake b/boards/mro/ctrl-zero-f7/default.cmake
@@ -33,6 +33,7 @@ px4_add_board(
 		#imu/bmi088
 		imu/mpu6000
 		imu/icm20948
+		imu/invensense/icm20602
 		irlock
 		#lights/blinkm
 		lights/rgbled

diff --git a/boards/mro/ctrl-zero-f7/init/rc.board_sensors b/boards/mro/ctrl-zero-f7/init/rc.board_sensors
@@ -4,7 +4,7 @@
 #------------------------------------------------------------------------------
 
 # Internal ICM-20602
-mpu6000 -R 10 -s -T 20602 start
+icm20602 -R 10 start
 
 # Internal ICM-20689
 #icm20689 -R 10 20689 start

diff --git a/boards/mro/ctrl-zero-f7/src/board_config.h b/boards/mro/ctrl-zero-f7/src/board_config.h
@@ -81,6 +81,10 @@
 #define GPIO_SPI1_CS1_ICM20602	/* PC2 */	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
 #define GPIO_SPI1_CS2_ICM20948	/* PE15 */	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN15)
 
+/*  Define the SPI1 Data Ready interrupts */
+#define GPIO_SPI1_DRDY1_ICM20602    /* PD15 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTD|GPIO_PIN15)
+#define GPIO_SPI1_DRDY2_ICM20948    /* PE12 */   (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTE|GPIO_PIN12)
+
 /* SPI 2 CS */
 #define GPIO_SPI2_CS1_FRAM	/* PD10 */	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
 #define GPIO_SPI2_CS2_BARO	/* PD7 */	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN7)

diff --git a/boards/mro/ctrl-zero-f7/src/spi.cpp b/boards/mro/ctrl-zero-f7/src/spi.cpp
@@ -204,6 +204,9 @@ __EXPORT void board_spi_reset(int ms)
 	stm32_configgpio(_PIN_OFF(GPIO_SPI1_MISO));
 	stm32_configgpio(_PIN_OFF(GPIO_SPI1_MOSI));
 
+	stm32_configgpio(_PIN_OFF(GPIO_SPI1_DRDY1_ICM20602));
+	stm32_configgpio(_PIN_OFF(GPIO_SPI1_DRDY2_ICM20948));
+
 	// SPI5
 	for (auto cs : spi5selects_gpio) {
 		stm32_configgpio(_PIN_OFF(cs));
@@ -243,6 +246,10 @@ __EXPORT void board_spi_reset(int ms)
 	stm32_configgpio(GPIO_SPI1_MISO);
 	stm32_configgpio(GPIO_SPI1_MOSI);
 
+	stm32_configgpio(GPIO_SPI1_DRDY1_ICM20602);
+	stm32_configgpio(GPIO_SPI1_DRDY2_ICM20948);
+
+
 	// SPI5
 	for (auto cs : spi5selects_gpio) {
 		stm32_configgpio(cs);

diff --git a/boards/px4/fmu-v4/default.cmake b/boards/px4/fmu-v4/default.cmake
@@ -26,7 +26,10 @@ px4_add_board(
 		dshot
 		gps
 		heater
-		imu # all available imu drivers
+		#imu # all available imu drivers
+		imu/invensense/icm20602
+		imu/invensense/icm20608-g
+		imu/invensense/mpu9250
 		irlock
 		lights/blinkm
 		lights/rgbled

diff --git a/boards/px4/fmu-v4/init/rc.board_sensors b/boards/px4/fmu-v4/init/rc.board_sensors
@@ -48,10 +48,10 @@ fi
 # will prevent the incorrect driver from a successful initialization.
 
 # ICM20602 internal SPI bus ICM-20608-G is rotated 90 deg yaw
-if ! mpu6000 -R 2 -T 20602 start
+if ! icm20602 -R 8 start
 then
 	# ICM20608 internal SPI bus ICM-20602-G is rotated 90 deg yaw
-	if ! mpu6000 -R 2 -T 20608 start
+	if ! icm20608g -R 8 start
 	then
 		# BMI055 accel internal SPI bus
 		bmi055 -A start

diff --git a/boards/px4/fmu-v4/nuttx-config/include/board.h b/boards/px4/fmu-v4/nuttx-config/include/board.h
@@ -269,6 +269,10 @@
 #define GPIO_SPI1_MOSI  (GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI1_SCK   (GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
 
