Porting OpenPilot

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lilvinz edited this page Oct 3, 2012 · 5 revisions

Here i want to list what had to be done to the OpenPilot source tree in order to port it to the discoveryf4 board.

fork the Revolution board specific files to Discovery
change all the hardware pins
fork the MPU6000 driver to MPU6050
switch over the MPU6050 driver from SPI to I2C
add a high priority isr helper task to the MPU6050 driver
added configuration option to invert LEDs
clean up code in attitude.c to have it compile without sensors
understand the OpenPilot codebase
fix all new bugs i introduced :)