[SOLVED] Firmware not support Magnetometer on 9-axis MPU9250

[lxrocks]

The latest Crazyflie firmware appears to use Honeywell HMC5883L driver hmc5883l.c to get the Magnetometer x,y,z data. The MPU9250 contains an AK8963 chip not a HMC5893L chip. I thought perhaps the register addressing and control are the same but they are not. For example hmc5883l uses address 05h & 06h for Z-axis MSB/LSB values which on the AK8963 chip addresses the Y-axis. Some of the other register addressing don't match , so clearly the magnetometer code in the firmware does not work.

[tobias]

I don't think you are looking on the right branch? As the Crazyflie 1 and 2 firmwares aren't compatible yet the Crazyflie 2 firmware is in the crazyflie2 branch. Here you can find the AK8963 driver.

[lxrocks]

Thanks Tobias,

It makes sense now. I cloned what I thought was the CF2 firmware but my Git skills are lacking and did not add -b crazyflie2 to the clone command


eg

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git clone -b crazyflie2 https://github.com/bitcraze/crazyflie-firmware.git

Thanks

[Torsten]

just for completeness:

Once cloned, you can switch between branches back and forth with:

Code: Select all

git checkout crazyflie2

and

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git checkout master

A simple

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git pull

will bring your clone to the newest state.

[lxrocks]

Until recently the only Git command I have run was clone. So you have probably quadrupled my Git skills now

Info is much appreciated.
thanks