+#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
+#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2
+
+
 #define GPIO_SPI2_MISO  (GPIO_SPI2_MISO_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI2_MOSI  (GPIO_SPI2_MOSI_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI2_SCK   (GPIO_SPI2_SCK_1|GPIO_SPEED_50MHz)

diff --git a/boards/px4/fmu-v4/nuttx-config/nsh/defconfig b/boards/px4/fmu-v4/nuttx-config/nsh/defconfig
@@ -184,8 +184,10 @@ CONFIG_STM32_SDIO_CARD=y
 CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI1_DMA=y
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI4=y
+CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_TIM10=y
 CONFIG_STM32_TIM11=y
 CONFIG_STM32_TIM1=y

diff --git a/boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig b/boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig
@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
@@ -178,8 +185,10 @@ CONFIG_STM32_SDIO_CARD=y
 CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI1_DMA=y
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI4=y
+CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_TIM10=y
 CONFIG_STM32_TIM11=y
 CONFIG_STM32_TIM1=y

diff --git a/boards/px4/fmu-v4/src/board_config.h b/boards/px4/fmu-v4/src/board_config.h
@@ -163,7 +163,7 @@
 /* Use these in place of the uint32_t enumeration to select a specific SPI device on SPI1 */
 #define PX4_SPIDEV_GYRO              PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
 #define PX4_SPIDEV_ACCEL_MAG         PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2)
-#define PX4_SPIDEV_MPU               PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4)
+#define PX4_SPIDEV_MPU9250           PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4)
 #define PX4_SPIDEV_HMC               PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 5)
 #define PX4_SPIDEV_ICM               PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 6)
 #define PX4_SPIDEV_LIS               PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 7)
@@ -352,7 +352,7 @@
 #define BOARD_HAS_PWM    DIRECT_PWM_OUTPUT_CHANNELS
 
 /* This board provides a DMA pool and APIs. */
-#define BOARD_DMA_ALLOC_POOL_SIZE    5120
+#define BOARD_DMA_ALLOC_POOL_SIZE (5120 + 4096 + 1008)	// 5120 fat + 4096 + 1008 spi
 
 #define BOARD_HAS_ON_RESET 1
 

diff --git a/boards/px4/fmu-v4/src/init.c b/boards/px4/fmu-v4/src/init.c
@@ -326,7 +326,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	SPI_SETMODE(spi1, SPIDEV_MODE3);
 	SPI_SELECT(spi1, PX4_SPIDEV_GYRO, false);
 	SPI_SELECT(spi1, PX4_SPIDEV_HMC, false);
-	SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
+	SPI_SELECT(spi1, PX4_SPIDEV_MPU9250, false);
 	up_udelay(20);
 
 	// Get the SPI port for the FRAM.

diff --git a/boards/px4/fmu-v4/src/spi.c b/boards/px4/fmu-v4/src/spi.c
@@ -132,7 +132,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool s
 	/* Shared PC2 CS devices */
 
 	case PX4_SPIDEV_BMI:
-	case PX4_SPIDEV_MPU:
+	case PX4_SPIDEV_MPU9250:
 		/* Making sure the other peripherals are not selected */
 		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN2,  !selected);
 		px4_arch_gpiowrite(GPIO_SPI1_CS_PORTC_PIN15, 1);

diff --git a/boards/px4/fmu-v4/src/timer_config.c b/boards/px4/fmu-v4/src/timer_config.c
@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2019 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

diff --git a/boards/px4/fmu-v4pro/default.cmake b/boards/px4/fmu-v4pro/default.cmake
@@ -32,8 +32,9 @@ px4_add_board(
 		imu/bma180
 		imu/bmi160
 		imu/l3gd20
-		imu/mpu6000
-		imu/mpu9250
+		imu/invensense/mpu9250
+		imu/invensense/icm20602
+		imu/invensense/icm20608-g
 		irlock
 		lights/blinkm
 		lights/rgbled

diff --git a/boards/px4/fmu-v4pro/init/rc.board_sensors b/boards/px4/fmu-v4pro/init/rc.board_sensors
@@ -4,10 +4,10 @@
 #------------------------------------------------------------------------------
 
 # Internal SPI bus ICM-20608-G
-mpu6000 -R 2 -T 20608 start
+icm20608g start
 
 # Internal SPI bus ICM-20602
-mpu6000 -R 2 -T 20602 start
+icm20602 start
 
 # Internal SPI bus mpu9250
 mpu9250 -R 2 start

diff --git a/boards/px4/fmu-v4pro/nuttx-config/include/board.h b/boards/px4/fmu-v4pro/nuttx-config/include/board.h
@@ -383,6 +383,8 @@
 #define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
 #define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1
 
+#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
+#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2
 
