Skip to content

fix(boards/fmu-v6xrt): Enable usage of all three on-board IMUs on FMU-V6XRT by default #26905

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
abhijithcv wants to merge 4 commits into
base: main
Choose a base branch
from
+9 −1
Open

fix(boards/fmu-v6xrt): Enable usage of all three on-board IMUs on FMU-V6XRT by default #26905

Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
de57e68
Enable usage of all three on-board IMUs on FMU-V6XRT
abhijithcv Mar 30, 2026
456b2b4
fix(imxrt): enable multi-ekf at imxrt chip level
abhijithcv Mar 31, 2026
b51d995
Matched STM32H7 board defaults for multi-EKF
abhijithcv Apr 1, 2026
13b8fd8
Merge branch 'main' into v6xrt_multi-imu-mode
abhijithcv Apr 1, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 9 additions & 1 deletion platforms/nuttx/init/imxrt/rc.board_arch_defaults
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,14 @@
# imxrt specific defaults
#------------------------------------------------------------------------------

# Multi-EKF
param set-default -s EKF2_MULTI_IMU 3
param set-default SENS_IMU_MODE 0

param set-default -s IMU_GYRO_FFT_EN 1

param set-default -s MC_AT_EN 1

set LOGGER_BUF 32
param set-default -s UAVCAN_ENABLE 2

set LOGGER_BUF 64
Loading