 #define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1
 #define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1

diff --git a/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig b/boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig
@@ -188,9 +188,11 @@ CONFIG_STM32_SDIO_CARD=y
 CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI1_DMA=y
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI5=y
 CONFIG_STM32_SPI6=y
+CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_TIM10=y
 CONFIG_STM32_TIM11=y
 CONFIG_STM32_TIM1=y

diff --git a/boards/px4/fmu-v4pro/src/board_config.h b/boards/px4/fmu-v4pro/src/board_config.h
@@ -165,7 +165,7 @@
 #define PX4_SPIDEV_GYRO         PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 1)
 #define PX4_SPIDEV_ACCEL_MAG    PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 2)
 #define PX4_SPIDEV_BARO         PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 3)
-#define PX4_SPIDEV_MPU          PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4)
+#define PX4_SPIDEV_MPU9250      PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 4)
 #define PX4_SPIDEV_HMC          PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 5)
 #define PX4_SPIDEV_ICM          PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 6)
 #define PX4_SPIDEV_LIS          PX4_MK_SPI_SEL(PX4_SPI_BUS_SENSORS, 7)

diff --git a/boards/px4/fmu-v4pro/src/init.c b/boards/px4/fmu-v4pro/src/init.c
@@ -335,7 +335,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	SPI_SELECT(spi1, PX4_SPIDEV_ICM, false);
 	SPI_SELECT(spi1, PX4_SPIDEV_BARO, false);
 	SPI_SELECT(spi1, PX4_SPIDEV_LIS, false);
-	SPI_SELECT(spi1, PX4_SPIDEV_MPU, false);
+	SPI_SELECT(spi1, PX4_SPIDEV_MPU9250, false);
 	SPI_SELECT(spi1, PX4_SPIDEV_EEPROM, false);
 	up_udelay(20);
 

diff --git a/boards/px4/fmu-v4pro/src/spi.c b/boards/px4/fmu-v4pro/src/spi.c
@@ -136,7 +136,7 @@ __EXPORT void stm32_spi1select(FAR struct spi_dev_s *dev, uint32_t devid, bool s
 		stm32_gpiowrite(GPIO_SPI_CS_TEMPCAL_EEPROM, 1);
 		break;
 
-	case PX4_SPIDEV_MPU:
+	case PX4_SPIDEV_MPU9250:
 		/* Making sure the other peripherals are not selected */
 		stm32_gpiowrite(GPIO_SPI_CS_MPU9250, !selected);
 		stm32_gpiowrite(GPIO_SPI_CS_LIS3MDL, 1);

diff --git a/boards/px4/fmu-v5/critmonitor.cmake b/boards/px4/fmu-v5/critmonitor.cmake
@@ -25,14 +25,16 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
+		dshot
 		gps
 		#heater
 		imu/adis16448
 		imu/adis16497
 		#imu # all available imu drivers
 		imu/bmi055
-		imu/mpu6000
 		imu/mpu9250
+		imu/invensense/icm20602
+		imu/invensense/icm20689
 		irlock
 		lights/blinkm
 		lights/rgbled

diff --git a/boards/px4/fmu-v5/default.cmake b/boards/px4/fmu-v5/default.cmake
@@ -32,8 +32,9 @@ px4_add_board(
 		imu/adis16497
 		#imu # all available imu drivers
 		imu/bmi055
-		imu/mpu6000
 		imu/mpu9250
+		imu/invensense/icm20602
+		imu/invensense/icm20689
 		irlock
 		lights/blinkm
 		lights/rgbled

diff --git a/boards/px4/fmu-v5/fixedwing.cmake b/boards/px4/fmu-v5/fixedwing.cmake
@@ -27,7 +27,8 @@ px4_add_board(
 		gps
 		imu/adis16448
 		imu/bmi055
-		imu/mpu6000
+		imu/invensense/icm20602
+		imu/invensense/icm20689
 		lights/rgbled
 		lights/rgbled_ncp5623c
 		lights/rgbled_pwm
@@ -63,6 +64,7 @@ px4_add_board(
 	SYSTEMCMDS
 		bl_update
 		config
+		dmesg
 		dumpfile
 		esc_calib
 		hardfault_log

diff --git a/boards/px4/fmu-v5/init/rc.board_sensors b/boards/px4/fmu-v5/init/rc.board_sensors
@@ -4,10 +4,10 @@
 #------------------------------------------------------------------------------
 
 # Internal SPI bus ICM-20602
-mpu6000 -R 8 -s -T 20602 start
+icm20602 -R 2 start
 
 # Internal SPI bus ICM-20689
-mpu6000 -R 8 -z -T 20689 start
+icm20689 -R 2 start
 
 # Internal SPI bus BMI055 accel
 bmi055 -A -R 10 start

diff --git a/boards/px4/fmu-v5/irqmonitor.cmake b/boards/px4/fmu-v5/irqmonitor.cmake
@@ -25,14 +25,16 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
+		dshot
 		gps
 		#heater
 		imu/adis16448
 		imu/adis16497
 		#imu # all available imu drivers
 		imu/bmi055
-		imu/mpu6000
 		imu/mpu9250
+		imu/invensense/icm20602
+		imu/invensense/icm20689
 		irlock
 		lights/blinkm
 		lights/rgbled